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CN100541372C - An automatic homing control method for unmanned aerial vehicles when the engine stops unexpectedly - Google Patents

An automatic homing control method for unmanned aerial vehicles when the engine stops unexpectedly Download PDF

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CN100541372C
CN100541372C CNB2008101031406A CN200810103140A CN100541372C CN 100541372 C CN100541372 C CN 100541372C CN B2008101031406 A CNB2008101031406 A CN B2008101031406A CN 200810103140 A CN200810103140 A CN 200810103140A CN 100541372 C CN100541372 C CN 100541372C
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airspeed
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CN101256412A (en
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王宏伦
王英勋
张翠萍
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Beihang University
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Abstract

本发明提供一种无人机发动机意外停车下的自动归航控制方法，该方法包括归航航线确定和自动归航控制两个步骤。根据已知的迫降场位置信息，在迫降场期望的着陆方向上，选取两个点作为航点，这两个点的经度和纬度即为航点的经度和纬度，这两个航点所确定的航线即为归航航线；自动归航控制是通过对升降舵舵机、副翼舵机的控制实现的；升降舵舵机采用空速控制，副翼舵机采用侧偏距控制；运用本发明进行自动归航控制，可以不受天气、天候以及目视距离等客观条件的影响，在发动机意外停车的情况下，使得飞机能够沿着归航航线以最佳滑翔速度向迫降场滑翔飞行，获得实现无动力着陆的机会，使无人机自动归航，从而减小损失。

Figure 200810103140

The invention provides an automatic homing control method when the engine of the UAV is unexpectedly stopped. The method includes two steps of homing route determination and automatic homing control. According to the known location information of the emergency landing site, two points are selected as waypoints in the expected landing direction of the emergency landing site. The longitude and latitude of these two points are the longitude and latitude of the waypoints. The route is the homing route; the automatic homing control is realized through the control of the elevator steering gear and the aileron steering gear; the elevator steering gear adopts airspeed control, and the aileron steering gear adopts side offset control; Automatic homing control is not affected by objective conditions such as weather, weather, and visual distance. In the case of unexpected engine shutdown, the aircraft can glide and fly to the emergency landing field at the best gliding speed along the homing route, which is realized The chance of unpowered landing enables the UAV to automatically return to its home position, thereby reducing losses.

