CN106347683A - Method and device for controlling aircraft, and aircraft - Google Patents
Method and device for controlling aircraft, and aircraft Download PDFInfo
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- CN106347683A CN106347683A CN201610919471.1A CN201610919471A CN106347683A CN 106347683 A CN106347683 A CN 106347683A CN 201610919471 A CN201610919471 A CN 201610919471A CN 106347683 A CN106347683 A CN 106347683A
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- motor
- aircraft
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- control information
- rotating speed
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 230000005611 electricity Effects 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 4
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 abstract description 8
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 10
- 230000015654 memory Effects 0.000 description 7
- 238000001514 detection method Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 230000000630 rising effect Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
-
- 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
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Toys (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiments of the invention disclose a method and a device for controlling an aircraft, and the aircraft. The method comprises the steps of acquiring flight control information of the aircraft, wherein the flight control information is used for controlling the flight of the aircraft, and at least one motor is assembled on the aircraft; determining a control signal of the at least one motor according to the flight control information so as to control the rotating speed of the at least one motor. After the embodiments of the invention are implemented, the flight of the aircraft can be conveniently controlled, and the reliability of the aircraft is improved; furthermore, the volume of the aircraft is reduced, the manufacturing cost of the aircraft is lowered, and the interference resistance is improved.
Description
Technical field
Embodiment of the present invention is related to vehicle technology field, more particularly to a kind of control method of aircraft, device
And aircraft.
Background technology
At present, market has been primarily present the several types such as quadrotor, six rotorcraft, eight-rotary wing aircraft
Multi-rotor aerocraft.In prior art, the flight controller in multi-rotor aerocraft and electron speed regulator adopt isolating construction,
That is, multi-rotor aerocraft includes: flight controller, multiple electron speed regulator and multiple motor, and each electron speed regulator corresponds to
Control a motor.Flight controller, according to the state of current flight attitude, remote control, sends pulse command electron speed governing
Device.
Inventor finds during realizing the embodiment of the present invention: flight controller and electronics using isolating construction are adjusted
Fast device leads to that with high costs, volume is larger, capacity of resisting disturbance is weak, reliability is not high.
Content of the invention
Embodiment of the present invention is mainly solving the technical problems that provide a kind of control method of aircraft, device and flight
Device, can reduce the manufacturing cost of aircraft, realize volume miniaturization, improve capacity of resisting disturbance and reliability.
In a first aspect, embodiments providing a kind of control method of aircraft, described aircraft is equipped with least
One motor, methods described includes:
Obtain the winged control information of described aircraft, described winged control information is used for controlling the flight of described aircraft；
According to described winged control information, determine the control signal of at least one motor described, to control at least one electricity described
The rotating speed of machine.
Second aspect, embodiments provides a kind of control device of aircraft, comprising:
Acquisition module, for obtaining the winged control information of described aircraft, described winged control information is used for controlling described aircraft
Flight；
Signal determining module, for according to described winged control information, determining the control of at least one motor of described aircraft
Signal, to control the rotating speed of at least one motor described.
The third aspect, the embodiment of the present invention additionally provides a kind of aircraft, comprising: micro-control unit mcu and at least
Individual motor, described micro-control unit mcu is connected with least one its communications described respectively；Wherein,
Described micro-control unit mcu is used for obtaining the winged control information of described aircraft, and according to described winged control information, determines
The control signal of at least one motor described, to control the rotating speed of at least one motor described, wherein, described winged control information is used for
Control the flight of described aircraft.
A kind of control method of aircraft provided in an embodiment of the present invention, device and aircraft, can be used for by acquisition
Control the winged control information of aircraft flight, and according to winged control information, determine the control signal of at least one motor, to control at least
The rotating speed of one motor is such that it is able to convenient control aircraft flight, the reliability of raising aircraft.Additionally, the present invention is implemented
A kind of aircraft that example provides, is capable of volume miniaturization, reduces the manufacturing cost of aircraft, improve capacity of resisting disturbance.
