A strong robust full-envelope integrated control method for tilt-rotor UAV

A strong and robust tiltrotor technology, applied in vehicle position/route/altitude control, control/regulation system, non-electric variable control, etc., can solve problems such as threats to flight safety, aircraft state fluctuations, and discontinuity , to achieve the effect of improving robustness, reducing manipulation burden, and realizing precise control

Active Publication Date: 2021-06-04
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This switching will artificially introduce discontinuity in the flight control process, resulting in large fluctuations in the state of the aircraft, which will threaten flight safety in severe cases

Method used

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  • A strong robust full-envelope integrated control method for tilt-rotor UAV
  • A strong robust full-envelope integrated control method for tilt-rotor UAV
  • A strong robust full-envelope integrated control method for tilt-rotor UAV

Examples

Experimental program
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Effect test

Embodiment 1

[0101] The first step is to map the commands of the remote controller or ground station into manipulation commands of the controlled state quantity.

[0102] The mapped manipulation instructions are:

[0103] the y p =[th f h c φ c θ c r c ] T (2)

[0104] Among them, th f Indicates the throttle command for forward flight. The physical meaning is the projection of the total throttle command of the tiltrotor on the x-axis direction of the body axis. When the controlled UAV is in multi-rotor mode, th f zero; H c Indicates height command; φ c Indicates the roll angle command; θ c Indicates pitch angle command; r c Indicates the yaw rate command.

[0105] The second step is to produce reference instructions that conform to the physical characteristics of the controlled UAV according to each manipulation instruction.

[0106] The reference models of the altitude command, the pitch angle command and the roll angle command are all second-order reference models, and...

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Abstract

The invention discloses a strong and robust full-envelope integrated control method for a tilt-rotor UAV. On the basis of INDI control, combined with envelope protection, hierarchical control distribution, and integrated control of height and attitude, single control can be realized Unified control of the entire flight envelope by the controller. This control method can effectively deal with the problem of control quality degradation caused by the nonlinear time-varying characteristics of the tilt-rotor UAV, and realize the precise control of the height and attitude of the tilt-rotor UAV. This control method can greatly reduce the dependence of controller parameters on the accuracy of the UAV model, and improve the robustness of the controller to model mismatch and external disturbances. Different from the traditional segmented tiltrotor control mode, the present invention adopts an integrated control structure, which can avoid artificially introducing discontinuity of control parameters or control signals, and improve flight safety and controller integration.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle flight control, in particular to a strong robust full-envelope integrated control method for a tilt-rotor unmanned aerial vehicle. Background technique [0002] Traditional UAVs can be basically divided into two types according to their configuration: fixed-wing UAVs and helicopter / multi-rotor UAVs. Fixed-wing UAVs have high flight speed and strong endurance, but runway facilities are required for take-off and landing, and the conditions of use are limited. Helicopter / multi-rotor drones have vertical takeoff and landing and air hovering capabilities, but their flight speed is low, and their range and endurance are short. In recent years, new short-range / vertical take-off and landing UAVs represented by tilting rotor aircraft have gradually emerged. This new type of UAV combines the respective advantages of fixed-wing aircraft and helicopters / multi-rotors, and has a wider flight en...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 赵江王泽昕蔡志浩王英勋
Owner BEIHANG UNIV
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