Figure 200810103140

Description

Automatic homing control method under a kind of unmanned vehicle engine involuntary stoppage
Technical field
The present invention relates to the automatic homing control method under a kind of unmanned vehicle engine involuntary stoppage, belong to the automatic flight control of unmanned plane field.
Background technology
Aircraft engine is that collection is mechanical, electric, hydraulic technique is an one, utilizes thermodynamic principles to produce the complication system of propelling power.Engine is the source that aircraft obtains thrust, in case the engine involuntary stoppage, aircraft can run out of steam at once.U.S.'s global hawk unmanned plane crashes with regard to the Ceng Yinwei engine failure in the process of the test of once taking a flight test, and suffers heavy losses.
Soarer is a kind of motorless light aerocraft, and the onward impulse that is used for overcoming aerodynamic drag aloft is that it can land as conventional airplane by the conversion of potential energy (or height).Usually, the ground distance of glide process and height loss's ratio being called glide ratio, also is lift-drag ratio.The glide ratio that has the people to drive soarer such as a high-performance is about 40, and promptly highly every loss 100m can gliding flight 4km.In the time of the aerodynamic drag minimum, the glide of aircraft is the most smooth, and gliding speed at this moment is exactly best gliding speed, corresponding glide ratio is called best glide ratio, promptly under motorless situation, if aircraft glides with best gliding speed, aircraft can obtain maximum gliding distance so.
If behind the engine cut-off of unmanned plane, utilize the gliding ability of this unmanned plane, make the aircraft can gliding flight as soarer by Autonomous Control, so just can reduce a lot of the loss.
The development of present domestic unmanned plane technology is very fast, robotization, intellectuality are new directions of unmanned plane development, if can make full use of this advantage from the principal mode unmanned plane, design a homing course in advance, under the situation of engine cut-off, automatically regulate each primary control surface, it is implemented suitable control, so just can be so that aircraft keeps best gliding speed as far as possible under motorless situation, homing course along design in advance glides, to obtain maximum gliding distance, arrive near the forced-landing area, obtain the chance of power-off gliding.And this art is short of very much at present.
Summary of the invention
The invention provides a kind of automatic homing control method that is applied to unmanned plane, under the situation of engine cut-off, can not be subjected to the restriction of conditions such as weather, weather, visual range, by coordination control to elevating rudder steering wheel, aileron steering wheel, make aircraft can be automatically along homing course with best gliding speed to the forced-landing area gliding flight, obtain to realize the chance of power-off gliding, thereby reduce loss.
For reaching this purpose, design of the present invention is:
The first, the design homing course, this course line is positioned at the forced-landing area central area, and unmanned plane is flown to forced-landing area along this homing course when the engine involuntary stoppage; Wherein, forced-landing area is meant that aircraft can not arrive predetermined airfield landing owing to fortuitous event occurs, and the zone of landing in an emergency halfway.Forced-landing area is normally specified good fixed location before taking off, urgency level Iterim Change that also can be as the case may be.Selecting of forced-landing area is relevant with type of airplane, and different forced landing fields is different.Generally speaking, the forced-landing area zone that large aircraft needs is bigger, and the forced-landing area zone that baby plane needs can be smaller.
The second, make full use of the gliding ability of aircraft, aircraft is flown with best gliding speed, obtain best glide ratio, when the aircraft forced-landing area that away from forced-landing area the time, can fly back as far as possible.
According to above design, the control method of going home provided by the invention comprises following two steps:
Step 1: homing course is determined;
According to known forced-landing area positional information, on the landing direction of this forced-landing area expectation, choose two points respectively as destination, the longitude of these two points and latitude are the longitude and the latitude of destination, and these two determined course lines of destination are homing course; Two destinations choosing should make these two determined homing courses of destination be positioned at the central area of forced-landing area.
Step 2: automatic homing control;
The elevating rudder steering wheel is adopted air speed control, and the aileron steering wheel adopts lateral deviation apart from control.
