CN-121990170-A - Self-adaptive reverse cooperative control method and system for coaxial double-rotor aircraft

CN121990170ACN 121990170 ACN121990170 ACN 121990170ACN-121990170-A

Abstract

The invention belongs to the technical field of aircraft control, and discloses a self-adaptive reverse cooperative control method and a system of a coaxial double-rotor aircraft, wherein the method comprises the steps of obtaining a target attitude instruction; according to whether the pitching and rolling instructions exceed a set threshold value, a reverse cooperative control strategy or a conventional homodromous control strategy is intelligently selected, an upper rotor wing control instruction and a lower rotor wing control instruction are obtained through calculation, a double-motor target rotating speed is calculated according to the yaw and vertical speed instructions, and the control instructions are converted into steering engine PWM signals and synchronously output to an executing mechanism. The system correspondingly comprises a gesture instruction acquisition module, a control instruction calculation module, a motor rotating speed calculation module, a steering engine signal conversion module and a synchronous output module. The invention improves the response capability under the condition of large maneuver through reverse cooperative control, realizes the safe connection and degradation operation under the fault of the steering engine group through the fault detection and redundancy control mechanism, and remarkably enhances the control precision, maneuverability and reliability of the aircraft under complex working conditions.

Inventors

MENG WEI
ZHENG ZHONG
WANG JINLONG
WANG XIAOXUAN
LI RUI
Chen Zhoufan
BI YANG

Assignees

鹤壁金飞盾科技有限公司

Dates

Publication Date: 20260508
Application Date: 20260209

Claims (10)

1. A method of adaptive reverse cooperative control of a coaxial dual-rotor aircraft, adapted for use with a coaxial dual-rotor aircraft having independently driven first and second motors, and independently controlled upper and lower rotor control mechanisms, comprising: S1, acquiring a target attitude instruction, wherein the target attitude instruction comprises a pitch angle instruction theta_cmd and a roll angle instruction Yaw angle command And vertical velocity command ; S2, resolving the target attitude instruction into an upper rotor wing control instruction group and a lower rotor wing control instruction group, wherein the upper rotor wing control instruction group comprises an upper rotor wing longitudinal period variable pitch angle Transverse periodic pitch angle of upper rotor wing And the total angle of the upper rotor wing The lower rotor control instruction set comprises a lower rotor longitudinal period variable pitch angle Transverse period variable pitch angle of lower rotor wing And total angle of lower rotor The calculation strategy is as follows: When (when) At the time, set up And is also provided with ; When (when) At the time, set up And is also provided with ; When (when) And is also provided with When the vertical period change angle of the upper rotor wing and the vertical period change angle of the lower rotor wing are changed in the same direction by adopting a conventional same-direction control strategy; Wherein the method comprises the steps of And A preset pitch maneuver threshold and a roll maneuver threshold, And Pitch control gain and roll control gain, respectively, and when And is also provided with Simultaneously executing reverse cooperative setting of the pitching and the rolling; s3, according to the yaw angle instruction And vertical velocity command Calculating a target rotational speed of the first motor And a target rotational speed of the second motor The calculation mode is as follows: reference rotational speed Difference in rotation speed Then , Wherein Gain is controlled for yaw; S4, converting the upper rotor wing control instruction set and the lower rotor wing control instruction set into PWM position control signals of a first servo rudder unit and a second servo rudder unit respectively through inverse kinematics calculation; s5, synchronously outputting the PWM position control signal of the first servo rudder unit, the PWM position control signal of the second servo rudder unit and the first motor target rotating speed instruction Second motor target speed command 。
2. The method of claim 1, wherein the conventional co-directional control strategy is to vary the longitudinal cyclic pitch angles of the upper and lower rotors in the same direction and to vary the transverse cyclic pitch angles of the upper and lower rotors in the same direction.
3. The method according to claim 1, wherein in step S3, the first motor target rotation speed is set to And a second motor target rotational speed The calculation mode of (a) is as follows: Reference rotational speed ; Rotational speed difference And then (b) then ; Wherein, the Gain is controlled for yaw.
4. The co-control method of a coaxial dual rotor aircraft according to claim 1, further comprising a fault detection step S6: and when detecting that any one of the following fault judgment criteria is met, judging the corresponding fault of the servo rudder unit: (a) The position deviation continuously exceeds a preset deviation threshold and the duration exceeds a preset time threshold; (b) The driving current is abnormal; (c) The temperature exceeds a safety threshold, and the fault determination is confirmed by a plurality of continuous control cycles.
5. The method of co-operation control of a coaxial dual rotor aircraft according to claim 4, further comprising performing the following redundant control strategy S7 after the fault detection: S7.1, when the first servo steering engine group faults are detected, setting the upper rotor wing control command group as a safety value, completely distributing an attitude control task to the second servo steering engine group, and calculating an enhanced lower rotor wing control command; and S7.2, when the second servo rudder unit is detected to be faulty, setting the lower rotor wing control command set as a safety value, completely distributing an attitude control task to the first servo rudder unit, and calculating an enhanced upper rotor wing control command.
6. The method of claim 5, wherein the enhanced upper or lower rotor control commands are by compensating for gain Calculated, the Based on attitude control error And (5) self-adaptive adjustment.
7. The method of cooperative control of a coaxial dual rotor aircraft according to claim 5, wherein the redundant control strategy S7 further comprises a motor power dynamic allocation strategy in failure mode: When one side servo rudder unit fails, the output power of the motor at the failure side is reduced, and meanwhile, the output power of the motor at the health side is improved.
8. The method of cooperative control of a coaxial dual rotor aircraft according to claim 5, wherein the redundant control strategy S7 further comprises a safe return or landing mode S8: in the redundant control mode, the flying speed and the yaw rate are limited, and the path is automatically planned to return to the safe landing point.
9. A coaxial dual rotor aircraft control system for implementing the control method of any one of claims 1 to 8, comprising: the gesture instruction acquisition module is used for acquiring a target gesture instruction; the control instruction resolving module is used for resolving the target attitude instruction into an upper rotor wing control instruction group and a lower rotor wing control instruction group and can switch between a reverse cooperative control strategy and a conventional homodromous control strategy; The motor rotating speed calculating module is used for calculating target rotating speeds of the first motor and the second motor; the steering engine control signal conversion module is used for converting the control instruction set into corresponding PWM position control signals of the servo rudder unit; And the synchronous output module is used for simultaneously outputting the PWM position control signal and the motor target rotating speed instruction.
10. The coaxial dual-rotor aircraft control system of claim 9, further comprising a fault detection module for monitoring an operating state of the servo rudder unit in real time and determining a fault according to a preset fault determination criterion, and a redundancy control module for executing a redundancy control strategy when a fault of the servo rudder unit is detected.

