CN120803017A - Tilting rotor craft flight control method in tilting transition stage - Google Patents
Tilting rotor craft flight control method in tilting transition stageInfo
- Publication number
- CN120803017A CN120803017A CN202510862460.3A CN202510862460A CN120803017A CN 120803017 A CN120803017 A CN 120803017A CN 202510862460 A CN202510862460 A CN 202510862460A CN 120803017 A CN120803017 A CN 120803017A
- Authority
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- China
- Prior art keywords
- tilting
- reverse
- tiltrotor
- transition
- angle
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
- G05D1/40—Control within particular dimensions
- G05D1/49—Control of attitude, i.e. control of roll, pitch or yaw
- G05D1/495—Control of attitude, i.e. control of roll, pitch or yaw to ensure stability
-
- 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
- G05D1/40—Control within particular dimensions
- G05D1/46—Control of position or course in three dimensions
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a flight control method of a tilting rotor aircraft in a tilting transition stage, which comprises the steps of determining a reverse tilting state point, wherein the reverse tilting state point is a flight point with a height H, a waiting flight distance of which is greater than or equal to a shortest designed deceleration distance from a starting point of a multi-rotor mode descending stage, and when the tilting rotor aircraft is positioned at the reverse tilting state point, controlling the tilting rotor aircraft to reversely tilt according to a tilting angle instruction, and controlling the tilting rotor aircraft to fly forwards according to a reverse tilting transition flight speed. In the reverse tilting transition stage, the tilting angle rate is calculated based on the distance to be flown, and the comparison of the distance to be flown, the forward distance threshold value and the tilting angle range are combined to execute corresponding flight control strategies for different stages in the reverse tilting transition stage, so that the accurate control of the position of the aircraft in the reverse tilting transition stage is realized.
Description
Technical Field
The invention relates to the field of aircraft design, in particular to a flight control method of a tilting rotor aircraft in a tilting transition stage.
Background
The tilting rotor craft relates to the switching of a multi-rotor mode, a tilting transition mode and a fixed wing mode in the flying process, wherein the flying stage corresponding to the tilting transition mode is a tilting transition stage.
Currently, when a tiltrotor aircraft is in a reverse tilt transition phase, only the flying attitude and the front flying speed of the aircraft are controlled, and the position of the aircraft is not controlled. The flight control scheme can cause a plurality of uncertainties on the position track of the aircraft in the transition stage, especially in the reverse deceleration transition process, the reverse deceleration transition process generally decelerates through pitch angle control or controls airspeed, and the control scheme only can play a role in deceleration and cannot realize accurate position control.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a tilting rotor aircraft flight control method in a tilting transition stage, which is used for calculating the tilting angle rate based on a waiting flight distance in a tilting transition stage, and executing corresponding flight control strategies for different stages in the tilting transition stage by combining comparison of the waiting flight distance and a forward distance threshold value and the tilting angle range, so as to realize accurate control of the aircraft position in the tilting transition stage.
In order to achieve the above purpose, the present invention provides the following technical solutions:
there is provided a tiltrotor aircraft flight control method in a tiltrotor transition phase, comprising a reverse tiltrotor transition phase flight control, and the reverse tiltrotor transition phase flight control comprising:
Determining a reverse tilting state point, wherein the reverse tilting state point is a navigation point with the height H, and the distance to be flown from the starting point of the descending stage of the multi-rotor mode is larger than or equal to the shortest designed deceleration distance;
when the tiltrotor aircraft is located at the reverse tilt state point, the tiltrotor aircraft is controlled to reversely tilt according to the tilt angle command, and the tiltrotor aircraft is controlled to fly forward according to the reverse tilt transition flying speed.
Compared with the prior art, the invention has the following beneficial effects:
The invention can complete forward flight speed control based on flight speed instructions in both forward tilting transition stage and reverse tilting transition stage, calculates tilting angle rate based on the distance to be flown in reverse tilting transition stage, dynamically limits the tilting angle, further combines comparison of the distance to be flown, forward distance threshold value and tilting angle range, executes corresponding flight control strategies for different stages in reverse tilting transition stage, realizes accurate control of the position of the aircraft, ensures accurate and stable landing of the aircraft, and saves energy consumption of the aircraft.
Drawings
FIG. 1 is a schematic illustration of various mission phases of a tiltrotor aircraft;
fig. 2 is a schematic illustration of a reverse tilt transition phase of a tiltrotor aircraft.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1:
The embodiment provides a method for controlling the flight of a tiltrotor aircraft in a tilting transition stage, wherein as shown in fig. 1, the whole flight process of the tiltrotor aircraft comprises the following steps:
the multi-rotor modal take-off stage refers to a stage of taking off of the multi-rotor modal (tilting angle 90 °) tilt-rotor aircraft;
The multi-rotor mode climbing stage refers to a stage of maintaining the multi-rotor mode and climbing to a preset height after the tiltrotor aircraft vertically takes off;
The forward tilting transition phase (i.e., the "forward acceleration transition mode" in fig. 1) refers to a phase in which the tiltrotor aircraft climbs to a predetermined altitude in a multi-rotor mode, and then the tiltrotor is tilted forward to switch to a fixed-wing mode;
The fixed wing mode climbing stage refers to a stage in which the tiltrotor aircraft climbs to a preset height in a fixed wing mode;
The fixed wing mode cruising stage refers to a stage of maintaining a flat flight of the tiltrotor aircraft in a preset time period after the tiltrotor aircraft ascends to a preset height in a fixed wing mode;
The fixed wing mode descending stage (i.e., "fixed wing mode descending" in fig. 1) refers to a stage in which the tiltrotor aircraft descends to a predetermined altitude in the fixed wing mode after the flat flight stage is completed;
the fixed wing mode approaching stage refers to a stage that the tiltrotor aircraft approaches in a fixed wing mode after the tiltrotor aircraft descends to a preset height in the fixed wing mode;
The reverse tilt transition phase (i.e., the "reverse deceleration transition" in fig. 1) refers to the phase in which the tiltably rotor is tilted in reverse to switch to the multi-rotor mode after the approach phase is completed;
A multi-rotor mode descent phase, which is a phase in which the tiltrotor aircraft descends to a predetermined altitude in a multi-rotor mode at a constant descent rate;
The multi-rotor mode landing stage refers to a stage that the tiltrotor aircraft descends in a multi-rotor mode after passing through a multi-rotor mode descent stage and gradually decelerates and descends according to the ground clearance height until grounding, and in the stage, the descent speed of the tiltrotor aircraft is less than 0.2m/s, and the operations of grounding judgment, air-ground state switching, automatic Rowed of all, automatic locking and the like are performed.
The tilting transition stage comprises the forward tilting transition stage and the reverse tilting transition stage, and the tilting rotor craft flight control method in the tilting transition stage comprises the following steps:
(1) The forward tilting transition stage flight control comprises the following steps:
S11, acquiring a shortest forward transition path L threshold according to a formula (1);
Lthreshold＝Vdown×tdown (1)
The V down、tdown is the flight speed corresponding to the lower boundary of the tilting transition corridor and the flight time corresponding to the lower boundary of the tilting transition corridor respectively, wherein the tilting corridor can be predetermined through a flight dynamics model of the tilting rotor aircraft;
S12, controlling the tilting rotor craft in the forward tilting transition stage to fly according to a set course angle and a forward tilting transition flying speed V cmd so as to control the course lateral deviation on a transverse channel and the forward flying speed on a longitudinal channel, wherein in the whole forward tilting transition stage, the flying distance of the tilting rotor craft is smaller than or equal to a flying distance threshold value by controlling, in the embodiment, the value range of the flying distance threshold value is 1.5L threshold～2.0Lthreshold, and further, in the embodiment, the forward tilting transition flying speed V cmd is obtained by a formula (2):
Vcmd＝aβ3+bβ2+cβ+d (2)
A, b, c, d is a first design coefficient, a second design coefficient, a third design coefficient and a fourth design coefficient of a forward tilting transition stage respectively, wherein the 4 design coefficients can be obtained by 4-order polynomial fitting of discrete points with optimal power in a tilting transition corridor so as to show physical meanings of position, speed, acceleration and jerk, and the 4-order polynomial satisfies the following constraint conditions that 0<V cmd is less than or equal to 10m/s when beta=90 degrees and V cmd is more than or equal to cruising speed of the tilting rotor aircraft in a fixed wing mode cruising when beta=0 degrees;
(2) The reverse tilting transition stage flight control comprises the following steps:
s21, determining a reverse tilting state point by a manual selection or automatic calculation mode;
wherein manually selecting the determination of the reverse tilt status point comprises:
the shortest design deceleration distance dis_hor is calculated according to equation (3-1):
dis_hor=Vup×tup (3-1)
wherein, V up、tup is the flight speed corresponding to the upper boundary of the tilting transition corridor and the flight time corresponding to the upper boundary of the tilting transition corridor respectively;