The invention has the advantages that:
(1) utilization this method is carried out automatic homing control, can make unmanned plane under the situation of engine involuntary stoppage, flies to forced-landing area along homing course automatically, obtains the chance of power-off gliding, thereby reduces loss;
(2) utilization this method is carried out automatic homing control, can not be subjected to the influence of objective condition such as weather (fine day, rainy day, greasy weather etc.), weather (daytime, night) and visual range, makes unmanned plane automatic homing;
(3) utilization this method is carried out automatic homing control, can not be subjected to flight control hand self artificial factor such as quality, manipulation custom at heart, makes unmanned plane according to the optimum control scheme automatic homing of design in advance.
Description of drawings
Fig. 1 is the schematic block diagram of the automatic homing control method under the engine cut-off of the present invention;
Fig. 2 is the synoptic diagram that homing course is determined in the automatic homing control method under the engine cut-off of the present invention;
Fig. 3 is the control block diagram of elevating rudder in the automatic homing control method under the engine cut-off of the present invention;
Fig. 4 is the control block diagram of aileron in the automatic homing control method under the engine cut-off of the present invention.
Embodiment
The present invention is further illustrated below in conjunction with embodiment.
Fig. 1 is the schematic block diagram of automatic homing control method of the present invention.As shown in Figure 1, at first, determine homing course according to the positional information of forced-landing area.Utilize homing course information, best gliding speed, according to the lateral deviation distance and the air speed information of unmanned plane, adopt air speeds control, lateral deviation apart from control to elevating rudder steering wheel 2, aileron steering wheel 6 respectively, thereby realize automatic homing control.
A following embodiment who uses for the present invention:
Step 1: determine homing course;
According to the positional information of known forced-landing area, on the landing direction of this forced-landing area expectation, choose two points respectively as destination, make these two determined homing courses of destination be positioned at the central area of forced-landing area; Wherein, the landing direction of forced-landing area expectation is relevant with the shape of forced-landing area, should get the longest direction of its length as landing direction.
Fig. 2 is the synoptic diagram that homing course is determined in the automatic homing control method under the engine cut-off.As shown in Figure 2, certain forced-landing area is irregularly shaped, get the landing direction of the longest direction of its length as the forced-landing area expectation, on this landing direction, get two some A, B, make 2 definite homing courses of A, B be positioned at the central area of forced-landing area, like this can be so that aircraft lands to the forced-landing area center as far as possible.
Step 2: automatic homing control;
Carrying out automatic homing control, is that elevating rudder steering wheel 2 is adopted air speed control, and aileron steering wheel 6 adopts lateral deviation apart from control.Wherein, air speed is meant the flying speed of aircraft with respect to aerial air-flow, be ground velocity and wind speed vector and, generally measure by air data computer; Lateral deviation is apart from being meant that aircraft departs from the side direction vertical range of homing course, is generally measured by guider.
Fig. 3 is the control block diagram of elevating rudder in the control method of going home under the engine cut-off of the present invention, its basic controlling process is: the actual value of the air speed that the air speed measurement mechanism 4 of best gliding speed and unmanned plane is measured compares, obtain error e, wherein air speed measurement mechanism 4 air data computer normally; By air speed control algolithm 1 calculate controlled quentity controlled variable, elevating rudder steering wheel 2 adjusts accordingly according to this controlled quentity controlled variable, thus control unmanned plane kinematics link 3, so circulation, wherein the concrete control law of air speed control algolithm 1 as the formula (1):
δ z = K vp ( V h - V k ) + K vI ∫ 0 t ( V h - V k ) dt + K θ θ + K ω z ω z - - - ( 1 )
In the formula (1), δ zBe the adjustment amount of elevating rudder steering wheel 2, V hBe best gliding speed, V kBe air speed, θ is the angle of pitch, ω zBe angle of pitch speed, K VpBe air speed control ratio parameter, K VIBe air speed control integral parameter, K θBe the controlled variable of θ,
Figure C20081010314000062
