CN109407692A - Vert Yaw control method under VTOL fixed-wing unmanned plane rotor mode - Google Patents
Vert Yaw control method under VTOL fixed-wing unmanned plane rotor mode Download PDFInfo
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- CN109407692A CN109407692A CN201710705127.7A CN201710705127A CN109407692A CN 109407692 A CN109407692 A CN 109407692A CN 201710705127 A CN201710705127 A CN 201710705127A CN 109407692 A CN109407692 A CN 109407692A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses Yaw control methods under the VTOL fixed-wing unmanned plane rotor mode that verts, including being mounted on verting the VTOL fixed-wing of function on fixed-wing wing with rotor, wherein rotor component is separately connected for motor-driven power unit, wherein inclination angle rotating device is arranged in the rotor of front two sides, it is characterized in that, pass through control inclination angle rotating device and four power units, realize yaw control, specifically includes the following steps: unmanned plane is according to instruction of verting, control inclination angle rotating device rotates certain tilt angles, wherein vert the inclination angle rotating device tilt angle forwards of direction side, another inclination angle rotating device tilt angle backward, realize verting for unmanned plane；After the completion of verting, inclination angle rotating device restores initial position, and unmanned plane enters flat winged state.The present invention solves the problems, such as the larger shake of the aircraft that often will appear in Heading control.
Description
Technical field
The present invention relates to air vehicle technique fields, and in particular to verts under VTOL fixed-wing unmanned plane rotor mode
Yaw control method.
Background technique
Quadrotor of verting VTOL fixed-wing unmanned plane is a kind of new configuration between quadrotor and fixed-wing
Aircraft.It had not only been able to satisfy the requirement of VTOL, but also can reach the advantage of the long endurance carrying weight of fixed-wing, in aerial survey etc.
A variety of remote sensing domain of telemetry have very big application value.
Quadrotor of verting VTOL fixed-wing unmanned plane is a kind of new configuration between quadrotor and fixed-wing
Aircraft.There are mainly three types of the machine offline mode: quadrotor mode, transition stage mode, fixed-wing mode.Quadrotor of verting is hung down
Straight landing fixed-wing unmanned plane is taking off, is landing or low speed forward flight is all with quadrotor mode flight, the at this time generation of lift
Rely primarily on four rotors of tiltrotor.Quadrotor of verting enters transition mode when flying before being accelerated forwardly, and top rake increases at this time
Greatly.When front end, rotor is tilted to when being parallel to axis, and top rake reaches 90 °, enters fixed-wing mode, while rear end spiral shell
Rotation paddle is placed into horizontal position from upright position, and blade folding is packed up to reduce resistance.At this moment tiltrotor is equal to commonly
Propeller aeroplane.Tiltrotor had both had the flexibility such as VTOL of general quadrotor and aerial in aspect of performance
Hovering, but also with the advantages that general propeller aeroplane voyage is remote, load-carrying is big, speed is fast, flight envelope is big.Can not have
Under the complex environment of standby landing runway, complete rapid deployment, take off vertically, efficiently cruise, vertical landing it is simple, quick, high
Effect operates with.How to control effectively under these three modes, is the research emphasis of such unmanned plane.
The gesture stability mode for the quadrotor that the type unmanned plane uses use classical under quadrotor mode at present, four
Rotor has 4 propellers to be respectively designated as No. 1 paddle~No. 4 paddle, and 1,3 paddles rotate counterclockwise, and 2,4 paddles rotate clockwise.Motor exists
Rotary course generates upward pulling force and the torque with motor rotation opposite direction.The pulling force that each prize generates is (scalar) T1、T2、
T3、T4, torque is respectively (scalar) M1、M2、M3、 M4.Classical dynamic model is to be shown below.(resultant force is positive downwards, rolls
Torque is positive to the right, and pitching moment new line is positive, and yawing is positive to the right)
From above-mentioned formulaIt can be seen that yaw control be by motor speed difference into
Row control, that is to say, that realize quick orientation tracking, not so need to generate biggishNamely need M1+M3
There is biggish difference with M2+M4 group, that is, the revolving speed of diagonal line motor has biggish difference.Due to can under rotor mode
To regard quadrotor as, if using the control of differential, it will occur one group of diagonal line motor speed when yawing control and become
Greatly, become smaller for another group, be will lead to aircraft horizontal attitude unstable when amount of yaw reaches a certain level, increase air crash out of control
Risk.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that providing vertical rise of verting
Yaw control method under fixed-wing unmanned plane rotor mode is dropped, yaw control is realized by the tilt angle control using front motor
System, improves the flight stability of aircraft.
