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A Boundary Protection Method for Unmanned Aerial Vehicles with Large Lift-to-Drag Ratio

A border protection, UAV technology, applied in instruments, three-dimensional position/channel control, control/regulation systems, etc., can solve problems such as flight accidents, aircraft stalls, and great dependence on actual experience, to protect flight safety and improve flight safety. Safety, flight accident avoidance effect

Active Publication Date: 2021-07-02
CHENGDU AIRCRAFT INDUSTRY GROUP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, the pilot is highly dependent on the actual experience of the designer. In addition, its fixed control law parameters lead to large changes in the control quality of the UAV within the full envelope range, especially when the external environment is strongly disturbed. , due to the lack of corresponding protection measures, the airspeed, angular velocity and overload of the UAV will easily exceed its own limit boundary, which will easily cause the UAV to enter an unstable state and affect the flight quality. In severe cases, the aircraft will stall and cause a flight accident

Method used

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  • A Boundary Protection Method for Unmanned Aerial Vehicles with Large Lift-to-Drag Ratio
  • A Boundary Protection Method for Unmanned Aerial Vehicles with Large Lift-to-Drag Ratio
  • A Boundary Protection Method for Unmanned Aerial Vehicles with Large Lift-to-Drag Ratio

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Effect test

Embodiment 1

[0108] A large-lift resistance ratio of drone boundary protection, adding boundary protection in a gesture driving control loop, the boundary protection item is the error value of the protected signal and the product of the gain K.

Embodiment 2

[0110] A large lift resistance ratio of drone boundary protection, including air-speed boundary protection, angular velocity boundary protection, and overload boundary protection, add boundary protection items in the attitude driving control loop, the boundary protection item is the error value of the protected signal Products with gain K.

[0111] The present invention aims to overcome the lack of air velocity, angular velocity, and overload, which appears after strong disturbance. The hollow boundary is protected into a vacant boundary protection item in a given in the internal loop control target pitch angle. The angular velocity boundary protects two links including feedforward compensation and feedback compensation; the feedforward compensation is to ensure that the inner loop posture angle continuous two-shot error is not greater than a certain limit; the feedback compensation is in the internal loop control target attitude The angular velocity boundary protection item is ad...

Embodiment 3

[0114] This embodiment is optimized based on the embodiment 1 or 2, and the content of the air speed boundary is as follows:

[0115] Air speed boundary protection technology is in the longitudinal elevator control loop θ g Join the airborne boundary protection item to achieve air speed protection, the specific control of the law is The error signal is defined as ΔVias, the air speed boundary protection range figure 1 Indicated.

[0116] 1) When indicating airship VIAS ≤iasb0: ΔVias = IASB0-IASB1;

[0117] 2) When indicating airship IASB0

[0118] 3) When indicating the air speed IASB1

[0119] 4) When indicating the vacancy IAST0

[0120] 5) When indicating airship IAST1

[0121] The basic principle is that when the drone is disturbed, the speed is more than (less than) speed protection boundary value, through the air speed protection item Increase (decrease)...

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Abstract

The invention discloses a boundary protection method for an unmanned aerial vehicle with a large lift-to-drag ratio. A boundary protection item is added to an attitude driving control loop, and the boundary protection item is the product of an error value of a protected signal and a gain K. The present invention adds boundary protection control on the basis of not changing the original control law structure. When each signal exceeds the boundary, it can quickly adjust the flight attitude to ensure that each signal re-enters the protected range, thereby protecting the UAV. Flight safety.

Description

Technical field [0001] The present invention belongs to the technical field of drone driving, and specific relates to a large lift resistance ratio of drone boundary protection method. Background technique [0002] At present, the large-lift resistance ratio is a gesture driver, which generally adopts the mainstream PID control scheme, and the controller has a gestant angular control. The outer circuit is trajectory control, the controller structure is simple, control Good effect and easy to work. [0003] However, the driver's actual empirical dependence is large, and the fixed control law parameters are fixed, resulting in a large change in the control quality of the drone in the entire inclination line, especially when encountered in the external environment. Due to the lack of corresponding protective measures, drones' speed, angular velocity, and overloaded itself exceeds its own limit boundary, it is easy to enter unstable state, affecting flight quality, and severe people ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 赵东宏金波张瞿辉熊维康夏炎
Owner CHENGDU AIRCRAFT INDUSTRY GROUP
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