According to the time sequence control method for wing unfolding of the n-shaped folding wing unmanned aerial vehicle, outer wings on the two sides are unfolded in a time-sharing unlocking mode, the outer wings on the side rotating backwards are opened firstly, so that rolling restoring torque is generated, and the rolling torque generated due to the incoming flow velocity difference on the wing surfaces of the wings on the two sides in the initial unfolding stage of a main wing is balanced; the invention further provides a method for determining the time-sharing unlocking time difference value t of the outer wings on the two sides, and the time difference value t is obtained through iterative calculation by taking the moment when the main wings are unfolded to be perpendicular to the fuselage and the roll angle of the unmanned aerial vehicle is 0 degree as a final target. The actual test flight result shows that the control method solves the problems that the attitude of the n-shaped folding wing unmanned aerial vehicle has large deviation and is difficult to recover after the n-shaped folding wing unmanned aerial vehicle leaves the cylinder, and stable flight of the n-shaped folding wing unmanned aerial vehicle is achieved.
本发明提出一种Π型折叠翼无人机机翼展开时序控制方法,通过将两侧外翼分时解锁展开,利用向后旋转的一侧机翼先打开外翼,从而产生滚转恢复力矩,平衡主翼展开初期由于两侧机翼翼面上的来流速度差异而产生的滚转力矩;并且本发明还确定两侧外翼分时解锁时间差值t的方法,以主翼展开至垂直机身时刻,无人机滚转角为0°作为最终目标,迭代计算得到时间差值t。通过实际试飞结果表示,采用该控制方法,解决了Π型折叠翼无人机出筒后姿态出现较大偏差且姿态难以恢复的问题,实现了Π型折叠翼无人机稳定飞行。
Wing unfolding time sequence control method for n-shaped folding wing unmanned aerial vehicle
Π型折叠翼无人机机翼展开时序控制方法
2025-02-11
Patent
Electronic Resource
Chinese
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