CN106933239A - A kind of multiple wing unmanned plane balances benchmark value adjustment method - Google Patents
A kind of multiple wing unmanned plane balances benchmark value adjustment method Download PDFInfo
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- CN106933239A CN106933239A CN201710154905.8A CN201710154905A CN106933239A CN 106933239 A CN106933239 A CN 106933239A CN 201710154905 A CN201710154905 A CN 201710154905A CN 106933239 A CN106933239 A CN 106933239A
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000004048 modification Effects 0.000 claims abstract description 8
- 238000012986 modification Methods 0.000 claims abstract description 8
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000000205 computational method Methods 0.000 claims description 3
- 230000005484 gravity Effects 0.000 abstract description 4
- 230000010354 integration Effects 0.000 description 2
- 238000005303 weighing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
Classifications
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C17/00—Aircraft stabilisation not otherwise provided for
- B64C17/02—Aircraft stabilisation not otherwise provided for by gravity or inertia-actuated apparatus
- B64C17/06—Aircraft stabilisation not otherwise provided for by gravity or inertia-actuated apparatus by gyroscopic apparatus
-
- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a kind of multiple wing unmanned plane balance benchmark value adjustment method, comprise the following steps：1. initialize：With previous multiple wing balance scale base value as initial value, such as it is unmatched once record if with multiple wing power of motor whole 1:1 ratio value is initial value；2. side-play amount is judged：The power motor of multiple wing is adjusted with initial value, then judges the gradient of gyroscope；3. knots modification is adjusted：According to the gradient of gyroscope, calculate multiple wing and adjust the ratio adjusted value that should be used to level；4. knots modification is verified；5. a reference value is returned.The present invention is by based on gyroscope readings, adjust the mode of power of motor, the situation that center of gravity cannot be adjusted can be prevented effectively from, balance a reference value can be readily available when most of short distance logistics transportations, and unmanned aerial vehicle control system is based on the balance a reference value that the present invention is obtained, you can be readily accomplished the balanced adjustment to short distance logistics transportation unmanned plane.
Description
Technical field
The present invention relates to a kind of multiple wing unmanned plane balance benchmark value adjustment method.
Background technology
In the prior art for the balanced adjustment of unmanned plane, usually realized using the structure of centre-of gravity shift, but for
For the unmanned plane of logistics transportation, such as the object of transport may volume ratio unmanned plane is big, the far super unmanned plane of weight in itself, using weighing
The mode of heart skew is sometimes hardly possible to realize balance.
The content of the invention
In order to solve the above technical problems, the invention provides a kind of multiple wing unmanned plane balance benchmark value adjustment method, this is more
Wing unmanned plane balances benchmark value adjustment method by based on gyroscope readings, adjusting the mode of power of motor, can effectively keep away
Exempt from the situation that center of gravity cannot be adjusted, can be readily available balance a reference value during for most of short distance logistics transportations, and nobody
Machine control system is based on the balance a reference value that the present invention is obtained, you can be readily accomplished the balance to short distance logistics transportation unmanned plane
Adjustment.
The present invention is achieved by the following technical programs.
A kind of multiple wing unmanned plane balance benchmark value adjustment method that the present invention is provided, comprises the following steps：
1. initialize：With previous multiple wing balance scale base value as initial value, as it is unmatched once record if with many
Wing power of motor whole 1:1 ratio value is initial value；
2. side-play amount is judged：The power motor of multiple wing is adjusted with initial value, then judges the gradient of gyroscope；
3. knots modification is adjusted：According to the gradient of gyroscope, calculate multiple wing and adjust the ratio adjustment that should be used to level
Value；
4. knots modification is verified：According to the reading of gyroscope, judge whether in horizontality in the period, under then entering in this way
2. one step, the initial value for such as otherwise 2. being received as step using the ratio adjusted value that 3. step calculates, be back to step；
5. a reference value is returned：The ratio adjusted value that will 4. be verified by step, as the scale base value of system balancing, is returned
It is back to unmanned aerial vehicle control system.
The gradient of the gyroscope, is gyroscope inclination angle vector with respect to the horizontal plane, including incline direction and incline
Rake angle.
