CN101950174A - Method for adjusting parameters of unmanned aerial vehicle (UAV) controller - Google Patents

Method for adjusting parameters of unmanned aerial vehicle (UAV) controller Download PDF

Info

Publication number
CN101950174A
CN101950174A CN2010105034383A CN201010503438A CN101950174A CN 101950174 A CN101950174 A CN 101950174A CN 2010105034383 A CN2010105034383 A CN 2010105034383A CN 201010503438 A CN201010503438 A CN 201010503438A CN 101950174 A CN101950174 A CN 101950174A
Authority
CN
China
Prior art keywords
parameter
uav
flight
aerial vehicle
controller
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN2010105034383A
Other languages
Chinese (zh)
Inventor
王冠林
朱纪洪
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tsinghua University
Original Assignee
Tsinghua University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tsinghua University filed Critical Tsinghua University
Priority to CN2010105034383A priority Critical patent/CN101950174A/en
Publication of CN101950174A publication Critical patent/CN101950174A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses a method for adjusting the parameters of a unmanned aerial vehicle (UAV) controller, which is characterized by comprising a ground station, a flight control computer and a data transfer radio station, wherein the ground station is used for setting the parameters required to be adjusted, carrying out binding and layout on the set parameter instructions, and then sending the obtained parameter frames to the flight control computer of the UAV by the data transfer radio station; and the flight control computer is used for decoding frame on the parameter instructions, and then updating the parameters of the controller by using the obtained parameters, thereby achieving the purpose of adjusting the parameters of the UAV controller. By using the ground station, the flight control computer and the data transfer radio station, the method of the invention can achieve the purpose of adjusting the parameters of the controller conveniently, directly and safely in the flight process of the UAV without landing, dismantling the aerial vehicle or carrying out other hardware changes.

Description

Unmanned aerial vehicle (UAV) control device parameter regulation means
Technical field
The present invention is the method that is used to adjust unmanned aerial vehicle (UAV) control device parameter, and is can be in the flight course of unmanned plane convenient, fast and adjust controller parameter safely.Be mainly used in technical fields such as Aero-Space, unmanned plane, robot.
Background technology
The controller parameter of unmanned plane is normally pre-set on ground, awing adjusts according to actual conditions then.Yet control method in the past is to connect flight-control computer again to change after the unmanned plane landing.Because the adjustment of unmanned aerial vehicle (UAV) control device parameter often needs experiment for several times just can finish, so this parameter regulation means needs frequent landing unmanned plane.So this method not only efficient is very low, and frequent landing meeting enlarges markedly contingency occurrence probability, even causes major accident such as air crash.The present invention is by land station's software interface, the parameter of needs adjustment transmitted the radio station by data send to the UAV Flight Control computing machine, makes that originally the wired connection to flight-control computer changes wireless connections into.Its advantage is not need the frequent landing of unmanned plane, tear machine and hardware open and change, and awing can parameter be adjusted, and has convenient, fast and safe advantage.
Summary of the invention
The object of the present invention is to provide a kind of method that is used for the unmanned plane parameter adjustment.
The invention is characterized in, contain: land station, flight-control computer and data transmit the radio station, wherein, set the parameter that needs adjustment by land station, after the parameter instruction binding and layout of land station with setting, utilize data to transmit the radio station parameter frame is sent to the UAV Flight Control computing machine; After flight-control computer is separated frame with parameter instruction, utilize the parameter of the parameter update controller that obtains, thereby realize adjustment unmanned aerial vehicle (UAV) control device parameter.Its advantage is not need the frequent landing of unmanned plane, tear machine and hardware open and change, and can parameter be adjusted in flight course, has convenient, fast and safe advantage.
Description of drawings
Fig. 1 is a unmanned plane parameter adjustment synoptic diagram.Land station shown in Fig. 1 transmits the radio station by data, and the parameter binding and layout of needs adjustment are sent to the UAV Flight Control computing machine.The parameter that flight-control computer receives according to land station, the parameter of the controller that upgrades in time, thus realization is to the adjustment of unmanned plane parameter.
Embodiment
The enforcement of unmanned plane parameter regulation means transmits the radio station by land station, flight-control computer and data and forms.By land station's operation interface, after the communications protocol binding and layout of parameter instruction with the needs adjustment, utilize data to transmit the radio station parameter frame is sent to the UAV Flight Control computing machine according to setting.
After flight-control computer is received parameter frame, separate frame, can obtain being used to adjust the flight parameter of controller according to the communications protocol of setting.Thereupon, the correlation parameter of unmanned plane can obtain adjusting and change.
With the PID controller is example, and its control algolithm is:
δ u ( t ) = K p e ( t ) + K i ∫ 0 t e ( t ) dt + K d e · ( t )
Wherein, e (t) is the error of unmanned plane expectation value and currency, K p, K iAnd K dBe ratio, integration and the differential coefficient of pid control algorithm, δ u(t) be the controlled quentity controlled variable that obtains according to pid control algorithm.
At unmanned plane in-flight, adjust controller parameter, then only need the new K of input in land station as need p, K iAnd K dParameter.Land station is with new K p, K iAnd K dParameter sends to the UAV Flight Control computing machine by the binding and layout of data transmission radio station, and the latter obtains new K after frame is separated in parameter instruction p, K iAnd K d, and upgrade the PID controller thereupon, thus in the flight course of unmanned plane, realized adjustment to its controller parameter.
In order to strengthen antijamming capability, can also encrypt binding and layout to parameter in land station, in flight-control computer, encrypt and separate frame, thereby avoid interference appearance with maloperation.
The invention enables original wired connection to flight-control computer to change wireless connections into, in the flight course of unmanned plane, can adjust parameter, have convenient, fast and safe advantage.

