CN113682465A - Unmanned autorotation gyroplane flight control method based on paddle disk attitude control - Google Patents

Unmanned autorotation gyroplane flight control method based on paddle disk attitude control Download PDF

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CN113682465A
CN113682465A CN202111154339.3A CN202111154339A CN113682465A CN 113682465 A CN113682465 A CN 113682465A CN 202111154339 A CN202111154339 A CN 202111154339A CN 113682465 A CN113682465 A CN 113682465A
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target
paddle
height
current
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CN113682465B (en
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王松
付仁皓
毛浩
骈学超
谢嘉轩
赵亦涵
张楠
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Beijing Chong Heng Control Technology Co ltd
Beihang University
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Beijing Chong Heng Control Technology Co ltd
Beihang University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C19/00—Aircraft control not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/02—Gyroplanes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses a flight control method of an unmanned autorotation gyroplane based on paddle disk attitude control, which is divided into a longitudinal control channel and a horizontal flight path control channel. Each control channel is divided into an outer ring and an inner ring, the outer ring performs height/speed control and horizontal track control, and the inner ring performs paddle disk attitude control. And when the inner ring attitude is controlled, the attitude of the airframe is not directly controlled, but the plane attitude of the main rotor disc is controlled. The paddle disc plane is used as a main lifting surface, and the change of lifting force and resistance can be brought when the posture of the paddle disc plane is changed, but due to the seesaw type connecting structure between the main rotor wing and the main upright post, delay similar to a pendulum effect exists between the main rotor wing and the airframe, and fluctuation and errors exist when the attitude control of the airframe is directly carried out. Therefore, the posture of the plane of the paddle disk can be kept stable by adopting a mode of controlling the posture of the paddle disk through the quick response of the steering engine, and the machine body hung below the main rotor wing can also tend to be stable in a long period, so that the posture control device has a better posture control effect.

Description

Unmanned autorotation gyroplane flight control method based on paddle disk attitude control
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle flight control, and particularly relates to a flight control method of an unmanned autorotation gyroplane based on paddle disk attitude control.
Background
An unmanned autorotation gyroplane (called gyroplane for short) is a rotor type aircraft which is different from a helicopter and a fixed wing aircraft and has the characteristics of the helicopter and the fixed wing aircraft as one member of a large family of unmanned planes. In terms of configuration, a rotor similar to a helicopter is arranged above a rotorcraft body, but the rotor is an unpowered driving rotor, and the rotor rotates to provide lift force for the rotorcraft by means of relative incoming flow. In terms of power, a rotorcraft must also be equipped with an engine in the forward direction to drive the rotation of the propellers to produce thrust or tension to provide forward power to the rotorcraft, similar to a fixed-wing aircraft. The flight dynamics of the autorotation rotorcraft is between that of a fixed wing airplane and that of a helicopter, the forward flight power and yaw control of the autorotation rotorcraft are the same as those of the fixed wing airplane, and the pitching attitude and the rolling attitude are the same as those of the helicopter. However, the control channels of the autogiro have strong coupling, and have a certain lag in the attitude control through the paddle disk, which are the difficulties in designing the autogiro controller. The rotor wing has the characteristic of unpowered rotation, so that the rotor wing mechanism is simple in structure, high in economy, safety and reliability and wide in application prospect.
The rotorcraft is not prone to large rotor reactive torque in a spinning mode, and therefore a tail rotor for balancing the reactive torque is not needed, and a speed reduction transmission device from an engine to the rotor and a rotor pitch changing mechanism are not needed. Compared with a rotor wing of a helicopter, the structure of the rotor wing is simple and many, the production and maintenance cost is low, the equipment reliability is high, and the failure rate is low. The gyroplane has good flight safety. When the gyroplane meets the engine and parks in the air, the rotor keeps the lift of rotational speed in order to provide safe landing for updraft when usable organism descends, therefore the gyroplane belongs to the aircraft that the security is very high. The gyroplane has better flight stability. Overcome heavily for in order to produce sufficient lift, the diameter of rotor is generally all far greater than the fuselage, and the rotor of aerial high-speed rotation has certain damping effect and top characteristic will show the vertical, horizontal damping coefficient that improves the gyroplane, and the flight gesture is difficult for dispersing.
