CN103640696A - Vertical touchdown type unmanned aerial vehicle and control method thereof - Google Patents
Vertical touchdown type unmanned aerial vehicle and control method thereof Download PDFInfo
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- CN103640696A CN103640696A CN201310643358.1A CN201310643358A CN103640696A CN 103640696 A CN103640696 A CN 103640696A CN 201310643358 A CN201310643358 A CN 201310643358A CN 103640696 A CN103640696 A CN 103640696A
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Abstract
The invention relates to a vertical touchdown type unmanned aerial vehicle and a control method thereof. The unmanned aerial vehicle comprises a nose propeller, a fuselage, wings and a tail, wherein the nose propeller is connected to a nose engine; wing hanging engines are respectively fixed below the two wings symmetrically; the front part of each wing hanging engine is connected with a wing propeller. The control method for the rappelling unmanned aerial vehicle comprises the following steps: (1) acquiring specific coordinate information of a vertical touchdown place; (2) dividing a flight path into four stages of cruise flight, diving acceleration, climbing and rising, and vertical ascending and falling based on the flight state information of an aircraft; and (3) designing a control loop which takes two parameters of the flight path and flight attitude as variables, correcting the flight path deviation caused by airflow disturbance or control error in time, outputting a pneumatic control surface deviation control amount and pull control amounts of each engine, and controlling the aircraft to finish the overall vertical touchdown process. According to the vertical touchdown type unmanned aerial vehicle and the control method thereof, the vertical touchdown can be performed by using an unmanned aerial vehicle, and the using performance and the working capability of the aircraft are improved.
Description
Technical field
The present invention relates to unmanned flying platform, specifically unmanned plane and control method thereof fall in a kind of hanging down, and belong to aeronautical engineering technical field.
Background technology
Vertical landing (referred to as " hang down and fall ") technology refers to that aircraft does not need the sliding technology that just can land of running.Conventionally, the landing modes of normal arrangement aircraft is the sliding landing of running, so need runway.And hang down, fall main finger aircraft and can by runway, just can not hang down in original place and fall, the not requirement to runway, so be the target of aviation personage pursuit always.
The vertical technique functions of falling of normal arrangement aircraft starts from five sixties after World War II, and fears are entertained that, and atomic warfare causes damage to cause conventional airplane to set out to airfield runway, thereby has expedited the emergence of this aeronautical technology.The existing technology of falling of hanging down is mainly used on fighter plane (as the sparrow hawk formula of Britain, the Ya Ke of the Soviet Union, the F-35B of the U.S. etc.) and stunt model plane, due to the difference of magnitude and task, the existing technology of falling of hanging down can not be transplanted on all kinds of screw drawing-in type normal arrangement aircrafts.
Screw drawing-in type normal arrangement unmanned plane, comprise head screw propeller, fuselage, wing and empennage etc., under the drawing in of nose engine, overcoming fuselage resistance advances, wing produces lift and overcomes gravity flight under incoming flow effect, completes the driftage, upset, pitching of fuselage etc. by the deflection of each pneumatic rudder face.Because task needs, this unmanned plane often need to not have enough spatial domains to can be used as under the environment of landing runway at some to work, so it is very urgent that the demand of technology is fallen in this type aircraft vertical.
Summary of the invention
The present invention is directed to the problems referred to above, when a kind of landing is provided to runway without the vertical unmanned plane that falls relying on, also provide in addition a kind of this to hang down and fall control method of unmanned plane.
According to technical scheme of the present invention: unmanned plane falls in a kind of hanging down, comprise head screw propeller, fuselage, wing and empennage, described head screw propeller is connected on nose engine, the below of two described wings is symmetrically fixed with respectively a wing and hangs driving engine, and the place ahead that every described wing hangs driving engine is connected with respectively wing screw propeller.
Each driving engine adopts electric-powered system.
Described empennage comprises tailplane and vertical tail.
The blade of described wing screw propeller is collapsed configuration with the wind.
Aspect measuring system is installed in described fuselage, and described aspect measuring system comprises that airborne anemoscope, rate gyro, accelerometer, magnetic heading take into account GPS sensor.