In order to achieve the above object, the present invention is achieved by the following scheme:
Vert Yaw control method under VTOL fixed-wing unmanned plane rotor mode, including is mounted on fixed-wing wing
On vert the VTOL fixed-wing of function with rotor, wherein rotor component is separately connected for motor-driven power
Unit, wherein inclination angle rotating device is arranged in the rotor of front two sides, which is characterized in that by controlling inclination angle rotating device and four
A power unit realizes yaw control, specifically includes the following steps:
Unmanned plane is according to instruction of verting, and control inclination angle rotating device rotates certain tilt angles, wherein direction one of verting
The inclination angle rotating device of side tilt angle forwards, another inclination angle rotating device tilt angle backward, realizes inclining for unmanned plane
Turn；After the completion of verting, inclination angle rotating device restores initial position, and unmanned plane enters flat winged state.
Further, tilt angle, another inclination angle rotation fill the inclination angle rotating device of the direction side of verting forwards
Tilt angle backward is set, realizes verting for unmanned plane；Specifically, when tilt angle is θ, yawing are as follows:
Wherein, motor generates upward pulling force in rotary course in T power unit, wherein T1、T2、T3、T4To be respectively
The left front wing, right front wing, the left back wing and right rear wing pulling force；M is the torque that motor rotation generates in power unit, wherein M1、M2、
M3、M4Respectively indicate the left front wing, right front wing, the left back wing and right the rear wing torque that motor generates in power unit；lφFor four rotations
The arm of force of the wing；
Tilt angle range is ± 5 °, then yawing are as follows:
The torque M and b Ω that motor rotation generates2Correlation, wherein b is torque coefficient；Pulling force T similarly with d Ω2Correlation,
Middle d is tension coefficient.Since tension coefficient d is big two orders of magnitude of torque coefficient b, M is relatively in a small amount, together relative to T
When revolving speed corresponding change in the method it is little, that is, M1-M2+M3-M4≈ 0, therefore yawing simplified formula are as follows:
The medicine have the advantages that the present invention generates yawing by carrying out control to inclination angle rotating device, realization is inclined
Turn, the angle of inclination angle rotating device is in a relatively small angular range, the component of the power of the vertical fuselage generated to it
Very little is influenced, but the yawing that the forward force of low-angle extraction generates then will be reliably relative to rotational speed difference generation torque
It is more.So as to realize Heading control well.The yaw of aircraft is realized by the tilt angle to the left front wing and right front wing
Control.This method avoid the aircraft as caused by the larger rotational speed difference between diagonal line motor group is unstable, solves course
The problem of aircraft that often will appear in control larger shake.
Detailed description of the invention
Fig. 1 is a kind of specific embodiment structural schematic diagram of the invention.
Specific embodiment
The specific embodiment of the invention is described with reference to the accompanying drawings and embodiments: it should be noted that above-mentioned left and right is
In a top view, using the plane of symmetry of aircraft as reference plane, left side and the right side are divided by reference orientation of tail to heading
Side.
As shown in Figure 1, Yaw control method under the VTOL fixed-wing unmanned plane rotor mode that verts, including be mounted on
Verting the VTOL fixed-wing of function on fixed-wing wing with rotor, wherein rotor component is separately connected for motor
The power unit of driving, wherein inclination angle rotating device is arranged in the rotor of front two sides, which is characterized in that turned by control inclination angle
Dynamic device and four power units realize yaw control, specifically includes the following steps:
Unmanned plane is according to instruction of verting, and control inclination angle rotating device rotates certain tilt angles, wherein direction one of verting
The inclination angle rotating device of side tilt angle forwards, another inclination angle rotating device tilt angle backward, realizes inclining for unmanned plane
Turn；After the completion of verting, inclination angle rotating device restores initial position, and unmanned plane enters flat winged state.
