| 主权项 |
1. Method for control of a flying wing (2), the flying wing (2) being arranged to be controlled to move along a predetermined trajectory (12) by means of a fluid stream (10) passing the flying wing (2); the flying wing (2) comprising a wing (3) and at least one control surface (7) for controlling the movement of the flying wing (2) along the predetermined trajectory (12), the flying wing (2) being positioned in a reference system where the x-axis is directed horizontally along a level L above which the flying wing (2) moves, the y-axis is perpendicular to the x-axis in a vertical direction and the z-axis is perpendicular to the x-axis along the level L in a direction along the principal direction of the fluid stream (10), characterized in that the control of the flying wing (2) is arranged to be performed using a horizontal position of the flying wing (2), a vertical position of the flying wing (2), a heading of the flying wing (2) and a yaw rate of the flying wing (2), where the horizontal position, the vertical position, the heading and the yaw rate can be measured and/or modelled, wherein the method uses as measured input values the heading, pressure to obtain measured vertical position, yaw rate and speed,
wherein the method comprises:
controlling the movement of the flying wing (2) along the predetermined trajectory (12) during a sensor feedback phase using measured values of heading, vertical position and yaw rate and modelled values of horizontal position,switching between said sensor feedback phase and a model feedback phase after a predetermined distance along the predetermined trajectory has been traversed and when a deviation between a measured value of the vertical position and a modelled value of the vertical position is below a threshold value,controlling the movement of the flying wing (2) along the predetermined trajectory (12) during said model feedback phase using modelled values of heading, vertical position, horizontal position and yaw rate. |
