CN-122018373-A - Control method, system, computer equipment and medium for aerial guide rope

CN122018373ACN 122018373 ACN122018373 ACN 122018373ACN-122018373-A

Abstract

The invention relates to the technical field of aircraft control, in particular to a control method, a system, computer equipment and a medium of an aerial guide rope; the method comprises the steps of obtaining a hook opening angle, a guide rope separation distance and a swing angular speed of a guide rope when unhooking, generating a hook unlocking speed track deviation result, carrying out weighted calculation according to an instantaneous speed difference and an accumulated offset to obtain a plurality of deviation index values when the guide rope deviates from a set track, outputting a regulating and controlling command signal if an inertia abnormal condition of the guide rope is met, and adjusting working state parameters of an unlocking mechanism and/or a mechanical damping stabilizing device according to the current hook opening angle, the guide rope separation distance and the swing angular speed. By the mode, the technical problem that dynamic balance of unlocking speed and swing control cannot be achieved in a complex airflow environment by the existing air guide rope control technology is solved, and accuracy and stability of unhooking of the guide rope are improved.

Inventors

LI SHITIAN
LV BAILIANG
ZHANG ZHESHEN
ZHANG YI
KONG FANFANG
WU YOUYOU
YANG JIANYOU
Lin Guanou
WANG BENBEN
HUANG LEI

Assignees

国网浙江省电力有限公司苍南县供电公司

Dates

Publication Date: 20260512
Application Date: 20260410

Claims (10)

