CN106507999B - Unmanned plane minimum altitude Protection control system - Google Patents
Unmanned plane minimum altitude Protection control systemInfo
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- CN106507999B CN106507999B CN200610056063.4A CN200610056063A CN106507999B CN 106507999 B CN106507999 B CN 106507999B CN 200610056063 A CN200610056063 A CN 200610056063A CN 106507999 B CN106507999 B CN 106507999B
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- 238000012544 monitoring process Methods 0.000 claims description 6
- 230000009194 climbing Effects 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 5
- 238000011084 recovery Methods 0.000 claims description 4
- 230000001960 triggered effect Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 7
- 230000007547 defect Effects 0.000 abstract description 3
- 206010000369 Accident Diseases 0.000 abstract 1
- 230000001276 controlling effect Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000002567 autonomic effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to the unmanned plane minimum altitude automatic protection control system in a kind of unmanned air vehicle technique field.The height sensor of control system and electrical connection computer with computer as control centre, rudder face steerable system, accelerator operating system and/or parachute landing system, the allocation of computer has the low height failure treatment procedures part that Interruption starts, the program element to include：The super border control module of low clearance and low clearance failure dispose control module.It judges whether to need to be controlled aircraft altitude according to the height that height sensors are provided, when height is less than minimum border is exceeded, autoplane flying height, and force revert normal flight.The present invention can adjust engine throttle opening by failure treatment procedures part and improve aircraft flight speed, recover normal flight.Even if in the case of strong jamming, also can accurately measure and control the height of unmanned plane, implement over the horizon autonomous flight.Solving existing unmanned plane and not possessing minimum flight altitude and control easy stall causes the defect of aircraft accident.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a minimum height protection control system of an unmanned aerial vehicle.
Background
In the future high-tech war, the unmanned aerial vehicle becomes an effective and indispensable weapon equipment. Are receiving increasing attention from more and more countries. Currently, the military in many countries places drones in a priority position. Unmanned aerial vehicle is a repeatedly usable's aircraft, and is different from someone piloting the aircraft, and unmanned aerial vehicle flies at predetermined altitude, needs to control the aircraft flight through the flight parameter of monitoring the aircraft, and autonomic control ability is relatively poor, can not the troubleshooting itself. The instantaneous adjustment is usually carried out and the system returns to the base, so that the accident of falling is easy to happen. The number of sensors carried by the aircraft is small, the added sensors are low in accuracy, effective information extracted and transmitted under the environment noise is weak, and the aircraft is controlled by ground operators according to parameters returned by an airborne system to a great extent. The degree that unmanned aerial vehicle coordinates and changes is much more complicated than the manned aircraft of fighting, will have safe and reliable and lengthy data link, in case the data link is destroyed, no matter use manned or unmanned aerial vehicle, all can cause huge influence to air force operational capability. Therefore, the fault recovery capability of the unmanned fighter is the key for ensuring the flight safety of the airplane. In the safety control system of an aircraft, the lowest altitude control of the aircraft is a key point, and once the flying speed of the aircraft exceeds the lowest altitude, the aircraft suddenly drops over 200 meters or the attitude angle (pitch or tilt) of the aircraft exceeds 60 degrees, the aircraft can collide with an obstacle or lose control, and the aircraft is crashed. The unmanned aerial vehicle that uses and is developing at home and abroad at present mainly controls the minimum flight height of aircraft by ground control personnel, does not possess minimum flight height's control and relevant trouble processing function basically.
Disclosure of Invention
In order to overcome the defects that the existing unmanned aerial vehicle cannot control the minimum flying height and cannot remove faults, the invention provides the minimum height automatic protection control system which can not only automatically measure whether the flying height of the unmanned aerial vehicle exceeds a specified range, but also accurately measure and automatically control the height of the unmanned aerial vehicle, automatically process the fault of the height loss of the aircraft and recover normal flight.
