CN104925248B - Multi-rotor-wing unmanned aerial vehicle with novel pneumatic layout and motor control method thereof - Google Patents
Multi-rotor-wing unmanned aerial vehicle with novel pneumatic layout and motor control method thereof Download PDFInfo
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- CN104925248B CN104925248B CN201510303804.3A CN201510303804A CN104925248B CN 104925248 B CN104925248 B CN 104925248B CN 201510303804 A CN201510303804 A CN 201510303804A CN 104925248 B CN104925248 B CN 104925248B
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Abstract
The invention discloses a multi-rotor-wing unmanned aerial vehicle with a novel pneumatic layout and a motor control method thereof. According to the pneumatic layout of the unmanned aerial vehicle, two sets of blades of a larger specification and a smaller specification are horizontally laid and symmetrical about a central shaft, so that the area of a vehicle body is more effectively used. The blades of a smaller size are matched with a motor of high KV value and are mainly used for working at a high-rotation-speed section to provide lifting force, and only a small rotation speed margin is reserved to serve as a power reserve to assist in operating the fly state. The blades of a larger size are matched with a motor of low KV value, are used for compensating for residual needed lifting force, and are mainly in charge of providing the operation moment on the pitching, rolling and yaw passages for keeping the flying state. The area of the vehicle body can be more efficiently used, the load bearing capacity of the unmanned aerial vehicle is improved, and the time of endurance is prolonged.
Description
Technical field
The present invention relates to a kind of many rotor wing unmanned aerial vehicles with novel pneumatic layout and its motor control method, particularly,
This unmanned plane employs two groups of different size of blades as power supplying apparatus.
Background technology
With rotor class Development of UAV application popularization, electronic many rotor design species is increasingly extensive with configuration, current city
The common whole machine of many rotor wing unmanned aerial vehicles on face selects same model motor blade as power configuration.And mostly centrosymmetry tiling or
Coaxial dual-propeller layout designs.And blade can be varied from higher speed section operating point corresponding blade power effect, improve in load-carrying
In the case of can reduce the service efficiency of blade.It is limited to battery capacity and energy density, the load-carrying of small-sized rotor wing unmanned aerial vehicle and continuation of the journey
Ability is restricted, and is difficult in stronger load capacity and accomplishes on cruising time to equalize.
Content of the invention
Present invention aims to the deficiencies in the prior art, provide a kind of many rotors with novel pneumatic layout no
Man-machine and its motor control method, this unmanned plane and control method can be arranged in pairs or groups by multiple blades, improve on the basis of existing
The lifting capacity of many rotors and cruising time.
The present invention solves its technical problem and is achieved through the following technical solutions: a kind of have novel pneumatic layout
Many rotor wing unmanned aerial vehicles, it includes multiple first blades and the second blade with the first blade equal number；Every blade is solid respectively
On axle, then it is connected with fuselage；Each first blade connects first motor, and each second blade connects one second
Motor；Two groups of blades are arranged with structure spreaded type substantially symmetrical about its central axis, and the first blade and the second blade crossings arrangement；Second oar
The size of leaf is 1.5 ~ 3 times of the first paddle size.
Further, the size of described first blade is 15 ~ 18 cun, the kv value selection range of the first motor 260 ~ 450,
The size of the second blade is 25 ~ 30 cun, the kv value selection range 100 ~ 230 of the second motor.
A kind of motor control method of many rotor wing unmanned aerial vehicles, the method is: distributed by throttle so that the first motor turn
More than more than the 60% of the full rotating speed of the first motor, remainder throttle channel aequum is provided speed by the second motor；Second motor turns
Speed is more than the 50% of the full rotating speed of the second motor.
Further, the method, always according to UAV Attitude information, calculates unmanned plane by pid cascade control method and bows
Face upward, roll, driftage three passages control output, by required passage output in the way of pro rate through amplitude limiter
It is added on the motor of correspondence position, adjust flight attitude.
This beneficial effect of the invention is: size blade is distributed alternately by the present invention, while keeping fuselage balance, to the greatest extent
The volume of the many rotors of spreaded type may be reduced；By using cooperatively of two kinds of size blades, improve unit quantity of electricity utilization rate,
Improve lifting capacity.I.e. compared with rotors many with similar size, can provide bigger in the case of same electric quantity consumption
Load capacity and cruising time.
Brief description
Fig. 1 is a kind of rotor structure of many rotor wing unmanned aerial vehicles, in conjunction with typical eight rotors of one kind of two kinds of size blade configurations
Aerodynamic arrangement.Size dimension blade axle center is arranged in two different concentric circumferences of radius.
Fig. 2 is the rotor structure of another many rotor wing unmanned aerial vehicle, and small size blade is disposed adjacent to fuselage centre
Arrangement mode；
Fig. 3 is the rotor structure of another many rotor wing unmanned aerial vehicle, and size blade is arranged on radius identical circumference.
Fig. 4 is software controlling strategies and and the hardware connection diagram of actually used middle corresponding motor speed；
In figure, the first blade 1, the second blade 2.
Specific embodiment
As shown in figure 1, a kind of many rotor wing unmanned aerial vehicles with novel pneumatic layout of the present invention, it includes multiple first blades
1 and the second blade 2 with the first blade 1 equal number；Every blade is individually fixed on axle, then is connected with fuselage；Two groups
Blade is arranged with structure spreaded type substantially symmetrical about its central axis, and the first blade 1 and the second blade 2 interlaced arrangement；Each first blade 1
Connect first motor, each second blade 2 connects second motor；First motor provides power to the first blade 1, main
It is used for producing lift；Second motor provides power to the second blade 2, is mainly used in providing the steering force controlling UAV Attitude
Square；Therefore, (size of the second blade 2 is the first oar to the size relationship of the first blade and the second blade it suffices that certain proportion
1.5 ~ 3 times of leaf 1 size)；Generally, the size of described first blade is 15 ~ 18 cun, the size of the second blade is 25 ~
30 cun；If aforementioned proportion is excessive, that is, the first blade 1 is too small, is unfavorable for providing sufficient lift；If aforementioned proportion is too small, that is,
Two blades 2 are excessive, not only increase the processing request of the second blade 2, and the second blade 2 can cause in rotation process and waves
With flap, and lead to unmanned aerial vehicle body vibrations excessive, be unfavorable for flight stability.
For coordinating the use of the first blade 1 and the second blade 2, the kv value of the first motor is 260 ~ 450, the kv of the second motor
It is worth for 100 ~ 230.It is specific that every blade is individually fixed in and is connected with fuselage on eight axles again in FIG, and with center
Symmetrical mode around body, arrange by alternate tiling.First blade adopts 15 cun of blades, joins first motor of 300kv.Second oar
Leaf adopts 25 cun of blades, joins second motor of 150kv.
During aircraft flight, output is controlled by the calculated throttle channel of pid cascade control method, make the first
The rotating speed of corresponding first motor of one blade reaches more than the 60% of its full rotating speed, is mainly used as providing lift, remainder rotating speed
Allowance gives over to power reserve.The rotating speed of 4 corresponding second motors of the second blade 2 reaches the 50% about of its full rotating speed, main use
The remainder lift required to supply load, and maintenance aircraft items flight appearance is provided by blade differential on this basis
Operating torque needed for state.
Many rotors pneumatic structure of unmanned plane can also be fixed respectively using structure as shown in Figure 2 or Figure 3, every blade
It is connected with fuselage on eight axles again, and in centrosymmetric mode around body, alternate tiling arrangement, and the first blade
1 axle being connected is shorter with respect to the axle that the second blade 2 is connected, and is conducive to spatial arrangement more compact, reduces to fuselage
The requirement of size.
As shown in figure 4, said method can also be according to UAV Attitude information, by existing pid cascade control method
Calculate unmanned plane pitching, roll, the control output of three passages of driftage, required passage output is added to corresponding position
On the motor put, adjust flight attitude.
Content described in this specification embodiment is only enumerating of the way of realization to inventive concept, the protection of the present invention
Scope is not construed as being only limitted to the concrete form that embodiment is stated, protection scope of the present invention is also and in art technology
Personnel according to present inventive concept it is conceivable that equivalent technologies mean.
