Unmanned aerial vehicle time-division control method

Abstract

The invention provides an unmanned aerial vehicle time-division control method. The control method comprises the following steps: executing a first stage control law; judging whether reaches switchingtime, continuously executing the first stage control law if the switching time is not reached, and executing the second stage control law if reaching the switching time. For the dynamics and kinematics characteristics of the unmanned aerial vehicle by changing to a level flight stage from the subduction stage, the total design requirement of the unmanned aerial vehicle is combined, the maximum speed and the maximum overload value limit are considered, so that the speed and the overload of the unmanned aerial vehicle are changed in an allowable change by designing the switching time of the first stage control law and the second stage control law and the change rate of a posture instruction in the first stage control law, thereby guaranteeing the posture gentle transition and flight security of the unmanned aerial vehicle. The control method is simple in shape, low in computation complexity and convenient for engineering realization.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicles, in particular to a time-sharing control method for unmanned aerial vehicles. Background technique [0002] Generally speaking, the mission cycle of UAVs includes the following stages: ground roll, takeoff, cruise, descent and landing. But for UAVs in near space, in order to reduce the structural weight of the UAV itself and reserve space for the assembling load, at present, engineering also considers the use of an aerostat platform for take-off. For UAVs that use an aerostat platform to take off, their mission cycle is different from that of previous UAVs, and usually includes the following stages: ball-borne take-off, delivery to level flight, cruise, descent and landing. process. The ball-borne take-off process mainly depends on the control of the aerostat platform, while the process of launching to level flight depends on the control of the UAV itself. The success or failure of the de...

AI Technical Summary

Problems solved by technology

However, this fixed delivery and pull-up method faces two difficulties at the level of control law design: first, the aircraft nose is facing down at the initial moment, and there is a relatively large pitch angle. In the drastic transition process, the improper design of the control law will bring a large overload, which brings great challenges to the design of the aircraft structure; second, the initial speed of the aircraft is very small, and the rudder effect is very small. , the rudder effect gradually increases, and a reasonable selection of pull-up time can ensure that the attitude change and overload change during the whole process will not be too drastic, and avoid aircraft attitude instability or structural damage

[0004] For the unmanned aerial vehicles that take off from the aerostat platform, the conventional take-off control method cannot guarantee the smooth and safe switching between the take-off period and the cruising period. It is necessary to design a special control method for this stage to solve the above technical problems.

Images