The invention relates to the technical field of unmanned aerial vehicle control, and particularly provides a tailstock type unmanned aerial vehicle safety conversion method which comprises the following steps: establishing an aerodynamic model of a tailstock type unmanned aerial vehicle, constructing a mapping relation among aerodynamic force, an attack angle and a speed according to aerodynamic parameters, and determining the aerodynamic parameters; setting a horizontal speed curve and a pitch angle conversion rate in the conversion process; calculating a tension change curve according to the requirement of the horizontal acceleration; stress analysis is conducted on the tailstock type unmanned aerial vehicle, the vertical acceleration of the tailstock type unmanned aerial vehicle is calculated, compensation is conducted on the situation that the vertical acceleration is smaller than 0, and it is guaranteed that the vertical acceleration is not smaller than 0. According to different requirements of vertical flight and horizontal flight, the speed change curve and the tension curve of the tailstock type unmanned aerial vehicle are designed in detail, a traditional multi-mode switching mode is avoided, safety risks existing in the mode switching process are avoided, and task execution of the tailstock type unmanned aerial vehicle in a complex climatic environment is facilitated.
本发明涉及无人飞行器控制技术领域,具体提供一种尾座式无人机安全转换方法,包括以下步骤:建立尾座式无人机的气动模型,根据气动参数构建气动力与攻角、速度之间的映射关系,并确定气动参数;设定转换过程中的水平速度曲线以及俯仰角度转换速率;依据水平加速度的要求计算拉力变化曲线;对尾座式无人机进行受力分析,计算尾座式无人机的垂向加速度,并对垂向加速度小于0的情况进行补偿,保证垂向加速度不小于0。本发明根据垂飞和平飞的不同要求,对尾座式无人机的速度变化曲线和拉力曲线进行详细设计,避免了传统多模态切换的方式,规避了模态切换过程中存在的安全风险,有利于尾座式无人机在复杂气候环境中执行任务。
Safe conversion method for tailstock type unmanned aerial vehicle
一种尾座式无人机安全转换方法
2024-08-23
Patent
Electronic Resource
Chinese
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