Claims (2)
1. a kind of motor control method of many rotor wing unmanned aerial vehicles, it includes multiple first blades (1) and identical with the first blade (1)
Second blade (2) of quantity；Every blade is individually fixed on axle, then is connected with fuselage；Each first blade (1) connects one
Individual first motor, each second blade (2) connects second motor；Two groups of blades are arranged with structure spreaded type substantially symmetrical about its central axis
Cloth, and the first blade (1) and the second blade (2) interlaced arrangement；The size of the second blade (2) is the 1.5 of the first blade (1) size
~ 3 times；It is characterized in that, the method is: is distributed by throttle so that the rotating speed of the first motor is more than the full rotating speed of the first motor
More than 60%, remainder throttle channel aequum is provided by the second motor；Second motor speed is more than the full rotating speed of the second motor
50%.
2. the motor control method of many rotor wing unmanned aerial vehicles according to claim 1 is it is characterised in that the method is always according to no
Man-machine attitude information, calculates the control output of unmanned plane pitching, roll, three passages of driftage by pid cascade control method
Amount, by required passage output in the way of pro rate on the motor that amplitude limiter is added to correspondence position, adjust fly
Row attitude.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510303804.3A CN104925248B (en) | 2015-06-04 | 2015-06-04 | Multi-rotor-wing unmanned aerial vehicle with novel pneumatic layout and motor control method thereof |
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| CN201510303804.3A CN104925248B (en) | 2015-06-04 | 2015-06-04 | Multi-rotor-wing unmanned aerial vehicle with novel pneumatic layout and motor control method thereof |
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| CN104925248A CN104925248A (en) | 2015-09-23 |
| CN104925248B true CN104925248B (en) | 2017-01-25 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6648278B2 (en) * | 2015-12-18 | 2020-02-14 | アマゾン テクノロジーズ インコーポレイテッド | Propeller selection for performance and noise shaping |
| CN106314797B (en) * | 2016-10-18 | 2019-06-07 | 韩振铎 | Different paddle Multi-axis aircraft structure and operational method |
| WO2018076206A1 (en) * | 2016-10-26 | 2018-05-03 | 深圳市道通智能航空技术有限公司 | Aerial vehicle and flight control method and device thereof |
| CN109229361A (en) * | 2017-07-11 | 2019-01-18 | 深圳市道通智能航空技术有限公司 | Electric machine control system and unmanned plane |
| CN111776197B (en) * | 2020-06-08 | 2024-06-14 | 宁波诺丁汉大学 | Unmanned aerial vehicle with stable speed regulation of propeller and control method thereof |
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| KR20120102880A (en) * | 2011-03-09 | 2012-09-19 | 유세혁 | Octocopter and control methods thereof |
| CN203593161U (en) * | 2013-09-29 | 2014-05-14 | 山西省电力公司太原供电分公司 | Variable multi-rotor UAV (unmanned aerial vehicle) |
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| KR20120102880A (en) * | 2011-03-09 | 2012-09-19 | 유세혁 | Octocopter and control methods thereof |
| CN102514711A (en) * | 2011-12-02 | 2012-06-27 | 叶洪新 | Multi-rotor fuel-electric hybrid aircraft |
| CN203593161U (en) * | 2013-09-29 | 2014-05-14 | 山西省电力公司太原供电分公司 | Variable multi-rotor UAV (unmanned aerial vehicle) |
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| CN205010482U (en) * | 2015-06-04 | 2016-02-03 | 杭州锐翼科技有限公司 | Many rotor unmanned aerial vehicle with novel aerodynamic layout |
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Effective date of registration: 20190114 Address after: 310024 2nd Floor, Building 3, Zheheng Science Park, Yunqi Town, Zhuantang Town, Xihu District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou Muxing Technology Co., Ltd. Address before: 310018 Room 201, Building 2, 600, 21 Baiyang Street, Hangzhou Economic and Technological Development Zone, Hangzhou City, Zhejiang Province Patentee before: HANGZHOU RUIYI TECHNOLOGY CO., LTD. |
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