Hang down and fall the control method of unmanned plane, comprise the following steps:
(1) obtain the vertical concrete coordinate information in place that falls;
(2) the state of flight information based on aircraft, plans the flight path of aircraft, and flight path is divided into cruising flight, underriding acceleration, the new line that climbs, vertical uplift and decline four-stage;
In the cruising flight stage, after the blade down wind of wing screw propeller, pack up to reduce resistance;
At underriding acceleration phase, aircraft flies the region that closely will land, starts the wing and hangs driving engine, dives and accelerates to enter overhead, region to be fallen;
Climbing the new line stage, when having enough lift more than needed that centripetal force is provided, aircraft starts to climb and faces upward;
In vertical uplift and decline stage, in the process of facing upward, when becoming vertically upward, air speed direction adjusts in time rudder face, making airplane ascensional force is zero, thereby centripetal force disappears, and only has the fuselage axial force perpendicular to ground, aircraft moves along original direction, enters vertical uplift state; Then, adjusting each engine power rises and then uniform descent aircraft deceleration;
(3) flight path and these two control loops that parameter is variable of flight attitude are take in design, and the trajector deviation causing because of flow perturbation or departure is made to correction immediately, export pneumatic control surface deflection controlling quantity and each driving engine pulling force controlling quantity, control aircraft and complete the whole process of falling of hanging down.
Hang down and fall the concrete coordinate information in place for specify in advance or gather temporarily.
The method of interim coordinate acquisition information is: aircraft is arrived in the vertical top, place that falls of wish by plane, by the optical imaging device on fuselage, determine the concrete optical information in place to be fallen, and by the laser rangefinder module on fuselage, in conjunction with airborne air pressure, determine height and take into account GPS locating module and obtain place to be fallen and the concrete coordinate information of airframe.
Technique effect of the present invention is: the present invention can make unmanned plane hang down to fall, reduced the requirement of aircraft to runway, greatly improved in-use performance and the working ability of aircraft.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is track chart of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is further described.
In Fig. 1, comprise that head screw propeller 1, nose engine 2, fuselage 3, wing screw propeller 4, the wing hang driving engine 5, wing 6, tailplane 7, vertical tail 8 etc.
As shown in Figure 1, be that unmanned plane falls in a kind of hanging down, body adopts screw drawing-in type normal arrangement, comprises head screw propeller 1, fuselage 3, wing 6 and empennage, and head screw propeller 1 is connected on nose engine 2, and empennage comprises tailplane 7 and vertical tail 8.The present invention is symmetrically fixed with respectively a wing and hangs driving engine 5 below two wings 6, and the place ahead that every wing hangs driving engine 5 is connected with respectively wing screw propeller 4, thereby form three screw propellers, draws in form.
During cruising flight, the wing hangs driving engine 5 for deadweight, and the blade of wing screw propeller 4 adopts collapsed configuration with the wind, can reduce flight resistance, little on the airworthiness impact of aircraft.
Each driving engine adopts electric-powered system.
Aspect measuring system is installed in fuselage 3, and aspect measuring system comprises that airborne anemoscope, rate gyro, accelerometer, magnetic heading take into account GPS sensor.
The control method of unmanned plane falls in above-mentioned hanging down, and comprises the following steps:
(1) obtain the vertical concrete coordinate information in place that falls.Hang down and fall the concrete coordinate information in place for specify in advance or gather temporarily.
The method of interim coordinate acquisition information is: aircraft is arrived in the vertical top, place that falls of wish by plane, by the optical imaging device on fuselage, determine the concrete optical information in place to be fallen, and by the laser rangefinder module on fuselage, in conjunction with airborne air pressure, determine height and take into account GPS locating module and obtain place to be fallen and the concrete coordinate information of airframe.
(2) the state of flight information based on aircraft, plans the flight path of aircraft, and flight path is divided into cruising flight, underriding acceleration, the new line that climbs, vertical uplift and decline four-stage; As shown in Figure 2, the straight line 1 in figure represents the cruising flight stage, and curve 2 represents underriding acceleration phase, and curve 3 represents to climb the new line stage, and straight line 4 represents vertical uplift and decline stage.
In the cruising flight stage, after the blade down wind of wing screw propeller, pack up to reduce resistance.
At underriding acceleration phase, aircraft flies the region that closely will land, starts the wing and hangs driving engine, dives and accelerates to enter overhead, region to be fallen.Because the level speed of aircraft is generally lower, even be also not enough to produce enough lift more than needed in the situation that adjusting rudder face increase airfoil lift coefficient, provide centripetal force, so need carry out accumulating rate by the mode of diving.Now driving engine standard-sized sheet, is all converted into aircraft kinetic energy by driving engine acting and gravitional force.
