The invention provides an unmanned aerial vehicle ground taxiing brake anti-skid control system and method, and the method comprises the steps: S1, obtaining the maximum allowable brake amount for preventing a main wheel from being locked according to the state information of the unmanned aerial vehicle during taxiing and the balance relation between aerodynamic force and moment; s2, presetting a threshold value of heading deviation information of the taxiing nose of the unmanned aerial vehicle, and judging whether the unmanned aerial vehicle is unstable or not; and S3, giving a brake correction value according to a judgment result of S2. In an unstable state, the brake correction value is lt; 0; under the non-instability condition, the brake correction value is equal to 0; and S4, giving a brake given value and sending the brake given value to a brake valve system to implement braking. And S5, the steps S1 to S4 are repeated, and rapid and stable braking is achieved. According to the method, the maximum allowable braking given quantity for preventing the main wheel from being locked during taxiing braking of the unmanned aerial vehicle can be obtained, whether the heading of the taxiing braking head of the unmanned aerial vehicle is unstable or not is monitored in real time, the braking given quantity is corrected in real time according to the instability or not, and the heading instability accident caused by the improper braking quantity during taxiing braking of the unmanned aerial vehicle is avoided.
本发明提供一种无人机地面滑跑刹车防滑控制系统及方法,包括:S1根据无人机滑跑时的状态信息及气动力和力矩平衡关系,获取防止主轮抱死的最大允许刹车量;S2预设无人机滑跑机头航向偏差信息的阈值,判断无人机是否失稳;S3根据S2的判断结果,给出刹车修正值。失稳状态下,刹车修正值<0;非失稳情况下,刹车修正值=0;S4给出刹车给定值并将刹车给定值发送给刹车阀系统,实施刹车。S5重复S1~S4,实现快速稳定刹车。本发明可获得无人机滑跑刹车时的防止主轮抱死的最大允许刹车给定量,实时监测无人机滑跑刹车机头航向是否失稳并根据是否失稳实时修正刹车给定量,避免无人机滑跑刹车时因刹车量不合适而出现航向失稳事故。
Unmanned aerial vehicle ground sliding brake anti-skid control system and method
无人机地面滑跑刹车防滑控制系统及方法
2022-07-08
Patent
Elektronische Ressource
Chinesisch
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