CN106933239A - A kind of multiple wing unmanned plane balances benchmark value adjustment method - Google Patents

Abstract

The invention provides a method for adjusting the balance reference value of a multi-wing unmanned aerial vehicle, comprising the following steps: ① Initialization: the previous multi-wing balance ratio reference value is the initial value, if there is no previous record, then the power of the multi-wing motor is all The ratio of 1:1 is the initial value; ②Judging the offset: adjust the power motor of the multi-wing with the initial value, and then judge the inclination of the gyroscope; ③Adjustment change: according to the inclination of the gyroscope, calculate The adjustment value should be used to adjust the wing to the level; ④Verify the change; ⑤Return to the reference value. The present invention can effectively avoid the situation that the center of gravity cannot be adjusted by adjusting the power of the motor based on the readings of the gyroscope, and can easily obtain the balance reference value for most short-distance logistics transportation situations, and the UAV control system is based on the present invention The obtained balance reference value can easily complete the balance adjustment of the short-distance logistics transport UAV.

Description

A method for adjusting the balance reference value of a multi-wing unmanned aerial vehicle

technical field

The invention relates to a method for adjusting a balance reference value of a multi-wing unmanned aerial vehicle.

Background technique

In the prior art, the balance adjustment of UAVs is generally realized by using a center-of-gravity offset structure. However, for UAVs used for logistics transportation, for example, the transported objects may be larger in volume and weight than UAVs. For the man-machine itself, it is sometimes almost impossible to achieve balance by using the center of gravity offset method.

Contents of the invention

In order to solve the above-mentioned technical problems, the present invention provides a method for adjusting the balance reference value of a multi-wing unmanned aerial vehicle. The method for adjusting the balance reference value of a multi-wing unmanned aerial vehicle can effectively To avoid the situation that the center of gravity cannot be adjusted, the balance reference value can be easily obtained for most short-distance logistics transportation, and the UAV control system can easily complete the short-distance logistics transportation UAV based on the balance reference value obtained by the present invention. balance adjustments.

The present invention is achieved through the following technical solutions.

A method for adjusting a balance reference value of a multi-wing unmanned aerial vehicle provided by the present invention comprises the following steps:

①Initialization: The ratio reference value of the previous multi-wing balance is the initial value. If there is no previous record, the ratio of all multi-wing motor power is 1:1 as the initial value;

②Judging the offset: adjust the power motor of the multi-wing with the initial value, and then judge the inclination of the gyroscope;

③Adjustment change: According to the inclination of the gyroscope, calculate the proportional adjustment value that should be used to adjust the multi-wing to the level;

④ Verify the amount of change: According to the reading of the gyroscope, judge whether it is in a horizontal state during the period, if so, go to the next step, if not, use the proportional adjustment value calculated in step ③ as the initial value received in step ②, and return to step ②;

⑤ Return to the reference value: Return the proportional adjustment value verified by step ④ to the UAV control system as the proportional reference value of the system balance.

The inclination of the gyroscope is an inclination angle vector of the gyroscope relative to the horizontal plane, including an inclination direction and an inclination angle.

In the proportional adjustment value in the step 3., the maximum value is less than or equal to twice the minimum value. If the maximum value is greater than twice the minimum value in the proportional adjustment value calculated when performing step 3. for the first time, the process is terminated and An alarm is issued; if the maximum value of the proportional adjustment value calculated when step ③ is performed after step ④ is greater than twice the minimum value, the maximum value in the calculation result is twice the minimum value.

The calculation method of the proportional adjustment value that should be used to adjust the multi-wing to the level is as follows:

① Take two rotors close to the tilting direction as the adjusting wing, if the tilting direction coincides with any rotor, take the overlapping rotor as the adjusting wing;

②For the case where two rotors are used as the adjusting wing, the ratio of the projected length of the tilt direction on the straight line where the adjusting wing is located is taken as the adjustment ratio of the adjusting wing, and for the case where one rotor is used as the adjusting wing, 1 is taken as the adjustment ratio;

③ Calculate the tilt strength according to the tilt angle, take the tilt strength as the adjustment strength benchmark, and take the product of the adjustment ratio and the adjustment strength benchmark as the adjustment value;

④ Add the adjustment value to the original proportional adjustment value as the calculated proportional adjustment value.

