CN-121976481-A - Double-layer aircraft take-off and landing platform capable of self-adapting to inclined plane and control method

Abstract

The invention discloses a double-layer aircraft landing platform capable of adapting to inclined planes and a control method thereof, comprising a lower layer fixing mechanism and an upper layer landing plate, wherein the lower layer fixing mechanism is connected with the upper layer landing plate through three rod pieces, the three rod pieces are respectively two telescopic rods driven by a stepping motor and a supporting rod with fixed length, universal joints are adopted at the connection positions of the three rod pieces, the lower layer fixing mechanism and the upper layer landing plate, a gyroscope is arranged in the upper layer landing plate and is electrically connected with a controller, the controller is used for driving the stepping motor to stretch and retract according to gesture signals detected by the gyroscope so as to dynamically adjust the levelness of the upper layer landing plate, and the invention solves the problem of how to keep the landing platform horizontal on non-horizontal supporting surfaces such as stair handrails and the like, thereby improving the landing stability of the aircraft.

Inventors

• Deng lun
• CHEN ZHENGHU
• LI YAJUN
• YAN FEI
• LI SILIANG
• ZHU YUANLONG
• ZHOU JUNTAO

Assignees

• 中国长江电力股份有限公司

Dates

Publication Date

20260505

Application Date

20260114

Claims (14)

1. 1. A double-layer aircraft landing platform capable of adapting to inclined planes comprises a lower layer fixing mechanism and an upper layer landing plate, and is characterized in that the lower layer fixing mechanism is connected with the upper layer landing plate through three rod pieces, the three rod pieces are respectively two telescopic rods driven by a stepping motor and a supporting rod with fixed length, universal joints are adopted at the connection positions of the three rod pieces, the lower layer fixing mechanism and the upper layer landing plate, a gyroscope is arranged in the upper layer landing plate and is electrically connected with a controller, and the controller is used for driving the stepping motor to stretch according to gesture signals detected by the gyroscope so as to dynamically adjust the levelness of the upper layer landing plate.
2. 2. The landing platform of a double-deck aircraft with a self-adaptive inclined surface according to claim 1, wherein the lower-layer fixing mechanism comprises two opposite brackets, each bracket is provided with a claw capable of being hooked on a stair railing, the contact surface of the claw and the railing is provided with a non-slip mat, and the two brackets are connected and fixed through a connecting rod.
3. 3. The landing platform of a double-deck aircraft with an adaptive inclined surface according to claim 2, wherein the anti-skid pad is made of 2mm thick silicon rubber, and the contour of the inner cavity of the claw is matched with the contour of a common stair railing.
4. 4. The self-adaptive inclined plane double-layer aircraft landing platform according to claim 1, wherein the upper landing plate is a lightweight high-strength carbon fiber honeycomb plate, and the gyroscope and the processor are embedded in a central region of the upper landing plate.
5. 5. The landing platform of a double-deck aircraft with an adaptive inclined surface according to claim 1, wherein two telescopic rods and one support rod with a fixed length are arranged in a triangle shape, the two telescopic rods are symmetrically arranged at the diagonal positions of the landing plate respectively, and the support rods with the fixed length are used for providing auxiliary support.
6. 6. The self-adaptive inclined surface double-deck aircraft landing platform of claim 1, wherein the universal joint is of a standard closed structure, and rated torque of the universal joint can bear overturning moment generated by a 20 kg-class load.
7. 7. The double-deck aircraft landing platform with the self-adaptive inclined surface according to claim 2, wherein the connecting rod is matched with screw holes on the brackets through screws, so that detachable fixed connection of the two brackets is realized.
8. 8. A method of controlling a landing platform for a double-deck aircraft having an adaptively sloped surface according to any one of claims 1 to 7, comprising the steps of: Step 1, initializing and modeling a system, constructing an attitude kinematic equation and a rotation kinetic equation of a lifting plate, and defining relevant parameters of a target horizontal attitude and an attitude error; Step 2, designing an extended state observer, expanding system disturbance into a system state, and constructing a linear extended state observer to estimate the disturbance in real time; step 3, designing a backstepping sliding mode controller, defining an attitude error variable and an angular speed error, constructing a virtual control quantity and a sliding mode surface, and deducing an actual control moment; step 4, designing a self-adaptive law, updating key parameter estimation values of the system on line, and compensating parameter uncertainty; Step 5, designing feedforward compensation torque, and combining feedback control to form a composite control framework to obtain total control torque; And 6, mapping the total control moment into a telescopic quantity instruction of a telescopic rod through pseudo-inverse of the Jacobian matrix, and driving a stepping motor to level the upper lifting plate.
9. 9. The method for controlling the landing platform of the double-deck aircraft capable of adapting to the inclined plane according to claim 8, wherein the step 1 specifically comprises the following steps: the upper lifting plate is a rigid body, and the posture of the upper lifting plate is represented by a unit quaternion Representation of wherein Wherein 、 、 、 Four real numbers are used for describing the three-dimensional space gesture of the lifting plate without singular, and the gesture kinematics equation is as follows: ; Wherein the method comprises the steps of The angular velocity of the lifting plate in the body coordinate system is measured by a gyroscope; Defining a target horizontal pose as Attitude error quaternion , Wherein 、 、 、 Is four real numbers, and passes through the quaternion of the lifting plate And horizontal attitude quaternion The calculation results are that: ; Wherein the method comprises the steps of Representing a quaternion multiplication; the corresponding error rotation matrix is Wherein Representing a cross-over matrix; the simplified rotation dynamics equation of the landing plate is: ; Wherein the method comprises the steps of For the rotational inertia matrix, a diagonal matrix is assumed, In order to provide a damping matrix, In order to control the moment, the length difference of the two telescopic rods is used for generating, Is a lumped disturbance; Control moment And the length change of the telescopic rod , Approximately proportional relation: ; Wherein the method comprises the steps of Is a jacobian matrix determined by the platform geometry.
10. 10. The method for controlling the landing platform of the double-deck aircraft capable of adapting to the inclined plane according to claim 8, wherein the step 2 specifically comprises the following steps: Defining the expanded state Wherein For normalized disturbance, constructing a linear expansion state observer: ; Wherein the method comprises the steps of And Respectively is And Is used for the estimation of the (c), And Respectively is And Is used for the time derivative of (a), , The method is designed for an observer gain matrix through a pole allocation method to ensure convergence of an estimation error index.
11. 11. The method for controlling the landing platform of the double-deck aircraft with the self-adaptive inclined surface according to claim 8, wherein the step3 specifically comprises the following steps: defining attitude error variables The derivative is as follows: ; Wherein the method comprises the steps of , Is 3 x 3 identity matrix, is simplified ; Designing virtual control quantity: ; Wherein the method comprises the steps of Defining angular velocity error for positive gain matrix ; Consider the Lyapunov function Deriving and substituting the virtual control law to obtain: ; Design sliding film surface Wherein Integrating the gain for the sliding mode surface; The derivative of the slip plane is: ; Wherein the method comprises the steps of And Respectively is And Is a derivative of (2); Substituting the kinetic equation and using the disturbance estimated by the observer Design of actual control moment The method comprises the following steps: ; Wherein the method comprises the steps of , The gain matrix is controlled for a positive sliding mode, As a function of the saturation, Is the boundary layer thickness.
12. 12. The method for controlling the landing platform of the double-deck aircraft with the self-adaptive inclined surface according to claim 8, wherein the step4 specifically comprises the following steps: assuming moment of inertia And damping With uncertainty of parameters, let Designing an adaptive update law for a parameter vector to be estimated: Wherein the method comprises the steps of In order to adapt the gain matrix in a way that, Is a regression matrix, satisfy The design principle of the update law is to reduce the parameter estimation error along the sliding mode surface direction, so that the stability of the system under parameter change is ensured.
13. 13. The method for controlling the landing platform of the double-deck aircraft with the self-adaptive inclined surface according to claim 8, wherein the step5 specifically comprises the following steps: Armrest tilt based on initial pose estimation And design feedforward compensation moment in consideration of possible translational motion of the platform: ; Wherein the method comprises the steps of , The feedforward compensation and the feedback control are combined to form a composite control framework, and the response speed and the steady-state precision are considered; The total control moment is , Is the actual control moment.
14. 14. The method for controlling the landing platform of the double-deck aircraft with the self-adaptive inclined surface according to claim 8, wherein the step 6 specifically comprises the following steps: the total moment is mapped to the space of the actuator through pseudo inverse of the jacobian matrix, so that approximate decoupling control is realized: ; Wherein the method comprises the steps of Is that According to pseudo-inverse of (a) a stepping motor , And the instruction is combined with high subdivision driving to realize dynamic adjustment of micron-scale precision.

Description

Double-layer aircraft take-off and landing platform capable of self-adapting to inclined plane and control method Technical Field The invention relates to the technical field of aircraft landing platforms, in particular to a double-layer aircraft landing platform capable of adapting to inclined planes and a control method. Background In order to provide support for the take-off and landing of an aircraft, various aircraft take-off and landing platforms are provided in the related art, which are typically arranged on a roof, ground platform or other horizontal take-off and landing area, and provide stable support for the vertical take-off and landing aircraft by means of a flat carrier. However, most of these landing platforms are designed for horizontal scenes and are difficult to apply directly to non-horizontal, sloped temporary support surfaces such as stair handrails, ramp rails, and the like. For example, when needing to lay the landing platform on the stair railing of slope temporarily, current scheme lacks effectual horizontal adjustment mechanism, leads to the landing face to incline along with the handrail slope, and focus skew, rotor air current reflection are uneven when the aircraft descends, further aggravate rocking and skew risk in the landing process, seriously influence the safety of taking off and land. Disclosure of Invention The invention aims to overcome the defects, and provides a double-layer aircraft landing platform capable of self-adapting to inclined planes and a control method thereof, so as to solve the problem of how to keep the landing platform horizontal on a non-horizontal supporting surface such as a stair railing and the like, thereby improving the stability of the aircraft during landing. The technical scheme includes that the double-layer aircraft take-off and landing platform capable of adapting to the inclined plane comprises a lower layer fixing mechanism and an upper layer take-off and landing plate, wherein the lower layer fixing mechanism is connected with the upper layer take-off and landing plate through three rod pieces, the three rod pieces are respectively two telescopic rods driven by a stepping motor and a support rod with fixed length, universal joints are adopted at the connection positions of the three rod pieces, the lower layer fixing mechanism and the upper layer take-off and landing plate, a gyroscope is arranged in the upper layer take-off and landing plate, the gyroscope is electrically connected with a controller, and the controller is used for driving the stepping motor to stretch according to gesture signals detected by the gyroscope so as to dynamically adjust the levelness of the upper layer take-off and landing plate. Further, the lower layer fixing mechanism comprises two supports which are oppositely arranged, each support is provided with a claw which can be hooked on the stair railing, the contact surface of each claw and the railing is provided with an anti-slip pad, and the two supports are fixedly connected through a connecting rod. Further, the anti-skid pad is made of 2mm thick silicon rubber, and the outline of the inner cavity of the hook claw is matched with the outline of a common stair railing. Further, the upper lifting plate is a light high-strength carbon fiber honeycomb plate, and the gyroscope and the processor are embedded in the central area of the upper lifting plate. Further, the two telescopic rods and one support rod with fixed length are arranged in a triangle, the two telescopic rods are symmetrically arranged at the diagonal positions of the lifting plate respectively, and the support rod with fixed length is used for providing auxiliary support. Further, the universal joint is of a standard closed structure, and rated torque of the universal joint can bear overturning moment generated by 20 kg-class load. Further, the connecting rod is matched with screw holes on the brackets through screws, so that detachable fixed connection of the two brackets is realized. In addition, the invention also discloses a control method of the double-layer aircraft landing platform capable of adapting to the inclined plane, which comprises the following steps: Step 1, initializing and modeling a system, constructing an attitude kinematic equation and a rotation kinetic equation of a lifting plate, and defining relevant parameters of a target horizontal attitude and an attitude error; Step 2, designing an extended state observer, expanding system disturbance into a system state, and constructing a linear extended state observer to estimate the disturbance in real time; step 3, designing a backstepping sliding mode controller, defining an attitude error variable and an angular speed error, constructing a virtual control quantity and a sliding mode surface, and deducing an actual control moment; step 4, designing a self-adaptive law, updating key parameter estimation values of the system on line, and compensating parameter uncertainty; S