CN110703786A - Staying rotor platform retraction controller and method - Google Patents
Staying rotor platform retraction controller and method Download PDFInfo
- Publication number
- CN110703786A CN110703786A CN201911008606.9A CN201911008606A CN110703786A CN 110703786 A CN110703786 A CN 110703786A CN 201911008606 A CN201911008606 A CN 201911008606A CN 110703786 A CN110703786 A CN 110703786A
- Authority
- CN
- China
- Prior art keywords
- rotor platform
- speed
- module
- rotor
- flight
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
- G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
- G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The invention provides a staying rotor platform retraction controller and a staying rotor platform retraction method. The invention realizes the centralized and unified control of the winding and unwinding device and the rotor unmanned aerial vehicle platform in the process of unfolding and folding the mooring rotor platform, so that the winding and unwinding device and the rotor unmanned aerial vehicle platform can synchronously work in a lifting way, the phenomena of cable winding and blockage caused when the winding and unwinding speed of a cable rope is not matched with the lifting speed of the rotor platform in the process of winding and unwinding are avoided, the reliability of equipment is improved, the operation intensity of people in the whole control process is reduced, and the fast winding and unwinding control process of the rotor platform can be realized only by two key operations of unfolding and folding.
Description
Technical Field
The invention relates to a controller for controlling the retraction and release process of a tethered rotor unmanned aerial vehicle platform, and belongs to the technical field of control.
Background
In modern war, the situation of battlefield changes suddenly, whether the equipment can be rapidly unfolded to work after entering the position, and whether the equipment can be rapidly removed during evacuation is an important index for measuring the performance of the equipment.
More particularly, to a tethered rotor platform reconnaissance system that reduces the operational difficulty and time of the process of raising the rotor platform from a stowed position to a predetermined reconnaissance height, can provide assistance in reducing the deployment time of the overall equipment system, and similarly reduces the operational difficulty and time of lowering the rotor platform from the reconnaissance position to the stowed position, can provide assistance in reducing the retraction time of the overall system.
At present, for the control of the retraction and release of a tethered rotor platform, some patents provide devices for automatically retracting and releasing cables, for example, patents with publication numbers CN108821036 and CN108657892 all describe an automatic cable retraction and release device, these cable retraction and release devices can realize the retraction and release of cables with little manual intervention, but the retraction and release control process of the tethered rotor platform includes not only the retraction and release control of the tethered cables but also the operation control of the unmanned rotor platform, the operation control of the unmanned rotor platform and the retraction and release control of the cables are a uniform process, there are interaction and coupling of much information between the two control objects and the process, for example, the retraction and release speed of the tethered cables and the lifting speed of the rotor platform need to be closely matched, so the cable retraction and release device and the rotor platform need to be controlled integrally and integrally, and the cable retraction and release speed occurring when the retraction and release speed of the rotor platform are not matched in the retraction and release processes are prevented from being wound by cables and cable winding when, The blocking phenomenon enables the automation degree of the retraction process to be higher and the time to be shorter.
Disclosure of Invention
Aiming at the problems that the existing retraction control of a mooring rotor platform mainly stays in the automatic retraction research of a mooring rope, and the unified control research of the operation control of a unmanned rotor platform and the retraction control of the mooring rope is lacked, the invention provides a retraction controller and a method of the mooring rotor platform, aiming at realizing the centralized unified control of a retraction device and a unmanned rotor platform in the process of the retraction and deployment of the mooring rotor platform, so that the retraction device and the unmanned rotor platform can synchronously work in the lifting process, the phenomena of cable winding and blockage caused by the mismatching of the retraction speed of the mooring rope and the lifting speed of the unmanned rotor platform in the retraction and deployment process are avoided, the reliability of equipment is improved, the operation intensity of a person in the whole control process is reduced, and the rapid retraction control process of the rotor platform can be realized only by two key operations of the retraction and deployment.
