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Method for lateral control of unmanned aerial vehicle

A control method and UAV technology, applied in attitude control and other directions, can solve problems such as adverse effects and deviations of flight performance such as range and voyage time, and achieve the effect of shortening the flight path of the airline, simple structure and easy implementation.

Inactive Publication Date: 2010-07-28
BEIHANG UNIV
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  • Claims
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AI Technical Summary

Problems solved by technology

This will cause a large deviation between the aircraft's flight trajectory and the expected trajectory, and will have an adverse effect on flight performance such as range and flight time

Method used

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  • Method for lateral control of unmanned aerial vehicle
  • Method for lateral control of unmanned aerial vehicle
  • Method for lateral control of unmanned aerial vehicle

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Embodiment Construction

[0024] The present invention will be further described below in conjunction with examples and accompanying drawings.

[0025] Consider the minimum ground speed V of a UAV dmin is 100m / s, the maximum roll angle allowed by the aircraft γ gmax is 30°, and the amount of turning in advance when the flight segment is switched during the flight of the aircraft is 2000m. According to the lateral mathematical model of the aircraft, according to the principle of automatic control and the corresponding design requirements, design its lateral attitude control loop, select the appropriate side offset distance feedback control coefficient K1 and side offset speed feedback control coefficient K2, so that the aircraft The stability, rapidity and steady-state accuracy of lateral movement meet the design requirements. The lateral control of the UAV is realized through the following steps.

[0026] Step 1: Set the side deviation speed limit value As the initial value, choose ξ=0.5.

[0027...

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Abstract

The invention discloses a method for lateral control of an unmanned aerial vehicle, which belongs to the field of the control of the unmanned aerial vehicle flight. In the method, the input lateral posture control volume gamma (g) of a lateral posture control loop is calculated according to the lateral deflection distance Sg, the lateral migration velocity and the distance to go Dtogo of an unmanned aerial vehicle, so as to guide the unmanned aerial vehicle to fly along an expected airliner. The invention fully considers aircraft performances and actual flight conditions to dynamically determine the limit amplitude of the lateral migration speed, so as to achieve the high-quality transition for correction of the actual flight path; and the flying velocity vector of the aircraft changes along the shorter path to the direction of the expected airline during the switching of the flight segment of the aircraft, thereby avoiding the unnecessary cross in the flight path, shortening the airline flight path, and improving the flight performance.

Description

technical field [0001] The invention relates to a lateral control method of an unmanned aerial vehicle, belonging to the field of unmanned aerial vehicle flight control. Background technique [0002] The basic task of UAV lateral control is to make the UAV fly along the desired trajectory on the basis of the stability of its lateral angular motion. The current area navigation method can allow the aircraft to fly any desired flight path within the coverage of the reference station of the station-based navigation equipment or within the limited range of the autonomous navigation equipment, or both. The station-based navigation equipment includes traditional land-based navigation equipment based on terrestrial radio stations and satellite-based navigation equipment based on satellite navigation systems. In terms of route structure, the route of regional navigation is a connection line composed of a series of waypoints. These waypoints are any geographical location set independ...

Claims

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Application Information

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IPC IPC(8): G05D1/08
Inventor 方晓星王勇张利刚王英勋
Owner BEIHANG UNIV
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