The invention aims to realize the purpose, and the minimum height protection control system for the unmanned aerial vehicle comprises: height sensor of control computer and electric connection control computer, its characterized in that: the computer is configured with a timed interrupt initiated low altitude fault handling program component comprising: the low-height over-boundary control module and the low-height fault handling control module are as follows: the low-altitude out-of-limit control module is used for monitoring the aircraft altitude obtained by the high-speed sensing system in real time, and accordingly controlling the aircraft altitude within an allowable use range; the low-altitude fault handling control module is triggered by timing interruption by a clock, and when the altitude is continuously detected to exceed the use range, the altitude of the airplane is recovered to a normal flight range by adjusting a control surface and an engine throttle, or the part is landed in a return field according to a low-altitude fault handling program; the low-height over-boundary control module comprises: the height monitor is used for reading height data obtained by the height sensor and calling a corresponding height boundary judger to judge the next action according to the system state mark condition; the altitude boundary judger is used for judging whether the altitude exceeds the boundary or returns to normal according to the obtained altitude signal, counting is carried out by the counter, when the counter reaches a specified value, a corresponding state mark is set for processing, after the altitude is lower than the low altitude boundary, the low altitude regulator stores the current flight task of the system, sets the corresponding state mark, regulates the accelerator to be in an allowable state and sends a climbing instruction to the airplane; the low-altitude fault handling module comprising: the height monitor is used for reading height data obtained by the height sensor and judging whether the system is in a low-height fault state or not; the height judger is used for judging whether the height is lower than the minimum value or not, recording the exceeding condition by the counter, and starting the low-height fault handler when the counter reaches a specified value; and the fault handler is used for controlling the parachute opening and the parachute recovery of the airplane.
The fault handling program part configured by the control computer with the timed interruption can judge whether the height of the airplane needs to be controlled or not according to the height provided by the high-speed sensor, and automatically control the airplane to fly and/or land when the height is lower than and exceeds the lowest boundary, so that the normal flight is forcibly recovered.
Compared with the prior art, the invention has the following beneficial effects.
The invention controls the automatic control flight altitude configured by the computer, forces the fault handling program part for recovering normal flight, can judge whether the speed of the airplane is continuously lower than the specified minimum value or not according to the flight altitude of the current airplane obtained by the airplane altitude sensor, if the speed of the airplane is continuously lower than the minimum value, the engine throttle is increased through the instruction of the program part, so that the altitude is increased to be higher than the minimum value, and if the altitude cannot be increased, the airplane is controlled to parachute and land. The control program part adopts the clock timing interruption triggering to automatically and forcibly control the airplane to fly above the minimum allowable height or instruct the parachute landing system of the airplane to parachute and land. Therefore, the aircraft can be controlled to safely return to the home and land when the lowest altitude cannot be controlled, the possible flight accident caused by the height loss of the aircraft is avoided, and the safety of the aircraft is ensured.
The invention can control the airplane to fly above the minimum allowable flight height, realizes self-correction when the airplane is smaller than the minimum allowable flight height, greatly improves the flight path control precision, and solves the defects that the unmanned aerial vehicle in the prior art can not control the minimum flight height and is easy to cause flight accidents. The method has the characteristics of real-time performance, reliability, low missing report rate and low false report rate. The airplane can be controlled to land safely after the lowest altitude cannot be controlled. On one hand, the aircraft is limited to fly above the minimum altitude, and on the other hand, when the aircraft breaks down and the altitude is continuously smaller than the minimum allowable flying altitude, the safe landing of the aircraft can be ensured through a fault handling program. Even under the condition of strong interference, the height, the course and the geographic coordinates of the unmanned aerial vehicle can be accurately measured and controlled, so that over-the-horizon flight program control and autonomous flight are successfully implemented, and the performance of the unmanned aerial vehicle is expanded.