Climbing the new line stage, when having enough lift more than needed that centripetal force is provided, aircraft starts to climb and faces upward.The variation of the power being subject in the process that aircraft new line climbs is complicated, but is controlled and can effectively be controlled trajector deviation by attitude.The speed that need guarantee when climbing to be to guarantee rudder effectiveness, in the situation that power and rudder effectiveness all satisfy the demands, by being can realize aircraft by the track flight of setting to controlling the adjustment of rudder face and power.Climb in process, adjust in time rudder face when air speed direction becomes vertically upward, making airplane ascensional force is zero, thereby centripetal force disappears, only there is the fuselage axial force perpendicular to ground, aircraft moves along original direction, enter vertical uplift state, the new line process of now climbing finishes.
In the vertical uplift stage, pneumatic rudder face must play that to keep fuselage longitudinally to make a concerted effort be zero, and the anti-body pitching of the rudder face of deflection immediately and roll under fitful wind effect.Adjusting each engine power rises and then uniform descent full machine deceleration.First be that aircraft slows down, driving engine should be less than fuselage gravity with joint efforts.Under downward acceleration/accel effect, velocity reversal is from upwards becoming downwards, owing to hanging down, falling aircraft in process must be slow uniform descent (otherwise aircraft may sustain damage because of quick washing), must control engine power when rate gyro perceives fuselage speed and reaches rated value make itself and full machine gravitational equilibrium, thereby complete to hang down, fall.
(3) flight path and these two control loops that parameter is variable of flight attitude are take in design, and the trajector deviation causing because of flow perturbation or departure is made to correction immediately, export pneumatic control surface deflection controlling quantity and each driving engine pulling force controlling quantity, control aircraft and complete the whole process of falling of hanging down.
The present invention can make unmanned plane hang down to fall, reduced the requirement of aircraft to runway, greatly improved in-use performance and the working ability of aircraft; The present invention can apply on multiple normal arrangement screw drawing-in type aircraft, portable strong.
Claims (8)
1. one kind hangs down and to fall unmanned plane, comprise head screw propeller (1), fuselage (3), wing (6) and empennage, described head screw propeller (1) is connected on nose engine (2), it is characterized in that: the below of two described wings (6) is symmetrically fixed with respectively a wing and hangs driving engine (5), the place ahead that every described wing hangs driving engine (5) is connected with respectively wing screw propeller (4).
2. according to claimed in claim 1 hanging down, fall unmanned plane, it is characterized in that: each driving engine adopts electric-powered system.
3. according to claimed in claim 1 hanging down, fall unmanned plane, it is characterized in that: described empennage comprises tailplane (7) and vertical tail (8).
4. according to claimed in claim 1 hang down, fall unmanned plane, it is characterized in that: the blade of described wing screw propeller (4) is collapsed configuration with the wind.
5. according to claimed in claim 1 hang down, fall unmanned plane, to it is characterized in that: described fuselage is provided with aspect measuring system in (3), described aspect measuring system comprises that airborne anemoscope, rate gyro, accelerometer, magnetic heading take into account GPS sensor.
6. according to claimed in claim 1 hanging down, fall the control method of unmanned plane, it is characterized in that, comprise the following steps:
(1) obtain the vertical concrete coordinate information in place that falls;
(2) the state of flight information based on aircraft, plans the flight path of aircraft, and flight path is divided into cruising flight, underriding acceleration, the new line that climbs, vertical uplift and decline four-stage;
In the cruising flight stage, after the blade down wind of wing screw propeller, pack up to reduce resistance;
At underriding acceleration phase, aircraft flies the region that closely will land, starts the wing and hangs driving engine, dives and accelerates to enter overhead, region to be fallen;
Climbing the new line stage, when having enough lift more than needed that centripetal force is provided, aircraft starts to climb and faces upward;
In vertical uplift and decline stage, in the process of facing upward, when becoming vertically upward, air speed direction adjusts in time rudder face, making airplane ascensional force is zero, thereby centripetal force disappears, and only has the fuselage axial force perpendicular to ground, aircraft moves along original direction, enters vertical uplift state; Then, adjusting each engine power rises and then uniform descent aircraft deceleration;
(3) flight path and these two control loops that parameter is variable of flight attitude are take in design, and the trajector deviation causing because of flow perturbation or departure is made to correction immediately, export pneumatic control surface deflection controlling quantity and each driving engine pulling force controlling quantity, control aircraft and complete the whole process of falling of hanging down.
7. according to claimed in claim 6 hanging down, fall the control method of unmanned plane, it is characterized in that: hang down and fall the concrete coordinate information in place for specify in advance or gather temporarily.
