CONTROL METHOD AND SYSTEM EMPLOYING VERTICAL TAKE-OFF OF FLYING AND DRIVING VEHICLE

Title:

CONTROL METHOD AND SYSTEM EMPLOYING VERTICAL TAKE-OFF OF FLYING AND DRIVING VEHICLE

Document Type and Number:

WIPO Patent Application WO/2020/078139

Kind Code:

A1

Abstract:

A control method employing vertical take-off of a flying and driving vehicle. The method comprises the following steps: S1, acquiring an initial manipulation variable; S2, establishing a vertical take-off model of a flying and driving vehicle; S3, determining an optimized manipulation variable on the basis of a genetic algorithm and according to the initial manipulation variable; S4, normalizing the optimized manipulation variable; S5, inputting normalized data to the vertical take-off model of the flying and driving vehicle so as to acquire a manipulation vector of the flying and driving vehicle at the end of vertical take-off; S6, calculating a minimum error value according to the manipulation vector of the flying and driving vehicle at the end of the vertical take-off; S7, determining whether the minimum error value is within a configured range; S8, if not, using the optimized manipulation variable as an initial manipulation variable, and returning to re-determine an optimized manipulation variable; and S9, if so, outputting the optimized manipulation variable, such that the flying and driving vehicle is controlled, according to the optimized manipulation variable, to perform vertical take-off, and a status manipulation variable at the end of the vertical take-off is as close as possible to a status manipulation variable during a forward flight. The present application also comprises a control system employing vertical take-off of a flying and driving vehicle, and the control system comprises corresponding modules such as an acquisition module and a model establishment module.

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Inventors:

MA YUE (CN)
XIANG CHANGLE (CN)
HUANG BIN (CN)
LIN LU (CN)

Application Number:

PCT/CN2019/104393

Publication Date:

April 23, 2020

Filing Date:

September 04, 2019

Export Citation:

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Assignee:

BEIJING INSTITUTE TECH (CN)

International Classes:

B64C27/00

Foreign References:

CN109263864A	2019-01-25
CN105786007A	2016-07-20
CN104960664A	2015-10-07
CN105966609A	2016-09-28
KR101806453B1	2017-12-07
US8855837B2	2014-10-07
EP3024725A1	2016-06-01
US20160355252A1	2016-12-08
US20180292835A1	2018-10-11
US20140095001A1	2014-04-03
CN201811199814A	2018-10-16

Other References: