Unmanned machine rolling leveling control method

Abstract

The invention discloses a UAV roll-leveling control method based on a side-slip correction method. The original side-slip correction method is improved by introducing the aileron control amount δx0 at the moment when the UAV is connected to the roll-leveling control. Improvements are made to control the roll and leveling of the UAV according to the formula. The method provided by the present invention is especially suitable for the control of the unmanned aerial vehicle with relatively high requirements for landing and roll leveling when the crosswind is strong. Applying the control method of the present invention only needs to record the aileron control amount at the moment of roll leveling access to realize the leveling control, the control process is simple and reliable; the aircraft can be grounded with a small roll angle; in the same crosswind Under certain conditions, applying the control method of the present invention can make the UAV land with a roll angle close to 0 degrees, which greatly improves the landing safety of the UAV.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle flight control, in particular, it refers to a control method for rolling and leveling an unmanned aerial vehicle. Background technique [0002] Sudden changes in the weather, the invasion of micro-downdrafts, and flights and forced landings under complex weather conditions may cause the UAV to encounter crosswinds. Flying in a crosswind, if the drone's track is not corrected, the aircraft's track will deviate from the plane of symmetry of the aircraft, making the drone move in the direction of the crosswind. The greater the crosswind, the greater the lateral movement produced. When approaching and landing encounters a crosswind, if the influence of the crosswind is not promptly and effectively corrected, it will be difficult for the UAV to land on the right runway. [0003] In order to resist the influence of crosswind, there are generally two control strategies: one is the heading correct...

AI Technical Summary

Problems solved by technology

However, from the balance relationship between force and moment when using the sideslip correction method for automatic landing above, it can be known that the control amount of the front aileron after roll leveling makes the lateral control moment and lateral stabilizing moment M x β β balance, if the aileron control amount is 0 after the roll is leveled, the lateral stabilizing moment M will be brought by the sideslip angle β x β β will cause the aircraft to roll again, and the roll angle after the final stabilization must not be 0, which will have an adverse effect on the safe landing of the aircraft

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