CN-115826605-B - Ducted aircraft and control method, device and equipment

CN115826605BCN 115826605 BCN115826605 BCN 115826605BCN-115826605-B

Abstract

The application discloses a ducted aircraft, a control method, a device and equipment, wherein an aircraft body of the ducted aircraft is in a vault shape, a corresponding vault angle is an aircraft body inclination angle of the ducted aircraft, and a ducted flight system model established by control force and moment parameters of the ducted aircraft with the aircraft body inclination angle under different flight attitudes is used for processing a state vector of a target flight attitude to be achieved by the ducted aircraft to obtain a control input vector so as to enable the control input vector to be input into a flight control system of the aircraft, so that the controller achieves the target flight attitude. The control input vector includes a high channel command, a roll control moment, a pitch control moment, and a yaw control moment. Wherein the yaw control moment comprises an additional yaw moment generated based on the fuselage tilt angle. According to the application, yaw moment is increased in principle through the fuselage inclination angle, and the stability of the yaw channel of the four-duct type aircraft in disturbance environments such as gusts is improved.

Inventors

ZHU HUA
FAN WEI
XU BIN
AN ZIANG
LIU CHUNTAO

Assignees

北京理工大学
酷黑科技（北京）有限公司

Dates

Publication Date: 20260505
Application Date: 20221215

Claims (10)

1. A method of controlling a ducted aircraft, for application to a ducted aircraft having a fuselage pitch angle, the method comprising: determining a fuselage inclination angle of the ducted aircraft based on a dome angle range of the ducted aircraft; Acquiring a ducted flight system model corresponding to the fuselage inclination angle, wherein the ducted flight system model is a model for optimizing control force and control moment of a ducted aircraft based on the fuselage inclination angle; determining a state vector of a target flight attitude corresponding to the ducted aircraft; Processing the state vector based on the ducted flight system model to obtain a control input vector, wherein the control input vector comprises a high-channel instruction, a roll control moment, a pitch control moment and a yaw control moment, and the yaw control moment comprises an additional yaw moment generated based on the fuselage dip angle; And controlling the ducted aircraft to reach the target flight attitude based on the control input vector.
2. The method according to claim 1, wherein the method further comprises: determining a rotation matrix from a body coordinate system to an earth coordinate system based on physical quantities of the attitude of the ducted aircraft set in the earth coordinate system; Acquiring a calculation equation of total control force and control moment generated by power units of all ducted propellers, which correspond to the rotation matrix, and calculating the calculation equation based on a ducted inflow model to obtain the force and moment generated by the power units of all the ducted propellers; according to turbulent wind parameters, the rotation matrix and the force and moment generated by the power unit of each ducted propeller, calculating to obtain external disturbance force and moment; Based on the external disturbance force and moment, the force and moment generated by the power unit of each ducted propeller and the current state matrix of the ducted aircraft, a state space equation is established; and generating a ducted flight system model based on the state space equation.
3. The method of claim 2, wherein the calculating the force and moment generated by the power unit of each ducted propeller based on the ducted inflow model for the calculation equation comprises: Based on the inflow model, respectively calculating speed vectors at the upstream of the rotor wing, the rotor wing and the downstream far from the rotor wing; according to the speed vector of the rotor wing, calculating to obtain the air mass flow passing through the duct; Based on the air flow angle and the speed vector, calculating to obtain the rotor pulling force, and determining the rotation vertical speed and the rotation tangential speed of the rotor; calculating to obtain the total thrust of single rotation according to the rotation vertical speed and the rotation tangential speed of the rotor wing rotor; and respectively calculating the force and the moment generated by the power unit of each ducted propeller according to the inclination angle of the machine body and the total thrust.
4. The method of claim 1, wherein the determining the fuselage inclination of the ducted aircraft based on the range of vault angles of the ducted aircraft comprises: Acquiring candidate parameter sets of the ducted aircraft, wherein each candidate parameter subset in the candidate parameter sets comprises the mass of the ducted aircraft, the wheelbase between adjacent propeller motors and the degree of arch angle in the range of the arch angle; processing each candidate parameter subset based on the ducted flight system model to obtain response data corresponding to each candidate parameter subset; Determining a target parameter subset from the respective candidate parameter subsets based on the response data; and determining the vault angle number in the target parameter subset as the fuselage inclination angle of the ducted aircraft.
5. The method of claim 4, wherein said determining a subset of target parameters among said respective subsets of candidate parameters based on said response data comprises: determining a cost function corresponding to each response data; Processing each cost function to obtain an average value and a standard deviation of each cost function; determining a sensitivity coefficient of each set of candidate parameters to a cost function of corresponding response data based on the average value and the standard deviation; a subset of target parameters is determined among the respective subset of candidate parameters based on the sensitivity coefficient.
6. The method as recited in claim 5, further comprising: performing frequency domain analysis on a flight system of the ducted aircraft based on each candidate parameter subset, and determining a robust stability margin corresponding to each candidate parameter subset; comparing the robust stability margin with a target robust stability margin parameter to obtain a comparison result; A subset of target parameters is determined from the respective subset of candidate parameters based on the comparison result and the sensitivity coefficient.
7. A ducted air vehicle, comprising a main body, characterized by comprising the following steps: The air craft comprises an air craft body, wherein a duct hole is formed in the air craft body, a duct screw is installed in the duct hole, a screw motor is arranged on each duct screw, the air craft body is in a dome shape, and the dome angle range is 7.9-13.1 degrees; the ducted aircraft is controlled using the ducted aircraft control method according to any one of claims 1 to 6.
8. A ducted aircraft control device, applied to the ducted aircraft of claim 7, comprising: the first determining module is used for determining the fuselage inclination angle of the ducted aircraft based on the vault angle range of the ducted aircraft; The first acquisition module is used for acquiring a ducted flight system model corresponding to the fuselage inclination angle, wherein the ducted flight system model is a model for optimizing the control force and the control moment of the ducted aircraft based on the fuselage inclination angle; the second determining module is used for determining a state vector of a target flight attitude corresponding to the ducted aircraft; the processing module is used for processing the state vector based on the ducted flight system model to obtain a control input vector, wherein the control input vector comprises a high-channel instruction, a rolling control moment, a pitching control moment and a yawing control moment, and the yawing control moment comprises an additional yawing moment generated based on the inclination angle of the airframe; and the control module is used for controlling the ducted aircraft to reach the target flight attitude based on the control input vector.
9. A storage medium storing a computer program which, when executed by a processor, implements the ducted aircraft control method of any one of claims 1 to 6.
10. A control apparatus, characterized by comprising: a memory for storing an application program and data generated by the operation of the application program; A processor for executing the application program to implement the ducted aircraft control method according to any one of claims 1 to 6.