The technical scheme of the invention is as follows:
the tethered rotor platform retraction controller, comprising: the device comprises an unfolding process identification module (1), a folding process identification module (2), a rising height setting module (3), a collection position module (4), a flight speed generation rule module (5), a flight control interface (6), a pretightening force setting module (7), a speed feedforward controller (8) and a feedback controller (9);
an unfolding process identification position is stored in the unfolding process identification module (1) and is used for identifying whether the folding and unfolding controller works in the unfolding process;
the withdrawing process identification module (2) is stored with a withdrawing process identification position for identifying whether the withdrawing controller works in the withdrawing process;
a rising height setting value is stored in the rising height setting module (3); the set value of the lifting height is the highest lifting height of the rotor platform, and the rotor platform is in idle work after reaching the highest lifting height;
the collection position module (4) stores the position value of the rotor platform under a control coordinate system when the rotor platform is collected on the undercarriage;
the flight speed generation rule module (5) receives an unfolding process identification bit, a folding process identification bit, a rise height set value, a collection position and rotor platform flight position information detected by a rotor platform positioning system to generate a rotor platform flight speed control parameter;
the flight control interface (6) is used for communicating with a flight control system of the rotor platform, acquiring the flight speed of the rotor platform and sending X, Y, Z-direction speed control parameters to the rotor platform; the coordinate system is a control coordinate system which is established according to right-hand rules and takes the center of the undercarriage as the origin of coordinates, the right front of the undercarriage as an X axis and the right upper side as a Z axis;
a pretightening force set value is stored in the pretightening force setting module (7);
the speed feedforward controller (8) acquires the Z-direction flight speed of the rotor platform from the flight control interface (6), generates a control parameter for controlling the rotating speed of a take-up and pay-off motor of the rotor platform and outputs the control parameter to a take-up and pay-off device of the rotor platform;
and the feedback controller (9) receives a difference value between the pre-tightening force set value and a real-time tension value on a mooring cable acquired by a tension sensor in the rotor platform take-up and pay-off device as input, generates a control parameter for controlling the rotating speed of a take-up and pay-off motor of the rotor platform and outputs the control parameter to the rotor platform take-up and pay-off device.
In a further preferred aspect, the tethered rotor platform retraction controller is characterized by: parameters in the unfolding process identification module (1), the folding process identification module (2), the rising height setting module (3), the collection position module (4) and the pretightening force setting module (7) are input by external human-computer interaction equipment.
In a further preferred aspect, the tethered rotor platform retraction controller is characterized by: the identification bit parameters in the unfolding process identification module (1) and the folding process identification module (2) are cleared by the flight speed generation rule module (5).
The invention also provides a method for controlling the retraction process of the tethered rotor platform, which is characterized by comprising the following steps: the method comprises the following steps:
step 1: the system comprises a cyclic monitoring deployment process identification module (1) and a withdrawal process identification module (2); when the unfolding process identification bit in the unfolding process identification module (1) is valid, skipping to the step 2; when the identification bit of the withdrawing process in the withdrawing process identification module is valid, skipping to step 7;
step 2: command parameters for controlling the rotor platform to ascend are generated through a flight speed generation rule module (5) and are sent to a rotor platform flight control system through a flight control interface (6) to control the rotor platform to ascend;
and step 3: receiving a real-time tension value on a mooring cable acquired by a tension sensor in a rotor wing platform wire-retracting device, comparing the real-time tension value with a pre-tightening force set value, and sending the real-time tension value to a feedback controller (9) to calculate to obtain a control quantity delta N;
and 4, step 4: the speed feedforward controller (8) receives the Z-direction speed of the rotor platform sent by the rotor platform flight control system from the flight control interface (6), calculates the control quantity N, adds the control quantity N with the calculation result in the step (3) to obtain the rotating speed control quantity N + delta N of the rotor platform pay-off and take-up motor, and sends the rotating speed control quantity N + delta N to the rotor platform pay-off and take-up device;
and 5: the flight speed generation rule module (5) receives the X and Y direction position coordinates (X and Y) of the rotor platform sent by the rotor platform positioning system, calculates speed control parameters to the rotor platform X, Y and sends the speed control parameters to the rotor platform flight control system through the flight control interface (6); if the identification bit of the withdrawing process is valid, skipping to step 8, otherwise executing step 6;
step 6: the flight speed generation rule module (5) receives a Z-direction height value of the rotor platform sent by the rotor platform positioning system, compares the Z-direction height value with a rising height set value, sends a speed control parameter for controlling the Z-direction speed to be 0 to a rotor platform flight control system through a flight control interface (6) if the rising height set value is reached, clears a deployment process identification bit in the deployment process identification module (1), returns to the step 1 after the deployment process is finished, and returns to the step 3 if the rising height set value is not reached;
and 7: generating instruction parameters for controlling the descending of the rotor platform through a flight speed generation rule module (5), sending the instruction parameters to a rotor platform flight control system through a flight control interface (6), controlling the descending of the rotor platform, and returning to the step 3;
and 8: and the traveling speed generation rule module (5) receives a Z-direction height value of the rotor platform sent by the rotor platform positioning system, compares the Z-direction height value with the collection position, sends a speed control parameter for controlling the Z-direction speed to be 0 to the rotor platform flight control system through the flight control interface (6) if the Z-direction height value reaches the collection position, clears the identification bit of the withdrawing process in the withdrawing process identification module (2), returns to the step 1 after the withdrawing process is finished, and returns to the step 3 if the Z-direction height value does not reach the collection position.
In a further preferred aspect, the method for controlling the retraction process of a tethered rotor platform is characterized in that: in the step 1, a cyclic monitoring expansion process identification module (1) and a withdrawal process identification module (2) are realized by circularly monitoring key operation of the human-computer interaction equipment; when judging that the expansion key is triggered, the identification bit of the setting and expansion process is valid and jumps to the step 2, and when judging that the withdrawal key is triggered, the identification bit of the setting and withdrawal process is valid and jumps to the step 7.
Advantageous effects
The technical effects of the invention are embodied in the following two aspects:
the invention solves the full-automatic control problem of the retraction process of the rotor platform. The operator only needs to click the 'expansion' or 'withdrawal' button to realize the expansion and withdrawal of the equipment, and the operator does not need to hold the airplane remote control lever to operate the rotor platform all the time, so that the hands of the operator are liberated, the operator can vacate time to operate other equipment, and the expansion time and the withdrawal time of the whole equipment are reduced.
The invention uses the flight speed information of the rotor platform as feedforward and uses the tension sensor as negative feedback to adjust the winding and unwinding linear speed of the winding and unwinding device through centralized and unified control, so that the winding and unwinding linear speed of the winding and unwinding device is better matched with the speed of the flight control platform, and the adverse effect of the problems of cable blockage, large tension change and the like on the take-off and landing of the rotor platform is effectively avoided.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic composition diagram of an embodiment of the present invention.
Fig. 2 is a schematic diagram of the flying speed generating rule (5) for the retractable controller.
Figure 3 is a reference coordinate for a preferred embodiment of the controller.
Fig. 4 shows the working steps of the embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and preferred embodiments.
As shown in fig. 1, the tethered rotor platform retraction controller (100) comprises at least: the device comprises an unfolding process identification module (1), a folding process identification module (2), a rising height setting module (3), a collection position module (4), a flight speed generation rule module (5), a flight control interface (6), a pretightening force setting module (7), a speed feedforward controller (8) and a feedback controller (9).
To better describe the working principle and process of the system, as shown in fig. 3, a control coordinate system is established according to the right-hand rule by taking the center of the landing gear as the origin of coordinates, the right front of the landing gear as the X axis and the right upper of the landing gear as the Z axis.
And the rotor platform autonomous lifting positioning system (12) is used for measuring the flight position (x, y, z) coordinates of the rotor platform in the coordinate system. There are many ways for this measurement, for example, one way is based on the positioning data of differential GPS or beidou system, and also based on the positioning detection means such as optical or ultrasonic positioning.
As shown in fig. 2, the flying speed generation rule module (5) is further refined, and the flying speed generation rule module (5) generates command data for controlling the flying speed of the rotor platform in three directions according to external input or parameters in the controller.
And the X-direction speed generating module (a) controls the rotor platform to be adjusted towards the negative direction of the X axis by utilizing a negative feedback control rule according to the X-direction coordinate of the rotor platform detected by the autonomous lifting positioning system (12), when the X is positive, the rotor platform is controlled to be adjusted towards the positive direction of the X axis. Describing this process in mathematical language is a typical negativityProportional control element of feedback control (equation 1), VXTo generate a control rotor platform X-direction speed value, X is the measured current X-direction coordinate value of the rotor platform, and p is a negative proportional parameter.
VXPx (equation 1).
