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Fixed-wing fixed-height control method, electronic equipment and storage medium

A control method and fixed-wing technology, applied in the field of flight control, can solve the problems of unspecified parameter adjustment method and many adjustment parameters, and achieve the effect of facilitating theoretical analysis and engineering application, less control parameters, and solving precision control problems

Pending Publication Date: 2021-11-26
北京北航天宇长鹰无人机科技有限公司
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there are too many parameters to be adjusted, and no effective parameter adjustment method is given.

Method used

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  • Fixed-wing fixed-height control method, electronic equipment and storage medium
  • Fixed-wing fixed-height control method, electronic equipment and storage medium
  • Fixed-wing fixed-height control method, electronic equipment and storage medium

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Embodiment 1

[0035] figure 1 For the flow chart of the fixed-wing fixed-height control method according to the present invention, reference will be made below figure 1 , the fixed-wing fixed-height control method of the present invention is described in detail.

[0036] First, in step 101, an inner loop pitch angle controller is designed.

[0037] Preferably, step 101 is the step of designing the pitch angle controller of the inner ring, which can be specifically executed as follows: according to the longitudinal motion characteristics of the fixed wing, the pitch angle θ is used as an output, and the elevator is used as an input to describe the pitch angle motion with the following second-order differential equation, specifically as follows :

[0038]

[0039] Where X=[V α q θ], is the longitudinal state quantity of the UAV, where V is the airspeed, α is the angle of attack, q is the pitch angular velocity, θ is the pitch angle, y θ is the output pitch angle, b θ is the input coeff...

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Abstract

A fixed-wing fixed-height control method comprises the following steps: designing an outer ring height controller by taking a height expected quantity as input and a pitch angle expected quantity as output; designing an inner ring pitch angle controller by taking a pitch angle expected quantity as input and an elevator as output according to the longitudinal motion characteristics of the fixed wing; designing an air speed controller by taking the air speed expected quantity as input and the accelerator quantity as output; and controlling the unmanned aerial vehicle according to the constructed three linear active disturbance rejection controllers and external disturbance. According to the fixed-wing fixed-height control method, fixed-wing high-precision fixed-height control under complex airflow disturbance can be achieved, structure parameters are few, and the fixed-wing fixed-height control method has definite physical significance, is convenient to adjust and analyze and has engineering practical significance.

Description

technical field [0001] The invention relates to the technical field of flight control, in particular to a fixed-wing fixed-wing control method based on an expanded state observer. Background technique [0002] For some special application scenarios, such as geographical surveying and mapping, oil pipeline inspection, etc., the effectiveness of the measurement structure of the detection equipment has strict requirements on the height. In addition, the complex airflow disturbance during the flight of the aircraft will affect the flight trajectory and cause the recovery to fail. The pursuit of high Precise longitudinal height control is essential. Now the PID controller is commonly used in engineering to control the height, and in the absence of external disturbance, it can achieve no static error control, but in practice, the atmosphere is not calm, and the impact on the aircraft is very important and cannot be ignored. In this case, the control accuracy is often difficult to...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 熊小军张书浩张登峰
Owner 北京北航天宇长鹰无人机科技有限公司
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