CN104699108A - Multi-rotor craft control allocation method - Google Patents
Multi-rotor craft control allocation method Download PDFInfo
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Abstract
The invention discloses a multi-rotor craft control allocation method which can be applied to multi-rotor craft flight control. According to the multi-rotor craft control allocation method, an expected attitude angle and height computing module computes to obtain expected attitude angle and height values according to corresponding attitude angle and height instructions, and subtracts actual attitude angle and height values fed by attitude angle and height sensors from the expected attitude angle and height values to obtain attitude angle and height control errors, a control quantity resolving module computes the attitude angle and height control errors to obtain corresponding pitch control quantity, roll control quantity, yaw control quantity and throttle control quantity, and a control allocation module allocates the four pitch control quantities to obtain control quantity of each rotor. The control quantity of each rotor is allocated to a corresponding actuator of the multi-rotor craft, so that a multi-rotor craft can be controlled effectively. The multi-rotor craft control allocation method is easy to implement and high in efficiency, and is integrated with a multi-rotor controller so as to achieve effective control of the multi-rotor craft commonly.
Description
Technical field
The present invention relates to the flight control method of multi-rotor aerocraft, particularly relate to a kind of control distribution method of multi-rotor aerocraft.
Background technology
Multi-rotor aerocraft is the system of a multivariate, non-linear, strong coupling, and it controls relatively general control object more complicated.For the controller of multi-rotor aerocraft, its output is generally four controlled quentity controlled variables: pitch control subsystem amount, roll unloads amount, driftage controlled quentity controlled variable and Throttle Opening Control amount.After obtaining four controlled quentity controlled variables of many rotors, how these four controlled quentity controlled variables are effectively distributed to multiple independent rotor, what make that multiple rotor is efficient, coordinate works together, is realize many rotors to control a requisite step.And in existing document and disclosed data, the control distribution method of not disclosed multi-rotor aerocraft.
Summary of the invention
The object of the invention is to: for above-mentioned Problems existing, a kind of control distribution method of multi-rotor aerocraft is provided.This control distribution method is easy to realize, and efficiency is higher, can integrate with the controller of many rotors easily, jointly realizes the effective control to multi-rotor aerocraft.
Technical scheme of the present invention: a kind of control distribution method of multi-rotor aerocraft, it is first according to corresponding attitude angle and height instruction, calculate attitude angle and the height value of expectation, and the attitude angle of the multi-rotor aerocraft reality fed back with attitude angle and height sensor respectively and height value subtract each other, obtain the departure of attitude angle and height, then by the calculating of the departure to attitude angle and height, obtain corresponding pitch control subsystem amount, roll unloads amount, driftage controlled quentity controlled variable and Throttle Opening Control amount, with the control distribution method based on rotor moment usefulness, above four controlled quentity controlled variables are distributed, thus obtain the controlled quentity controlled variable of each rotor.
The control distribution method of described multi-rotor aerocraft, its concrete steps are as follows:
Step one: obtain the current attitude angle of multi-rotor aerocraft and height by the attitude sensor on multi-rotor aerocraft and position transducer, attitude angle and the height value of expectation is obtained by attitude angle and Altitude control instruction, both subtract each other, and obtain the departure of attitude angle and height.
If attitude angle and height instruction are [pitch_RC, roll_RC, yaw_RC, height_RC]
t, wherein pitch_RC is angle of pitch instruction, and roll_RC is roll angle instruction, and yaw_RC is crab angle instruction, and height_RC is height instruction, and the expectation attitude angle obtained and height value are [pitchC, rollC, yawC, heightC]
t, wherein pitchC is for expecting angle of pitch value, and rollC is for expecting roll angle value, yawC for expecting crab angle value, heightC for expecting height value, the attitude angle that the multi-rotor aerocraft obtained by attitude sensor and position transducer is current and be highly [pitch, roll, yaw, height]
t, wherein pitch is the current angle of pitch, and roll is current roll angle, and yaw is current crab angle, and height is present level, then the departure of current pose angle and height is:
Step 2: the departure of current pose angle and height is calculated, obtains four controlled quentity controlled variables [upitch, uroll, uyaw, uheight] of multi-rotor aerocraft
t, wherein upitch is angle of pitch controlled quentity controlled variable, and uroll is roll angle controlled quentity controlled variable, and uyaw is crab angle controlled quentity controlled variable, and uheight is Altitude control amount.
Step 3: adopt control distribution method based on rotor moment usefulness to controlled quentity controlled variable [upitch, uroll, uyaw, uheight]
tdistribute, if rotor quantity is N, the X-axis of multi-rotor aerocraft is chosen between two rotor shaft, and Y-axis is vertical with X-axis, then each rotor is followed successively by with the X-axis angle of multi-rotor aerocraft
rotor on the right angle is just, each rotor is followed successively by with the Y-axis angle of multi-rotor aerocraft
rotor on the left side is just, according to the same X-axis of each rotor, the angle of Y-axis is different, the moment usefulness respective change of its rotor, rotor is less with X-axis angle absolute value, the pitching moment arm of force is longer, it provides the usefulness of pitching moment higher, rotor is less with Y-axis angle absolute value, the rolling moment arm of force is longer, it provides the usefulness of rolling moment higher, according to the rotor moment usefulness orecontrolling factor allocation matrix of each rotor, its principle is, the partition factor of the individual rotor length with its arm of force is directly proportional, after construction complete controls allocation matrix, it is multiplied with controlled quentity controlled variable, obtain the controlled quentity controlled variable U (k) of each rotor of multi-rotor aerocraft.
Step 4: give corresponding topworks respectively by the controlled quentity controlled variable of each rotor of multi-rotor aerocraft, thus obtain the corresponding rotating speed of each rotor, produce the control and control moment expected.
Step 5: in follow-up flight control procedure, four steps before constantly repeating, thus realize the effective control to multi-rotor aerocraft.
The control distribution method of described multi-rotor aerocraft, in its step 2, PID control method, dynamic inversion control method, Backstepping, H ∞ control, LQR control, feature configuration control method etc. are comprised to the control method that current pose angle and departure highly calculate.
When many rotors are eight rotors, X-axis is chosen between two rotor shaft, and Y-axis is vertical with X-axis, then each rotor with the X-axis angle of multi-rotor aerocraft be followed successively by ± 22.5 °, ± 67.5 °, ± 112.5 °, ± 157.5 °, each rotor is followed successively by 67.5 ° with the Y-axis angle of multi-rotor aerocraft, 112.5 °, 22.5 °, 157.5 ° ,-22.5 °, 202.5 °,-67.5 °, 247.5 °, then the control allocation matrix constructed is as follows:
The computing formula of the controlled quentity controlled variable U (k) of each rotor is:
Wherein, U (1) to U (8) represents that rotor 1 is to the corresponding controlled quentity controlled variable of rotor 8 respectively.
When many rotors are six rotors, X-axis is chosen between two rotor shaft, and Y-axis is vertical with X-axis, then each rotor with the X-axis angle of multi-rotor aerocraft be followed successively by ± 30 °, ± 90 °, ± 150 °, each rotor is followed successively by 60 ° with the Y-axis angle of multi-rotor aerocraft, 120 °, 0 °, 180 ° ,-60 °, 240 °, then the control allocation matrix constructed is as follows:
The computing formula of the controlled quentity controlled variable U (k) of each rotor is:
Wherein, U (1) to U (6) represents that rotor 1 is to the corresponding controlled quentity controlled variable of rotor 6 respectively.
The invention has the advantages that:
(1) the control distribution method based on rotor moment usefulness provided by the invention is applicable to any multi-rotor aerocraft, can distribute the pitch control subsystem amount of multi-rotor aerocraft, roll unloads amount, driftage controlled quentity controlled variable and Throttle Opening Control amount, allocative efficiency is higher, can realize the effective control to multi-rotor aerocraft.
(2) the control distribution method based on rotor moment usefulness provided by the invention considers when carrying out gesture stability, the moment usefulness of different rotor is different: rotor is less with X-axis angle absolute value, the pitching moment arm of force is longer, and it provides the usefulness of pitching moment higher; Rotor is less with Y-axis angle absolute value, and the rolling moment arm of force is longer, and it provides the usefulness of rolling moment higher.When the moment usefulness height of rotor, the controlled quentity controlled variable distributing to it is corresponding larger.The feature of each rotor can be given full play to like this, making it better for controlling service, improving and controlling allocative efficiency, ensure Mass Control.
(3) the control distribution method principle based on rotor moment usefulness provided by the invention is simple, easy to operate, is easy to realize.
Accompanying drawing explanation
Fig. 1 is the principle assumption diagram of the control distribution method of multi-rotor aerocraft of the present invention.
Fig. 2 is eight rotor structure schematic diagram.
Fig. 3 is six rotor structure schematic diagram.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is described in further detail.It should be explicitly made clear at this point, specific embodiment described herein only in order to explain the present invention, and is not intended to limit the present invention.