The autorotation rotorcraft has the characteristics of a fixed wing and a helicopter due to the special configuration, realizes periodic torque variation by adjusting the included angle of a paddle disk relative to a fuselage, and realizes pitching and rolling attitude adjustment; the course of the machine head can be controlled through the rudder; the rotating speed of the engine is controlled through the accelerator steering engine so as to provide different thrusts. However, the change of the thrust of the engine causes the change of the forward speed at the same time, and the synchronous change of the flow velocity of the air flow passing through the main rotor causes the change of the lift force and the resistance generated by the change of the rotating speed of the main rotor, and further causes the change of the height and the forward speed. Coupling the longitudinal speed with the height control can present certain challenges to the control method design. In addition, the connection between the body of the autorotation rotorcraft and the main rotor is similar to 'pendulum' and serves as a system with heavy weight and large rotational inertia, a certain hysteresis link exists when the posture of the body is adjusted through a paddle disk, and the body is easy to vibrate during posture control.
Disclosure of Invention
Aiming at the problems, the invention provides a flight control method of an unmanned autorotation rotorcraft based on paddle disk attitude control, which is a high-precision and high-reliability large-scale unmanned autorotation rotorcraft flight control method and realizes position and speed control of medium and large-scale unmanned autorotation rotorcrafts.
The invention discloses a flight control method of an unmanned autorotation gyroplane based on paddle disk attitude control, which is divided into a longitudinal control channel and a horizontal track control channel.
The longitudinal control channel is distinguished according to the difference value between the target height and the current height, and specifically comprises the following steps:
when the absolute target height-current height is larger than 30m, the longitudinal control method adopts a climbing/descending mode, the airspeed is preferentially ensured, at the moment, the difference value of the target speed and the current airspeed is subjected to proportional and integral control in PID control, the pitch angle of the target paddle disk obtained through PI control calculation is used as the target value of inner ring attitude control, and the accelerator steering engine keeps the corresponding climbing or descending position.
When the absolute value of the target height-the current height is less than 30m, a height setting mode is adopted in the longitudinal control method, the control precision of the height is preferentially ensured, the difference value of the height of the target height and the current height is subjected to proportional and integral control in PID control, the height change rate is introduced for differential control, the pitch angle of a target paddle disk obtained through PID control calculation is used as the target quantity of inner ring attitude control, the difference value of the speed is subjected to proportional and integral control in the PID control, and the instruction value of an accelerator steering engine obtained through PI control calculation is sent to an accelerator steering engine to be executed.
The horizontal track control is realized through a paddle wheel transverse rolling rudder, the outer ring adopts lateral offset control, the lateral offset is mainly used as the input quantity of the rolling attitude inner ring control, the lateral component force generated by adjusting the roll angle of the unmanned aerial vehicle through the paddle wheel rolling rudder enables the aircraft to move horizontally to eliminate the lateral offset, the rudder and the paddle wheel transverse rolling rudder are combined to turn, and the rudder is mainly used for carrying out stability augmentation control on the course in the air.
The invention has the advantages that:
(1) the flight control method of the unmanned autorotation gyroplane based on the paddle disk attitude control realizes the position and speed control of a medium-large unmanned autorotation gyroplane;
(2) the invention relates to a flight control method of an unmanned autorotation gyroplane based on the paddle disk attitude control, which adopts different control strategies in different altitude difference ranges when the unmanned autorotation gyroplane flies, preferentially ensures airspeed when climbing and descending with large altitude difference and has larger climbing rate and sinking rate. And higher control precision is obtained by controlling the height through the paddle disk during small height difference control. The height control can meet the requirements of rapidity and safety and simultaneously has higher precision.
(3) The unmanned autorotation gyroplane flight control method based on the paddle disk attitude control has the advantages that the attitude angle of the paddle disk relative to the ground is controlled by the attitude inner ring, and the unmanned autorotation gyroplane flight control method has higher response speed and control precision relative to the control of the attitude of the fuselage.
Drawings
FIG. 1 is a block diagram of the structure of the flight control method of an unmanned autorotation rotorcraft based on the attitude control of a paddle disk according to the invention;
FIG. 2 is a block diagram of a vertical control structure of a unmanned autorotation rotorcraft in a fixed height mode in the flight control method of the unmanned autorotation rotorcraft based on the paddle wheel attitude control according to the present invention;
fig. 3 is a block diagram of a longitudinal control structure of a climbing/descending mode of an unmanned autorotation rotorcraft in the flight control method of the unmanned autorotation rotorcraft based on the paddle wheel attitude control according to the present invention;
fig. 4 is a structure diagram of lateral direction control of the unmanned autorotation rotorcraft in the method for controlling flight of the unmanned autorotation rotorcraft based on the attitude control of the paddle wheel.
Fig. 5 is a comparison graph of the altitude control effect of the unmanned autorotation rotorcraft in the flight control method of the unmanned autorotation rotorcraft based on the paddle wheel attitude control according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
The invention relates to a flight control method of an unmanned autorotation gyroplane based on the posture control of a paddle disk, which relates to a main structure of the autorotation gyroplane, and comprises the following steps: a fuselage that provides mounting structure for other components, a main rotor that provides lift while providing control capability for the aircraft, landing gear that provides support for the aircraft, an engine that provides power for the aircraft, and a tail that provides stability and yaw control for the aircraft. The main rotor serves as a lifting source and a main flight control mechanism and is connected to the main upright post through the rotor disc, and the two control rods push the rotor disc to change a pitching included angle and a rolling included angle of a plane of the paddle disc relative to the aircraft body. Specifically, two control rods push up synchronously to press the plane of the paddle disk, and two control rods pull down synchronously to lift the plane of the paddle disk, so that the pitching motion of the rotorcraft can be controlled. The two control rods are pushed differentially to change the rolling included angle of the paddle disc relative to the aircraft body, so that the rolling motion of the rotorcraft can be controlled.
As shown in fig. 1, the flight control method of the unmanned autorotation rotorcraft with the above structure is divided into a longitudinal control channel and a horizontal track control channel, and each control channel is responsible for calculating a corresponding output value through an input value and a target value according to a corresponding control task (such as height control, speed control and attitude control). Each control channel is divided into an outer ring and an inner ring for controlling, the outer ring is used for controlling the height/speed and the horizontal track, and the inner ring is used for controlling the posture of the paddle disk. When the inner ring attitude is controlled, the attitude of the fuselage is not directly controlled, but the plane attitude of a main rotor disc is controlled. The plane of the paddle disc is used as a main lifting surface, and the change of lifting force and resistance can be brought when the attitude of the paddle disc changes, but due to a seesaw type connecting structure between the main rotor wing and the main upright post, delay similar to a pendulum effect exists between the main rotor wing and the machine body, so that the change of the body attitude when the paddle disc is controlled has delay and lag, and fluctuation and error exist when the machine body attitude is directly controlled. Therefore, the invention adopts a mode of controlling the plane attitude of the paddle disk of the main rotor, can ensure that the attitude of the paddle disk plane is kept stable through the quick response of the steering engine, and the machine body suspended below the main rotor can also tend to be stable in a long period, thereby having better attitude control effect.
The longitudinal control channel is distinguished according to the difference value between the target height and the current height, and the method specifically comprises the following steps:
when the altitude difference is large (I target altitude-current altitude | > 30m), the longitudinal control method adopts a climbing/descending mode, the airspeed is preferentially ensured, at the moment, the difference value of the target speed and the current airspeed is subjected to proportional (P) and integral (I) control (no differential D link) in PID control, the pitch angle of the target paddle disk obtained through PI control calculation is used as the target quantity of inner ring attitude control, the accelerator steering engine keeps a corresponding climbing (maximum) or descending (idle) position, and larger climbing rate and sinking rate can be obtained, as shown in FIG. 2, the specific method is designed as follows:
s1, carrying out error calculation according to the target airspeed and the current airspeed, and calculating the target paddle disk pitch angle theta through an outer ring PI controlleraThe specific calculation method comprises the following steps:
Figure BDA0003287986180000041
wherein, thetaaTo the target pitch angle of the paddle wheel,
Figure BDA0003287986180000042
airspeed feedback gain, airspeed integral gain, Va、VcRespectively, a target airspeed and a current airspeed.
In order to achieve larger climbing rate and sinking rate and simultaneously consider the performance of the airplane, the designed target airspeed during climbing and descending linearly changes along with different altitudes, and the method for calculating the target airspeed during climbing/descending with large altitude difference comprises the following steps:
Va＝-0.001349*H+29.94
where H is the altitude in m.