determining a waypoint with the height H as a reverse tilting state point, wherein the distance to be flown to the starting point of the multi-rotor mode descending stage (namely the multi-rotor mode descending point in fig. 2) is larger than or equal to the shortest design deceleration distance, and the process can be completed through advanced offline planning design;
The distance to be flown refers to the forward distance from the current navigation point of the tiltrotor aircraft to the starting point of the multi-rotor mode descending stage, and the altitude H is obtained by calculation according to a formula (3-2):
The system comprises a plurality of rotor wing modes, a plurality of fixed wing modes, a plurality of tilt rotor wing aircrafts, a plurality of fixed wing modes, wherein H1 is the height of the starting point of the multi-rotor wing mode descending stage, gamma is the descending speed of the tilt rotor wing aircrafts in the height direction when the tilt rotor wing aircrafts descend from the current navigation point to the starting point of the multi-rotor wing mode descending stage, and the value range of gamma is 0.5-3m/s;
the automatically resolving determining the reverse tilt status point includes:
The shortest design deceleration distance dis_hor is calculated according to equation (3-3):
dis_hor=V_cruise2/2a (3-3)
Wherein V_cruise is the cruising speed of the tiltrotor aircraft cruising in a fixed wing mode, a is the acceleration of the tiltrotor aircraft in the reverse tilt transition stage;
determining a navigation point with the height H as a reverse tilting state point, wherein the distance to be flown to the starting point of the multi-rotor-wing mode descending stage is larger than or equal to the shortest design deceleration distance;
The definition of the distance to be flown and the height H is the same as the step of manually selecting and determining the reverse tilting state point, and the calculation mode of the height H is the same as the formula (3-2);
S22, when the tiltrotor aircraft is positioned at the reverse tilting state point, controlling the tilting rotor to reversely tilt according to a tilting angle instruction, and controlling the tiltrotor aircraft to fly forwards according to a reverse tilting transition flying speed V cmd';
Wherein, according to tilting angle instruction control tilting rotor reverse tilt, include the following step:
When the distance V to be flown is smaller than a forward distance threshold value, a variable proportion feedback control parameter P is determined based on the distance to be flown, and the tilting angle speed in reverse tilting is determined through the variable proportion feedback control parameter P, so that a tilting rotor of the tilting rotor aircraft reversely tilts according to the tilting angle speed, and the minimum tilting angle allowed by the current flying speed is smaller than or equal to the tilting angle and smaller than or equal to the maximum tilting angle allowed by the current flying speed, wherein the forward distance threshold value is determined through semi-physical simulation according to the flying time and the acceleration in a reverse tilting transition stage, and the value range is 10-100m;
When the tilting angle is 70 degrees and 90 degrees, and the flying distance V is more than or equal to the forward distance threshold value, controlling the tilting angle rate to be 0, and enabling the tilting rotor craft to fly forward while keeping the current tilting angle;
when the tilting angle=90°, if the current flying speed is greater than the speed threshold, the flying speed is reduced until the current flying speed is less than or equal to the speed threshold, the pitch angle and the roll angle are controlled to be within a preset range (for example, the pitch angle is controlled to be within 2 ° -12 °), and the course angle is kept unchanged;
When the tilting angle=90°, if the current flying speed is less than or equal to the speed threshold value, performing position control on the longitudinal channel through open loop control, and softening the current flying speed instruction to a speed instruction value output by the position controller, or adopting a multi-rotor mode variable-rotating speed control strategy (such as lifting the rotating speed of a rear rotor, reducing the rotating speed of a front rotor, lifting the forward flying speed of the aircraft, otherwise, reducing the forward speed or back flying, reducing the rotating speed of the rear rotor, lifting the rotating speed of the front rotor, and reducing the forward flying speed of the aircraft) on the longitudinal channel so as to realize position control, and simultaneously limiting the forward flying acceleration instruction to be between 0.5m/s 2～2.0m/s2, and controlling the transverse rolling angle and the course angle to be within a preset range so as to avoid deviating from a course, wherein course angle control can be realized through carrying out course control by utilizing rotor differential on the course channel;
The value range of the speed threshold is 2.0 m/s-10.0 m/s;
the variable proportion feedback control parameter P is obtained by the following mode (4):
Wherein, P max、Pmin is a first proportional feedback control parameter and a second proportional feedback control parameter respectively, which can be determined by a simulation debugging process, the value ranges are 1-10, and P max＞Pmin is the distance to be flown, V min is the minimum distance to be flown threshold, V max is the maximum distance to be flown threshold, and the minimum distance to be flown threshold V min and the maximum distance to be flown threshold V max can be determined by a simulation process, and V min<Vmax < dis_hor is satisfied;
