The invention relates to the technical field of aviation flight control, in particular to a small unmanned aerial vehicle parachute landing recovery control method, device and equipment and a storage medium. The method comprises a segmented control and control law mode calling method in the recovery process, and an engine meter speed closed-loop control mode, a height keeping control mode, a roll angle control mode and a track tracking control mode. Fixed-height level flight is achieved by calling the height keeping control mode and the track tracking control mode in stages. And the pitch angle control mode and the roll angle control mode are called to achieve a fixed attitude, the engine surface speed closed-loop control mode is called to achieve a fixed speed, the area, the height, the speed, the attitude and the like where a recovery parachute can be opened are achieved, an engine is closed, and the parachute recovery process of the unmanned aerial vehicle is completed. Parachute recovery of the unmanned aerial vehicle can be achieved by reasonably and automatically controlling the engine, the control surface, the parachute opening mechanism, the air bag inflation mechanism and the like.
本申请涉及航空飞行控制技术领域,更具体地说是一种小型无人机伞降回收控制方法、装置、设备及存储介质。本发明的方法包括回收过程中的分段控制及控制律模态调用方法及发动机表速闭环控制模态、高度保持控制模态、滚转角控制模态、航迹跟踪控制模态:通过分阶段调用高度保持控制模态、航迹跟踪控制模态实现定高平飞,调用俯仰角控制模态、滚转角控制模态实现定姿态,调用发动机表速闭环控制模态实现定速,达到可打开回收伞的区域、高度、速度、姿态等关闭发动机,完成无人机的伞降回收流程。本发明可通过对发动机、操纵面、开伞机构、气囊充气机构等进行合理的自动控制,实现无人机的伞降回收。
Small unmanned aerial vehicle parachute landing recovery control method, device and equipment and storage medium
小型无人机伞降回收控制方法、装置、设备及存储介质
08.11.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B64U |
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