And S2, calculating the difference between the target pitch angle of the paddle disk calculated in the step S1 and the current pitch angle of the paddle disk obtained by AHRS measurement, and performing inner ring PID control law calculation. The differential (D) link introduces a pitch angle rate link during inner loop control, so that the system error change trend can be predicted to a certain extent, and the system dynamic performance can be improved. And then carrying out maximum amplitude limiting on the instruction value of the pitch steering engine of the paddle disk obtained after the PID calculation of the inner ring, preventing the instruction value from exceeding the limit of the steering engine, and sending the instruction value to the pitch steering engine of the paddle disk for execution. The specific calculation method comprises the following steps:
Figure BDA0003287986180000043
wherein, deltaeThe amount of the pitching rudder of the paddle wheel,
Figure BDA0003287986180000044
pitch angle feedback gain, pitch angle rate at respective airspeed controlFeedback gain, integral gain of pitch angle, q is pitch angle rate, thetaa、θcRespectively as the pitch angle of the target paddle disk, the pitch angle of the current paddle disk, KYR as the feedforward gain of the roll angle, phicIs the current roll angle.
S3, in order to obtain the maximum climbing rate during climbing, the throttle is at the maximum position; to obtain the maximum rate of sinking during descent, the throttle is in the idle position.
When climbing or descending to a position close to a target height, the height difference is small (I target height-current height | < 30m), a height setting mode is adopted in a longitudinal control method, the control precision of the height is preferentially ensured, the height difference value of the target height and the current height is subjected to proportional (P) and integral (I) control in PID control, a height change rate (lifting speed) is introduced for differential (D) control, the target paddle pitch angle obtained through PID control calculation is used as a target quantity of inner ring attitude control, the speed difference value is subjected to proportional (P) and integral (I) control (non-differential D control) in the PID control, and an accelerator steering engine instruction value obtained through PI control calculation is sent to an accelerator steering engine to be executed, as shown in figure 3, the specific method is designed as follows:
and S1, passing the difference value between the target height and the current height through a longitudinal outer ring PI controller, introducing the lifting speed as a differential (D) link, and calculating the pitch angle of the target paddle disk by an outer ring PID control law as follows:
Figure BDA0003287986180000045
wherein, thetaaTo the target pitch angle of the paddle wheel,
Figure BDA0003287986180000046
respectively a height feedback gain, a lifting speed feedback gain and a height integral gain,
Figure BDA0003287986180000047
for sinking speed, Ha、HcRespectively, a target height and a current height.
And S2, calculating the difference between the target pitch angle of the paddle disk calculated in the step S1 and the current pitch angle of the paddle disk obtained by the AHRS measurement of the characteristic 5 according to a proportional (P), integral (I) and derivative (D) controller in an inner ring PID controller, and obtaining a paddle disk pitch rudder amount instruction value. The differential (D) link can predict the system error variation trend to a certain extent and improve the system dynamic performance. Besides, a roll angle feedforward link is introduced, lift loss can be caused by the roll attitude during turning to cause the height of the airplane to descend, and the attitude can be pulled up in advance when the roll angle appears during turning by introducing the roll angle feedforward quantity, so that the height loss during the turning process is reduced. And carrying out maximum amplitude limiting on the calculated pitch rudder quantity instruction value of the paddle disk, and sending the maximum amplitude limiting to the pitch rudder quantity instruction value of the paddle disk for execution. The specific calculation method of the inner ring PID control law introducing the roll angle feedforward quantity comprises the following steps:
Figure BDA0003287986180000051
wherein, deltaeThe amount of the pitching rudder of the paddle wheel,
Figure BDA0003287986180000052
respectively a pitch angle feedback gain, a pitch angle rate feedback gain and a pitch angle integral gain during height control, q is a pitch angle rate, and theta isa、θcRespectively as the pitch angle of the target paddle disk, the pitch angle of the current paddle disk, KYR as the feedforward gain of the roll angle, phicIs the current roll angle.
S3, controlling the airspeed through the accelerator, performing proportional P and integral I control according to the difference value between the target airspeed and the current airspeed, performing maximum amplitude limiting on the calculated rudder quantity instruction value of the accelerator steering engine, and sending the maximum amplitude limiting instruction value to the accelerator steering engine for execution, wherein the specific calculation method comprises the following steps:
Figure BDA0003287986180000053
wherein, deltapThe steering quantity of an accelerator steering engine is provided,
Figure BDA0003287986180000054
respectively, a velocity feedback proportional gain, a velocity integral gain, Va、VcRespectively, a target airspeed and a current airspeed.
The horizontal track control is realized through a paddle wheel transverse rolling rudder, the outer ring adopts lateral offset control, the lateral offset is mainly used as the input quantity of the rolling attitude inner ring control, the lateral component force generated by adjusting the roll angle of the unmanned aerial vehicle through the paddle wheel rolling rudder enables the horizontal motion of the aircraft to eliminate the lateral offset, the rudder and the paddle wheel transverse rolling rudder are combined to turn, and the rudder mainly performs stability augmentation control on the course in the air, as shown in figure 4, the specific method is designed as follows:
s1, calculating a lateral offset distance y according to the target heading and the current position, and obtaining the target heading through outer-loop PID control as follows:
Figure BDA0003287986180000055
wherein psiaThe target course angle is the angle of the target course,
Figure BDA0003287986180000056
respectively, a lateral offset feedback gain, a lateral velocity feedback gain, a lateral offset integral gain, deltayIn order to obtain the lateral offset distance,
Figure BDA0003287986180000057
is the lateral velocity.
S2, introducing a differential link into the course inner ring, enabling the rudder to only play a role of course stability augmentation during air flight, completing coordinated turning together with the transverse channel during turning, and controlling the attitude of the course inner ring by the following law:
Figure BDA0003287986180000058
wherein, deltarAs the amount of the rudder,
Figure BDA0003287986180000059
respectively feedback gain and speed of course angleAnd r is the course angular rate.
S3, calculating a side offset y according to the target flight and the current position, performing outer-ring PI control calculation on the side offset by a transverse outer ring, introducing course offset feedforward quantity to coordinate turning with a rudder, and performing amplitude limiting on the calculated value (the amplitude limiting is used for preventing the calculated target roll angle from being too large to cause too large roll attitude) to obtain the target paddle pan roll angle, wherein the specific calculation method comprises the following steps:
Figure BDA0003287986180000061
wherein phiaIs the target paddle pan roll angle,
Figure BDA0003287986180000062
respectively, a lateral offset feedback gain, a lateral velocity feedback gain, a lateral offset integral gain, deltayIn order to obtain the lateral offset distance,
Figure BDA0003287986180000063
for lateral velocity, KRZ is the heading bias gain and Δ ψ is the heading bias.
And S4, performing inner-loop control law calculation on the target paddle disk rolling angle calculated in the step S3 and the current paddle disk rolling angle, performing maximum amplitude limiting on the calculated paddle disk rolling steering engine instruction value, preventing the instruction value from exceeding the limit of the steering engine, and sending the instruction value to the paddle disk rolling steering engine for execution. The specific control law is as follows:
Figure BDA0003287986180000064
wherein, deltaaIn order to roll the rudder amount of the paddle wheel,
Figure BDA0003287986180000065
respectively roll angle feedback gain, roll angle rate feedback gain and roll angle integral gain, p is the roll angle rate, phia、ΦcThe target and current rotor disk rolling angles are respectively.
The following simulation compares the altitude control effect of the method for controlling altitude by the accelerator alone and the pitch rudder of the paddle with the altitude control effect of the method for controlling altitude by stages according to the present invention, as shown in fig. 5. The height can be controlled by the accelerator independently to obtain a larger climbing rate during initial climbing, but the height is controlled by the accelerator correspondingly slowly, the overshoot is large, the target height needs to be adjusted within a period of time, the terminal response is slow, and the precision is low. Altitude control by the paddle wheel pitch alone is faster in response and higher in control accuracy at the initial and near target altitudes, but the rate of climb during climb is lower. The strategy for controlling the height in stages has larger climbing rate by increasing the accelerator in the climbing process, switches the height control method when the target height is approached, and accurately and quickly achieves the target height by controlling the paddle disk.
In conclusion, the method can be suitable for controlling the flight position, speed and attitude of the unmanned autorotation gyroplane in the air, firstly flies to the target height at a large climbing rate or sinking rate when climbing and descending, and reaches the target height at higher control precision and response speed by adopting a height setting mode when approaching the target height. And when the attitude control is carried out, the lifting surface of the paddle disk is used as a control object, so that higher response speed can be achieved, and the attitude control is more stable.

