The invention discloses a vertical launching control method for an unmanned aerial vehicle, which is used for controlling the unmanned aerial vehicle to be vertically launched in an area range with a maximum launching radius Rmax and a minimum level flight height Hmin, and comprises the following steps: firstly, launching the unmanned aerial vehicle at an initial attack angle alpha0, after launching, starting an engine of the unmanned aerial vehicle and outputting power at full power, the unmanned aerial vehicle flies upside down and deflects under the action of lift force towards the back of the unmanned aerial Then, when the flight path angle of the flight path line of the unmanned aerial vehicle is larger than 175 degrees, the unmanned aerial vehicle is controlled to roll and adjust the attitude, and reverse flight is converted into normal flat flight; wherein the speed of the unmanned aerial vehicle during normal level flight is equal to the minimum level flight speed Vmin during design of the unmanned aerial vehicle, and the height of the unmanned aerial vehicle during level flight is equal to the minimum level flight height Hmin. By controlling the trajectory after the unmanned aerial vehicle is launched to coincide with the set ellipse, the flight attitude of the unmanned aerial vehicle can be kept smooth, and the unmanned aerial vehicle is prevented from being crashed due to too intense regulation and control state.
本发明公开了一种无人机垂直发射控制方法,用于控制无人机在最大发射半径Rmax和最小平飞高度Hmin的区域范围内垂直发射,所述方法包括如下步骤:首先,无人机以初始迎角α0进行发射,发射之后,无人机的发动机启动并全功率输出动力,无人机在朝向机背的升力作用下倒飞偏转;然后,在无人机的飞行轨迹线的航迹角大于175°时,控制无人机进行滚转调姿,由倒飞转换成正常平飞;其中,无人机的正常平飞时的速度等于无人机设计时的最小平飞速度Vmin,进入平飞时的高度等于所述最小平飞高度Hmin。本发明通过控制无人机发射之后的轨迹线与设定的椭圆形重合,可以使无人机的飞行姿态保持平滑,避免无人机调控状态过于激烈而坠毁。
Unmanned aerial vehicle vertical launching control method
一种无人机垂直发射控制方法
2024-10-15
Patent
Electronic Resource
Chinese
IPC: | B64U |
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