The step 3. in ratio adjusted value in, maximum less than or equal to minimum value twice, such as the first time carry out
Step 3. when the ratio adjusted value that calculates in maximum more than the twice of minimum value, then abort process and send alarm；As passed through
The ratio adjusted value maximum calculated when carrying out step after crossing step 4. again 3. is more than the twice of minimum value, then by result of calculation
Middle maximum value is the twice of minimum value.
The calculating multiple wing adjusts the ratio adjusted value that should be used to level, and computational methods are：
1. two rotors close with incline direction are taken as the adjustment wing, such as incline direction overlaps with any one rotor,
The rotor of coincidence is then taken as the adjustment wing；
During 2. for two rotors as the adjustment wing, projected length of the incline direction on the straight line where the wing is adjusted is taken
Ratio then takes 1 for adjustment ratio as the adjustment ratio of the adjustment wing during for a rotor as the adjustment wing；
3. calculated according to angle of inclination and incline intensity, to incline intensity as adjustment intensity benchmark, taken adjustment ratio and adjust
The product of whole intensity benchmark is used as adjusted value；
4. adjusted value is added in former ratio adjusted value as the ratio adjusted value being calculated.
It is described to incline intensity specifically, obtaining plane inclination angle with respect to the horizontal plane in multiple wing place according to gyroscope reading
Degree a, it is n=2sin (a) to calculate and incline intensity n.
The beneficial effects of the present invention are：By based on gyroscope readings, adjusting the mode of power of motor, can be effective
The situation for avoiding center of gravity from adjusting, can be readily available balance a reference value during for most of short distance logistics transportations, and nothing
Man-machine control system is based on the balance a reference value that the present invention is obtained, you can be readily accomplished and short distance logistics transportation unmanned plane is put down
Weighing apparatus adjustment.
Specific embodiment
Be described further below technical scheme, but claimed scope be not limited to it is described.
The invention provides a kind of multiple wing unmanned plane balance benchmark value adjustment method, comprise the following steps：
1. initialize：With previous multiple wing balance scale base value as initial value, as it is unmatched once record if with many
Wing power of motor whole 1:1 ratio value is initial value；
2. side-play amount is judged：The power motor of multiple wing is adjusted with initial value, then judges the gradient of gyroscope；
3. knots modification is adjusted：According to the gradient of gyroscope, calculate multiple wing and adjust the ratio adjustment that should be used to level
Value；
4. knots modification is verified：According to the reading of gyroscope, judge whether in horizontality in the period, under then entering in this way
2. one step, the initial value for such as otherwise 2. being received as step using the ratio adjusted value that 3. step calculates, be back to step；
5. a reference value is returned：The ratio adjusted value that will 4. be verified by step, as the scale base value of system balancing, is returned
It is back to unmanned aerial vehicle control system.
The gradient of the gyroscope, is gyroscope inclination angle vector with respect to the horizontal plane, including incline direction and incline
Rake angle.
The step 3. in ratio adjusted value in, maximum less than or equal to minimum value twice, such as the first time carry out
Step 3. when the ratio adjusted value that calculates in maximum more than the twice of minimum value, then abort process and send alarm；As passed through
The ratio adjusted value maximum calculated when carrying out step after crossing step 4. again 3. is more than the twice of minimum value, then by result of calculation
Middle maximum value is the twice of minimum value.
The calculating multiple wing adjusts the ratio adjusted value that should be used to level, and computational methods are：
1. two rotors close with incline direction are taken as the adjustment wing, such as incline direction overlaps with any one rotor,
The rotor of coincidence is then taken as the adjustment wing；
During 2. for two rotors as the adjustment wing, projected length of the incline direction on the straight line where the wing is adjusted is taken
Ratio then takes 1 for adjustment ratio as the adjustment ratio of the adjustment wing during for a rotor as the adjustment wing；
3. calculated according to angle of inclination and incline intensity, to incline intensity as adjustment intensity benchmark, taken adjustment ratio and adjust
The product of whole intensity benchmark is used as adjusted value；
4. adjusted value is added in former ratio adjusted value as the ratio adjusted value being calculated.
It is described to incline intensity specifically, obtaining plane inclination angle with respect to the horizontal plane in multiple wing place according to gyroscope reading
Degree a, it is n=2sin (a) to calculate and incline intensity n.
Unmanned plane present invention is mainly applied to drive many screw wings respectively with multiple motors, generally six wings or four
The wing, by adjusting power of motor ratio, you can the adjustment to multiple wing power is realized, after scale base value determines, with the ratio
A reference value is equilibrium state, and the built-in control system of unmanned plane can be readily accomplished other actions, and without being carried out to equilibrium problem again
Extra calculating, thus the present invention is also primarily adapted for use in the modular unmanned aerial vehicle control system of control function, but practice is central logical
Crossing function integration can also be fused in the unmanned aerial vehicle control system of control function integration.It is corresponding, by the present invention is applied
Unmanned plane be necessarily required to motor, therefore be also only applicable to short distance flight.
Claims (5)
1. a kind of multiple wing unmanned plane balances benchmark value adjustment method, it is characterised in that：Comprise the following steps：
1. initialize：Scale base value with previous multiple wing balance as initial value, such as it is unmatched once record if it is electric with multiple wing
Acc power whole 1:1 ratio value is initial value；
2. side-play amount is judged：The power motor of multiple wing is adjusted with initial value, then judges the gradient of gyroscope；
3. knots modification is adjusted：According to the gradient of gyroscope, calculate multiple wing and adjust the ratio adjusted value that should be used to level；
4. knots modification is verified：According to the reading of gyroscope, whether judge in the period in horizontality, then enter in this way next
2. step, the initial value for such as otherwise 2. being received as step using the ratio adjusted value that 3. step calculates, be back to step；
5. a reference value is returned：The ratio adjusted value that will 4. be verified by step, as the scale base value of system balancing, is back to
Unmanned aerial vehicle control system.
2. multiple wing unmanned plane as claimed in claim 1 balances benchmark value adjustment method, it is characterised in that：The gyroscope inclines
Gradient, is that gyroscope inclination angle with respect to the horizontal plane is vectorial, including incline direction and angle of inclination.
3. multiple wing unmanned plane as claimed in claim 1 balances benchmark value adjustment method, it is characterised in that：The step 3. in
In ratio adjusted value, maximum is less than or equal to the twice of minimum value, the ratio tune for such as being calculated when first time step is carried out 3.
Maximum then abort process and sends alarm more than the twice of minimum value in whole value；Such as by step 4. after carry out step 3. again
When the ratio adjusted value maximum that calculates more than minimum value twice, then be minimum value by maximum value in result of calculation
Twice.
4. multiple wing unmanned plane as claimed in claim 1 balances benchmark value adjustment method, it is characterised in that：The calculating multiple wing is adjusted
The whole ratio adjusted value that should be used to level, computational methods are：
1. two rotors close with incline direction are taken as the adjustment wing, such as incline direction overlaps with any one rotor, then takes
The rotor of coincidence is used as the adjustment wing；
During 2. for two rotors as the adjustment wing, projected length ratio of the incline direction on the straight line where the wing is adjusted is taken
As the adjustment ratio of the adjustment wing, 1 is then taken for adjustment ratio during for a rotor as the adjustment wing；
3. calculated according to angle of inclination and incline intensity, to incline intensity as adjustment intensity benchmark, take adjustment ratio strong with adjustment
The product of benchmark is spent as adjusted value；
4. adjusted value is added in former ratio adjusted value as the ratio adjusted value being calculated.
5. multiple wing unmanned plane as claimed in claim 4 balances benchmark value adjustment method, it is characterised in that：The inclination intensity tool
Body is that plane angle of inclination a with respect to the horizontal plane where obtaining multiple wing is read according to gyroscope, and it is n=to calculate and incline intensity n
2sin(a)。
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| CN201710154905.8A CN106933239B (en) | 2017-03-15 | 2017-03-15 | Multi-wing unmanned aerial vehicle balance reference value adjusting method |
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| CN201710154905.8A CN106933239B (en) | 2017-03-15 | 2017-03-15 | Multi-wing unmanned aerial vehicle balance reference value adjusting method |
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| CN106933239B CN106933239B (en) | 2020-03-17 |
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Application publication date: 20170707 Assignee: Reverse Expansion Technology (Liaoning) Co.,Ltd. Assignor: NANNING University Contract record no.: X2023980053202 Denomination of invention: A method for adjusting the balance reference value of multi wing unmanned aerial vehicles Granted publication date: 20200317 License type: Common License Record date: 20231222 |