The Y-direction velocity generation module (b) is similar to the X-direction generation module, according to the control law of equation 2, VyTo generate a control rotor platform Y-direction velocity vector, Y is the measured current rotor platform Y-direction coordinate value, and p is a negative scaling parameter.
VyPy (equation 2).
The Z-direction speed generation module (c) generates command parameters for controlling the lifting speed of the rotor platform according to external information, as shown in fig. 2, and the decision basis is the following inputs: the height in the Z direction, the identification position in the unfolding process, the identification position in the folding process, the set value and the collection position of the ascending height are acquired by the autonomous lifting positioning system (12). The output of which adopts the rule of 'if-then', for example:
"if the deployment process flag is valid, then the Z-direction speed is set as the ascending speed";
"if the Z-direction height is greater than or equal to the rise height set point, then the Z-direction speed is set to zero";
"if the withdrawing process flag bit is valid, the speed in the Z direction is set as the descending speed";
"if the Z-direction height is less than or equal to the stowed position, then the Z-direction velocity is set to zero".
The flight control interface (6) is used for communicating with a flight control system of the rotor platform, acquiring the flight speed of the rotor platform and sending the control speed in the direction of X, Y, Z to the rotor platform, and the interface CAN adopt RS422, CAN or network interfaces, and in a preferred embodiment, the RS422 interface is used for communicating with the flight control system of the rotor platform from an optical fiber in a mooring cable through an optical transceiver.
The rise height setting is, as previously described, the height at which the operator must work out of the rotor platform, and is entered by the operator or defaulted to the height last stored in the EEPROM.
The speed feedforward controller (8) converts the real-time lifting speed of the rotor platform obtained from the flight control interface (6) into the control rotating speed of a take-up and pay-off motor, the scale factor of the speed feedforward controller is determined by the reduction ratio of a motor reducer and the diameter of a take-up and pay-off rotating rod, as described in equation 3, N is the rotating speed of the motor and has the unit of rpm and VZFor rotor platform Z to airspeed, M is the motor speed reduction ratio, and D is receipts line commentaries on classics rod diameter.
The pre-tightening force set value is a pre-set cable pre-tightening force parameter, the pre-set cable pre-tightening force parameter is compared with the actual tension acquired by the tension sensor, and the difference value is used as the input of the feedback controller (9).
The feedback controller (9) is used for adjusting the pre-tightening tension of the mooring rope, the tension value obtained by the tension sensor on the mooring rope is compared with a pre-tightening force set value to obtain a deviation value, when the tension is larger than the set value, the speed of the wire winding and unwinding motor for accelerating the wire unwinding or the speed of the wire winding is correspondingly reduced, and when the tension value is smaller than the set value, the speed of the wire unwinding or the speed of the wire winding is increased to balance the tension on the mooring rope.
The preferred embodiment workflow is described as shown in fig. 4, and the working steps are as follows:
step 1: the system comprises a cyclic monitoring deployment process identification module (1) and a withdrawal process identification module (2); when the unfolding process identification bit in the unfolding process identification module (1) is valid, skipping to the step 2; when the identification bit of the withdrawing process in the withdrawing process identification module is valid, skipping to step 7;
step 2: command parameters for controlling the rotor platform to ascend are generated through a flight speed generation rule module (5) and are sent to a rotor platform flight control system through a flight control interface (6) to control the rotor platform to ascend;
and step 3: receiving a real-time tension value on a mooring cable acquired by a tension sensor in a rotor wing platform wire-retracting device, comparing the real-time tension value with a pre-tightening force set value, and sending the real-time tension value to a feedback controller (9) to calculate to obtain a control quantity delta N;
and 4, step 4: the speed feedforward controller (8) receives the Z-direction speed of the rotor platform sent by the rotor platform flight control system from the flight control interface (6), calculates the control quantity N, adds the control quantity N with the calculation result in the step (3) to obtain the rotating speed control quantity N + delta N of the rotor platform pay-off and take-up motor, and sends the rotating speed control quantity N + delta N to the rotor platform pay-off and take-up device;
and 5: the flight speed generation rule module (5) receives the X and Y direction position coordinates (X and Y) of the rotor platform sent by the rotor platform positioning system, calculates speed control parameters to the rotor platform X, Y and sends the speed control parameters to the rotor platform flight control system through the flight control interface (6); if the identification bit of the withdrawing process is valid, skipping to step 8, otherwise executing step 6;