Claims (1)

1. unmanned aerial vehicle (UAV) control device parameter regulation means is characterized in that, contains: land station, and flight-control computer and data transmit the radio station, wherein:
Set the parameter that needs adjustment by land station, after the parameter instruction binding and layout of land station with setting, utilize data to transmit the radio station parameter frame is sent to the UAV Flight Control computing machine; After flight-control computer is separated frame with parameter instruction, utilize the parameter of the parameter update controller that obtains, thereby realize adjustment, be characterized in unmanned aerial vehicle (UAV) control device parameter:
The entire parameter adjustment process is finished in the flight course of unmanned plane, can make things convenient for, finish the adjustment of unmanned aerial vehicle (UAV) control device parameter directly, safely, and need not land, tear open machine or the change of other hardware.
CN2010105034383A 2010-09-30 2010-09-30 Method for adjusting parameters of unmanned aerial vehicle (UAV) controller Pending CN101950174A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2010105034383A CN101950174A (en) 2010-09-30 2010-09-30 Method for adjusting parameters of unmanned aerial vehicle (UAV) controller

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2010105034383A CN101950174A (en) 2010-09-30 2010-09-30 Method for adjusting parameters of unmanned aerial vehicle (UAV) controller

Publications (1)

Publication Number Publication Date
CN101950174A true CN101950174A (en) 2011-01-19

Family

ID=43453690

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2010105034383A Pending CN101950174A (en) 2010-09-30 2010-09-30 Method for adjusting parameters of unmanned aerial vehicle (UAV) controller

Country Status (1)

Country Link
CN (1) CN101950174A (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102495634A (en) * 2011-12-07 2012-06-13 中国南方航空工业(集团)有限公司 Method and device for controlling unmanned aerial vehicle and operating device for unmanned aerial vehicle
CN103135554A (en) * 2011-11-25 2013-06-05 中国科学院沈阳自动化研究所 Unmanned helicopter ground control system applied to electric transmission line routing inspection
CN109639703A (en) * 2018-12-26 2019-04-16 西安烽火电子科技有限责任公司 A kind of radio station remote control method and system based on B/S framework
CN109814375A (en) * 2019-01-30 2019-05-28 中国船舶重工集团公司第七一九研究所 A kind of quick setting method of autonomous underwater vehicle Heading control parameter
CN111965970A (en) * 2019-05-20 2020-11-20 杭州海康机器人技术有限公司 Control parameter self-tuning method, device and system

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101033973A (en) * 2007-04-10 2007-09-12 南京航空航天大学 Attitude determination method of mini-aircraft inertial integrated navigation system
CN101339404A (en) * 2008-08-07 2009-01-07 北京航空航天大学 Aircraft posture kinetics simplified model gain switching proportion-differential control design method
CN101508344A (en) * 2009-03-25 2009-08-19 江苏省安全生产科学研究院 Emergency rescue assisting device and use thereof
CN101515178A (en) * 2009-04-08 2009-08-26 南京航空航天大学 Master-slave burden type redundancy automatic unmanned aircraft pilot based on CAN bus
CN101704411A (en) * 2009-11-04 2010-05-12 北京航空航天大学 Flight remote controller suitable for unmanned plane