The invention provides a kind of control distribution method of multi-rotor aerocraft, its theory structure as shown in Figure 1.Expect that attitude angle and high computational module are according to corresponding attitude angle and height instruction, calculate attitude angle and the height value of expectation, and the attitude angle of the multi-rotor aerocraft reality fed back with attitude angle and height sensor and height value subtract each other, obtain the departure of attitude angle and height.Controlled quentity controlled variable resolves the calculating of module by the departure to attitude angle and height, obtain corresponding pitch control subsystem amount, roll unloads amount, driftage controlled quentity controlled variable and Throttle Opening Control amount, by controlling distribution module, above four controlled quentity controlled variables are distributed, thus obtain the controlled quentity controlled variable of each rotor.The controlled quentity controlled variable of each rotor is given to the corresponding topworks of multi-rotor aerocraft, and then realizes the effective control to multi-rotor aerocraft.Specifically comprise following step:
Step one: obtain the current attitude angle of multi-rotor aerocraft and height by the attitude sensor on multi-rotor aerocraft and position transducer, attitude angle and the height value of expectation is obtained by attitude angle and Altitude control instruction, both subtract each other, and obtain the departure of attitude angle and height.
If attitude angle and height instruction are [pitch_RC, roll_RC, yaw_RC, height_RC]
t, wherein pitch_RC is angle of pitch instruction, and roll_RC is roll angle instruction, and yaw_RC is crab angle instruction, and height_RC is height instruction, and the expectation attitude angle obtained and height value are [pitchC, rollC, yawC, heightC]
t, wherein pitchC is for expecting angle of pitch value, and rollC is for expecting roll angle value, yawC for expecting crab angle value, heightC for expecting height value, the attitude angle that the multi-rotor aerocraft obtained by attitude sensor and position transducer is current and be highly [pitch, roll, yaw, height]
t, wherein pitch is the current angle of pitch, and roll is current roll angle, and yaw is current crab angle, and height is present level, then the departure of current pose angle and height is:
Step 2: the departure of current pose angle and height is calculated, obtains four controlled quentity controlled variables [upitch, uroll, uyaw, uheight] of multi-rotor aerocraft
t, wherein upitch is angle of pitch controlled quentity controlled variable, and uroll is roll angle controlled quentity controlled variable, and uyaw is crab angle controlled quentity controlled variable, and uheight is Altitude control amount; When calculating current pose angle and departure highly, the control method that can adopt comprises PID control method, dynamic inversion control method, Backstepping, H ∞ control, LQR control, feature configuration control method etc.When adopting modal PID control method, its computing formula is as follows:
Wherein, Kp_pitch, Kd_pitch, Ki_pitch are respectively the scale-up factor of pitch control subsystem, differential coefficient and integral coefficient; Kp_roll, Kd_roll, Ki_roll are respectively the scale-up factor of roll unloads, differential coefficient and integral coefficient; Kp_yaw, Kd_yaw, Ki_yaw are respectively scale-up factor, differential coefficient and the integral coefficient that driftage controls; Kp_height, Kd_height, Ki_height are respectively the scale-up factor of Altitude control, differential coefficient and integral coefficient;
for rate of pitch,
for angular velocity in roll,
for yaw rate,
for rising or falling speed.
Step 3: adopt control distribution method based on rotor moment usefulness to controlled quentity controlled variable [upitch, uroll, uyaw, uheight]
tdistribute, if rotor quantity is N, the X-axis of multi-rotor aerocraft is chosen between two rotor shaft, and Y-axis is vertical with X-axis, then each rotor is followed successively by with the X-axis angle of multi-rotor aerocraft
rotor on the right angle is just, each rotor is followed successively by with the Y-axis angle of multi-rotor aerocraft
rotor on the left side is just, according to the same X-axis of each rotor, the angle of Y-axis is different, the moment usefulness respective change of its rotor, rotor is less with X-axis angle absolute value, the pitching moment arm of force is longer, it provides the usefulness of pitching moment higher, rotor is less with Y-axis angle absolute value, the rolling moment arm of force is longer, it provides the usefulness of rolling moment higher, according to the rotor moment usefulness orecontrolling factor allocation matrix of each rotor, its principle is, the partition factor of the individual rotor length with its arm of force is directly proportional, after construction complete controls allocation matrix, it is multiplied with controlled quentity controlled variable, obtain the controlled quentity controlled variable U (k) of each rotor of multi-rotor aerocraft.
Step 4: give corresponding topworks respectively by the controlled quentity controlled variable of each rotor of multi-rotor aerocraft, thus obtain the corresponding rotating speed of each rotor, produce the control and control moment expected.
Step 5: in follow-up flight control procedure, four steps before constantly repeating, thus realize the effective control to multi-rotor aerocraft.
When many rotors are eight rotors, X-axis is chosen between two rotor shaft, and Y-axis is vertical with X-axis, then each rotor with the X-axis angle of multi-rotor aerocraft be followed successively by ± 22.5 °, ± 67.5 °, ± 112.5 °, ± 157.5 °, each rotor is followed successively by 67.5 ° with the Y-axis angle of multi-rotor aerocraft, 112.5 °, 22.5 °, 157.5 ° ,-22.5 °, 202.5 °,-67.5 °, 247.5 °, then the control allocation matrix constructed is as follows:
The computing formula of the controlled quentity controlled variable U (k) of each rotor is:
Wherein, U (1) to U (8) represents that rotor 1 is to the corresponding controlled quentity controlled variable of rotor 8 respectively.
When many rotors are six rotors, X-axis is chosen between two rotor shaft, and Y-axis is vertical with X-axis, then each rotor with the X-axis angle of multi-rotor aerocraft be followed successively by ± 30 °, ± 90 °, ± 150 °, each rotor is followed successively by 60 ° with the Y-axis angle of multi-rotor aerocraft, 120 °, 0 °, 180 ° ,-60 °, 240 °, then the control allocation matrix constructed is as follows:
The computing formula of the controlled quentity controlled variable U (k) of each rotor is:
Wherein, U (1) to U (6) represents that rotor 1 is to the corresponding controlled quentity controlled variable of rotor 6 respectively.
Claims (5)
1. the control distribution method of a multi-rotor aerocraft, it is characterized in that, first according to corresponding attitude angle and height instruction, calculate attitude angle and the height value of expectation, and the attitude angle of the multi-rotor aerocraft reality fed back with attitude angle and height sensor respectively and height value subtract each other, obtain the departure of attitude angle and height, then by the calculating of the departure to attitude angle and height, obtain corresponding pitch control subsystem amount, roll unloads amount, driftage controlled quentity controlled variable and Throttle Opening Control amount, with the control distribution method based on rotor moment usefulness, above four controlled quentity controlled variables are distributed, thus obtain the controlled quentity controlled variable of each rotor.
2. the control distribution method of multi-rotor aerocraft according to claim 1, it is characterized in that, concrete steps are as follows:
Step one: obtain the current attitude angle of multi-rotor aerocraft and height by the attitude sensor on multi-rotor aerocraft and position transducer, attitude angle and the height value of expectation is obtained by attitude angle and Altitude control instruction, both subtract each other, and obtain the departure of attitude angle and height;
If attitude angle and height instruction are [pitch_RC, roll_RC, yaw_RC, height_RC]
t, wherein pitch_RC is angle of pitch instruction, and roll_RC is roll angle instruction, and yaw_RC is crab angle instruction, and height_RC is height instruction, and the expectation attitude angle obtained and height value are [pitchC, rollC, yawC, heightC]
t, wherein pitchC is for expecting angle of pitch value, and rollC is for expecting roll angle value, yawC for expecting crab angle value, heightC for expecting height value, the attitude angle that the multi-rotor aerocraft obtained by attitude sensor and position transducer is current and be highly [pitch, roll, yaw, height]
t, wherein pitch is the current angle of pitch, and roll is current roll angle, and yaw is current crab angle, and height is present level, then the departure of current pose angle and height is:
Step 2: the departure of current pose angle and height is calculated, obtains four controlled quentity controlled variables [upitch, uroll, uyaw, uheight] of multi-rotor aerocraft
t, wherein upitch is angle of pitch controlled quentity controlled variable, and uroll is roll angle controlled quentity controlled variable, and uyaw is crab angle controlled quentity controlled variable, and uheight is Altitude control amount;
Step 3: adopt control distribution method based on rotor moment usefulness to controlled quentity controlled variable [upitch, uroll, uyaw, uheight]
tdistribute, if rotor quantity is N, the X-axis of multi-rotor aerocraft is chosen between two rotor shaft, and Y-axis is vertical with X-axis, then each rotor is followed successively by with the X-axis angle of multi-rotor aerocraft
rotor on the right angle is just, each rotor is followed successively by with the Y-axis angle of multi-rotor aerocraft
rotor on the left side is just, according to the same X-axis of each rotor, the angle of Y-axis is different, the moment usefulness respective change of its rotor, rotor is less with X-axis angle absolute value, the pitching moment arm of force is longer, it provides the usefulness of pitching moment higher, rotor is less with Y-axis angle absolute value, the rolling moment arm of force is longer, it provides the usefulness of rolling moment higher, according to the rotor moment usefulness orecontrolling factor allocation matrix of each rotor, its principle is, the partition factor of the individual rotor length with its arm of force is directly proportional, after construction complete controls allocation matrix, it is multiplied with controlled quentity controlled variable, obtain the controlled quentity controlled variable U (k) of each rotor of multi-rotor aerocraft,
Step 4: give corresponding topworks respectively by the controlled quentity controlled variable of each rotor of multi-rotor aerocraft, thus obtain the corresponding rotating speed of each rotor, produce the control and control moment expected;
Step 5: in follow-up flight control procedure, four steps before constantly repeating, thus realize the effective control to multi-rotor aerocraft.