step 6: the flight speed generation rule module (5) receives a Z-direction height value of the rotor platform sent by the rotor platform positioning system, compares the Z-direction height value with a rising height set value, sends a speed control parameter for controlling the Z-direction speed to be 0 to a rotor platform flight control system through a flight control interface (6) if the rising height set value is reached, clears a deployment process identification bit in the deployment process identification module (1), returns to the step 1 after the deployment process is finished, and returns to the step 3 if the rising height set value is not reached;
and 7: generating instruction parameters for controlling the descending of the rotor platform through a flight speed generation rule module (5), sending the instruction parameters to a rotor platform flight control system through a flight control interface (6), controlling the descending of the rotor platform, and returning to the step 3;
and 8: and the traveling speed generation rule module (5) receives a Z-direction height value of the rotor platform sent by the rotor platform positioning system, compares the Z-direction height value with the collection position, sends a speed control parameter for controlling the Z-direction speed to be 0 to the rotor platform flight control system through the flight control interface (6) if the Z-direction height value reaches the collection position, clears the identification bit of the withdrawing process in the withdrawing process identification module (2), returns to the step 1 after the withdrawing process is finished, and returns to the step 3 if the Z-direction height value does not reach the collection position.
The preferred embodiments described herein may be implemented in hardware, firmware, software, or a combination thereof. The processes and rules described herein are preferably executed on one or more processors (CPUs) in the form of microinstruction code.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (5)
1. A tethered rotor platform retraction controller, comprising: the device comprises an unfolding process identification module (1), a folding process identification module (2), a rising height setting module (3), a collection position module (4), a flight speed generation rule module (5), a flight control interface (6), a pretightening force setting module (7), a speed feedforward controller (8) and a feedback controller (9);
an unfolding process identification position is stored in the unfolding process identification module (1) and is used for identifying whether the folding and unfolding controller works in the unfolding process;
the withdrawing process identification module (2) is stored with a withdrawing process identification position for identifying whether the withdrawing controller works in the withdrawing process;
a rising height setting value is stored in the rising height setting module (3); the set value of the lifting height is the highest lifting height of the rotor platform, and the rotor platform is in idle work after reaching the highest lifting height;
the collection position module (4) stores the position value of the rotor platform under a control coordinate system when the rotor platform is collected on the undercarriage;
the flight speed generation rule module (5) receives an unfolding process identification bit, a folding process identification bit, a rise height set value, a collection position and rotor platform flight position information detected by a rotor platform positioning system to generate a rotor platform flight speed control parameter;
the flight control interface (6) is used for communicating with a flight control system of the rotor platform, acquiring the flight speed of the rotor platform and sending X, Y, Z-direction speed control parameters to the rotor platform; the coordinate system is a control coordinate system which is established according to right-hand rules and takes the center of the undercarriage as the origin of coordinates, the right front of the undercarriage as an X axis and the right upper side as a Z axis;
a pretightening force set value is stored in the pretightening force setting module (7);
the speed feedforward controller (8) acquires the Z-direction flight speed of the rotor platform from the flight control interface (6), generates a control parameter for controlling the rotating speed of a take-up and pay-off motor of the rotor platform and outputs the control parameter to a take-up and pay-off device of the rotor platform;
and the feedback controller (9) receives a difference value between the pre-tightening force set value and a real-time tension value on a mooring cable acquired by a tension sensor in the rotor platform take-up and pay-off device as input, generates a control parameter for controlling the rotating speed of a take-up and pay-off motor of the rotor platform and outputs the control parameter to the rotor platform take-up and pay-off device.
2. The tethered rotor platform retraction controller according to claim 1, wherein: parameters in the unfolding process identification module (1), the folding process identification module (2), the rising height setting module (3), the collection position module (4) and the pretightening force setting module (7) are input by external human-computer interaction equipment.
3. The tethered rotor platform retraction controller according to claim 1, wherein: the identification bit parameters in the unfolding process identification module (1) and the folding process identification module (2) are cleared by the flight speed generation rule module (5).