Needed when the quadrotor VTOL fixed-wing unmanned plane that verts is transformed into fixed-wing mode from gyroplane mode by
The bow oar of heading leans forward to horizontal direction, forms fixed-wing mode.That is 2 motors of heading be can be with
It is rotated to horizontal with fuselage defence line, is verted by motor and generate yawing, reach the control to course.Simultaneously because control
Angle in a relatively small angular range, thus the component influences very little of the power of the vertical fuselage generated to it, but
Be low-angle draw forward force generate yawing then relative to rotational speed difference generate torque it is reliably more, so as to
Heading control is realized well.
In the embodiment of the present invention, yawing is generated by carrying out control to inclination angle rotating device, realization is verted, and four
Rotor #1, #2, #3, #4 are arranged on fixed-wing, and inclination angle rotating device, rotor is arranged in the left-handed wing #1 and dextrorotation wing #2 of front side
Initial position be vertically arranged with fixed-wing, inclination angle rotating device can turn forward or hypsokinesis, when being verted, verts
The inclination angle rotating device of direction side turns forward, and another inclination angle rotating device then retreats identical angle, forms yaw forces
Square realizes deflection.
In the embodiment of the present invention, tilt angle, another inclination angle rotate the inclination angle rotating device for direction side of verting forwards
Device tilt angle backward, realizes verting for unmanned plane；Specifically, when tilt angle is θ, yawing are as follows:
Wherein, motor generates upward pulling force in rotary course in T power unit, wherein T1、T2、T3、T4To be respectively
Right front wing, the left front wing, the left back wing and right rear wing pulling force；M is the torque that motor rotation generates in power unit, wherein M1、M2、
M3、M4Respectively indicate right front wing, the left front wing, the left back wing and right the rear wing torque that motor generates in power unit；lφFor four rotations
The arm of force of the wing.
In above-mentioned expression formula, when the inclination angle rotating device of the left front wing rotates forwards, angle, θ is positive, i.e., at this time to left front
Side's deflection, the inclination angle rotating device of right front wing rotate backward, and rotational angle is-θ；When deflecting to the right, the left front wing inclines
Angle rotating device rotates backward, and angle, θ is negative, and the inclination angle rotating device of right front wing rotates forwards, rotational angle θ；It is logical
Control rotational angle is crossed, realizes yaw control.
The angle of inclination angle rotating device is in a relatively small angular range, the power of the vertical fuselage generated to it
Component influences very little, but low-angle draw forward force generate yawing then relative to rotational speed difference generate torque want
It is reliably more.So as to realize Heading control well.
Tilt angle range of the embodiment of the present invention is ± 5 °, i.e., the value range of θ is ± 5 °, this section of cos θ approximation etc.
In 1, sin θ is approximately θ, therefore the formula can approximate abbreviation are as follows:
In above-mentioned formula, torque M and b Ω that motor rotation generates2Correlation, wherein b is torque coefficient；Pulling force T is also same
Sample and d Ω2Correlation, wherein d is tension coefficient.Since tension coefficient d is big two orders of magnitude of torque coefficient b, M is opposite
It is relatively a small amount of in T, while revolving speed corresponding change in the method is little, that is, M1-M2+M3-M4≈ 0, therefore yaw
Torque simplified formula are as follows:
As shown from the above formula, realize that the yaw of aircraft controls by the tilt angle to the left front wing and right front wing.It should
Method avoids the unstable problem of the aircraft as caused by the larger rotational speed difference between diagonal line motor group.
The preferred embodiment for the present invention is explained in detail above in conjunction with attached drawing, but the present invention is not limited to above-mentioned realities
Mode is applied, it within the knowledge of a person skilled in the art, can also be in the premise for not departing from present inventive concept
Under make a variety of changes, these variations are related to the relevant technologies well-known to those skilled in the art, these both fall within it is of the invention specially
The protection scope of benefit.
Many other changes and remodeling can be made by not departing from the spirit and scope of the present invention.It should be appreciated that the present invention is not
It is limited to specific embodiment, the scope of the present invention is defined by the following claims.