Brief description
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, will make to required in the embodiment of the present invention below
Accompanying drawing is briefly described.It should be evident that drawings described below is only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is a kind of flow chart of the control method of aircraft provided in an embodiment of the present invention；
Fig. 2 is by the schematic diagram of the aircraft of steering；
Fig. 3 is in the schematic diagram of the aircraft of heeling condition；
Fig. 4 is adjusted to the schematic diagram of the aircraft of parastate；
Fig. 5 is a kind of flow chart of the control method of aircraft that further embodiment of this invention provides；
Fig. 6 is the method flow diagram of step s52 shown in Fig. 5；
Fig. 7 is a kind of functional block diagram of the control device of aircraft provided in an embodiment of the present invention；
Fig. 8 is a kind of functional block diagram of the control device of aircraft that further embodiment of this invention provides；
Fig. 9 is the functional block diagram of motor determining module shown in Fig. 8 82；
Figure 10 is a kind of hardware architecture diagram of the control device of aircraft provided in an embodiment of the present invention；
Figure 11 is a kind of hardware architecture diagram of aircraft provided in an embodiment of the present invention.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with drawings and Examples, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only in order to explain the present invention, not
For limiting the present invention.
As long as additionally, involved technical characteristic in each embodiment of invention described below is each other not
The conflict of composition just can be mutually combined.
As shown in figure 1, embodiments providing a kind of control method of aircraft, described aircraft is equipped with least
One motor, methods described includes:
Step s11, the winged control information of acquisition aircraft, winged control information is used for controlling the flight of aircraft.
In embodiments of the present invention, winged control information can be according to the accelerometer of configuration, gyroscope, magnetic force on aircraft
The control information of at least one generation in the sensors such as meter, barometer.Winged control information can also be sent to by remote control
The control information of aircraft, this control information includes but is not limited to turn to, the instruction such as accelerates, hovers, rising, declining.
Step s13, basis fly control information, determine the control signal of at least one motor, to control at least one motor
Rotating speed.
In embodiments of the present invention, control signal can include square-wave signal it is also possible to include sine wave signal, and square wave is believed
Number or sine wave signal there is certain frequency, controlled by the frequency size controlling square-wave signal or sine wave signal
The height of the rotating speed of motor.In other embodiments, control signal can also include pulse signal, and pulse signal has certain
Frequency, by the frequency size of control wave come the height of the rotating speed of controlled motor.
As a kind of optional embodiment, winged control information can include the remote information of dogled, this dogled
Remote information can be that remote control is sent to aircraft and for controlling the remote information that aircraft turned to, described flight
Turn to and including but not limited to turn to the left, turn to the right etc..
Wherein, step s13 specifically includes the remote information according to dogled, determines the control letter of at least one motor
Number, with the rotating speed controlling the motor of side pointed by dogled be less than dogled the dorsad motor of side rotating speed.With
Illustrate as a example quadrotor, as shown in Fig. 2 aircraft 210 is quadrotor, this quadrotor configures
There are four motors, i.e. the first motor 211, the second motor 212, the 3rd motor 213 and the 4th motor 214, each Motor drive
It is connected with a propeller, be sent to the remote information of the dogled 220 of aircraft 210 according to remote control, determine at least one
The control signal of motor is low with the rotating speed that controls the first motor 211 of side pointed by dogled 220 and the second motor 212
In dogled 220 dorsad the 3rd motor 213 of side and the rotating speed of the 4th motor 214, thus realizing aircraft 210 along flying
Row turns to 220 and is turned to.In the embodiment of the present invention, aircraft can be single rotor, DCB Specimen, many rotors, this
Bright embodiment is not construed as limiting to this.
As a kind of optional embodiment, winged control information can include the attitude information of aircraft inclination, on aircraft
Be configured with gyroscope, the attitude information that this aircraft tilts can be according to the gyroscope aircraft that obtains of detection skewed
The attitude information at the angle of inclination of the attitude information of state or aircraft.
Wherein, step s13 specifically includes the attitude information tilting according to aircraft, determines the control letter of at least one motor
Number, it is higher than the rotating speed of the motor being in high-order side with the rotating speed controlling the motor being in low level side.Citing comes
Say, as shown in figure 3, gyroscope (not shown in Fig. 3) is configured with aircraft 310, detect the aircraft obtaining according to gyroscope
The attitude information tilting, determines the control signal of at least one motor, to control turning of the motor 311 being in low level side
Speed is higher than the rotating speed of the motor 312 being in high-order side, thus realizing the motor of aircraft 310 both sides from as shown in Figure 3
The heeling condition of relative level 320 is adjusted to the parastate of relative level 320 as shown in Figure 4.
A kind of control method of aircraft provided in an embodiment of the present invention, can obtain for controlling flying of aircraft flight
Control information, and according to winged control information, determine the control signal of at least one motor, to control the rotating speed of at least one motor, from
And can conveniently control the flight of aircraft, improve the reliability of aircraft.
As shown in figure 5, further embodiment of this invention provides a kind of control method of aircraft, described aircraft is equipped with
At least one motor, methods described includes:
Step s51, the winged control information of acquisition aircraft, winged control information is used for controlling the flight of aircraft.
In embodiments of the present invention, the explanation to above-mentioned steps s11 be refer to the explanation of step s51.
Step s52, basis fly control information, and determining from least one motor needs the motor of speed governing.
Step s53, basis fly control information, determine the control signal of the motor needing speed governing, to control the electricity needing speed governing
The rotating speed of machine.
In embodiments of the present invention, for many rotors aircraft flight control for, typically first determine which or
Multiple motors need to heighten rotating speed, and which or multiple motor need to turn down rotating speed, to form the height difference of rotating speed, thus controlling
Aircraft processed carries out turning to, aligns as flare maneuvers such as parastate, acceleration, decelerations from heeling condition；Or, first determine all
Motor need to heighten rotating speed and still turn down rotating speed, thus the flare maneuver such as control aircraft to carry out rising, decline.
As shown in fig. 6, step s52 specifically includes:
Step s521, detect the corresponding current value of at least one motor and magnitude of voltage respectively.
Step s522, basis fly control information and the corresponding current value of at least one motor and magnitude of voltage, from least one
Determining in motor needs the motor of speed governing.
In embodiments of the present invention, motor can be estimated by the detection corresponding current value of motor and magnitude of voltage current
Rotating speed, and further according to flying control information and the current rotating speed of at least one motor determines the motor needing speed governing, real
Now the rotating speed needing the motor adjusting is automatically adjusted.For example, winged control information includes the instruction declining, in aircraft lands
Moment, as far as possible ensure aircraft relative level be in parastate, in order to aircraft security land, therefore, flight
During device declines, can determine from least one motor according to detecting the corresponding current value of motor and magnitude of voltage obtaining
Go out to need the motor of speed governing.
As shown in fig. 7, embodiments providing a kind of control device 70 of aircraft, described device 70 can be wrapped
Include: acquisition module 71 and signal determining module 73.
Acquisition module 71 is used for obtaining the winged control information of aircraft, and winged control information is used for controlling the flight of aircraft.
In embodiments of the present invention, aircraft can be equipped with least one motor, and each motor can correspond to drive
A dynamic propeller.Winged control information can be according to the accelerometer of configuration, gyroscope, magnetometer, barometer etc. on aircraft
The control information of at least one generation in sensor.Winged control information can also be to be sent to the control of aircraft by remote control
Information, this control information includes but is not limited to turn to, the instruction such as accelerates, hovers, rising, declining.
Signal determining module 73 is used for, according to flying control information, determining the control signal of at least one motor of aircraft, with
Control the rotating speed of at least one motor.
In embodiments of the present invention, control signal can include square-wave signal it is also possible to include sine wave signal, and square wave is believed
Number or sine wave signal there is certain frequency, controlled by the frequency size controlling square-wave signal or sine wave signal
The height of the rotating speed of motor.In other embodiments, control signal can also include pulse signal, and pulse signal has certain
Frequency, by the frequency size of control wave come the height of the rotating speed of controlled motor.
Optionally, winged control information can include the remote information of dogled, and the remote information of this dogled can be
Remote control is sent to aircraft and the remote information for controlling aircraft to be turned to, and described dogled includes but is not limited to
Turn to the left, turn to the right etc..
Correspondingly, signal determining module 73, specifically for the remote information according to dogled, determines at least one motor
Control signal, with the rotating speed controlling the motor of side pointed by dogled be less than dogled the dorsad motor of side
Rotating speed.For example, as shown in Fig. 2 aircraft 210 is quadrotor, this quadrotor is configured with four motors,
I.e. the first motor 211, the second motor 212, the 3rd motor 213 and the 4th motor 214, each Motor drive is connected with a spiral
Oar, is sent to the remote information of the dogled 220 of aircraft 210 according to remote control, determines the control letter of at least one motor
Number, to control the first motor 211 of side pointed by dogled 220 and the rotating speed of the second motor 212 to be less than dogled 220
Dorsad the 3rd motor 213 of side and the rotating speed of the 4th motor 214, thus realize aircraft 210 carrying out along dogled 220
Turn to.
Optionally, winged control information can include the attitude information of aircraft inclination, and aircraft is configured with gyroscope, and this flies
The attitude information that row device tilts can be according to the gyroscope aircraft that obtains of detection be in heeling condition attitude information or
The attitude information at the angle of inclination of aircraft.
Correspondingly, signal determining module 73, specifically for the attitude information tilting according to aircraft, determines at least one electricity
The control signal of machine, to control rotating speed the turning higher than the motor being in high-order side of the motor being in low level side
Speed.For example, as shown in figure 3, gyroscope (not shown in Fig. 3) is configured with aircraft 310, obtained according to gyroscope detection
Aircraft tilt attitude information, determine the control signal of at least one motor, with control be in tilt low level side electricity
The rotating speed of machine 311 is higher than the rotating speed of the motor 312 being in high-order side, thus realize the motor of aircraft 310 both sides from
The heeling condition of relative level 320 is adjusted to the parastate of relative level 320 as shown in Figure 4 as shown in Figure 3.
A kind of control device of aircraft provided in an embodiment of the present invention, is obtained for controlling aircraft by acquisition module
The winged control information of flight, and then signal determining module, according to winged control information, determines the control signal of at least one motor, to control
The rotating speed of at least one motor, such that it is able to the convenient flight controlling aircraft, improves the reliability of aircraft.
As shown in figure 8, further embodiment of this invention provides a kind of control device 80 of aircraft, described device 80 is permissible
Including: acquisition module 81, motor determining module 82 and signal determining module 83.
Acquisition module 81 is used for obtaining the winged control information of aircraft, and winged control information is used for controlling the flight of aircraft.
In embodiments of the present invention, explaining to above-mentioned acquisition module 71 be refer to the explanation of acquisition module 81
Bright.
Motor determining module 82 is used for according to described winged control information, and determining from least one motor described needs speed governing
Motor.
Signal determining module 83 is used for according to described winged control information, determines the control signal of the described motor needing speed governing,
To control the rotating speed of the described motor needing speed governing.
In embodiments of the present invention, for many rotors aircraft flight control for, typically first determine which or
Multiple motors need to heighten rotating speed, and which or multiple motor need to turn down rotating speed, to form the height difference of rotating speed, thus controlling
Aircraft processed carries out turning to, aligns as flare maneuvers such as parastate, acceleration, decelerations from heeling condition；Or, first determine all
Motor need to heighten rotating speed and still turn down rotating speed, thus the flare maneuver such as control aircraft to carry out rising, decline.
As shown in figure 9, motor determining module 82 may include that detector unit 821 and motor determining unit 822.
Detector unit 821 is used for detecting the corresponding current value of at least one motor and magnitude of voltage respectively；
Motor determining unit 822 is used for according to winged control information and the corresponding current value of at least one motor and magnitude of voltage,
Determining from least one motor needs the motor of speed governing.
In embodiments of the present invention, motor can be estimated by the detection corresponding current value of motor and magnitude of voltage current
Rotating speed, and further according to flying control information and the current rotating speed of at least one motor determines the motor needing speed governing, real
Now the rotating speed needing the motor adjusting is automatically adjusted.For example, winged control information includes the instruction declining, in aircraft lands
Moment, as far as possible ensure aircraft relative level be in parastate, in order to aircraft security land, therefore, flight
During device declines, can determine from least one motor according to detecting the corresponding current value of motor and magnitude of voltage obtaining
Go out to need the motor of speed governing.
As shown in Figure 10, embodiments provide a kind of hardware architecture diagram of the control device 90 of aircraft,
As shown in Figure 10, this device 90 may include that
One or more processors 91, memorizer 92 and at least one motor 93, in Figure 10 with a processor 91 be
Example.
Processor 91, memorizer 92 and motor 93 can be connected by bus or other modes, to pass through in Figure 10
As a example bus connects.
Memorizer 92, as a kind of non-volatile computer readable storage medium storing program for executing, can be used for storing non-volatile software journey
The controlling party for executing aircraft in sequence, non-volatile computer executable program and module, the such as embodiment of the present invention
Corresponding programmed instruction/the module of method (for example, the acquisition module 71 shown in accompanying drawing 7 and signal determining module 73, obtaining in accompanying drawing 8
Delivery block 81, motor determining module 82 and signal determining module 83, the detector unit 821 in accompanying drawing 9 and motor determining unit
822).Processor 91 passes through to run the non-volatile software program being stored in memorizer 92, instruction and module, thus executing
The various function application of the control device of aircraft and data processing, that is, realize the control of the aircraft in said method embodiment
Method processed.
Memorizer 92 can include storing program area and storage data field, wherein, storing program area can storage program area,
Application program required at least one function；Storage data field can store the control device according to aircraft using being created
Data etc..Additionally, memorizer 92 can include high-speed random access memory, nonvolatile memory, example can also be included
As at least one disk memory, flush memory device or other non-volatile solid state memory parts.In certain embodiments, deposit
Reservoir 92 is optional to include the memorizer remotely located with respect to processor 91, and these remote memories can by network connection extremely
The control device of aircraft.The example of above-mentioned network includes but is not limited to the Internet, intranet, LAN, mobile communication
Net and combinations thereof.
One or more of module stores in described memorizer 92, when by one or more of processors 91
During execution, execute the control method of the aircraft in above-mentioned any means embodiment, for example, execute in Fig. 1 described above
Method and step s11 and step s13, method and step s51 in Fig. 5, step s52 and step s53, the method and step shown in Fig. 6
S521 and step s522, the acquisition module 71 shown in accompanying drawing 7 and signal determining module 73, the acquisition module 81 in accompanying drawing 8, motor
Determining module 82 and signal determining module 83, the detector unit 821 in accompanying drawing 9 and the function of motor determining unit 822.
Said apparatus can perform the control method of the aircraft that the embodiment of the present invention is provided, and possesses the control of execution aircraft
The corresponding functional module of method processed and beneficial effect.The ins and outs of detailed description in the present embodiment, not can be found in the present invention
The control method of the aircraft that embodiment is provided.
As shown in figure 11, embodiments provide a kind of aircraft 100, aircraft 100 may include that microcontroller list
First mcu 110 and at least one motor 120, in Figure 11 taking four motors 120 as a example, micro-control unit mcu 110 respectively with
Four motors 120 communicate to connect.Wherein, micro-control unit mcu 110 is used for obtaining the winged control information of aircraft 100, and according to
Winged control information, determines the control signal of at least one motor 120, to control the rotating speed of at least one motor 120, wherein, flies control
Information is used for controlling the flight of aircraft 100.In embodiments of the present invention, micro-control unit mcu 110 is integrated with control simultaneously
The function of the electron speed regulator of the flight control modules of aircraft flight and controlled motor rotating speed so that flight control modules with
Electron speed regulator is integrated on a single die, thus overcoming traditionally both separation arrangements, can preferably save
Cost, reduces the volume of aircraft.
In one embodiment, micro-control unit mcu 110 can be used for obtaining the winged control information of aircraft 100, flies control
Information is used for controlling the flight of aircraft 100, and according to winged control information, determining from least one motor 120 needs speed governing
Motor, further according to winged control information, determines the control signal of the motor needing speed governing, to control the rotating speed of the motor needing speed governing.
In one embodiment, micro-control unit mcu 110 can be used for obtaining the winged control information of aircraft 100, flies control
Information is used for controlling the flight of aircraft 100, and then detects at least one corresponding current value of motor 120 and magnitude of voltage respectively,
Further according to winged control information and the corresponding current value of at least one motor 120 and magnitude of voltage, determine from least one motor 120
Need the motor of speed governing, final determination needs the control signal of the motor of speed governing according to flying control information, needs speed governing to control
The rotating speed of motor.
Explanation to the functional realiey of micro-control unit mcu 110 refer to step s11, step in accompanying drawing 1
S13, the explanation of step s521, step s522 in step s51, step s52, step s53, and accompanying drawing 6 in accompanying drawing 5,
This repeats no more.
In embodiments of the present invention, micro-control unit mcu 110 can be also used for controlling at least one on aircraft 100
Light emitting diode LED lamp (not shown in Figure 11).Aircraft 100 can also include drive control unit (not shown in Figure 11),
Drive control unit can be communicated to connect with micro-control unit mcu 110, at least one motor 120 respectively；Drive control unit
For receiving the control signal of micro-control unit mcu 110 transmission, and control the electricity of at least one motor 120 according to control signal
Pressure.Single drive control unit can control a motor 120 it is also possible to control two or more motors 120.For example, drive
Control unit can be 4 motors drive control unit integrate or two two integrate, also may be used
To be that a motor corresponds to a drive control unit.In at least one motor 120, each Motor drive is connected with a propeller
(not shown in Figure 11).
A kind of aircraft provided in an embodiment of the present invention, is obtained for controlling aircraft flight by micro-control unit mcu
Winged control information, and according to winged control information, determine the control letter with least one motor of micro-control unit mcu communication connection
Number, to control the rotating speed of at least one motor, such that it is able to make aircraft realize volume miniaturization, reduce being manufactured into of aircraft
This, improve capacity of resisting disturbance.
Embodiments provide a kind of non-volatile computer readable storage medium storing program for executing, described computer-readable storage medium
Matter is stored with computer executable instructions, and this computer executable instructions is executed by one or more processors, such as in Figure 10
A processor 91, said one or multiple processor can be made to can perform the aircraft in above-mentioned any means embodiment
Control method, for example, executes the method and step s11 in Fig. 1 described above and step s13, the method and step s51 in Fig. 5, step
Rapid s52 and step s53, the method and step s521 shown in Fig. 6 and step s522, the acquisition module 71 shown in accompanying drawing 7 and signal are true
Cover half block 73, acquisition module 81 in accompanying drawing 8, motor determining module 82 and signal determining module 83, the detection list in accompanying drawing 9
Unit 821 and the function of motor determining unit 822.
Device embodiment described above is only that schematically the wherein said unit illustrating as separating component can
To be or to may not be physically separate, as the part that unit shows can be or may not be physics list
Unit, you can with positioned at a place, or can also be distributed on multiple NEs.Can be selected it according to the actual needs
In the purpose to realize this embodiment scheme for some or all of module.
Through the above description of the embodiments, those of ordinary skill in the art can be understood that each embodiment
Can realize by the mode of software plus general hardware platform naturally it is also possible to pass through hardware.Those of ordinary skill in the art can
The all or part of flow process realized in above-described embodiment method with understanding can be by computer program to instruct the hard of correlation
Completing, described program can be stored in a computer read/write memory medium part, and this program is upon execution, it may include as above
State the flow process of the embodiment of each method.Wherein, described storage medium can be magnetic disc, CD, read-only memory (read-
Only memory, rom) or random access memory (random access memory, ram) etc..
Finally it is noted that above example, only in order to technical scheme to be described, is not intended to limit；At this
Under the thinking of invention, can also be combined between the technical characteristic in above example or different embodiment, step is permissible
Realized with random order, and there are many other changes of the different aspect of the present invention as above, in order to simple and clear, they do not have
Have and provide in details；Although being described in detail to the present invention with reference to the foregoing embodiments, the ordinary skill people of this area
Member it is understood that it still can be modified to the technical scheme described in foregoing embodiments, or to wherein part skill
Art feature carries out equivalent；And these modifications or replacement, do not make the essence of appropriate technical solution depart from each reality of the present invention
Apply the scope of a technical scheme.
Claims (16)
1. a kind of control method of aircraft is it is characterised in that described aircraft is equipped with least one motor, methods described bag
Include:
Obtain the winged control information of described aircraft, described winged control information is used for controlling the flight of described aircraft；
According to described winged control information, determine the control signal of at least one motor described, to control at least one motor described
Rotating speed.
2. method according to claim 1 is it is characterised in that according to described winged control information, determine at least one electricity described
The control signal of machine, with control at least one motor described rotating speed before, also include:
According to described winged control information, determining from least one motor described needs the motor of speed governing；
Wherein, according to described winged control information, determine the control signal of at least one motor described, to control at least one electricity described
The rotating speed of machine, comprising:
According to described winged control information, determine the control signal of the described motor needing speed governing, to control the described electricity needing speed governing
The rotating speed of machine.
3. method according to claim 2 is it is characterised in that according to described winged control information, from least one motor described
Middle determination needs the motor of speed governing, comprising:
Detect the described corresponding current value of at least one motor and magnitude of voltage respectively；
According to described winged control information and the corresponding current value of at least one motor described and magnitude of voltage, from least one electricity described
Determining in machine needs the motor of speed governing.
4. according to described method arbitrary in claim 1-3 it is characterised in that described winged control information includes the distant of dogled
Control information；According to described winged control information, determine the control signal of at least one motor described, to control at least one motor described
Rotating speed, comprising:
According to the remote information of described dogled, determine the control signal of at least one motor described, to control described flight
The rotating speed of the motor of side pointed by steering be less than described dogled the dorsad motor of side rotating speed.
5. according to described method arbitrary in claim 1-3 it is characterised in that described winged control information includes aircraft inclination
Attitude information；According to described winged control information, determine the control signal of at least one motor described, to control at least one electricity described
The rotating speed of machine, comprising:
The attitude information being tilted according to described aircraft, determines the control signal of at least one motor described, is inclined with controlling to be in
Tiltedly the rotating speed of the motor of low level side is higher than the rotating speed of the motor being in high-order side.
6. according to described method arbitrary in claim 1-5 it is characterised in that described control signal includes square-wave signal or just
String ripple signal.
7. a kind of control device of aircraft is it is characterised in that described device includes:
Acquisition module, for obtaining the winged control information of described aircraft, described winged control information is used for controlling flying of described aircraft
OK；
Signal determining module, for according to described winged control information, determining the control signal of at least one motor of described aircraft,
To control the rotating speed of at least one motor described.
8. device according to claim 7 is it is characterised in that described device also includes:
Motor determining module, for according to described winged control information, determining from least one motor described needs the motor of speed governing；
Wherein, described signal determining module is used for determining the control letter of the described motor needing speed governing according to described winged control information
Number, to control the rotating speed of the described motor needing speed governing.
9. device according to claim 8 is it is characterised in that described motor determining module includes:
Detector unit, for detecting the described corresponding current value of at least one motor and magnitude of voltage respectively；
Motor determining unit, for according to described winged control information and the corresponding current value of at least one motor described and voltage
Value, determining from least one motor described needs the motor of speed governing.
10. according to described device arbitrary in claim 7-9 it is characterised in that described winged control information includes dogled
Remote information；
Described signal determining module is used for the remote information according to described dogled, determines the control of at least one motor described
Signal, with the rotating speed controlling the motor of side pointed by described dogled be less than described dogled dorsad side motor
Rotating speed.
11. according to described device arbitrary in claim 7-9 it is characterised in that described winged control information include aircraft tilt
Attitude information；
Described signal determining module is used for the attitude information tilting according to described aircraft, determines the control of at least one motor described
Signal processed, is higher than the rotating speed of the motor being in high-order side with the rotating speed controlling the motor being in low level side.
12. according to described device arbitrary in claim 7-11 it is characterised in that described control signal include square-wave signal or
Sine wave signal.
A kind of 13. aircraft are it is characterised in that include: micro-control unit mcu and at least one motor, described microcontroller list
First mcu is connected with least one its communications described respectively；Wherein,
Described micro-control unit mcu is used for obtaining the winged control information of described aircraft, and according to described winged control information, determines described
The control signal of at least one motor, to control the rotating speed of at least one motor described, wherein, described winged control information is used for controlling
The flight of described aircraft.
14. aircraft according to claim 13 are it is characterised in that described micro-control unit mcu is additionally operable to described in control
At least one light emitting diode LED lamp carry-on.
15. aircraft according to claim 13 or 14 are it is characterised in that described aircraft also includes drive control list
Unit, described drive control unit is connected with described micro-control unit mcu, at least one its communications described respectively；
Described drive control unit is used for receiving the described control signal that described micro-control unit mcu sends, and according to described control
Signal processed controls the voltage of at least one motor described.
16. according to described aircraft arbitrary in claim 13-15 it is characterised in that each at least one motor described
Motor drive is connected with a propeller.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610919471.1A CN106347683B (en) | 2016-10-20 | 2016-10-20 | Control method, device and the aircraft of aircraft |
| PCT/CN2017/106565 WO2018072693A1 (en) | 2016-10-20 | 2017-10-17 | Method and device for controlling aerial vehicle, and aerial vehicle |
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| CN201610919471.1A CN106347683B (en) | 2016-10-20 | 2016-10-20 | Control method, device and the aircraft of aircraft |
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| CN106347683B CN106347683B (en) | 2019-09-27 |
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| WO (1) | WO2018072693A1 (en) |
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| WO2018072693A1 (en) * | 2016-10-20 | 2018-04-26 | 深圳市道通智能航空技术有限公司 | Method and device for controlling aerial vehicle, and aerial vehicle |
| WO2019210640A1 (en) * | 2018-05-02 | 2019-11-07 | 深圳市道通智能航空技术有限公司 | Motor control method and apparatus |
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| CN106347683B (en) | 2019-09-27 |
| WO2018072693A1 (en) | 2018-04-26 |
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