4. A method for controlling the retraction of a tethered rotor platform using the retraction controller of claim 1, wherein: the method comprises the following steps:
step 1: the system comprises a cyclic monitoring deployment process identification module (1) and a withdrawal process identification module (2); when the unfolding process identification bit in the unfolding process identification module (1) is valid, skipping to the step 2; when the identification bit of the withdrawing process in the withdrawing process identification module is valid, skipping to step 7;
step 2: command parameters for controlling the rotor platform to ascend are generated through a flight speed generation rule module (5) and are sent to a rotor platform flight control system through a flight control interface (6) to control the rotor platform to ascend;
and step 3: receiving a real-time tension value on a mooring cable acquired by a tension sensor in a rotor wing platform wire-retracting device, comparing the real-time tension value with a pre-tightening force set value, and sending the real-time tension value to a feedback controller (9) to calculate to obtain a control quantity delta N;
and 4, step 4: the speed feedforward controller (8) receives the Z-direction speed of the rotor platform sent by the rotor platform flight control system from the flight control interface (6), calculates the control quantity N, adds the control quantity N with the calculation result in the step (3) to obtain the rotating speed control quantity N + delta N of the rotor platform pay-off and take-up motor, and sends the rotating speed control quantity N + delta N to the rotor platform pay-off and take-up device;
and 5: the flight speed generation rule module (5) receives the X and Y direction position coordinates (X and Y) of the rotor platform sent by the rotor platform positioning system, calculates speed control parameters to the rotor platform X, Y and sends the speed control parameters to the rotor platform flight control system through the flight control interface (6); if the identification bit of the withdrawing process is valid, skipping to step 8, otherwise executing step 6;
step 6: the flight speed generation rule module (5) receives a Z-direction height value of the rotor platform sent by the rotor platform positioning system, compares the Z-direction height value with a rising height set value, sends a speed control parameter for controlling the Z-direction speed to be 0 to a rotor platform flight control system through a flight control interface (6) if the rising height set value is reached, clears a deployment process identification bit in the deployment process identification module (1), returns to the step 1 after the deployment process is finished, and returns to the step 3 if the rising height set value is not reached;
and 7: generating instruction parameters for controlling the descending of the rotor platform through a flight speed generation rule module (5), sending the instruction parameters to a rotor platform flight control system through a flight control interface (6), controlling the descending of the rotor platform, and returning to the step 3;
and 8: and the traveling speed generation rule module (5) receives a Z-direction height value of the rotor platform sent by the rotor platform positioning system, compares the Z-direction height value with the collection position, sends a speed control parameter for controlling the Z-direction speed to be 0 to the rotor platform flight control system through the flight control interface (6) if the Z-direction height value reaches the collection position, clears the identification bit of the withdrawing process in the withdrawing process identification module (2), returns to the step 1 after the withdrawing process is finished, and returns to the step 3 if the Z-direction height value does not reach the collection position.
5. The method of claim 4, wherein the method comprises: in the step 1, a cyclic monitoring expansion process identification module (1) and a withdrawal process identification module (2) are realized by circularly monitoring key operation of the human-computer interaction equipment; when judging that the expansion key is triggered, the identification bit of the setting and expansion process is valid and jumps to the step 2, and when judging that the withdrawal key is triggered, the identification bit of the setting and withdrawal process is valid and jumps to the step 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911008606.9A CN110703786B (en) | 2019-10-22 | 2019-10-22 | Mooring rotor wing platform retraction controller and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911008606.9A CN110703786B (en) | 2019-10-22 | 2019-10-22 | Mooring rotor wing platform retraction controller and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110703786A true CN110703786A (en) | 2020-01-17 |
| CN110703786B CN110703786B (en) | 2022-12-27 |
Family
ID=69201164
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911008606.9A Active CN110703786B (en) | 2019-10-22 | 2019-10-22 | Mooring rotor wing platform retraction controller and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110703786B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105923152A (en) * | 2016-05-20 | 2016-09-07 | 苏跃进 | Captive flight system and captive flight vehicle thereof |
| EP3070045A1 (en) * | 2015-03-16 | 2016-09-21 | Airbus Helicopters | A winch system and a rotary-wing aircraft having such a winch system |
| CN107097954A (en) * | 2017-06-21 | 2017-08-29 | 安徽博识电子科技有限公司 | It is tethered at the folding and unfolding line control system and folding and unfolding method of rotor wing unmanned aerial vehicle |
| CN107512391A (en) * | 2017-08-23 | 2017-12-26 | 长春长光精密仪器集团有限公司 | Based on the rotor unmanned aircraft for being tethered at cable power supply |
| CN108528753A (en) * | 2018-07-09 | 2018-09-14 | 公安部上海消防研究所 | A kind of captive fire-fighting Air Surveillance Platform |
| CN109677627A (en) * | 2019-01-11 | 2019-04-26 | 苏州全波通信技术股份有限公司 | It is tethered at unmanned plane precision approach control system and method |
| CN109795710A (en) * | 2019-03-23 | 2019-05-24 | 深圳市贝贝特科技实业有限公司 | It is tethered at the full-automatic retractable cable system of unmanned plane synchronously control |
-
2019
- 2019-10-22 CN CN201911008606.9A patent/CN110703786B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3070045A1 (en) * | 2015-03-16 | 2016-09-21 | Airbus Helicopters | A winch system and a rotary-wing aircraft having such a winch system |
| CN105923152A (en) * | 2016-05-20 | 2016-09-07 | 苏跃进 | Captive flight system and captive flight vehicle thereof |
| CN107097954A (en) * | 2017-06-21 | 2017-08-29 | 安徽博识电子科技有限公司 | It is tethered at the folding and unfolding line control system and folding and unfolding method of rotor wing unmanned aerial vehicle |
| CN107512391A (en) * | 2017-08-23 | 2017-12-26 | 长春长光精密仪器集团有限公司 | Based on the rotor unmanned aircraft for being tethered at cable power supply |
| CN108528753A (en) * | 2018-07-09 | 2018-09-14 | 公安部上海消防研究所 | A kind of captive fire-fighting Air Surveillance Platform |
| CN109677627A (en) * | 2019-01-11 | 2019-04-26 | 苏州全波通信技术股份有限公司 | It is tethered at unmanned plane precision approach control system and method |
| CN109795710A (en) * | 2019-03-23 | 2019-05-24 | 深圳市贝贝特科技实业有限公司 | It is tethered at the full-automatic retractable cable system of unmanned plane synchronously control |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110703786B (en) | 2022-12-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20210405656A1 (en) | Long line loiter apparatus, system, and method | |
| US12045066B2 (en) | Systems and methods for an automated, lighter-than-air airborne platform | |
| CN106444824B (en) | Unmanned aerial vehicle, unmanned aerial vehicle landing control device and method | |
| RU2568510C1 (en) | Drone safe forced landing | |
| EP0743241B1 (en) | Autopilot/flight director underspeed protection system | |
| JP7052299B2 (en) | How to control unmanned aircraft and unmanned aircraft | |
| CN102667654A (en) | Calculation and display of warning speed for thrust asymmetry control | |
| EP2224306A2 (en) | Automatic pilot pitch angle compensation | |
| CN109383781B (en) | System and method for approaching hover of rotorcraft | |
| JP2021075268A (en) | Systems and methods for pitch axis envelope limiting of aircraft | |
| WO2015101978A1 (en) | Autonomous emergency descending and landing of aircrafts | |
| CN112305974A (en) | Unmanned aerial vehicle cluster remote control method, system, device and equipment | |
| CN109426276A (en) | Autocommand for lift control equipment | |
| CN110703786B (en) | Mooring rotor wing platform retraction controller and method | |
| CN114527780B (en) | Intelligent landing guiding control method and system for carrier-based helicopter | |
| US8674851B2 (en) | Method and device for displaying trim information on an airplane during a take-off | |
| CN110618692B (en) | Method and device for controlling take-off of unmanned aerial vehicle | |
| CN107608366A (en) | More parafoil UASs based on event triggering | |
| JP2024520419A (en) | Long line rotor devices, systems and methods | |
| CN109270957A (en) | A kind of plant protection system and its flying vehicles control method and apparatus | |
| US7702428B2 (en) | Method and device to assist in the piloting of an aircraft | |
| CN1136353A (en) | System for generating an anomaly signal during take-off of an aircraft | |
| EP4159661B1 (en) | Method of guiding the sheave especially of the overhead crane | |
| Kim et al. | Vision‐assisted deep stall landing for a fixed‐wing UAV | |
| CN110329532B (en) | Supersonic unmanned aerial vehicle recovery method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |