CN-121979257-A - Unmanned plane model balancing method, device, equipment and medium based on force and moment

CN121979257ACN 121979257 ACN121979257 ACN 121979257ACN-121979257-A

Abstract

The application provides a balancing method, device, equipment and medium for an unmanned aerial vehicle model based on force and moment, and relates to the technical field of data analysis. In the method, firstly, based on the current control quantity and the current state quantity, determining whether a preset iterative calculation ending condition is met or not based on the current force and the current moment, wherein when the fact that the iterative calculation ending condition is not met is determined, feedback calculation is conducted based on the current force and the current moment or initial configuration is conducted again based on balancing requirements to redetermine the current control quantity or the current state quantity, so that iterative calculation is continued, and then, after the iterative calculation is stopped, the current control quantity is used as a balancing result of the target unmanned aerial vehicle model to finish balancing of the unmanned aerial vehicle model. Based on the above, the problem that the reliability of the unmanned aerial vehicle model trim in the prior art is relatively low can be solved.

Inventors

ZHAO DONGHONG
DU JINMING
WANG QINGHU
CUI QINGLIANG
LI JINPING
HAN CHAN

Assignees

成都飞机工业（集团）有限责任公司

Dates

Publication Date: 20260505
Application Date: 20260119

Claims (10)

1. A method of unmanned aerial vehicle model balancing based on forces and moments, comprising: In the iterative calculation process, an initial control quantity and an initial state quantity formed by initial configuration of a target unmanned aerial vehicle model based on balancing requirements are respectively used as a current control quantity and a current state quantity, wherein the control quantity comprises at least one parameter related to the degree of freedom, and the state quantity comprises at least one parameter of weight, height, speed and sideslip angle; in the iterative calculation process, determining current force and current moment based on the current control quantity and the current state quantity, and determining whether a pre-configured iterative calculation ending condition is met or not based on the current force and the current moment, wherein when the iterative calculation ending condition is determined not to be met, feedback calculation is performed based on the current force and the current moment or initial configuration is performed again based on balancing requirements, so that the current control quantity or the current state quantity is determined again, the iterative calculation is continued, and when the iterative calculation ending condition is determined to be met, the iterative calculation is stopped; And after the iterative computation is stopped, taking the current control quantity as a trimming result of the target unmanned aerial vehicle model to finish unmanned aerial vehicle model trimming.
2. The unmanned aerial vehicle model balancing method based on force and moment according to claim 1, wherein the step of determining the current force and the current moment based on the current control amount and the current state amount and determining whether the pre-configured iterative calculation end condition is satisfied based on the current force and the current moment in the iterative calculation process comprises: in the iterative calculation process, determining whether the current iterative times reach a time threshold value; if the current iteration number reaches the number threshold, carrying out initial configuration again based on balancing requirements to form a new initial state quantity, and carrying out gyration execution on the initial control quantity and the initial state quantity formed by carrying out initial configuration on the target unmanned aerial vehicle model based on the balancing requirements in the iterative calculation process based on the new initial state quantity to respectively serve as the current control quantity and the current state quantity; If the current iteration number does not reach the number threshold, determining current force and current moment based on the current control quantity and the current state quantity, and determining whether a pre-configured iteration calculation ending condition is met based on the current force and the current moment.
3. The unmanned aerial vehicle model balancing method based on force and moment of claim 2, wherein the step of determining the current force and the current moment based on the current control quantity and the current state quantity and determining whether the pre-configured iterative computation end condition is satisfied based on the current force and the current moment if the current number of iterations does not reach the number threshold comprises: if the current iteration number does not reach the number threshold, determining current force and current moment based on the current control quantity and the current state quantity; Determining whether the current force and the current torque meet a pre-configured trim accuracy condition, respectively; and if the current force and the current moment meet the trim accuracy condition, determining that the preset iterative calculation ending condition is met.
4. The unmanned aerial vehicle model balancing method based on force and moment of claim 3, wherein if the current number of iterations does not reach the number of iterations threshold, determining a current force and a current moment based on a current control quantity and a current state quantity, and determining whether a pre-configured iterative computation end condition is satisfied based on the current force and the current moment, further comprising: if the current force and the current moment do not meet the trimming precision condition, determining a current iteration step length for carrying out iteration optimization on the current control quantity based on the current force and the current moment; based on the current iteration step length, whether a pre-configured iteration calculation ending condition is met is determined.
5. The unmanned aerial vehicle model balancing method based on force and moment according to claim 4, wherein the step of determining a current iteration step for iteratively optimizing the current control amount based on the current force and the current moment if the current force and the current moment do not both satisfy the balancing accuracy condition comprises: if the current force and the current moment do not meet the trimming precision condition, determining a current undetermined iteration step length for carrying out iteration optimization on the current control quantity based on the current force, the current moment and the current control quantity; Performing step length adjustment operation on the current undetermined iteration step length to form a current adjustment iteration step length, wherein the step length adjustment operation comprises direction judgment and/or coupling correction; and carrying out iteration divergence constraint on the current adjustment iteration step length to form the current iteration step length.
6. The unmanned aerial vehicle model balancing method based on force and moment of claim 5, wherein the step of performing step adjustment operation on the current pending iteration step to form the current adjusted iteration step comprises: Determining a current adjustment iteration step corresponding to a normal force control quantity based on the current pending iteration step corresponding to the normal force control quantity, the current pending iteration step corresponding to the longitudinal force control quantity and the first correction coefficient, wherein the normal force control quantity corresponds to an attack angle, the longitudinal force control quantity corresponds to a speed, and the attack angle and the speed have influences on the normal force; And determining the current adjustment iteration step length corresponding to the pitching control quantity based on the current pending iteration step length corresponding to the pitching control quantity, the current pending iteration step length corresponding to the normal force control quantity and the second correction coefficient, wherein the pitching control quantity corresponds to the elevator, and the attack angle and the elevator both have influences on the pitching moment.
7. The unmanned aerial vehicle model balancing method based on force and moment of claim 4, wherein the step of determining whether the pre-configured iterative calculation end condition is satisfied based on the current iterative step size comprises: Determining whether the current iteration step length meets a pre-configured trimming precision condition; if the current iteration step length meets the preset trimming precision condition, determining that the preset iteration calculation ending condition is met; If the current iteration step length does not meet the preset trimming precision condition, determining that the preset iteration calculation ending condition is not met, re-determining the current control amount based on the current iteration step length and the current control amount, and continuing to perform iteration calculation based on the re-determined current control amount.
8. Unmanned aerial vehicle model balancing device based on force and moment, characterized by comprising: The parameter determining module is used for respectively taking an initial control quantity and an initial state quantity formed by initial configuration of the target unmanned aerial vehicle model based on trimming requirements as a current control quantity and a current state quantity in the iterative calculation process, wherein the control quantity comprises at least one parameter related to the degree of freedom, and the state quantity comprises at least one parameter of weight, height, speed and sideslip angle; The iteration calculation module is used for determining current force and current moment based on the current control quantity and the current state quantity in the process of iteration calculation and determining whether a pre-configured iteration calculation ending condition is met or not based on the current force and the current moment, wherein when the iteration calculation ending condition is determined not to be met, feedback calculation is carried out based on the current force and the current moment or initial configuration is carried out again based on balancing requirements so as to redetermine the current control quantity or the current state quantity, so that the iteration calculation is continued, and when the iteration calculation ending condition is determined to be met, the iteration calculation is stopped; and the balancing output module is used for taking the current control quantity as a balancing result of the target unmanned aerial vehicle model after the iterative computation is stopped so as to finish balancing of the unmanned aerial vehicle model.
9. An electronic device, comprising: A memory for storing a computer program; a processor connected to the memory for executing the computer program stored in the memory for implementing the force and moment based unmanned aerial vehicle model balancing method according to any one of claims 1 to 7.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a computer program which, when run, performs the force and moment based unmanned aerial vehicle model balancing method according to any of claims 1-7.