further, the tilting angle rate ω at the time of reverse tilting is calculated according to the formula (5):
ω=P*V (5)
in this embodiment, the minimum tilting angle and the maximum tilting angle allowed by the current flight speed can be determined through the tilting corridor, so that the tilting angle can be limited in the range of the tilting corridor, and meanwhile, as different flight speeds correspond to different upper and lower tilting angle limits, dynamic amplitude limiting control of the tilting angle can be realized through the tilting corridor;
therefore, the embodiment obtains the tilting angle instruction by adopting the variable proportion feedback control parameters P feedback control of 'large distance small gain' and 'small distance large gain' based on the situation of the distance to be flown, namely, as the distance to be flown is reduced, the proportion feedback control parameters P (namely, transition from the first proportion feedback control parameter P max to the second proportion feedback control parameter P min) and the tilting angle rate are reduced (for example, when the tilting angle is 70 degrees, the tilting angle rate can be reduced to be close to 0), so that when the aircraft keeps the tilting angle unchanged and flies forwards, a forward tension component can be generated, and the energy consumption of the aircraft is saved;
Further, the reverse camber transition flight speed V cmd' is obtained by the formula (6):
Vcmd′＝a′β′3+b′β′2+c′β2+d′ (6)
The system comprises a tilting rotor, a first design coefficient, a second design coefficient, a third design coefficient and a fourth design coefficient, wherein beta ' is a tilting angle when the tilting rotor is reversely tilted, a ', b ', c ', d ' are respectively a first design coefficient, a second design coefficient, a third design coefficient and a fourth design coefficient of a reverse tilting transition stage, and the 4 design coefficients can be obtained by performing 4-order polynomial fitting through a discrete point with optimal power in a tilting transition corridor;
meanwhile, in order to accelerate the process of reverse tilting and decelerating, when the tilting wing unmanned aerial vehicle is positioned at a reverse tilting state point, the pitch angle is increased on the longitudinal channel according to a preset pitch angle increasing rate until the pitch angle reaches a preset value, meanwhile, in the pitch angle increasing process, the rolling angle is kept to be 0 continuously, the course angle is unchanged, and further, the pitch angle increasing rate is 0.1-1-second.
In summary, in the present invention, when the tilt-wing aircraft is in the forward tilt transition stage and the reverse tilt transition stage, the forward flight speed control can be completed based on the flight speed command (i.e. the forward tilt transition flight speed V cmd and the reverse tilt transition flight speed V cmd'), especially in the reverse tilt transition stage, the tilt angle rate is calculated based on the distance to be flown and the dynamic limiting is performed on the tilt angle, so that the position of the tilt-wing aircraft in the reverse tilt transition stage can be precisely controlled, and the corresponding flight control strategies are executed for different stages in the reverse tilt transition stage in combination with the comparison of the distance to be flown and the forward distance threshold value and the tilt angle range, so that the position control effect on the aircraft is enhanced, the follow-up accurate and smooth landing can be ensured, and the energy consumption of the aircraft is saved.
It should be noted that in this document, terms such as "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A method of tiltrotor aircraft flight control during a tiltrotor transition phase, comprising reverse tiltrotor transition phase flight control, and reverse tiltrotor transition phase flight control comprising:
Determining a reverse tilting state point, wherein the reverse tilting state point is a navigation point with the height H, and the distance to be flown from the starting point of the descending stage of the multi-rotor mode is larger than or equal to the shortest designed deceleration distance;
when the tiltrotor aircraft is located at the reverse tilt state point, the tiltrotor aircraft is controlled to reversely tilt according to the tilt angle command, and the tiltrotor aircraft is controlled to fly forward according to the reverse tilt transition flying speed.
2. The tiltrotor aircraft flight control method according to claim 1, wherein the shortest design deceleration distance dis_hor is calculated according to the following formula:
dis_hor=Vup×tup
wherein, V up、tup is the flight speed corresponding to the upper boundary of the tilting transition corridor and the flight time corresponding to the upper boundary of the tilting transition corridor respectively;
or, calculating the shortest design deceleration distance dis_hor according to the following formula:
dis_hor=V_cruise2/2a
wherein V_cruise is the cruise speed of the tiltrotor aircraft when cruising in a fixed wing mode, and a is the acceleration of the tiltrotor aircraft during the reverse tilt transition phase.
