CN113277063B - Design method of folding wing unmanned aerial vehicle aerial delivery control system - Google Patents
Design method of folding wing unmanned aerial vehicle aerial delivery control system Download PDFInfo
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Abstract
The invention belongs to the technical field of unmanned aerial vehicle control systems, and provides a design method of an aerial delivery control system of a folding wing unmanned aerial vehicle. The control system hardware selects a miniaturized PixHawk 4Mini platform, the layout of control surfaces of a left horizontal tail steering engine and a right horizontal tail steering engine of the miniature folding wing is respectively connected with a CH1 channel and a CH2 channel of a flight control system, the pitching and rolling of the unmanned aerial vehicle are controlled through the mixed control of the steering engines, and the self-stabilization is realized by using double vertical tails during yawing; the tail pushing motor is electrically connected to a CH3 channel for throttle control; the parachute switch and the folding and unfolding action mechanism are respectively driven by connecting a CH5 channel and a CH6 channel of the flight control system; the control system software is developed for the second time on the basis of a PX4 flight control architecture, a folding and unfolding module and a parachute landing task module are integrated in an operating system process queue, and attitude control parameters and steering engine mixed control parameters are adjusted; the method is based on secondary development of the PX4 flight control architecture, can reduce development cost and time to the maximum extent, and is easy for physical realization and modification debugging.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle control systems, and particularly relates to a design method of an aerial delivery control system of a folding wing unmanned aerial vehicle.
Background
The traditional fixed wing unmanned aerial vehicle cluster usually adopts the running takeoff, and the takeoff time is long and the dependence on the field and the runway is high. In comparison, the folding wing unmanned aerial vehicle based on the variable structure mode adopts the ground launching device to launch and take off, and can meet the requirement of rapid deployment while reducing the storage space, such as the united states navy LOCUST project "suburb" unmanned aerial vehicle.
However, according to empirical statistical data, the range and cruising speed of the small unmanned aerial vehicle are often limited by the allowable takeoff weight and maximum load of the unmanned aerial vehicle, and a single small unmanned aerial vehicle cluster cannot effectively achieve balance in the aspects of flight mission radius and cost-effectiveness cost. Therefore, in the absence of reliable land-based or sea-based landing sites, aerial launch and recovery of small folding wing drone clusters is the easiest and least costly solution in complex environments to achieve low cost-to-efficiency requirements and long-range flight missions. The 'sprite' project of army DARPA is coming from this, transports and puts in "sprite" folding wing unmanned aerial vehicle long distance safety through large-scale transport aircraft, has realized low-cost unmanned aerial vehicle hundred kilometers grades of radius of operation, further reduces the loss through retrieving simultaneously, improves the task flexibility.
At present, the aerial delivery technology of the fixed-wing unmanned aerial vehicle to the folding-wing unmanned aerial vehicle is still in an exploration phase, the folding-wing unmanned aerial vehicle is delivered to the autonomous flight process, the internal and external disturbance is more, and the dynamic characteristic is more complex. Therefore, the design of the flight control system is a key technology for ensuring that the unmanned aerial vehicle can be folded and unfolded independently after being released and completes a flight task, but the application of the flight control system in the commercial market is basically in a blank state, and the design of the flight control system of the unmanned aerial vehicle at the present stage can only meet the flight task requirements of conventional take-off and landing.
Disclosure of Invention
The invention relates to a design method of an aerial delivery control system of a folding wing unmanned aerial vehicle, which solves the technical problems of autonomous folding and unfolding, stability and reliability in flight of the folding wing unmanned aerial vehicle under the aerial delivery condition.
In order to achieve the purpose and solve the corresponding technical problems, the invention provides a design method of an aerial delivery flight control system of a folding wing unmanned aerial vehicle, which has the following specific technical scheme:
the control system hardware selects a miniaturized PixHawk 4Mini platform, wherein a data transmission radio station, a GPS antenna, a remote controller receiver and a power module are connected with an interface according to a conventional mode, the layout of control surfaces of a left horizontal tail steering engine and a right horizontal tail steering engine of the miniature folding wing is respectively connected with a CH1 channel and a CH2 channel of a flight control system, the pitching and rolling of the unmanned aerial vehicle are controlled through the mixed control of the steering engines, and the self-stabilization is realized by using double vertical tails during yawing;
the tail pushing motor is connected to a CH3 channel through an electric regulator to control an accelerator, and a built-in UBEC of the electric regulator is used for supplying power to the actuating mechanism and the action mechanism; the parachute switch and the folding and unfolding action mechanism are respectively driven by connecting a CH5 channel and a CH6 channel of the flight control system;
the small folding wing unmanned aerial vehicle uniformly uses digital steering engines, and meanwhile, the steering engine wiring adopts a cluster type so as to meet the anti-interference requirements of an actuating mechanism and an action mechanism;
the aerial throwing device of the folding wing unmanned aerial vehicle adopts a cold launching mode, utilizes a servo steering engine to carry out longitudinal limiting, and ejects the small folding wing unmanned aerial vehicle backwards from a launching tube along a guide rail through a spring;
the control system software is developed for the second time on the basis of a PX4 flight control architecture, a folding and unfolding module and a parachute landing task module are integrated in an operating system process queue, and attitude control parameters and steering engine mixed control parameters are adjusted;
the control system folding and unfolding module is designed by adopting a state machine, and the initial state is designed to be a release state in the air after the axial acceleration generated by the sensitive release device exceeds 12g and lasts for 0.2 s; in the air release state, after the acceleration of the continuous sensitive free falling body is 0.25s, the folding and unfolding state is entered, and the folding and unfolding actions of wings, horizontal tails and vertical tails are completed, otherwise, the acceleration of the non-sensitive free falling body is not sensed to the free falling ground or the sensitive duration time is not more than 0.3s, the folding and unfolding state is returned to the initial state; in a folding and unfolding state, wings, horizontal tails and vertical tails are unfolded sequentially through an action mechanism, attitude control is started after 0.1s of delay to ensure that the wings are unfolded in place, and then accelerator starting is completed after the unmanned aerial vehicle is stabilized in attitude after 0.15s of delay;
the control system track tracking and attitude control mainly adopts an L1 algorithm and a TECS algorithm based on a PX4 architecture respectively, and three-channel linear PID control; the L1 algorithm ensures that the heading of the unmanned aerial vehicle meets the expected horizontal position by setting an expected rolling angle, and the TECS algorithm keeps the unmanned aerial vehicle meet the expected speed and height by setting an expected accelerator amount and an expected pitch angle; three-channel linear PID control, a double-layer EKF algorithm carries out data fusion filtering on sensor information including dual-redundancy IMU information, GPS position and speed information, barometer information and magnetic compass information, the position and attitude information of the unmanned aerial vehicle is calculated and estimated in real time, an expected attitude angle instruction of the unmanned aerial vehicle is given according to track tracking, the expected attitude angle instruction is converted into a three-axis angular speed instruction under a machine system by utilizing feedforward and three-channel coordinate system transformation, and the attitude control of the unmanned aerial vehicle is realized through PID control and steering engine mixed control instruction distribution;
the control system parachuting task module flies to an parachute opening point in a designated area after the small folding wing unmanned aerial vehicle completes track traversal, and executes a parachuting task; after the unmanned aerial vehicle drives the parachute to be opened through the steering engine, the accelerator motor is rapidly braked and extinguished, and meanwhile, the vertical tail falls down to a folded state, so that the parachute is prevented from being wound with the blades and the vertical tail to be incapable of being opened;
after the small folding wing unmanned aerial vehicle autonomously finishes folding and unfolding, attitude control is started, the integral of the controller is designed to be reset at the moment, a proper mixed control coefficient is designed by referring to the control parameters of a common fixed wing, and the two horizontal tail steering engines are used for controlling pitching and rolling channels.
Furthermore, the 3S lithium battery is adopted for full-aircraft power supply of the folding wing unmanned aerial vehicle, the power system is supplied with power by the power module through electric regulation, and the execution mechanism and the action mechanism are uniformly supplied with power to 5.0V by the UBEC.
The invention has the following effective benefits:
1. the control system hardware of the invention is added with a folding and unfolding action mechanism and a parachute drop switch, the use is flexible, various functions such as aerial delivery, ground ejection, parachute drop recovery and the like can be realized, and different flight tasks are executed in a matching way;
2. the control system software of the invention adopts the state machine control logic design, can realize the autonomous expansion and stable flight of the unmanned aerial vehicle through launching under the folding condition, is simple and reliable, and can be expanded to various aerial delivery modes such as cold launching, hot launching, spreading and the like;
3. the control system disclosed by the invention is developed secondarily based on a PX4 flight control architecture, can reduce the development cost and time to the maximum extent, and is easy for physical realization and modification debugging.
Drawings
Fig. 1 is a schematic diagram of a control system and electrical connections for a small folding wing drone in accordance with the present invention;
FIG. 2 is a flow chart of the overall control of the small folding wing drone according to the present invention;
FIG. 3 is a control system attitude control architecture of the present invention;
fig. 4 is a schematic diagram of a state machine of the folding and unfolding module of the present invention.
Detailed Description
The following detailed description and the accompanying drawings illustrate specific implementations of the present invention.
According to the invention, the large-scale fixed-wing unmanned aerial vehicle is used as a flying platform to throw the small-scale folding-wing unmanned aerial vehicle cluster in the air, so that the flight radius of the unmanned aerial vehicle for executing tasks is effectively improved, and meanwhile, after the tasks are completed, the cost of the small-scale folding-wing unmanned aerial vehicle is further reduced by recycling, and the task flexibility of the unmanned aerial vehicle is improved. From this, need to design small-size folding wing unmanned aerial vehicle flight control system to guarantee that unmanned aerial vehicle can be in the air after throwing in, independently fold and expand and reliable flight, and carry out the track task, retrieve through the parachuting mode at last.
1. Control system hardware design
In consideration of the complexity of the flight control system of the unmanned aerial vehicle, the flight control system of the small folding wing unmanned aerial vehicle adopts an open source flight control PX4 architecture. PX4 is capable of running on a variety of operating systems that provide a POSIX-API interface with real-time scheduling capabilities, along with a sophisticated set of navigation, guidance and control algorithms for drones, as well as embedded sensor drivers, MAVLink data communications, and uORB publish-subscribe message buses.
Through folding deployment mechanism structural design, miniaturized PixHawk 4Mini platform is selected for use to small-size folding wing unmanned aerial vehicle flight control system hardware, and its electrical connection is as shown in fig. 1. The data radio station, the GPS antenna, the remote controller receiver and the power supply module are connected with the interface in a conventional mode. Different from pitching, yawing and rolling three-channel control surface control corresponding to 'ailerons, elevators and rudders' of the traditional fixed wing unmanned aerial vehicle, the small folding wing adopts the layout of the control surfaces of the left and right horizontal tail steering engines to be respectively connected with the CH1 channel and the CH2 channel of a flight control system, the pitching and rolling of the unmanned aerial vehicle are controlled through the mixed control of the steering engines, and the yawing realizes self-stabilization by using double vertical tails. The tail pushing motor is connected to a CH3 channel through an electric regulator to control an accelerator, and a built-in UBEC of the electric regulator is used for supplying power to the actuating mechanism and the action mechanism. The parachute switch and the folding and unfolding action mechanism are respectively driven by connecting a flight control system CH5 channel and a flight control system CH6 channel.
The small-size folding wing unmanned aerial vehicle uses digital steering wheel in a unified way, and steering wheel wiring adopts the cluster formula simultaneously to satisfy actuating mechanism and actuating mechanism's anti-interference requirement. The 3S lithium battery is adopted for power supply of the whole machine, the power system is supplied with power by the power module through electric regulation, and the execution mechanism and the action mechanism are uniformly supplied with power to 5.0V by the UBEC.
2. Control system logic design
The cruising speed of the large-scale fixed wing unmanned aerial vehicle is generally higher than that of a small-scale folding wing unmanned aerial vehicle, the small-scale folding wing unmanned aerial vehicle needs to independently complete folding and unfolding of wings, horizontal tails and vertical tails after being released in the air according to the requirement of a task put in the air, then independently tracks and traverses the flight path, and flies to a recovery area to execute parachuting recovery.
Therefore, according to the flight speed requirement and the flow field pneumatic analysis of the fixed-wing unmanned aerial vehicle and the folding-wing unmanned aerial vehicle, an aerial delivery scheme is designed, the fixed-wing unmanned aerial vehicle adopts a cold launching mode to the aerial delivery device of the folding-wing unmanned aerial vehicle, a servo steering engine is utilized for longitudinal limiting, and the small folding-wing unmanned aerial vehicle is ejected backwards from a launching tube along a guide rail through a spring.
The overall control flow and logic of the small folding wing unmanned aerial vehicle are shown in figure 2. The small folding wing unmanned aerial vehicle is placed in the throwing device, enters a task mode after being subjected to power-on self-checking unlocking, and is conveyed to a designated position by the large fixed wing unmanned aerial vehicle for aerial throwing; then, the unmanned aerial vehicle is designed according to an aerial delivery scheme, folding and unfolding of wings, horizontal tails and vertical tails are automatically completed after sensitive delivery, and attitude control and an accelerator motor are sequentially started; the unmanned aerial vehicle executes a track tracking task according to a preset track point design and traverses the track points; and finally, the unmanned aerial vehicle flies to a parachute opening point of a recovery area, enters the parachute drop task module and opens the parachute, and meanwhile, the accelerator motor is braked to be flamed out, and the vertical tail falls down.
The control system mainly adopts an L1 algorithm and a TECS algorithm based on a PX4 framework and adopts three-channel linear PID control. The L1 algorithm ensures that the drone heading meets the desired horizontal position by setting the desired roll angle, and the TECS algorithm keeps the drone meeting the desired speed and altitude by setting the desired throttle amount and the desired pitch angle. The three-channel linear PID control block diagram is shown in FIG. 3, the double-layer EKF algorithm carries out data fusion filtering on sensor information including dual-redundancy IMU information, GPS position and speed information, barometer information and magnetic compass information, position and attitude information of the unmanned aerial vehicle is calculated and estimated in real time, an expected attitude angle instruction of the unmanned aerial vehicle is given according to track tracking, the expected attitude angle instruction is converted into a three-axis angular speed instruction under a machine system by utilizing feedforward and three-channel coordinate system transformation, and the attitude control of the unmanned aerial vehicle is realized through PID control and steering engine mixed control instruction distribution.
3. Control system software design
According to the design of an aerial delivery scheme, the flight control system software of the small folding wing unmanned aerial vehicle is developed for the second time on the basis of a PX4 flight control architecture, a folding and unfolding module and a parachuting task module are integrated in an operating system process queue, and attitude control parameters and steering engine mixed control parameters are adjusted.
The control system folding and unfolding module is designed by adopting a state machine, as shown in figure 4. Because the air releasing device adopts a spring-rear cold emission mode, the overload peak value generated by air releasing is about 20g, and the initial state is designed to be the air releasing state after the axial acceleration generated by the sensitive releasing device exceeds 12g and lasts for 0.2s in consideration of the filtering influence and the duration time of the sensor; in the air release state, after the acceleration of the continuous sensitive free falling body is 0.25s, the folding and unfolding state is entered, and the folding and unfolding actions of wings, horizontal tails and vertical tails are completed, otherwise, the acceleration of the non-sensitive free falling body is not sensed to the free falling ground or the sensitive duration time is not more than 0.3s, the folding and unfolding state is returned to the initial state; in a folding and unfolding state, the wings, the horizontal tails and the vertical tails sequentially unfold through the action mechanisms, the attitude control is started after 0.1s of delay to ensure that the wings are unfolded in place, and then the accelerator is started after the unmanned aerial vehicle is stabilized in attitude after 0.15s of delay.
The control system parachuting task module is designed to fly to an parachute opening point in a designated area after the small folding wing unmanned aerial vehicle completes track traversal, and then the parachuting task is executed. After the parachute is opened through the steering engine drive by the unmanned aerial vehicle, the throttle motor is rapidly braked and extinguished, and the vertical tail falls down to a folded state at the same time, so that the parachute is prevented from being wound with the paddle and the vertical tail to be incapable of being opened.
After the small-sized folding wing unmanned aerial vehicle autonomously finishes folding and unfolding, the attitude control is started, the integral of the controller is designed to be reset at this moment, then the small-sized folding wing unmanned aerial vehicle is considered, under the premise that dynamic pressure is large and only two horizontal tails are used as an actuating mechanism, a proper mixed control coefficient is designed by referring to general fixed wing control parameters, and two horizontal tail steering engines are used for controlling pitching and rolling. On the basis, the weight of the pitching channel and the rolling channel is reduced, the damping of the rolling channel is increased, and the bandwidth and the feedforward of the pitching channel are improved.
Claims (2)
1. A design method of an aerial delivery control system of a folding wing unmanned aerial vehicle is characterized in that,
the control system hardware selects a miniaturized PixHawk 4Mini platform, wherein a data transmission radio station, a GPS antenna, a remote controller receiver and a power module are connected with an interface according to a conventional mode, the layout of control surfaces of a left horizontal tail steering engine and a right horizontal tail steering engine of the miniature folding wing is respectively connected with a CH1 channel and a CH2 channel of a flight control system, the pitching and rolling of the unmanned aerial vehicle are controlled through the mixed control of the steering engines, and the self-stabilization is realized by using double vertical tails during yawing;
the tail pushing motor is connected to a CH3 channel through an electric regulator to control an accelerator, and a built-in UBEC of the electric regulator is used for supplying power to the actuating mechanism and the action mechanism; the parachute switch and the folding and unfolding action mechanism are respectively driven by connecting a CH5 channel and a CH6 channel of the flight control system;
the small folding wing unmanned aerial vehicle uniformly uses digital steering engines, and meanwhile, the steering engine wiring adopts a cluster type so as to meet the anti-interference requirements of an actuating mechanism and an action mechanism;
the aerial throwing device of the folding wing unmanned aerial vehicle adopts a cold launching mode, utilizes a servo steering engine to carry out longitudinal limiting, and ejects the small folding wing unmanned aerial vehicle backwards from a launching tube along a guide rail through a spring;
the control system software is developed for the second time on the basis of a PX4 flight control architecture, a folding and unfolding module and a parachute landing task module are integrated in an operating system process queue, and attitude control parameters and steering engine mixed control parameters are adjusted;
the control system folding and unfolding module is designed by adopting a state machine, and the initial state is designed to be a release state in the air after the axial acceleration generated by the sensitive release device exceeds 12g and lasts for 0.2 s; in the air release state, after the acceleration of the continuous sensitive free falling body is 0.25s, the folding and unfolding state is entered, and the folding and unfolding actions of wings, horizontal tails and vertical tails are completed, otherwise, the acceleration of the non-sensitive free falling body is not sensed to the free falling ground or the sensitive duration time is not more than 0.3s, the folding and unfolding state is returned to the initial state; in a folding and unfolding state, wings, horizontal tails and vertical tails are unfolded sequentially through an action mechanism, attitude control is started after 0.1s of delay to ensure that the wings are unfolded in place, and then accelerator starting is completed after the unmanned aerial vehicle is stabilized in attitude after 0.15s of delay;
the control system track tracking and attitude control mainly adopts an L1 algorithm and a TECS algorithm based on a PX4 architecture respectively, and three-channel linear PID control; the L1 algorithm ensures that the heading of the unmanned aerial vehicle meets the expected horizontal position by setting an expected rolling angle, and the TECS algorithm keeps the unmanned aerial vehicle meet the expected speed and height by setting an expected accelerator amount and an expected pitch angle; three-channel linear PID control, a double-layer EKF algorithm carries out data fusion filtering on sensor information including dual-redundancy IMU information, GPS position and speed information, barometer information and magnetic compass information, the position and attitude information of the unmanned aerial vehicle is calculated and estimated in real time, an expected attitude angle instruction of the unmanned aerial vehicle is given according to track tracking, the expected attitude angle instruction is converted into a three-axis angular speed instruction under a machine system by utilizing feedforward and three-channel coordinate system transformation, and the attitude control of the unmanned aerial vehicle is realized through PID control and steering engine mixed control instruction distribution;
the control system parachuting task module flies to an parachute opening point in a designated area after the small folding wing unmanned aerial vehicle completes track traversal, and executes a parachuting task; after the unmanned aerial vehicle drives the parachute to be opened through the steering engine, the accelerator motor is rapidly braked and extinguished, and meanwhile, the vertical tail falls down to a folded state, so that the parachute is prevented from being wound with the blades and the vertical tail to be incapable of being opened;
after the small folding wing unmanned aerial vehicle autonomously finishes folding and unfolding, attitude control is started, the integral of the controller is designed to be reset at the moment, a proper mixed control coefficient is designed by referring to the control parameters of the fixed wings, and the two horizontal tail steering engines are used for controlling pitching and rolling channels.
2. The design method of the folding wing unmanned aerial vehicle aerial delivery control system according to claim 1, characterized in that: the folding wing unmanned aerial vehicle is entirely powered by a 3S lithium battery, a power system is powered by a power module through electric regulation, and an executing mechanism and an action mechanism are uniformly powered to 5.0V by UBEC.
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