Description

Self-adaptive reverse cooperative control method and system for coaxial double-rotor aircraft Technical Field The invention belongs to the technical field of aircraft control, and particularly relates to a self-adaptive reverse cooperative control method and system for a coaxial double-rotor aircraft. Background The coaxial double-rotor aircraft, which is a special rotor aircraft configuration, has the advantages of compact structure, high lift efficiency, strong wind resistance and unique flight control characteristics, and has wide application prospects in various fields of reconnaissance, inspection, logistics, agricultural plant protection and the like. Compared with a single-rotor or multi-rotor aircraft, the coaxial double-rotor configuration effectively counteracts reactive torque by reversely rotating the upper rotor and the lower rotor along the same axis, simplifies a mechanical transmission structure and can provide higher lift force density. However, coaxial dual rotor aircraft still face a number of challenges in practical applications. Firstly, the dynamic model is complex, the pneumatic coupling effect between the upper rotor wing and the lower rotor wing is obvious, and the inherent nonlinear and strong coupling characteristics of the aircraft exist in the attitude and position control. The control method based on the linearization model makes it difficult to realize high-precision and large-scale attitude control in the whole flight envelope, and particularly when complex external disturbance such as large maneuver or gust is performed, the responsiveness, stability and control precision of the aircraft are often unsatisfactory. Secondly, the existing control system has insufficient maneuverability and adaptability under complex working conditions. Conventional coaxial dual rotor aircraft control typically employs a co-directional coordinated control strategy, i.e., the pitch commands of the upper and lower rotors are varied in the same direction to vary the total lift or attitude. This mode may perform well in conventional flight, but may not achieve the desired effect due to aeroelasticity or control margin limitations when high difficulty maneuvers such as fast attitude adjustment or high angle of attack flight are required, and may even cause unstable flight. Furthermore, the reliability and fault tolerance of the aircraft are to be improved. With the increasing complexity of coaxial dual rotor aircraft application scenarios, the probability of failure of critical performance components (e.g., servo steering engines or motors) of the aircraft during mission performance increases. Most existing aircraft control systems lack efficient adaptive fault detection and redundancy control mechanisms. Once a certain key component breaks down, the whole flight system can be rapidly instable, so that the task fails and even the serious consequences of the death of a robot are avoided, and the popularization and the application of the flight system in the task with high safety requirements are greatly limited. Therefore, the existing coaxial double-rotor aircraft control technology still has significant defects in improving the maneuvering responsiveness, flight stability and reliability of the aircraft under complex working conditions. There is a need for a more advanced, efficient and fault tolerant cooperative control method and system that overcomes the above-mentioned shortcomings of the prior art. Disclosure of Invention In order to overcome the defects of the prior art, the invention provides a self-adaptive reverse cooperative control method and system of a coaxial double-rotor aircraft, and aims to solve the technical problems that the conventional coaxial double-rotor aircraft is insufficient in maneuverability, limited in control precision and lacks in effective fault tolerance capability under complex working conditions. By introducing a reverse cooperative control strategy and a self-adaptive fault detection and redundancy control mechanism, the limitation of the traditional homodromous control mode is overcome, the attitude control precision and the quick maneuvering response capability of the aircraft under a complex disturbance environment are obviously improved, and meanwhile, the flight safety and the task reliability of the critical execution component when the critical execution component breaks down are enhanced. To achieve the above object, a first aspect of the present invention provides an adaptive reverse cooperative control method for a coaxial dual-rotor aircraft, which is adapted to a coaxial dual-rotor aircraft having a first motor and a second motor that are independently driven, and an upper rotor control mechanism and a lower rotor control mechanism that are independently controlled, comprising the steps of: S1, acquiring a target attitude instruction, wherein the target attitude instruction comprises a pitch angle instruction theta_cmd and a roll angle instruction Ya