Claims (5)

1. A flight control method of an unmanned autorotation gyroplane based on the posture control of a paddle disk is characterized by comprising the following steps: the device is divided into a longitudinal control channel and a horizontal track control channel;
the longitudinal control channel is distinguished according to the difference value between the target height and the current height, and specifically comprises the following steps:
when the absolute target height-current height is more than 30m, the longitudinal control method adopts a climbing/descending mode, the airspeed is preferentially ensured, at the moment, the difference value of the target speed and the current airspeed is subjected to proportional and integral control in PID control, the pitch angle of a target paddle disk obtained through PI control calculation is used as the target quantity of inner ring attitude control, and an accelerator steering engine keeps a corresponding climbing or descending position;
when the absolute value of target height-current height is less than 30m, a height setting mode is adopted in a longitudinal control method, the control precision of the height is preferentially ensured, the height difference value of the target height and the current height is subjected to proportional and integral control in PID control, the height change rate is introduced for differential control, the pitch angle of a target paddle disk obtained through PID control calculation is used as the target quantity of inner ring attitude control, the speed difference value is subjected to proportional and integral control in PID control, and the instruction value of an accelerator steering engine obtained through PI control calculation is sent to an accelerator steering engine to be executed;
the horizontal track control is realized through a paddle wheel transverse rolling rudder, the outer ring adopts lateral offset control, the lateral offset is mainly used as the input quantity of the rolling attitude inner ring control, the lateral component force generated by adjusting the roll angle of the unmanned aerial vehicle through the paddle wheel rolling rudder enables the aircraft to move horizontally to eliminate the lateral offset, the rudder and the paddle wheel transverse rolling rudder are combined to turn, and the rudder is mainly used for carrying out stability augmentation control on the course in the air.
2. The method for controlling the flight of an unmanned autorotation rotorcraft based on the attitude control of the rotor disc as claimed in claim 1, characterized in that: when | target height-current height | > 30m, the longitudinal control specific method is designed as follows:
s1: error calculation is carried out according to the target airspeed and the current airspeed, and the target paddle disk pitch angle theta is calculated through an outer ring PI controlleraThe specific calculation method comprises the following steps:
Figure FDA0003287986170000011
wherein, thetaaTo the target pitch angle of the paddle wheel,
Figure FDA0003287986170000012
airspeed feedback gain, airspeed integral gain, Va、VcRespectively a target airspeed and a current airspeed;
s2: performing inner ring PID control law resolving by taking the difference between the target pitch angle of the paddle disk calculated in the step S1 and the current pitch angle of the paddle disk obtained by AHRS measurement; the differential link introduces a pitch angle rate link during inner ring control, and then carries out maximum amplitude limiting on a command value of the paddle disk pitch steering engine obtained after inner ring PID calculation, and sends the command value to the paddle disk pitch steering engine for execution; the specific calculation method comprises the following steps:
Figure FDA0003287986170000013
wherein, deltaeThe amount of the pitching rudder of the paddle wheel,
Figure FDA0003287986170000014
respectively controlling the airspeed, and obtaining the pitch angle feedback gain, the pitch angle rate feedback gain and the pitch angle integral gain, wherein q is the pitch angle rate, and theta isa、θcRespectively as the pitch angle of the target paddle disk, the pitch angle of the current paddle disk, KYR as the feedforward gain of the roll angle, phicIs the current roll angle;
s3: in order to obtain the maximum climbing rate during climbing, the throttle is at the maximum position; to obtain the maximum rate of sinking during descent, the throttle is in the idle position.
3. The method for controlling the flight of an unmanned autorotation rotorcraft based on the attitude control of the rotor disc as claimed in claim 1, characterized in that: when the | target altitude-current altitude | is greater than 30m, the designed target airspeed in climbing and descending in the longitudinal control method linearly changes along with different altitudes, and the designed target airspeed in climbing/descending is as follows:
Va＝-0.001349*H+29.94
where H is the altitude in m.