Description

Unmanned plane model balancing method, device, equipment and medium based on force and moment Technical Field The application relates to the technical field of data analysis, in particular to an unmanned aerial vehicle model balancing method, device, equipment and medium based on force and moment. Background In the field of aircraft design, model trimming is the basis of various design contents, and accuracy and precision of trimming results have great influence on aircraft design. The traditional balancing method is to solve nonlinear dynamical equation sets mostly, and the calculation method comprises Newton method, gradient descent method, genetic algorithm and the like, but basically the algorithms are sensitive to initial values, are easy to diverge due to improper setting or are slow in optimizing speed, are easy to sink into problems of local optimization and the like, namely the reliability is relatively low. Disclosure of Invention In view of the above, the present application aims to provide a method, a device and a medium for balancing an unmanned aerial vehicle model based on force and moment, so as to solve the problem that the reliability of balancing the unmanned aerial vehicle model in the prior art is relatively low. In order to achieve the above purpose, the application adopts the following technical scheme: a method of unmanned aerial vehicle model balancing based on forces and moments, comprising: In the iterative calculation process, an initial control quantity and an initial state quantity formed by initial configuration of a target unmanned aerial vehicle model based on balancing requirements are respectively used as a current control quantity and a current state quantity, wherein the control quantity comprises at least one parameter related to the degree of freedom, and the state quantity comprises at least one parameter of weight, height, speed and sideslip angle; in the iterative calculation process, determining current force and current moment based on the current control quantity and the current state quantity, and determining whether a pre-configured iterative calculation ending condition is met or not based on the current force and the current moment, wherein when the iterative calculation ending condition is determined not to be met, feedback calculation is performed based on the current force and the current moment or initial configuration is performed again based on balancing requirements, so that the current control quantity or the current state quantity is determined again, the iterative calculation is continued, and when the iterative calculation ending condition is determined to be met, the iterative calculation is stopped; And after the iterative computation is stopped, taking the current control quantity as a trimming result of the target unmanned aerial vehicle model to finish unmanned aerial vehicle model trimming. In a preferred option of the present application, in the method for balancing an unmanned aerial vehicle model based on force and moment, in the process of iterative computation, determining a current force and a current moment based on a current control amount and a current state amount, and determining whether a preconfigured iterative computation end condition is satisfied based on the current force and the current moment includes: in the iterative calculation process, determining whether the current iterative times reach a time threshold value; if the current iteration number reaches the number threshold, carrying out initial configuration again based on balancing requirements to form a new initial state quantity, and carrying out gyration execution on the initial control quantity and the initial state quantity formed by carrying out initial configuration on the target unmanned aerial vehicle model based on the balancing requirements in the iterative calculation process based on the new initial state quantity to respectively serve as the current control quantity and the current state quantity; If the current iteration number does not reach the number threshold, determining current force and current moment based on the current control quantity and the current state quantity, and determining whether a pre-configured iteration calculation ending condition is met based on the current force and the current moment. In a preferred option of the present application, in the method for balancing an unmanned aerial vehicle model based on force and moment, if the current iteration number does not reach the number threshold, determining a current force and a current moment based on a current control amount and a current state amount, and determining whether a preconfigured iteration calculation end condition is satisfied based on the current force and the current moment, including: if the current iteration number does not reach the number threshold, determining current force and current moment based on the current control quantity and the current state quantity; De