The inclination strength is specifically, according to the inclination angle a of the plane where the multi-wing is located relative to the horizontal plane obtained from the gyroscope, and the inclination strength n is calculated as n=2sin(a).

The beneficial effects of the present invention are: by adjusting the power of the motor based on the readings of the gyroscope, the situation that the center of gravity cannot be adjusted can be effectively avoided, and the balance reference value can be easily obtained for most short-distance logistics transportation, while the unmanned aerial vehicle Based on the balance reference value obtained by the present invention, the control system can easily complete the balance adjustment of the short-distance logistics transport drone.

detailed description

The technical solution of the present invention is further described below, but the scope of protection is not limited to the description.

The invention provides a method for adjusting a balance reference value of a multi-wing unmanned aerial vehicle, comprising the following steps:

①Initialization: The ratio reference value of the previous multi-wing balance is the initial value. If there is no previous record, the ratio of all multi-wing motor power is 1:1 as the initial value;

②Judging the offset: adjust the power motor of the multi-wing with the initial value, and then judge the inclination of the gyroscope;

③Adjustment change: According to the inclination of the gyroscope, calculate the proportional adjustment value that should be used to adjust the multi-wing to the level;

④ Verify the amount of change: According to the reading of the gyroscope, judge whether it is in a horizontal state during the period, if so, go to the next step, if not, use the proportional adjustment value calculated in step ③ as the initial value received in step ②, and return to step ②;

⑤ Return to the reference value: Return the proportional adjustment value verified by step ④ to the UAV control system as the proportional reference value of the system balance.

The inclination of the gyroscope is an inclination angle vector of the gyroscope relative to the horizontal plane, including an inclination direction and an inclination angle.

In the proportional adjustment value in the step 3., the maximum value is less than or equal to twice the minimum value. If the maximum value is greater than twice the minimum value in the proportional adjustment value calculated when performing step 3. for the first time, the process is terminated and An alarm is issued; if the maximum value of the proportional adjustment value calculated when step ③ is performed after step ④ is greater than twice the minimum value, the maximum value in the calculation result is twice the minimum value.

The calculation method of the proportional adjustment value that should be used to adjust the multi-wing to the level is as follows:

① Take two rotors close to the tilting direction as the adjusting wing, if the tilting direction coincides with any rotor, take the overlapping rotor as the adjusting wing;

②For the case where two rotors are used as the adjusting wing, the ratio of the projected length of the tilt direction on the straight line where the adjusting wing is located is taken as the adjustment ratio of the adjusting wing, and for the case where one rotor is used as the adjusting wing, 1 is taken as the adjustment ratio;

③ Calculate the tilt strength according to the tilt angle, take the tilt strength as the adjustment strength benchmark, and take the product of the adjustment ratio and the adjustment strength benchmark as the adjustment value;

④ Add the adjustment value to the original proportional adjustment value as the calculated proportional adjustment value.

The inclination strength is specifically, according to the inclination angle a of the plane where the multi-wing is located relative to the horizontal plane obtained from the gyroscope, and the inclination strength n is calculated as n=2sin(a).

The present invention is mainly applied to unmanned aerial vehicles with multiple helical wings driven by multiple motors, generally six-wing or four-wing. By adjusting the power ratio of the motor, the power adjustment of the multi-wing can be realized. When the ratio reference value is determined, With this ratio reference value as the equilibrium state, the built-in control system of the UAV can easily complete other actions without additional calculations on the balance problem. Therefore, the present invention is also mainly applicable to UAV control systems with modular control functions , but in practice, it can also be integrated into the UAV control system with integrated control functions through functional integration. Correspondingly, since the UAV to which the present invention is applied necessarily needs a motor, it is only suitable for 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)。