CN106933239B - Multi-wing unmanned aerial vehicle balance reference value adjusting method - Google Patents
Multi-wing unmanned aerial vehicle balance reference value adjusting method Download PDFInfo
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- CN106933239B CN106933239B CN201710154905.8A CN201710154905A CN106933239B CN 106933239 B CN106933239 B CN 106933239B CN 201710154905 A CN201710154905 A CN 201710154905A CN 106933239 B CN106933239 B CN 106933239B
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000012795 verification Methods 0.000 abstract 1
- 208000004350 Strabismus Diseases 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000010354 integration 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention provides a multi-wing unmanned aerial vehicle balance reference value adjusting method which comprises the following steps of ① initialization, wherein a previous multi-wing balance proportion reference value is an initial value, if no previous record exists, all the multi-wing motor power proportion values in a ratio of 1:1 are used as the initial values, ② deviation amount judgment is carried out, the multi-wing power motors are adjusted by the initial values, then the inclination of a gyroscope is judged, ③ change amount adjustment is carried out, a proportion adjustment value which should be adopted when the multi-wing is adjusted to the horizontal level is calculated according to the inclination of the gyroscope, ④ change amount verification is carried out, and ⑤ reference value return is carried out.
Description
Technical Field
The invention relates to a method for adjusting a balance reference value of a multi-wing unmanned aerial vehicle.
Background
To unmanned aerial vehicle's balance adjustment among the prior art, generally adopt focus to squint the structure to realize, nevertheless to the unmanned aerial vehicle that is used for the commodity circulation transportation, the article of if transporting probably volume ratio unmanned aerial vehicle is big, weight is far beyond unmanned aerial vehicle itself, adopts focus to squint the mode to realize balancing occasionally almost impossible.
Disclosure of Invention
In order to solve the technical problems, the invention provides a balance reference value adjusting method for a multi-wing unmanned aerial vehicle, which can effectively avoid the condition that the gravity center cannot be adjusted by adjusting the motor power based on the reading of a gyroscope, can easily obtain the balance reference value for most short-distance logistics transportation conditions, and can easily complete the balance adjustment of the short-distance logistics transportation unmanned aerial vehicle by an unmanned aerial vehicle control system based on the balance reference value obtained by the invention.
The invention is realized by the following technical scheme.
The invention provides a method for adjusting a balance reference value of a multi-wing unmanned aerial vehicle, which comprises the following steps:
① initializing, wherein the previous proportional reference value of multi-wing balance is the initial value, and if no previous record is available, the proportional value of all multi-wing motor power is 1: 1;
② judging offset, adjusting the power motor with multiple wings with initial value, and then judging the inclination of gyroscope;
③ adjusting the change quantity by calculating the proportional adjustment value to be used for adjusting the multi-wing to the level according to the inclination of the gyroscope;
④ verifying the change amount by judging whether it is in horizontal state or not according to the reading of gyroscope, if so, proceeding to the next step, otherwise, taking the ratio adjustment value calculated in step ③ as the initial value received in step ②, and returning to step ②;
⑤ return a reference value to the drone control system using the scale adjustment value verified at step ④ as the scale reference value for system balance.
The inclination of the gyroscope is an inclination angle vector of the gyroscope relative to a horizontal plane, and comprises an inclination direction and an inclination angle.
In the proportional adjustment values 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 values calculated in the first step ③, the process is stopped and an alarm is given, and if the maximum value is greater than twice the minimum value in the proportional adjustment values calculated in the step ③ after the step ④, the maximum value in the calculation result is taken as twice the minimum value.
The calculation method of the proportion adjustment value which should be adopted for adjusting the multi-wing to the horizontal level comprises the following steps:
① taking two rotors close to the tilt direction as adjusting wings, if the tilt direction is coincident with any one rotor, taking the coincident rotor as adjusting wings;
②, for the case that two rotors are used as the adjusting wings, the proportion of the projection length of the inclined direction on the straight line of the adjusting wings is used as the adjusting proportion of the adjusting wings, and for the case that one rotor is used as the adjusting wings, 1 is used as the adjusting proportion;
③ calculating tilt strength according to the tilt angle, using the tilt strength as the adjustment strength reference, and taking the product of the adjustment proportion and the adjustment strength reference as the adjustment value;
④ the adjustment value is added to the original scale adjustment value as the calculated scale adjustment value.
Specifically, the inclination intensity n is calculated to be 2sin (a) from the inclination angle a of the plane where the multi-wing is located with respect to the horizontal plane, which is read by the gyroscope.
