CN106292683A - A kind of unmanned plane wind resistance stability augmentation system and autocontrol method thereof - Google Patents
A kind of unmanned plane wind resistance stability augmentation system and autocontrol method thereof Download PDFInfo
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- CN106292683A CN106292683A CN201610990620.3A CN201610990620A CN106292683A CN 106292683 A CN106292683 A CN 106292683A CN 201610990620 A CN201610990620 A CN 201610990620A CN 106292683 A CN106292683 A CN 106292683A
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- 238000000034 method Methods 0.000 title claims abstract description 10
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 16
- 238000005259 measurement Methods 0.000 description 5
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 206010034719 Personality change Diseases 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
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- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention discloses a kind of unmanned plane wind resistance stability augmentation system and autocontrol method thereof, relate to unmanned air vehicle technique field, the motor changed including unmanned plane body and driving unmanned plane during flying attitude, it is characterized in that: on the four direction of described unmanned plane body, be equipped with pitot, described unmanned plane is the most internal is provided with GPS module, IMU inertia measuring module and flight control system, described flight control system includes Attitude Controller, described GPS module and IMU inertia measuring module are all electrically connected with Attitude Controller, described Attitude Controller is electrically connected with motor, this invention, unmanned plane can be allowed preferably to resist wind speed, can allow unmanned plane more preferable operation under high wind.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, particularly to a kind of unmanned plane wind resistance stability augmentation system and the side of automatically controlling thereof
Method.
Background technology
Along with social development and the raising of scientific and technological progress, the demand using unmanned plane is continuously increased, such as forest department
Gloomy anti-harmful organism monitoring, pesticide spraying, forest fire protection dynamically monitor, state's ground topography and geomorphology mapping of land resources department or
The liaison in sudden geographical disaster region or disaster dynamically estimate prevention and control, marine monitoring etc., electric stringing, line data-logging,
Public safety traffic management, city management also have started to application.
But, the biggest multiple no-manned plane does not has global anti-wind system, wind loading rating is low, and in the case of having wind, unmanned plane exists
In flight course, it may appear that the situation of drift, have a strong impact on the work efficiency of unmanned plane.
Summary of the invention
The technical problem to be solved is to provide a kind of unmanned plane wind resistance stability augmentation system and autocontrol method thereof,
To solve the above-mentioned multinomial defect caused in prior art.
For achieving the above object, the present invention provides following technical scheme: a kind of unmanned plane wind resistance stability augmentation system, including nothing
The motor that man-machine body and driving unmanned plane during flying attitude change, the four direction of described unmanned plane body is equipped with air speed
Pipe, described unmanned plane is the most internal is provided with GPS module, IMU inertia measuring module and flight control system, described flight control system
Including Attitude Controller, described GPS module and IMU inertia measuring module are all electrically connected with Attitude Controller, institute
State Attitude Controller to be electrically connected with motor.
Preferably, described unmanned plane body is many rotor wing unmanned aerial vehicles, and described pitot is separately positioned on many rotor wing unmanned aerial vehicles
Four direction spiral arm on.
The autocontrol method of a kind of unmanned plane wind resistance stability augmentation system, comprises the following steps:
(1) the real-time survey aircraft of pitot and the relative velocity V1 of air, meanwhile, by GPS module and IMU inertia measurement
The real-time survey aircraft of module is relative to translational speed V2 on ground；
(2) data message V1 and V2 that pitot and IMU inertia measuring module will be measured respectively, is sent to flight and controls system
System, flight control system obtains both speed differences, and the data message of speed difference is sent to Attitude Controller；
(3) Attitude Controller comprehensively analyzes data message, and data message is converted into signal of telecommunication control motor
Output, and then control the flight attitude of unmanned plane.
Above technical scheme is used to provide the benefit that: the unmanned plane wind resistance stability augmentation system that the present invention provides, at unmanned plane
The four direction of body respectively adds a pitot, and former and later two pitots measure the wind speed of pitch orientation, two, left and right air speed
The wind speed in roll direction measured by pipe, and the speed surveyed after merging with IMU inertia measuring module and GPS after recording speed compares,
Difference being converted to attitude knots modification and passes to flight control system, flight control system reads current attitude knots modification, and
Controlled the operating of motor by Attitude Controller, and then adjustment flight attitude resists wind speed, this invention, it is possible to allow unmanned
Wind speed preferably resisted by machine, it is possible to allow unmanned plane more preferable operation under high wind.
Accompanying drawing explanation
Fig. 1 is the theory diagram of the present invention；
Fig. 2 is the workflow diagram of the present invention.
Detailed description of the invention
Describe the preferred embodiment of the present invention below in conjunction with the accompanying drawings in detail.
A kind of unmanned plane wind resistance stability augmentation system, the motor changed including unmanned plane body and driving unmanned plane during flying attitude,
Being equipped with pitot on the four direction of described unmanned plane body, described unmanned plane is the most internal is provided with GPS module, the survey of IMU inertia
Amount module and flight control system, described flight control system includes Attitude Controller, described GPS module and IMU inertia
Measurement module is all electrically connected with Attitude Controller, and described Attitude Controller is electrically connected with motor.
In the present embodiment, described unmanned plane body is many rotor wing unmanned aerial vehicles, described pitot be separately positioned on many rotors without
On the spiral arm of man-machine four direction.
