Multi-control surface unmanned aerial vehicle direct lift force control method

Abstract

The present invention discloses a multi-control surface unmanned aerial vehicle direct lift force control method. The method is characterized in that an error of an expected lift force increment and an actual lift force increment, and an error of an expected pitching moment increment and an actual pitching moment increment are calculated according to an expected longitudinal trajectory command, a pitching angle command, and the measured flight state information, such as the height, the speed, the acceleration, the pitching angle, the pitching angle acceleration, etc., and a dynamic control distribution method is adopted to carry out the control distribution calculation on the lift force increment error and the pitching moment increment error real-timely, so that the deflection angle of each control surface is obtained. According to the present invention, by the closed loop force and the moment control distribution, the direct lift force control of a multi-control surface unmanned aerial vehicle is realized, and a better posture and trajectory decoupling control effect is obtained. The method of the present invention can be applied to the direct lift force flight control of the unmanned aerial vehicle possessing the redundant control surfaces, thereby realizing the decoupling control of the pitching angle posture and the height trajectory of the unmanned aerial vehicle.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle flight control, and in particular relates to a method for direct lift control of an unmanned aerial vehicle with multiple control surfaces. Background technique [0002] The wide application of drones, especially the emergence of unmanned fighter jets, puts forward higher requirements for the control performance of drones. It has multiple control surfaces, which can increase the aerodynamic margin of the UAV and enhance its maneuverability, which can greatly improve its control performance. The conventional flight control method is to generate a control moment by deflecting the control surface to overcome the moment of inertia and damping of the aircraft, and to produce a change in the attitude angle, which changes the angle of attack or sideslip angle to generate an aerodynamic force that changes the trajectory. It can be seen that it indirectly affects the force by changing the moment bal...

AI Technical Summary

Problems solved by technology

These control allocation methods can only allocate the desired torque command, but cannot allocate the desired force command, so they can only realize the attitude control of the UAV, but cannot realize the direct lift control of decoupling attitude and trajectory.

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