3. The tiltrotor aircraft flight control method of claim 1, wherein the altitude H is calculated according to the formula:
Wherein H1 is the height of the starting point of the multi-rotor mode descending stage, gamma is the descending speed of the tiltrotor aircraft in the height direction when the tiltrotor aircraft descends from the current navigation point to the starting point of the multi-rotor mode descending stage, V_cruise is the cruising speed of the tiltrotor aircraft when cruising in a fixed-wing mode, and a is the acceleration of the tiltrotor aircraft in the reverse-tilting transition stage.
4. The tiltrotor aircraft flight control method of claim 1, wherein controlling the reverse tilting of the tiltrotor according to the tilt angle command comprises:
when the distance V to be flown is smaller than the forward distance threshold value, determining a variable proportion feedback control parameter P based on the distance to be flown, and determining the tilting angle rate during reverse tilting through the variable proportion feedback control parameter P, so that the tilting rotor of the tilting rotor aircraft reversely tilts according to the tilting angle rate, and the minimum tilting angle allowed by the current flying speed is smaller than or equal to the tilting angle and smaller than or equal to the maximum tilting angle allowed by the current flying speed;
The variable proportion feedback control parameter P is obtained by the following steps:
Wherein P max、Pmin is a first proportional feedback control parameter and a second proportional feedback control parameter, P max＞Pmin is a distance to be flown, V min is a minimum distance to be flown threshold, and V max is a maximum distance to be flown threshold.
5. The tiltrotor aircraft flight control method of claim 4, wherein the tilt angle rate ω is calculated as ω=p×v when tilting in reverse according to the following equation.
6. The tiltrotor aircraft flight control method of claim 1, wherein the reverse tiltrotor transitional flight speed V cmd' is obtained by the following equation:
Vcmd′＝a′β′3+b′β′2+c′β2+d′
wherein, beta ' is the tilting angle when the tilting rotor wing tilts reversely, and a ', b ', c ', d ' are the first design coefficient, the second design coefficient, the third design coefficient and the fourth design coefficient in the reverse tilting transition stage respectively.
7. The tiltrotor aircraft flight control method of claim 1, wherein when the tiltrotor unmanned aerial vehicle is at the reverse tilt state point, the pitch angle is increased on the longitudinal channel at a predetermined pitch angle increase rate until the pitch angle reaches a predetermined value.
8. The tiltrotor aircraft flight control method of claim 1, wherein controlling the reverse tilting of the tiltrotor according to the tilt angle command comprises:
When the tilting angle is 70 degrees and 90 degrees, and the flying distance V is more than or equal to the forward distance threshold value, controlling the tilting angle rate to be 0, and enabling the tilting rotor craft to fly forward while keeping the current tilting angle;
when the tilting angle=90°, if the current flying speed is greater than the speed threshold, the flying speed is reduced until the current flying speed is less than or equal to the speed threshold, the pitch angle and the roll angle are controlled to be within a preset range, and the course angle is kept unchanged;
When the tilting angle=90°, if the current flying speed is less than or equal to the speed threshold value, performing position control on the longitudinal channel through open loop control, and softening the current flying speed instruction to a speed instruction value output by the position controller, or adopting a multi-rotor-mode variable-rotation speed control strategy on the longitudinal channel to realize position control.
9. The tiltrotor aircraft flight control method of claim 1, further comprising a forward tiltrotor transition phase flight control, and the forward tiltrotor transition phase flight control comprises:
The shortest forward transition path L threshold is obtained according to the following formula;
Lthreshold＝Vdown×tdown
The V down、tdown is the flight speed corresponding to the lower boundary of the tilting transition corridor and the flight time corresponding to the lower boundary of the tilting transition corridor respectively, wherein the tilting corridor can be predetermined through a flight dynamics model of the tilting rotor aircraft;
The tiltrotor aircraft in the forward tilting transition stage is controlled to fly according to the set course angle and the forward tilting transition flying speed V cmd.
10. The tiltrotor aircraft flight control method of claim 9, wherein the forward tiltrotor transitional flight speed V cmd is obtained by the following equation:
Vcmd＝aβ3+bβ2+vβ+d
Wherein, beta is the tilting angle of the tilting rotor when tilting forward, a, b, c, d is the first design coefficient, the second design coefficient, the third design coefficient and the fourth design coefficient of the forward tilting transition stage respectively.
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| CN202510862460.3A CN120803017A (en) | 2025-06-25 | 2025-06-25 | Tilting rotor craft flight control method in tilting transition stage |
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| CN202510862460.3A CN120803017A (en) | 2025-06-25 | 2025-06-25 | Tilting rotor craft flight control method in tilting transition stage |
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