The autocontrol method of a kind of unmanned plane wind resistance stability augmentation system, comprises the following steps:
(1) the real-time survey aircraft of pitot and the relative velocity V1 of air, meanwhile, by GPS module and IMU inertia measurement
The real-time survey aircraft of module is relative to translational speed V2 on ground；
(2) data message V1 and V2 that pitot and IMU inertia measuring module will be measured respectively, is sent to flight and controls system
System, flight control system obtains both speed differences, and the data message of speed difference is sent to Attitude Controller；
(3) Attitude Controller comprehensively analyzes data message, and data message is converted into signal of telecommunication control motor
Output, and then control the flight attitude of unmanned plane.
Based on above-mentioned, the unmanned plane wind resistance stability augmentation system that the present invention provides, the four direction at unmanned plane body respectively adds
One pitot, the wind speed of former and later two pitots measurement pitch orientation, the wind speed in two pitot measurement roll directions, left and right,
The speed surveyed after merging with IMU inertia measuring module and GPS after recording speed compares, and difference is converted to attitude knots modification
Passing to flight control system, flight control system reads current attitude knots modification, and is controlled by Attitude Controller
The operating of motor, so adjust flight attitude resist wind speed, this invention, it is possible to allow unmanned plane preferably resist wind speed, it is possible to
Allow unmanned plane more preferable operation under high wind.
Above-described is only the preferred embodiment of the present invention, it is noted that for those of ordinary skill in the art
For, without departing from the concept of the premise of the invention, it is also possible to make some deformation and improvement, these broadly fall into the present invention
Protection domain.
Claims (3)
1. a unmanned plane wind resistance stability augmentation system, the motor changed including unmanned plane body and driving unmanned plane during flying attitude, its
Be characterised by: on the four direction of described unmanned plane body, be equipped with pitot, described unmanned plane this most internal be provided with GPS module,
IMU inertia measuring module and flight control system, described flight control system includes Attitude Controller, described GPS module
All being electrically connected with Attitude Controller with IMU inertia measuring module, described Attitude Controller is electrically connected with motor.
Unmanned plane wind resistance stability augmentation system the most according to claim 1, it is characterised in that: described unmanned plane body is many rotors
Unmanned plane, on the spiral arm of the four direction that described pitot is separately positioned on many rotor wing unmanned aerial vehicles.
3. an autocontrol method for the unmanned plane wind resistance stability augmentation system as described in claim 1-2 any one, its feature
It is: comprise the following steps:
(1) the real-time survey aircraft of pitot and the relative velocity V1 of air, meanwhile, by GPS module and IMU inertia measuring module
Survey aircraft is relative to translational speed V2 on ground in real time；
(2) data message V1 and V2 that pitot and IMU inertia measuring module will be measured respectively, is sent to flight control system,
Flight control system obtains both speed differences, and the data message of speed difference is sent to Attitude Controller；
(3) Attitude Controller comprehensively analyzes data message, and data message is converted into the signal of telecommunication controls the output of motor,
And then control the flight attitude of unmanned plane.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610990620.3A CN106292683A (en) | 2016-11-10 | 2016-11-10 | A kind of unmanned plane wind resistance stability augmentation system and autocontrol method thereof |
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| CN201610990620.3A CN106292683A (en) | 2016-11-10 | 2016-11-10 | A kind of unmanned plane wind resistance stability augmentation system and autocontrol method thereof |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106773877A (en) * | 2017-03-16 | 2017-05-31 | 天津京东智联科技发展有限公司 | A kind of manned vehicle automatic safety control system and its control method |
| CN106828956A (en) * | 2017-03-21 | 2017-06-13 | 广东容祺智能科技有限公司 | A kind of unmanned plane wind speed early warning protection system and method |
| CN107145158A (en) * | 2017-07-03 | 2017-09-08 | 青岛智能产业技术研究院 | Rotor wing unmanned aerial vehicle, its land extremely processing unit and processing method |
| CN107153424A (en) * | 2017-07-06 | 2017-09-12 | 上海复亚通信科技有限公司 | A kind of full-automatic unmanned machine of energy anti-strong wind patrols winged system |
| CN107168375A (en) * | 2017-07-19 | 2017-09-15 | 过成康 | A kind of anti-collision hits the steady unmanned aerial vehicle (UAV) control method of increasing |
| WO2019006771A1 (en) * | 2017-07-06 | 2019-01-10 | 杨顺伟 | External force interference resistance method and device for unmanned aerial vehicle |
| CN109419115A (en) * | 2017-08-27 | 2019-03-05 | 南京乐朋电子科技有限公司 | A kind of intelligence hovering parasols |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106773877A (en) * | 2017-03-16 | 2017-05-31 | 天津京东智联科技发展有限公司 | A kind of manned vehicle automatic safety control system and its control method |
| CN106828956A (en) * | 2017-03-21 | 2017-06-13 | 广东容祺智能科技有限公司 | A kind of unmanned plane wind speed early warning protection system and method |
| CN107145158A (en) * | 2017-07-03 | 2017-09-08 | 青岛智能产业技术研究院 | Rotor wing unmanned aerial vehicle, its land extremely processing unit and processing method |
| CN107153424A (en) * | 2017-07-06 | 2017-09-12 | 上海复亚通信科技有限公司 | A kind of full-automatic unmanned machine of energy anti-strong wind patrols winged system |
| WO2019006771A1 (en) * | 2017-07-06 | 2019-01-10 | 杨顺伟 | External force interference resistance method and device for unmanned aerial vehicle |
| CN107168375A (en) * | 2017-07-19 | 2017-09-15 | 过成康 | A kind of anti-collision hits the steady unmanned aerial vehicle (UAV) control method of increasing |
| CN109419115A (en) * | 2017-08-27 | 2019-03-05 | 南京乐朋电子科技有限公司 | A kind of intelligence hovering parasols |
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Application publication date: 20170104 |