Claims (2)
1. Yaw control method under the VTOL fixed-wing unmanned plane rotor mode that verts, including being mounted on fixed-wing wing
It verts the VTOL fixed-wing of function with rotor, wherein rotor component is separately connected for motor-driven power unit,
Wherein inclination angle rotating device is arranged in the rotor of front two sides, which is characterized in that passes through control inclination angle rotating device and four power
Unit realizes yaw control, specifically includes the following steps:
Unmanned plane is according to instruction of verting, and control inclination angle rotating device rotates certain tilt angles, wherein direction side of verting
Inclination angle rotating device tilt angle forwards, another inclination angle rotating device tilt angle backward, realizes verting for unmanned plane；It verts
After the completion, inclination angle rotating device restores initial position, and unmanned plane enters flat winged state.
2. Yaw control method under the VTOL fixed-wing unmanned plane rotor mode according to claim 1 that verts, special
Sign is that tilt angle, another inclination angle rotating device vert the inclination angle rotating device of the direction side of verting backward forwards
Angle realizes verting for unmanned plane；Specifically, when tilt angle is θ, yawing are as follows:
Wherein, motor generates upward pulling force in rotary course in T power unit, wherein T1、T2、T3、T4Before being respectively right
The wing, the left front wing, the left back wing and right rear wing pulling force；M is the torque that motor rotation generates in power unit, wherein M1、M2、M3、M4
Respectively indicate right front wing, the left front wing, the left back wing and right the rear wing torque that motor generates in power unit；lφFor the power of quadrotor
Arm；
Since tilt angle range is ± 5 °, then yawing are as follows:
The torque M and b Ω that motor rotation generates2Correlation, wherein b is torque coefficient；Pulling force T similarly with d Ω2Correlation, wherein d
For tension coefficient.Since tension coefficient d is big two orders of magnitude of torque coefficient b, M is relatively a small amount of relative to T, while
Revolving speed corresponding change in this method is little, that is, M1-M2+M3-M4≈ 0, therefore yawing simplified formula are as follows:
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710705127.7A CN109407692A (en) | 2017-08-17 | 2017-08-17 | Vert Yaw control method under VTOL fixed-wing unmanned plane rotor mode |
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| CN201710705127.7A CN109407692A (en) | 2017-08-17 | 2017-08-17 | Vert Yaw control method under VTOL fixed-wing unmanned plane rotor mode |
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Cited By (4)
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|---|---|---|---|---|
| CN111045435A (en) * | 2019-12-27 | 2020-04-21 | 西安羚控电子科技有限公司 | Composite type fixed wing unmanned aerial vehicle formation control method |
| CN111176321A (en) * | 2019-12-27 | 2020-05-19 | 西安羚控电子科技有限公司 | Heterogeneous swarm unmanned aerial vehicle cooperative attack system and method |
| CN111522356A (en) * | 2020-03-27 | 2020-08-11 | 北京航空航天大学 | A robust and robust all-envelope integrated control method for tilt-rotor UAV |
| US20220315236A1 (en) * | 2021-04-05 | 2022-10-06 | Beta Air, Llc | Aircraft for self-neutralizing flight |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111045435A (en) * | 2019-12-27 | 2020-04-21 | 西安羚控电子科技有限公司 | Composite type fixed wing unmanned aerial vehicle formation control method |
| CN111176321A (en) * | 2019-12-27 | 2020-05-19 | 西安羚控电子科技有限公司 | Heterogeneous swarm unmanned aerial vehicle cooperative attack system and method |
| CN111522356A (en) * | 2020-03-27 | 2020-08-11 | 北京航空航天大学 | A robust and robust all-envelope integrated control method for tilt-rotor UAV |
| CN111522356B (en) * | 2020-03-27 | 2021-06-04 | 北京航空航天大学 | Strong-robustness full-envelope integrated control method for tilt rotor unmanned aerial vehicle |
| US20220315236A1 (en) * | 2021-04-05 | 2022-10-06 | Beta Air, Llc | Aircraft for self-neutralizing flight |
| US11840351B2 (en) * | 2021-04-05 | 2023-12-12 | Beta Air, Llc | Aircraft for self-neutralizing flight |
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Application publication date: 20190301 |