Compared with the prior art, the method has the following advantages and characteristics:
the automation degree is high. The system automatically completes the monitoring and control of the aircraft height, limits the aircraft to fly above the lowest height, can realize careless operation of ground personnel, and can not cause safety accidents of the aircraft even if the ground personnel send wrong instructions; in addition, when the airplane has low altitude and cannot be controlled, the system can automatically control the airplane to automatically open the umbrella and land, and damage caused by incapability of reacting due to untimely reaction of ground personnel or communication link blockage is avoided.
The rate of missing reports is low. The system disposal program is triggered by clock interruption, the interval time is approximately less than 120ms, the continuous real-time monitoring of the aircraft attitude can be ensured, and the generation of missing reports is prevented;
the false alarm rate is low. The system can start the corresponding treatment program after continuously receiving the attitude abnormal signal, thereby eliminating the system false alarm caused by the accidental signal error.
A dual security mechanism. The system is used for controlling the low altitude according to two stages, namely when the low altitude of the airplane exceeds the use range, the system starts to correct the speed, so that the problem that the airplane is lower than the lowest altitude under a controllable condition to cause a fault program and cause unnecessary damage to the airplane can be avoided. And secondly, when the airplane breaks down and the low altitude is out of control, the system can control the airplane to open the parachute in time, and damage to the airplane is reduced.
Drawings
For further explanation, but not limitation, of the above-described implementations of the invention, reference will now be made to the following examples and accompanying drawings, which are included to illustrate and not limit the invention. All such concepts are intended to be within the scope of the present disclosure and the present invention.
FIG. 1 is a relational block diagram of a minimum height fault handling system of the present invention.
FIG. 2 is a flow diagram of the low altitude out-of-bounds control module program component for controlling the lowest altitude fault of the present invention.
FIG. 3 is a low height uncontrolled fault handling control module program component block flow diagram of the present invention.
Detailed Description
Fig. 1 illustrates a minimum altitude fault handling system for controlling an unmanned aerial vehicle, which is formed by taking a computer (hereinafter referred to as a control computer) as a control center and electrically connecting an altitude sensor, a control surface operating system, an accelerator operating system and/or a parachuting system for information transmission by adopting digital signals among systems. Wherein,
the control computer with the timed interrupt function: the angle of a control surface and the opening of an engine throttle are calculated according to a height signal provided by the height sensor and transmitted to a control surface control system and a throttle control system, and when the height exceeds a lowest boundary, the airplane can be controlled to automatically open an umbrella and land. And a control computer.
A height sensor: and collecting the height signal of the airplane, providing the height value of the airplane to the control computer, wherein the sampling rate is not lower than 50Hz, and transmitting the height value to the flight control system.
Control surface operating system: and controlling the control surface to deflect to a specified angle according to an instruction sent by the control computer, and controlling the control surface to deflect to the specified angle.
The parachute system: and opening the parachute according to the instruction sent by the control computer to complete the opening and the disconnection of the parachute.
An accelerator control system: and adjusting the opening of the accelerator and shutting down the engine according to an instruction sent by the airplane computer.
And digital signals are adopted for transmission among the systems.
The present embodiment controls the automatically controlled drone low altitude fault handler component of the computer configuration, provided with a timer interrupt that may be no greater than 120 ms. The control computer judges whether the height of the airplane needs to be controlled according to the height provided by the height sensor, and automatically controls the airplane to open an umbrella and land when the height is lower than the height exceeding the lowest boundary. The configured automatic control unmanned aerial vehicle low-altitude fault handling program component comprises: the low-height over-boundary control module and the low-height fault handling control module are two main modules. The two modules are started by a control computer by timing interrupt. And monitoring the aircraft height obtained by the height sensing system in real time, and controlling the height of the aircraft within an allowable use range according to the aircraft height. The clock is triggered in a timed interruption mode, in the embodiment, when the height is detected to exceed the use range for 10 times, the height of the airplane is recovered to a normal range by adjusting the control surface and the engine throttle, and the airplane recovers to fly normally. When the speed exceeds the limit range for 10 times continuously, the airplane returns to the field according to a fault program, opens the parachute and lands.