Be ω zControlled variable; The device of measurement air speed is air data computer normally, measures ω zDevice angular rate gyroscope normally, the device of measuring θ is guider or vertical gyro normally.
Fig. 4 is the control block diagram of aileron in the control method of going home under the engine cut-off of the present invention, its basic controlling process is: the another kind of lateral deviation of unmanned plane is compared apart from actual value and 0 apart from measurement mechanism 7 measured lateral deviations, obtain error e ', wherein lateral deviation is apart from measurement mechanism 7 guider normally; By lateral deviation apart from control algolithm 5 calculate controlled quentity controlled variable, aileron steering wheel 6 adjusts accordingly according to this controlled quentity controlled variable, thus control unmanned plane kinematics link 3, so circulation, wherein lateral deviation apart from the concrete control law of control algolithm 5 as the formula (2):
δ x = K S g S g + K S · g S · g + K γ γ - - - ( 2 )
In the formula (2), δ xBe the adjustment amount of aileron steering wheel 6, S gBe the lateral deviation distance,
Figure C20081010314000064
For lateral deviation is moved speed, γ is a roll angle,
Figure C20081010314000071
Be S gControlled variable,
Figure C20081010314000072
For
Figure C20081010314000073
Controlled variable, K γControlled variable for γ; Measure S gWith
Figure C20081010314000074
Device guider normally, the device of measuring γ is guider or vertical gyro normally.
In the automatic homing control procedure, though aircraft has not had power, but by to the coordination of elevating rudder steering wheel 2 and aileron steering wheel 6 control, make aircraft as far as possible with best gliding speed along homing course to the forced-landing area gliding flight, obtain the chance of power-off gliding.
As: the flight control system of certain unmanned plane and Flight Simulated Training System thereof have all been used the inventive method, the best glide ratio of this unmanned plane is about 12～14, forced-landing area is the landing airport, therefore choose 2 two destinations as homing course on its runway centerline, promptly homing course overlaps with runway centerline.In order to verify this method, in the flight simulated training of this unmanned plane, three flight control hands have carried out the maximum gliding distance test flight under the engine cut-off, condition is: under calm situation, the autonomous take-off climb of unmanned plane engine cut-off during to 300m, flight are controlled the hand telecontrolled aircraft and are glided and get back to forced-landing area; Under the same conditions, also carried out using autonomous gliding flight under this method automatic homing control.Table 1 is to handle maximum gliding distance and the glide ratio that unmanned plane repeatedly glides under hand remote control and the autonomous flight control.Need to prove that three flight control hands all are to have aspect remote control distributor that many years of experience is abundant, well-trained advanced techniques personnel, participate in repeatedly remote control distributor performance, have born the flight control task of a plurality of projects simultaneously.
Maximum gliding distance of table 1 and glide ratio
Flight control Gliding distance farthest Glide ratio
Flight control hand 1 remote operation 2317m 7.7
Flight control hand 2 remote operations 2135m 7.1
Flight control hand 3 remote operations 2532m 8.4
Autonomous flight control under the automatic homing control 3425m 11.4
As shown in Table 1, the flight control hand that remote control distributor is skilled in technique, be subjected to visual range, external environmental interference, at heart quality, self handle the influence of various factorss such as custom, the best glide ratio 12～14 of the glide ratio that can reach and this unmanned plane still has certain gap; And if practical flight is handled, the flight control hand also will be subjected to the influence of factors such as weather, weather, also can influence final manipulation control thus, cause finally can not reaching ideal effect; And the go home autonomous flight control of control method of utilization the present invention can reach the best glide ratio of this unmanned plane basically, and gliding distance improves 30%～40% than original; This is for the unmanned plane of executing the task in the process of cruising, if unexpected the parking, can obtain gliding distance far away so and will play important effect realizing power-off gliding, and can not be subjected to objective factor such as various weather, weather and handle hand self at heart quality, handle artificial factor such as custom, arrive forced-landing area with the automatic gliding flight of attitude the most stably.
The present invention has been applied in certain UAV Flight Control System and the Flight Simulated Training System thereof, and is respond well.