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101033973A (en) * 2007-04-10 2007-09-12 南京航空航天大学 Attitude determination method of mini-aircraft inertial integrated navigation system
CN101339404A (en) * 2008-08-07 2009-01-07 北京航空航天大学 Aircraft posture kinetics simplified model gain switching proportion-differential control design method
CN101508344A (en) * 2009-03-25 2009-08-19 江苏省安全生产科学研究院 Emergency rescue assisting device and use thereof
CN101515178A (en) * 2009-04-08 2009-08-26 南京航空航天大学 Master-slave burden type redundancy automatic unmanned aircraft pilot based on CAN bus
CN101704411A (en) * 2009-11-04 2010-05-12 北京航空航天大学 Flight remote controller suitable for unmanned plane

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103135554A (en) * 2011-11-25 2013-06-05 中国科学院沈阳自动化研究所 Unmanned helicopter ground control system applied to electric transmission line routing inspection
CN102495634A (en) * 2011-12-07 2012-06-13 中国南方航空工业(集团)有限公司 Method and device for controlling unmanned aerial vehicle and operating device for unmanned aerial vehicle
CN109639703A (en) * 2018-12-26 2019-04-16 西安烽火电子科技有限责任公司 A kind of radio station remote control method and system based on B/S framework
CN109814375A (en) * 2019-01-30 2019-05-28 中国船舶重工集团公司第七一九研究所 A kind of quick setting method of autonomous underwater vehicle Heading control parameter
CN111965970A (en) * 2019-05-20 2020-11-20 杭州海康机器人技术有限公司 Control parameter self-tuning method, device and system
CN111965970B (en) * 2019-05-20 2023-01-31 杭州海康机器人技术有限公司 Control parameter self-tuning method, device and system

Similar Documents

Publication Publication Date Title
CN101950174A (en) Method for adjusting parameters of unmanned aerial vehicle (UAV) controller
KR101500480B1 (en) Wireless control system for unmanned aerial vehicle
CN104243132B (en) A kind of method of data synchronization and relevant device
WO2017111971A1 (en) UNIVERSAL CONTROLLER FOR ROBUST TRAJECTORY TRACKING IN MULTIROTOR UNMANNED AERIAL VEHICLES (UAVs)
CN102298389A (en) System fully controlled and taken over by ground station during takeoff and landing stages of unmanned plane
WO2016028360A3 (en) Unmanned air vehicle with autonomous air traffic control communications capability
CN104808686A (en) System and method enabling aircraft to be flied along with terminal
EP3364556B1 (en) Communication system for unmanned aerial vehicle
EP3299925A3 (en) Method, apparatus and system for controlling unmanned aerial vehicle
DE102016218560A1 (en) METHOD AND SYSTEMS FOR A MOBILE DEVICE FOR EMULATING A VEHICLE-MANUAL MACHINE INTERFACE
CN205334106U (en) Remote controller for unmanned aerial vehicle
WO2003021872A1 (en) Radio communication system, radio communication control method, radio communication apparatus, radio communication apparatus control method, and computer program
CN104991563B (en) Unmanned aerial vehicle hierarchical operation method and system
CN104865969A (en) Control system designing and flight testing method based on unmanned aerial vehicle flight mode
CN109991994A (en) A kind of small drone track and attitude rectification method based on flight simulator
US20170176971A1 (en) Adjustment apparatus, control parameter adjustment method, information processing program, and storage medium
CN107483169A (en) Data transmission method, system and computer-readable recording medium
Mehranpour et al. A new fuzzy adaptive control for a Quadrotor flying robot
CN106502259A (en) Electric inspection process low profile photovoltaic gondola control device, gondola, unmanned plane and method
CN205353629U (en) Unmanned aerial vehicle uses novel remote controller
US20200278672A1 (en) Communication System, Transmitter, Receiver, and Communication Method
CN105700554A (en) Fixed-wing unmanned aerial vehicle landing method and fixed-wing unmanned aerial vehicle landing system
CN104360595B (en) Method for MCP-PID parameter setting of delay-free inertia process
CN101277086A (en) Multi-motor application for electric toy, application regulating system and matching regulation means thereof
CN104133477B (en) A kind of tune effect control law command control method that can realize transient state suppression

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C02 Deemed withdrawal of patent application after publication (patent law 2001)
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20110119