The speed over-boundary control module depicted in fig. 2 mainly comprises: the height monitor is used for reading height data obtained by the height sensor and calling a corresponding height boundary judger to judge the next action according to the condition of the system state mark; and the altitude boundary judger is used for judging whether the altitude exceeds the boundary or returns to normal according to the obtained altitude signal, counting by the counter, setting a corresponding state mark for processing when the counter reaches a specified value, storing the current flight task of the system after the altitude of the low altitude regulator is lower than the low altitude boundary, setting the corresponding state mark, adjusting the accelerator to a permitted state and sending a climbing instruction to the airplane. The height monitor reads the height data obtained by the height sensor and calls a corresponding height boundary judger to judge the next action according to the system state mark condition. The height boundary judger judges whether the height is out of range or normal according to the obtained height signal, and the counter counts, and sets a corresponding state mark for processing when the counter reaches a specified value. And after the altitude of the low altitude regulator is lower than the low altitude boundary, the current flight task of the system is stored, a corresponding state mark is set, the accelerator is regulated to a specified state, and a climbing instruction is sent to the airplane.
The function implementation form of the embodiment is as follows: the program is started by system timing interrupt, and the following program is executed;
1) reading a current altitude value of the aircraft from the altitude sensor;
2) judging whether the low altitude state of the airplane is effective, if not, carrying out the next operation, if so, executing the following procedures:
a) judging whether the aircraft altitude reaches a specified value (1000 m in the example), if not, clearing an altitude normal counter T1, and exiting the program, and if so, adding 1 to the altitude normal counter T1;
b) judging whether the altitude normality counter T1 reaches a prescribed value (10 in this example), if not, exiting the routine, if yes, executing the following routine:
firstly, the low-height state is invalid;
② recovering previous work task
③ quit the program
3) Judging whether the height of the airplane is smaller than a boundary value, if not, resetting the low height overrun counter, and exiting the program, if so, adding 1 to the low height overrun counter;
4) judging whether the low height over-limit counter is larger than 10, if not, exiting the program, if so, executing the following program:
a) saving the current work task;
b) the engine throttle is adjusted to a specified state (the maximum state is adopted in the example);
c) sending out an airplane climbing instruction
d) The low-height out-of-range state is set to be effective;
e) and exiting the program.
The low-altitude fault handling module depicted in fig. 3, essentially comprises: a height monitor for reading the height data obtained by the height sensor and judging whether the system is in a low height fault state; a height judger for judging whether the height is lower than the minimum value, recording the exceeding condition by the counter, and starting the low-height fault handler when the counter reaches the specified value; a fault handler for controlling parachute deployment and recovery of an aircraft. The height monitor reads the height data obtained by the height sensor and determines whether the system is in a low height fault state. The height judger judges whether the height is lower than the minimum value, the counter records the exceeding condition, and when the counter reaches the specified value, the low height fault handler is started. The fault handler controls the parachute of the aircraft to land.
The function implementation form of the embodiment is as follows: the program is started by system timer interrupt and executed according to the following program:
1) reading a current altitude signal of the aircraft from an airspeed sensor;
2) judging whether the airplane is carrying out low altitude fault handling or not, if not, carrying out the next operation; if yes, then:
and judging whether the current time interval fault time is greater than a specified value (in the example, 1.5s), if not, exiting the program, and if so, sending an umbrella opening instruction and exiting the program.
3) Judging whether the height of the airplane is smaller than a minimum value, if not, resetting the lowest height counter, and exiting the program, if so, adding 1 to the lowest height counter;
4) judging whether the height exceeds the minimum counter and is greater than a specified value (10 is taken in the example), if not, exiting the program, if so:
a) sending a posture leveling instruction;
b) shutting down the engine;
c) recording the current time as the fault zero;
d) the low altitude fault state is asserted;
c) and exiting the program.
Claims (1)
1. An unmanned aerial vehicle minimum altitude protection control system, comprising: height sensor of control computer and electric connection control computer, its characterized in that: the computer is configured with a timed interrupt initiated low altitude fault handling program component comprising: the low-height over-boundary control module and the low-height fault handling control module;
the low-altitude out-of-limit control module is used for monitoring the aircraft altitude obtained by the high-speed sensing system in real time, and accordingly controlling the aircraft altitude within an allowable use range;
the low-altitude fault handling control module is triggered by a clock in a timed interruption manner, and when the altitude is continuously detected to exceed the use range, the altitude of the airplane is recovered to a normal flight range by adjusting the control surface and the engine throttle, or the part is landed in a return field according to an altitude fault handling program; the low-height over-boundary control module comprises: the height monitor is used for reading height data obtained by the height sensor and calling a corresponding boundary height judger to judge the next action according to the system state mark condition; the boundary height judger is used for judging whether the height is out of range or returns to normal according to the obtained height signal, counting is carried out by a counter, and when the counter reaches a specified value, a corresponding state mark is set for processing; after the altitude of the low altitude adjuster is lower than the low altitude boundary, the current flight task of the system is saved, a corresponding state mark is set, the accelerator is adjusted to an allowable state, and a climbing instruction is sent to the airplane; the low-altitude fault handling module comprising: the height monitor is used for reading height data obtained by the height sensor and judging whether the system is in a low-height fault state or not; the height judger is used for judging whether the height is lower than the lowest value or not, the counter records the exceeding condition, and when the counter reaches a specified value, the low height fault handler is started; and the fault handler is used for controlling the parachute opening and the parachute recovery of the airplane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200610056063.4A CN106507999B (en) | 2006-05-19 | 2006-05-19 | Unmanned plane minimum altitude Protection control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200610056063.4A CN106507999B (en) | 2006-05-19 | 2006-05-19 | Unmanned plane minimum altitude Protection control system |
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| CN106507999B true CN106507999B (en) | 2011-02-16 |
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| CN200610056063.4A Active CN106507999B (en) | 2006-05-19 | 2006-05-19 | Unmanned plane minimum altitude Protection control system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110007683A (en) * | 2019-03-13 | 2019-07-12 | 成都飞机工业（集团）有限责任公司 | A kind of control method of the anti-cross wind landing of low aspect ratio all-wing aircraft unmanned plane |
| CN113342050A (en) * | 2014-12-31 | 2021-09-03 | 深圳市大疆创新科技有限公司 | Vehicle height limitation and control |
| CN115180163A (en) * | 2022-08-18 | 2022-10-14 | 中国商用飞机有限责任公司 | A speed protection method and device for an aircraft |
-
2006
- 2006-05-19 CN CN200610056063.4A patent/CN106507999B/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113342050A (en) * | 2014-12-31 | 2021-09-03 | 深圳市大疆创新科技有限公司 | Vehicle height limitation and control |
| US12228945B2 (en) | 2014-12-31 | 2025-02-18 | SZ DJI Technology Co., Ltd. | Vehicle altitude restrictions and control |
| CN110007683A (en) * | 2019-03-13 | 2019-07-12 | 成都飞机工业（集团）有限责任公司 | A kind of control method of the anti-cross wind landing of low aspect ratio all-wing aircraft unmanned plane |
| CN110007683B (en) * | 2019-03-13 | 2022-07-15 | 成都飞机工业（集团）有限责任公司 | Control method for anti-crosswind landing of small-aspect-ratio flying-wing unmanned aerial vehicle |
| CN115180163A (en) * | 2022-08-18 | 2022-10-14 | 中国商用飞机有限责任公司 | A speed protection method and device for an aircraft |
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