Claims (2)

1、一种无人机发动机停车下的自动归航控制方法，主要应用于在发动机意外停车的情况，其特征在于，该方法包括如下两个步骤：1. An automatic homing control method under the parking of the unmanned aerial vehicle engine, which is mainly used in the situation of accidental parking of the engine. It is characterized in that the method comprises the following two steps: 步骤一：归航航线确定；Step 1: Determine the return route; 根据已知的迫降场位置信息，在该迫降场期望的着陆方向上，选取两个点作为航点，这两个点的经度和纬度即为航点的经度和纬度，这两个航点所确定的航线即为归航航线；其中，确定的归航航线位于迫降场的中心区域；According to the known location information of the emergency landing site, two points are selected as waypoints in the expected landing direction of the emergency landing site, and the longitude and latitude of these two points are the longitude and latitude of the waypoints. The determined route is the return route; wherein, the determined return route is located in the central area of the emergency landing site; 步骤二：自动归航控制；Step 2: Automatic homing control; 自动归航控制是通过对升降舵舵机、副翼舵机的控制实现的；升降舵舵机采用空速控制，副翼舵机采用侧偏距控制；The automatic homing control is realized through the control of the elevator servo and aileron servo; the elevator servo adopts airspeed control, and the aileron servo adopts side offset control; 空速控制主要通过调整升降舵舵机进行控制，其基本控制过程为：The airspeed control is mainly controlled by adjusting the elevator servo, and the basic control process is as follows: a)将无人机的空速测量装置(4)所测得的实际空速与最佳滑翔速度进行比较，得到误差e；a) the actual airspeed measured by the airspeed measuring device (4) of the drone is compared with the optimum gliding speed to obtain an error e; b)通过空速控制算法(1)计算出升降舵舵机的调整量；b) Calculate the adjustment amount of the elevator steering gear through the airspeed control algorithm (1); c)根据计算出的调整量不断调整升降舵舵机，继而控制无人机动力学环节(3)；c) Constantly adjust the elevator steering gear according to the calculated adjustment amount, and then control the UAV dynamics link (3); d)无人机的空速测量装置(4)将测量的实际空速反馈回去，与最佳滑翔速度再次进行比较，如此循环；d) The airspeed measuring device (4) of the UAV feeds back the actual airspeed measured, and compares it with the optimal gliding speed again, and so on; 空速控制算法(1)实现的控制算法具体是： δ z = K vp ( V h - V k ) + K vI ∫ 0 t ( V h - V k ) dt + K θ θ + K ω z ω z , 其中，δz为升降舵舵机的调整量，Vg为设置的最佳滑翔速度，Vk为空速，θ为俯仰角，ωz为俯仰角速率，Kvp为空速控制比例参数，KvI为空速控制积分参数，Kθ为θ的控制参数，
Figure C2008101031400002C2
为ωz的控制参数；The control algorithm realized by the airspeed control algorithm (1) is specifically: δ z = K vp ( V h - V k ) + K vI ∫ 0 t ( V h - V k ) dt + K θ θ + K ω z ω z , Among them, δ z is the adjustment amount of the elevator steering gear, V g is the optimal gliding speed set, V k is the airspeed, θ is the pitch angle, ω z is the pitch angle rate, K vp is the airspeed control proportional parameter, K vI is the airspeed control integral parameter, K θ is the control parameter of θ,
Figure C2008101031400002C2
is the control parameter of ω z ; 侧偏距控制主要通过调整副翼舵机进行控制，其基本控制过程为：The side offset control is mainly controlled by adjusting the aileron servo, and the basic control process is as follows: a)将无人机的侧偏距测量装置(7)所测得的实际侧偏距与0进行比较，得到误差e’；a) compare the actual side offset measured by the side offset measuring device (7) of the drone with 0, and obtain the error e'; b)通过侧偏距控制算法(5)计算出副翼舵机的调整量；b) Calculate the adjustment amount of the aileron steering gear through the side offset control algorithm (5); c)根据计算出的调整量不断调整副翼舵机，继而控制无人机动力学环节(3)；c) Constantly adjust the aileron steering gear according to the calculated adjustment amount, and then control the UAV dynamics link (3); d)无人机的侧偏距测量装置(7)将测量的侧偏距反馈回去，与0再次进行比较，如此循环；d) The side offset measuring device (7) of the UAV feeds back the measured side offset, and compares it with 0 again, and so on; 侧偏距控制算法(5)实现的控制算法具体是： δ x = K S g S g + K S · g S · g + K γ γ , 其中，δx为副翼舵机的调整量，Sg为侧偏距，
Figure C2008101031400002C4
为侧偏移速度，γ为滚转角，
Figure C2008101031400002C5
为Sg的控制参数，
Figure C2008101031400003C1
为的控制参数，Kγ为γ的控制参数。The control algorithm realized by the side offset control algorithm (5) is specifically: δ x = K S g S g + K S · g S · g + K γ γ , Among them, δ x is the adjustment amount of the aileron servo, S g is the side offset distance,
Figure C2008101031400002C4
is the side deviation velocity, γ is the roll angle,
Figure C2008101031400002C5
is the control parameter of S g ,
Figure C2008101031400003C1
for The control parameter of , K γ is the control parameter of γ. 2、根据权利要求1所述的一种无人机发动机停车下的自动归航控制方法，其特征在于：步骤一所述的迫降场期望的着陆方向与迫降场的形状有关，取迫降场长度最长的方向作为着陆方向。2. The automatic homing control method when the UAV engine is parked according to claim 1, characterized in that: the desired landing direction of the forced landing field described in step 1 is related to the shape of the forced landing field, and the length of the forced landing field is taken The longest direction is taken as the landing direction.
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