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Method for controlling automatic landing and leveling of unmanned aerial vehicle

A control method and unmanned aerial vehicle technology, applied in the direction of non-electric variable control, position/direction control, control/regulation system, etc., can solve the problems of high damage cost and difficulty in meeting the requirements of autonomous landing and leveling control methods, and achieve easy implementation , Improve landing safety and reduce deviation

Inactive Publication Date: 2010-06-02
BEIHANG UNIV
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AI Technical Summary

Problems solved by technology

However, for large unmanned aerial vehicles with high landing requirements, the damage cost of aircraft landing is relatively high, and higher control accuracy of landing and lifting speed is required
This autonomous landing leveling control method is difficult to meet the requirements

Method used

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  • Method for controlling automatic landing and leveling of unmanned aerial vehicle
  • Method for controlling automatic landing and leveling of unmanned aerial vehicle
  • Method for controlling automatic landing and leveling of unmanned aerial vehicle

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Embodiment Construction

[0040] The automatic landing leveling control method of the present invention will be further described below in conjunction with the accompanying drawings and examples.

[0041] The automatic landing leveling control method of the unmanned aerial vehicle described in the present invention, the process is as follows Figure 4 shown in the following steps:

[0042] Step 1: Realize the link of generating the expected value of the lifting speed and the lifting acceleration, and obtain the expected value of the lifting speed v yg (t) and expected value of lifting acceleration a yg (t).

[0043]In the vertical plane, the longitudinal trajectory of the aircraft from the transition to the actual landing point is called the flare trajectory, and an exponential curve is generally used as the flare trajectory. When the plane is leveled with an exponential curve, the vertical lift speed of the plane decreases correspondingly as the height drops, and the lift speed of the plane at each...

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Abstract

The invention discloses a method for controlling the automatic landing and leveling of an unmanned aerial vehicle, a control scheme combining with an open loop correction with a closed loop feedback control. Each control link in a control loop is realized by obtaining a lifting speed expected value vyg(t), a lifting acceleration expected value ayg(t), an expected pitching angle thetag(t) and an elevator skewness command Deltag (t), particularly, the lifting speed open loop integral correction vygSemi is introduced, thereby the deviation of the actual lifting speed and the expected value when the plane touches down is reduced. The correction has obvious physical meaning and strong engineering application, is easy to realize, is suitable for the automatic landing and leveling control with the requirement of high precision, and effectively improves the landing safety.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle flight control, and specifically refers to an automatic landing leveling control method of an unmanned aerial vehicle. Background technique [0002] Landing and recovery is an important stage in the flight process of UAVs, and it is also the most accident-prone link in flight. Therefore, the design of automatic flight control in the landing and recovery phase is particularly critical. The recovery methods of drones can be summarized into parachute recovery, wheeled slide landing recovery, interception net recovery, air cushion landing recovery and other types. Compared with other recovery methods, the wheeled landing recovery method does not require auxiliary equipment such as interception nets or air cushions, and has higher autonomy. It is an important development direction for UAV landing recovery. During the landing, the UAV that adopts the wheeled sliding landing method must accurately...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/00
Inventor 王养柱方晓星王金提官汉增田波田峰
Owner BEIHANG UNIV
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