4. The method for controlling the flight of an unmanned autorotation rotorcraft based on the attitude control of the rotor disc as claimed in claim 1, characterized in that: when | target height-current height | < 30m, the longitudinal control specific method is designed as follows:
s1: the difference value of the target height and the current height passes through a longitudinal outer ring PI controller, the lifting speed is introduced as a differential link, and the pitch angle of the target paddle disk is calculated through an outer ring PID control law as follows:
Figure FDA0003287986170000021
wherein, thetaaTo the target pitch angle of the paddle wheel,
Figure FDA0003287986170000022
respectively a height feedback gain, a lifting speed feedback gain and a height integral gain,
Figure FDA0003287986170000023
for sinking speed, Ha、HcRespectively a target height and a current height;
s2: the target pitch angle of the paddle disk calculated in the step S1 is differenced with the current pitch angle of the paddle disk obtained by AHRS measurement, and the difference is resolved according to a proportional, integral and differential controller in an inner ring PID controller to obtain a pitch rudder amount instruction value of the paddle disk; simultaneously, a roll angle feedforward link is introduced, and the attitude is pulled up in advance when a roll angle appears in the turning by introducing roll angle feedforward quantity; the calculated instruction value of the pitching rudder amount of the paddle disc is subjected to maximum amplitude limiting and is sent to a pitching steering engine of the paddle disc for execution; the specific calculation method of the inner ring PID control law introducing the roll angle feedforward quantity comprises the following steps:
Figure FDA0003287986170000024
wherein, deltaeThe amount of the pitching rudder of the paddle wheel,
Figure FDA0003287986170000025
respectively a pitch angle feedback gain, a pitch angle rate feedback gain and a pitch angle integral gain during height control, q is a pitch angle rate, and theta isa、θcRespectively as the pitch angle of the target paddle disk, the pitch angle of the current paddle disk, KYR as the feedforward gain of the roll angle, phicIs the current roll angle;
s3: the air speed is controlled through the accelerator, proportional P and integral I control is carried out according to the difference value of the target air speed and the current air speed, the maximum amplitude limiting is carried out on the calculated accelerator steering engine rudder quantity instruction value, the instruction value is sent to the accelerator steering engine to be executed, and the specific calculation method comprises the following steps:
Figure FDA0003287986170000026
wherein, deltapThe steering quantity of an accelerator steering engine is provided,
Figure FDA0003287986170000027
respectively, a velocity feedback proportional gain, a velocity integral gain, Va、VcRespectively, a target airspeed and a current airspeed.
5. The method for controlling the flight of an unmanned autorotation rotorcraft based on the attitude control of the rotor disc as claimed in claim 1, characterized in that: the horizontal track control method is designed as follows:
s1: calculating a lateral offset distance y according to the target course and the current position, and obtaining the target course through outer ring PID control as follows:
Figure FDA0003287986170000028
wherein psiaThe target course angle is the angle of the target course,
Figure FDA0003287986170000029
respectively, a lateral offset feedback gain, a lateral velocity feedback gain, a lateral offset integral gain, deltayIn order to obtain the lateral offset distance,
Figure FDA0003287986170000031
is the lateral velocity;
s2: the course inner ring introduces a differential link, the rudder only plays a role of course stability augmentation during air flight, the rudder and the transverse channel finish coordinated turning together during turning, and the course inner ring attitude control law is as follows:
Figure FDA0003287986170000032
wherein, deltarAs the amount of the rudder,
Figure FDA0003287986170000033
respectively obtaining course angle feedback gain and course angle speed feedback gain, wherein r is course angle speed;
s3: calculating a side offset y according to a target flight and a current position, performing outer-loop PI control calculation on the side offset by a transverse outer loop, introducing course offset feedforward quantity to coordinate turning with a rudder, and performing amplitude limiting on a calculated value (the amplitude limiting is used for preventing the calculated target roll angle from being too large to cause too large roll attitude) to obtain a target paddle pan roll angle, wherein the specific calculation method comprises the following steps:
Figure FDA0003287986170000034
wherein phiaIs the target paddle pan roll angle,
Figure FDA0003287986170000035
respectively, a lateral offset feedback gain, a lateral velocity feedback gain, a lateral offset integral gain, deltayIn order to obtain the lateral offset distance,
Figure FDA0003287986170000036
for lateral velocity, KRZ for heading bias gain, Δ ψ for heading bias;
s4: and (3) resolving an inner ring control law of the target paddle disk rolling angle calculated in the step (S3) and the current paddle disk rolling angle, carrying out maximum amplitude limiting on the instruction value of the paddle disk rolling steering engine obtained through calculation, preventing the instruction value from exceeding the limit of the steering engine, and sending the instruction value to the paddle disk rolling steering engine for execution, wherein the specific control law is as follows:
Figure FDA0003287986170000037
wherein, deltaaIn order to roll the rudder amount of the paddle wheel,
Figure FDA0003287986170000038
respectively roll angle feedback gain, roll angle rate feedback gain and roll angle integral gain, p is the roll angle rate, phia、ΦcThe target and current rotor disk rolling angles are respectively.
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