1. A method of controlling an aerial pilot line, the method based on a condition monitoring module and a control execution module deployed in an aircraft pilot line system, comprising: The state monitoring module is used for acquiring the opening angle of the hook body, the separation distance of the guide rope and the swinging angular speed of the guide rope when the guide rope is unhooked; Generating a hook unlocking speed track deviation result based on a hook unlocking speed calculation result of the hook opening angle and auxiliary judgment characteristics generated by the separation distance and the swing angular speed of the guide rope; responding to the hook unlocking speed deviation track result to represent that the guide rope deviates from a set track, and carrying out weighted calculation according to the instantaneous speed difference and the accumulated offset in the hook unlocking speed deviation track result to obtain a plurality of deviation index values; Outputting a regulating command signal in response to any deviation index value meeting a preset guide rope inertia abnormal condition, wherein the guide rope inertia abnormal condition comprises that the swing amplitude increasing rate obtained based on time sequence characteristic analysis of the deviation index value exceeds a preset increasing rate threshold value, the swing frequency changing slope is a positive value and the accumulated value of the phase offset exceeds a preset offset range; and responding to the regulation command signal, and adjusting working state parameters of the unlocking mechanism and/or the mechanical damping stabilizing device through the control execution module based on the hook opening angle, the guide rope separation distance and the swing angular speed which are currently acquired by the state monitoring module.
2. The method according to claim 1, wherein the state monitoring module is configured with an angle sensing unit, a distance measuring unit and an angular velocity detecting unit, and the obtaining, by the state monitoring module, a hook opening angle, a guide rope separation distance and a swing angular velocity of the guide rope at the unhooking time includes: Collecting voltage signals of the hook hinge during rotation through the angle sensing unit, calculating the difference value between the voltage signals and a preset zero reference voltage, and converting the calculated voltage difference value into the hook opening angle data according to the sensitivity coefficient of the sensor; Receiving echo signals through the distance measuring unit, and calculating the space distance between the connecting point of the guide rope and the fixed point of the hook body according to the signal transmission time difference of the echo signals to obtain the separation distance of the guide rope; detecting an angular velocity change signal of the guide rope during swinging through the angular velocity detection unit, and outputting detection data used for representing the instantaneous angular velocity of the guide rope; And adding preset uniform timestamp marks to the hook opening angle data, the guide rope separation distance data and the swing angular velocity signal to obtain the hook opening angle, the guide rope separation distance and the swing angular velocity of the guide rope in the unhooking process.
3. The method of claim 1, wherein the auxiliary determination features include stability features of the guide rope separation distance and fluctuation features of the swing angular velocity, wherein the hook unlock speed calculation result based on the hook open angle, and the auxiliary determination features generated from the guide rope separation distance and the swing angular velocity, generating a hook unlock speed derailment result, comprises: Extracting angle values of continuous sampling points from time sequence data of the opening angle of the hook body, and calculating an instantaneous unlocking speed sequence of the hook body based on sampling time intervals; inquiring from a preset configuration table based on current flight environment parameters of the aircraft to obtain an upper limit of a speed threshold; smoothing the instantaneous unlocking speed sequence of the hook body by adopting a sliding window method, and calculating an arithmetic average value of speed data in a window to serve as an unlocking speed estimated value at the current moment; if the unlocking speed estimated value exceeds the upper threshold, calculating the ratio of the exceeding part to the upper threshold and multiplying the ratio by a preset weight coefficient to obtain a deviation index value for representing the unexpected swing trend intensity of the guide rope; And correcting the deviation index value or the normal state index value according to the stability characteristic and the fluctuation characteristic, and generating the hook unlocking speed track deviation result.
4. The method of claim 1, wherein the step of obtaining a plurality of deviation index values by performing a weighted calculation based on the instantaneous speed difference and the accumulated deviation in the hook unlocking speed derailment result comprises: calculating an instantaneous change rate based on an instantaneous rate difference sequence extracted from the hook unlocking speed track deviation result, and carrying out accumulated summation calculation on the instantaneous change rate to obtain a swing amplitude increase rate; Extracting a main frequency component of the instantaneous rate difference sequence by a frequency domain transformation method, and determining a phase offset according to an initial phase angle of the main frequency component in a time domain; performing vector recursion estimation on a state vector formed by the swing amplitude growth rate, the main frequency component and the phase offset by adopting a state estimation algorithm to generate smooth trend data; the plurality of deviation index values are calculated by weight coefficient distribution based on the wobble amplitude increasing rate, the frequency change slope, and the phase shift amount accumulated value in the smoothed trend data.
5. The method according to claim 1, wherein the adjusting, by the control execution module, the operating state parameters of the unlocking mechanism and/or the mechanical damping stabilization device based on the hook opening angle, the guide rope separation distance, and the swing angular velocity currently acquired by the state monitoring module includes: Calculating an actual unlocking speed according to the currently acquired opening angle of the hook body, and acquiring a deviation signal of the actual unlocking speed and a target unlocking speed, wherein the target unlocking speed is determined through a preset parameter configuration table; Calculating and generating a moment compensation quantity by using a deviation control algorithm based on the deviation signal; correcting the current driving force output level according to the moment compensation quantity to obtain a corrected driving force output level; Converting the corrected driving force output level into an adjusted driving force output parameter of the unlocking mechanism and outputting the driving force output parameter so as to adjust the working state parameter of the unlocking mechanism; and responding to the adjusted driving force output parameter to indicate that the swing trend is continuously enhanced, and sending a control instruction to the mechanical damping stabilization device so as to adjust the working state parameter of the mechanical damping stabilization device.
6. The method according to claim 1, wherein after weighting calculation is performed based on the instantaneous speed difference and the accumulated offset in the hook unlock speed derailment result, the method further comprises: Outputting a maintenance control signal to maintain the working state parameters of the current unlocking mechanism and the mechanical damping stabilizing device in response to that the deviation index values do not meet the inertia abnormal condition of the guide rope; Based on the maintenance control signal, continuously acquiring real-time monitoring data of the opening angle of the hook body, the separation distance of the guide rope and the swing angular speed through the state monitoring module; when any parameter of the hook opening angle, the guide rope separation distance or the swing angular speed exceeds a preset safety threshold value, re-triggering the generation flow of the hook unlocking speed track deviation result.
7. The method according to claim 1, wherein after adjusting the operating state parameters of the unlocking mechanism and/or the mechanical damping stabilization device by the control execution module, the method further comprises: Updating the separation distance and the swing angular velocity of the guide rope according to the monitoring result of the state monitoring module on the change of the opening angle of the hook body to generate an updated state data set; Comparing the updated state data set with the hook opening angle, the guide rope separation distance and the swing angular velocity of the guide rope in the unhooking process, and calculating to obtain a comprehensive deviation value; If the comprehensive deviation value continuously decreases in a plurality of continuous sampling periods and is lower than a preset convergence threshold value, judging that the unhooking process of the guide rope is in a controllable state, and generating a regulating and controlling termination signal to stop updating of the working state parameters.
8. A control system for an aerial pilot line, comprising: the state monitoring module is configured to acquire the opening angle, the separation distance and the swing angular speed of the hook body of the guide rope when the guide rope is unhooked through the state monitoring module; The off-track analysis module is configured to generate a hook unlocking speed off-track result based on a hook unlocking speed calculation result of the hook opening angle and auxiliary judgment characteristics generated by the separation distance and the swing angular speed of the guide rope; the index calculation module is configured to perform weighted calculation according to the instantaneous speed difference and the accumulated offset in the hook unlocking speed deviation result when the hook unlocking speed deviation result indicates that the guide rope deviates from a set track, so as to obtain a plurality of deviation index values; The decision control module is configured to output a regulation and control command signal when any deviation index value meets a preset guide rope inertia abnormal condition, wherein the guide rope inertia abnormal condition comprises that the swing amplitude growth rate obtained based on time sequence characteristic analysis of the deviation index value exceeds a preset growth rate threshold value, the swing frequency change slope is a positive value and the phase offset accumulated value exceeds a preset offset range; and the execution and adjustment module is configured to adjust working state parameters of the unlocking mechanism and/or the mechanical damping stabilizing device through the control and execution module based on the hook opening angle, the guide rope separation distance and the swing angular speed which are currently acquired by the state monitoring module after receiving the regulation and control command signal.
9. A computer device, comprising: and a memory communicatively coupled to the at least one processor; Wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.
10. A non-transitory computer readable storage medium storing computer instructions, wherein the computer instructions are for causing a computer to perform the method of any one of claims 1-7.

Description

Control method, system, computer equipment and medium for aerial guide rope Technical Field The invention relates to the technical field of aircraft control, in particular to a control method, a system, computer equipment and a medium for an aerial guide rope. Background Along with the rapid development of unmanned aerial vehicle technology in key fields such as material delivery, rescue tasks and precise operation, the guide rope remote control technology is used as a core means for realizing precise remote control, and the reliability of the guide rope remote control technology is directly related to the task execution efficiency and the flight safety. The technology is characterized in that the unmanned aerial vehicle is connected with the target object through the guide rope to finish fixed-point release and control, and the technology becomes an indispensable component of modern aviation operation. Currently, the unhooking control scheme mostly adopts a fixed operation mode with preset parameters, and the unhooking control scheme exposes significant adaptability defects when facing high-altitude complex and changeable flight environments. The traditional method can not carry out self-adaptive adjustment according to dynamic conditions such as real-time airflow disturbance, and especially when sudden airflow is encountered, the static control strategy is difficult to simultaneously optimize unhooking efficiency and operation stability, and the fundamental limitation is the lack of real-time response capability to environmental changes. In the field of guide rope swing inhibition and control, the prior art has formed a certain basis. The prior art (application publication number CN 119336057A) discloses a hanging and swinging elimination method of an unmanned helicopter, which is used for calculating swinging elimination acceleration and outputting a control angle by collecting gesture movement information of a hanging box and an adapter plate so as to realize quick inhibition of swinging of a hung object. Although the method improves the stability in hanging flight, the method mainly aims at steady-state swing control and does not specially relate to the challenges of dynamic balance of the release speed and swing of the guide rope in the unhooking process. Specifically, the prior art has the outstanding problems that on one hand, the swing elimination control depends on the overall attitude measurement of a hanging object, special monitoring on the separation distance of a guide rope at the moment of unhooking, the opening angle of a hook body and the swing angular speed is lacked, the unexpected swing trend caused by airflow disturbance is difficult to effectively capture, and on the other hand, the control strategy does not integrate a real-time regulation and control mechanism of an unlocking mechanism, and the inherent contradiction between the unlocking speed promotion and the inertia swing aggravation under the anti-winding requirement cannot be solved. When unmanned aerial vehicle aloft works encounters abrupt air current, need accelerate the hook body release in order to prevent that the guide rope from twining, but the speed promotes the inertial force that can aggravate the weight production of guide rope, leads to unhooking swing in the twining out of control, not only influences release precision, still probably strikes unmanned aerial vehicle flight stability. The operator cannot sense the situation that the motion state of the guide rope deviates from the expected track in real time, and the unlocking parameters cannot be adjusted online. Therefore, the prior art has the technical problems that the controllability of the unhooking process is insufficient and dynamic balance of unlocking speed and swing control cannot be realized under the complex airflow environment. Disclosure of Invention The invention aims at the defects or shortcomings, provides a control method, a control system, computer equipment and a medium of an air guide rope, and can solve the technical problem that the dynamic balance of unlocking speed and swing control cannot be realized in a complex airflow environment by the existing air guide rope control technology. The invention provides a control method of an aerial guiding rope, which is based on a state monitoring module and a control executing module which are deployed in an aircraft guiding rope system and comprises the following steps: the state monitoring module is used for acquiring the opening angle of the hook body, the separation distance of the guide rope and the swinging angular speed of the guide rope when unhooking. And generating a hook unlocking speed track deviation result based on a hook unlocking speed calculation result of the hook opening angle and auxiliary judgment characteristics generated by the separation distance and the swing angular speed of the guide rope. And responding to the hook unlocking speed deviation track result to represent that