3. the control distribution method of multi-rotor aerocraft according to claim 2, it is characterized in that, in step 2, PID control method or dynamic inversion control method or Backstepping are comprised to the control method that calculates of departure of current pose angle and height or H ∞ controls or LQR controls or feature configuration control method.
4. the control distribution method of multi-rotor aerocraft according to claim 3, it is characterized in that, when many rotors are eight rotors, X-axis is chosen between two rotor shaft, and Y-axis is vertical with X-axis, then each rotor with the X-axis angle of multi-rotor aerocraft be followed successively by ± 22.5 °, ± 67.5 °, ± 112.5 °, ± 157.5 °, each rotor is followed successively by 67.5 ° with the Y-axis angle of multi-rotor aerocraft, 112.5 °, 22.5 °, 157.5 ° ,-22.5 °, 202.5 °,-67.5 °, 247.5 °, then the control allocation matrix constructed is as follows:
The computing formula of the controlled quentity controlled variable U (k) of each rotor is:
Wherein, U (1) to U (8) represents that rotor 1 is to the corresponding controlled quentity controlled variable of rotor 8 respectively.
5. the control distribution method of multi-rotor aerocraft according to claim 3, is characterized in that, when many rotors are six rotors, X-axis is chosen between two rotor shaft, and Y-axis is vertical with X-axis, then each rotor with the X-axis angle of multi-rotor aerocraft be followed successively by ± 30 °, ± 90 °, ± 150 °, each rotor is followed successively by 60 ° with the Y-axis angle of multi-rotor aerocraft, 120 °, 0 °, 180 ° ,-60 °, 240 °, then the control allocation matrix constructed is as follows:
The computing formula of the controlled quentity controlled variable U (k) of each rotor is:
Wherein, U (1) to U (6) represents that rotor 1 is to the corresponding controlled quentity controlled variable of rotor 6 respectively.
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| CN105929841A (en) * | 2016-06-29 | 2016-09-07 | 天津深之蓝海洋设备科技有限公司 | ROV attitude control method and system |
| CN107943089A (en) * | 2017-12-25 | 2018-04-20 | 成都纵横自动化技术有限公司 | More specification dynamical system control distribution methods and relevant apparatus |
| CN107992080A (en) * | 2017-12-25 | 2018-05-04 | 成都纵横自动化技术有限公司 | control distribution method, device and multi-rotor aerocraft |
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| CN108614573A (en) * | 2018-05-15 | 2018-10-02 | 上海扩博智能技术有限公司 | The automatic fault tolerant attitude control method of six rotor wing unmanned aerial vehicles |
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| CN112286053A (en) * | 2020-10-16 | 2021-01-29 | 北京航空航天大学 | Guidance control integration method for high-mobility micro unmanned aerial vehicle |
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| CN105929841A (en) * | 2016-06-29 | 2016-09-07 | 天津深之蓝海洋设备科技有限公司 | ROV attitude control method and system |
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| CN112286053B (en) * | 2020-10-16 | 2021-08-27 | 北京航空航天大学 | Guidance control integration method for high-mobility micro unmanned aerial vehicle |
| CN113031636A (en) * | 2021-03-01 | 2021-06-25 | 之江实验室 | Unmanned aerial vehicle control method and device, electronic equipment, unmanned aerial vehicle and storage medium |
| CN113031636B (en) * | 2021-03-01 | 2024-02-20 | 之江实验室 | Unmanned aerial vehicle control method, unmanned aerial vehicle control device, electronic equipment, unmanned aerial vehicle and storage medium |
| CN114415715A (en) * | 2021-12-17 | 2022-04-29 | 北京天玛智控科技股份有限公司 | Control method and device of multi-unmanned aerial vehicle integrated system |
| CN114415715B (en) * | 2021-12-17 | 2024-02-27 | 北京天玛智控科技股份有限公司 | Control method and device for multi-unmanned aerial vehicle integrated system |
| CN115407802A (en) * | 2022-10-26 | 2022-11-29 | 广东汇天航空航天科技有限公司 | Multi-rotor aircraft, control method and device thereof, and computer-readable storage medium |
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