The invention discloses a control system and a launching method of an air-based mounting launching folding wing unmanned aerial vehicle, before a sub-aircraft is thrown and launched, a master aircraft sends a sub-aircraft voltage signal to be continuously monitored by a sub-aircraft flight controller, after a throwing moment is entered, the master aircraft is powered off, an unlocking device is opened, and the sub-aircraft flight controller starts to monitor the voltage for a period of time after the voltage disappears; and at the moment, the V tail controls pitching and participates in rolling control. After a certain period of time, the flight control controls the locking steering engine to unlock, so that the wings start to be unfolded until the wings are unfolded in place, at the moment, the ailerons participate in control, and an unpowered diving pull-up control stage is entered; after a certain period of time, the wings are controlled to be locked. And then flight control judges that the attitude is stable and the air speed is stable, the engine is started after the attitude and the air speed are stable, the rotating speed of the engine is judged, if starting fails, starting operation is repeated for three times, after the engine is started, an air route task is normally carried out, the ground station throwing process is quitted, and normal flight control logic is entered. By means of the method, air-based launching folding wing unmanned aerial vehicle full-process control can be achieved.

    本发明公开了一种空基挂载发射折叠翼无人机的控制系统及发射方法,在子机抛投发射之前,母机发送子机电压信号由子机飞控持续监测,当进入抛投时刻后,母机断电,解锁装置打开,子机飞控监测电压消失一段时间后飞控起控,此刻V尾控制俯仰,并参与滚转控制。一定时间后,飞控控制锁定舵机解锁使机翼开始展开至机翼展开到位,此时副翼参与控制,进入无动力俯冲拉起控制阶段;一定时间后,控制机翼锁定。随后飞控判断姿态稳定,空速稳定,稳定后启动发动机,并判定发动机转速,若启动失败,重复启动操作3次,发动机启动完成后正常进行航线任务,退出地面站抛投流程,进入正常飞控控制逻辑。通过本发明方法可实现了空基发射折叠翼无人机全流程控制。


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    Title :

    Control system and launching method of air-based mounting launching folding wing unmanned aerial vehicle


    Additional title:

    一种空基挂载发射折叠翼无人机的控制系统及发射方法


    Contributors:
    WANG SONG (author) / WANG ZEHAO (author) / YAN CHAO (author) / ZHAO YINING (author) / WU KEFAN (author)

    Publication date :

    2025-02-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64U



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