8. according to claimed in claim 7 hanging down, the control method of unmanned plane is fallen, it is characterized in that: the method for interim coordinate acquisition information is: aircraft is arrived in the vertical top, place that falls of wish by plane, by the optical imaging device on fuselage, determine the concrete optical information in place to be fallen, and by the laser rangefinder module on fuselage, in conjunction with airborne air pressure, determine height and take into account GPS locating module and obtain place to be fallen and the concrete coordinate information of airframe.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104015922A (en) * | 2014-04-11 | 2014-09-03 | 南京航空航天大学 | Unmanned aerial vehicle with rotary wing body and variable aspect ratio |
| CN105923147A (en) * | 2016-06-07 | 2016-09-07 | 广东泰高新技术发展有限公司 | Landing control method for unmanned aerial vehicle with fixed wings |
| CN106043690A (en) * | 2016-07-29 | 2016-10-26 | 厦门南羽科技有限公司 | Stalled hovering descending method and system for fixed-wing unmanned aerial vehicle |
| CN108089594A (en) * | 2017-12-13 | 2018-05-29 | 王俊梅 | A kind of unmanned plane visual dead angles turn to escape flight method |
| CN109255983A (en) * | 2018-09-29 | 2019-01-22 | 成都戎创航空科技有限公司 | Aircraft landing attitude rectification alarm system |
| CN109383776A (en) * | 2017-08-02 | 2019-02-26 | 百润红科技有限公司 | H.D unmanned plane is determined with air pressure |
| CN111766888A (en) * | 2019-06-27 | 2020-10-13 | 北京京东尚科信息技术有限公司 | Aircraft-based control method and aircraft |
| CN115356935A (en) * | 2022-10-18 | 2022-11-18 | 北京理工大学 | Large airspace conversion flight strategy optimization method based on multi-stage variable shape |
| CN118689242A (en) * | 2024-05-30 | 2024-09-24 | 江苏数字鹰科技股份有限公司 | A method and system for accurately landing a UAV based on image recognition |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104015922B (en) * | 2014-04-11 | 2016-08-24 | 南京航空航天大学 | Wing body rotates and becomes aspect ratio unmanned vehicle |
| CN104015922A (en) * | 2014-04-11 | 2014-09-03 | 南京航空航天大学 | Unmanned aerial vehicle with rotary wing body and variable aspect ratio |
| CN105923147B (en) * | 2016-06-07 | 2018-07-10 | 广东泰一高新技术发展有限公司 | A kind of fixed-wing unmanned plane landing control method |
| CN105923147A (en) * | 2016-06-07 | 2016-09-07 | 广东泰高新技术发展有限公司 | Landing control method for unmanned aerial vehicle with fixed wings |
| CN106043690B (en) * | 2016-07-29 | 2018-09-07 | 厦门南羽科技有限公司 | Fixed-wing unmanned plane stall hovering landing method and system |
| CN106043690A (en) * | 2016-07-29 | 2016-10-26 | 厦门南羽科技有限公司 | Stalled hovering descending method and system for fixed-wing unmanned aerial vehicle |
| CN109383776A (en) * | 2017-08-02 | 2019-02-26 | 百润红科技有限公司 | H.D unmanned plane is determined with air pressure |
| CN108089594A (en) * | 2017-12-13 | 2018-05-29 | 王俊梅 | A kind of unmanned plane visual dead angles turn to escape flight method |
| CN108089594B (en) * | 2017-12-13 | 2020-11-27 | 王俊梅 | Unmanned aerial vehicle sight dead angle steering escape flight method |
| CN109255983A (en) * | 2018-09-29 | 2019-01-22 | 成都戎创航空科技有限公司 | Aircraft landing attitude rectification alarm system |
| CN111766888A (en) * | 2019-06-27 | 2020-10-13 | 北京京东尚科信息技术有限公司 | Aircraft-based control method and aircraft |
| CN115356935A (en) * | 2022-10-18 | 2022-11-18 | 北京理工大学 | Large airspace conversion flight strategy optimization method based on multi-stage variable shape |
| CN115356935B (en) * | 2022-10-18 | 2023-01-10 | 北京理工大学 | Flight strategy optimization method for large airspace transition based on multi-stage variable shape |
| CN118689242A (en) * | 2024-05-30 | 2024-09-24 | 江苏数字鹰科技股份有限公司 | A method and system for accurately landing a UAV based on image recognition |
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