Description

Ducted aircraft and control method, device and equipment Technical Field The application relates to the technical field of aircrafts, in particular to a method and a system for determining a fuselage inclination angle of a four-duct type aircraft. Background In recent years, unmanned aerial vehicles are considered as one of the most efficient automated systems, and particularly, unmanned aerial vehicles having high integration and miniaturization are increasingly showing important values in scientific, military and civil fields. As a current research hotspot, small aircraft have high efficiency mobility, and thus have unique advantages in disaster exploration, material transportation, military reconnaissance, and the like. Considering the practical application scene of unmanned aircrafts, conventional open rotors often cannot meet the safety requirements of interaction with environments, human beings, buildings and the like, and ducted aircrafts are generally adopted at present for coping with complex working environments. However, in practical application, the yaw channel of the ducted aircraft is sensitive to problems of saturation, instability, performance reduction and the like of an actuator in the face of complex operation environments such as gust interference and the like. Therefore, enhancing yaw performance of ducted aircraft is a technical problem to be solved. Disclosure of Invention In view of this, the present application provides the following technical solutions: a ducted aircraft, comprising: The air craft comprises an air craft body, wherein a duct hole is formed in the air craft body, duct propellers are installed in the duct hole, each duct propeller is provided with a propeller motor, the air craft body is in a dome shape, and the dome angle range is 7.9 degrees to 13.1 degrees. A ducted aircraft control method applied to the ducted aircraft, the method comprising: determining a fuselage inclination angle of the ducted aircraft based on a dome angle range of the ducted aircraft; Acquiring a ducted flight system model corresponding to the fuselage inclination angle, wherein the ducted flight system model is a model for optimizing control force and control moment of a ducted aircraft based on the fuselage inclination angle; determining a state vector of a target flight attitude corresponding to the ducted aircraft; Processing the state vector based on the ducted flight system model to obtain a control input vector, wherein the control input vector comprises a high-channel instruction, a roll control moment, a pitch control moment and a yaw control moment, and the yaw control moment comprises an additional yaw moment generated based on the fuselage dip angle; And controlling the ducted aircraft to reach the target flight attitude based on the control input vector. Optionally, the method further comprises: determining a rotation matrix from a body coordinate system to an earth coordinate system based on physical quantities of the attitude of the ducted aircraft set in the earth coordinate system; Acquiring a calculation equation of total control force and control moment generated by power units of all ducted propellers, which correspond to the rotation matrix, and calculating the calculation equation based on a ducted inflow model to obtain the force and moment generated by the power units of all the ducted propellers; according to turbulent wind parameters, the rotation matrix and the force and moment generated by the power unit of each ducted propeller, calculating to obtain external disturbance force and moment; Based on the external disturbance force and moment, the force and moment generated by the power unit of each ducted propeller and the current state matrix of the ducted aircraft, a state space equation is established; and generating a ducted flight system model based on the state space equation. Optionally, the calculating the equation based on the ducted inflow model calculates a force and a moment generated by a power unit of each ducted propeller, including: Based on the inflow model, respectively calculating speed vectors at the upstream of the rotor wing, the rotor wing and the downstream far from the rotor wing; according to the speed vector of the rotor wing, calculating to obtain the air mass flow passing through the duct; Based on the air flow angle and the speed vector, calculating to obtain the rotor pulling force, and determining the rotation vertical speed and the rotation tangential speed of the rotor; calculating to obtain the total thrust of single rotation according to the rotation vertical speed and the rotation tangential speed of the rotor wing rotor; and respectively calculating the force and the moment generated by the power unit of each ducted propeller according to the inclination angle of the machine body and the total thrust. Optionally, the determining the fuselage inclination angle of the ducted aircraft based on the vault angle range of the ducted air