The invention has the beneficial effects that: the condition that the center of gravity cannot be adjusted can be effectively avoided by adjusting the power of the motor on the basis of the reading of the gyroscope, a balance reference value can be easily obtained for most of short-distance logistics transportation conditions, and the balance adjustment of the short-distance logistics transportation unmanned aerial vehicle can be easily completed by the unmanned aerial vehicle control system based on the balance reference value obtained by the method.
Detailed Description
The technical solution of the present invention is further described below, but the scope of the claimed invention is not limited to the described.
The invention provides a method for adjusting a balance reference value of a multi-wing unmanned aerial vehicle, which comprises the following steps:
① initializing, wherein the previous proportional reference value of multi-wing balance is the initial value, and if no previous record is available, the proportional value of all multi-wing motor power is 1: 1;
② judging offset, adjusting the power motor with multiple wings with initial value, and then judging the inclination of gyroscope;
③ adjusting the change quantity by calculating the proportional adjustment value to be used for adjusting the multi-wing to the level according to the inclination of the gyroscope;
④ verifying the change amount by judging whether it is in horizontal state or not according to the reading of gyroscope, if so, proceeding to the next step, otherwise, taking the ratio adjustment value calculated in step ③ as the initial value received in step ②, and returning to step ②;
⑤ return a reference value to the drone control system using the scale adjustment value verified at step ④ as the scale reference value for system balance.
The inclination of the gyroscope is an inclination angle vector of the gyroscope relative to a horizontal plane, and comprises an inclination direction and an inclination angle.
In the proportional adjustment values 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 values calculated in the first step ③, the process is stopped and an alarm is given, and if the maximum value is greater than twice the minimum value in the proportional adjustment values calculated in the step ③ after the step ④, the maximum value in the calculation result is taken as twice the minimum value.
The calculation method of the proportion adjustment value which should be adopted for adjusting the multi-wing to the horizontal level comprises the following steps:
① taking two rotors close to the tilt direction as adjusting wings, if the tilt direction is coincident with any one rotor, taking the coincident rotor as adjusting wings;
②, for the case that two rotors are used as the adjusting wings, the proportion of the projection length of the inclined direction on the straight line of the adjusting wings is used as the adjusting proportion of the adjusting wings, and for the case that one rotor is used as the adjusting wings, 1 is used as the adjusting proportion;
③ calculating tilt strength according to the tilt angle, using the tilt strength as the adjustment strength reference, and taking the product of the adjustment proportion and the adjustment strength reference as the adjustment value;
④ the adjustment value is added to the original scale adjustment value as the calculated scale adjustment value.
Specifically, the inclination intensity n is calculated to be 2sin (a) from the inclination angle a of the plane where the multi-wing is located with respect to the horizontal plane, which is read by the gyroscope.
The invention is mainly applied to the unmanned aerial vehicle which respectively drives a plurality of spiral wings by a plurality of motors, generally six wings or four wings, the adjustment of multi-wing power can be realized by adjusting the power proportion of the motors, when the proportion reference value is determined, the proportion reference value is taken as a balance state, the built-in control system of the unmanned aerial vehicle can easily complete other actions without additional calculation of balance problems, therefore, the invention is also mainly suitable for the unmanned aerial vehicle control system with modularized control function, but can be fused into the unmanned aerial vehicle control system with integrated control function by function integration in practice. Correspondingly, the unmanned aerial vehicle applied by the invention necessarily needs the motor, so that the unmanned aerial vehicle is only suitable for short-distance flight.
Claims (4)
1. A multi-wing unmanned aerial vehicle balance reference value adjusting method is characterized in that: the method comprises the following steps:
① initializing, wherein the previous proportional reference value of multi-wing balance is the initial value, and if no previous record is available, the proportional value of all multi-wing motor power is 1: 1;
② judging offset, adjusting the power motor with multiple wings with initial value, and then judging the inclination of gyroscope;
③ adjusting the change quantity by calculating the proportional adjustment value to be used for adjusting the multi-wing to the level according to the inclination of the gyroscope;
④ verifying the change amount by judging whether it is in horizontal state or not according to the reading of gyroscope, if so, proceeding to the next step, otherwise, taking the ratio adjustment value calculated in step ③ as the initial value received in step ②, and returning to step ②;
⑤ returning the reference value, namely returning the proportion adjustment value verified in step ④ to the unmanned aerial vehicle control system as the proportion reference value of system balance;
the calculation method of the proportion adjustment value which should be adopted for adjusting the multi-wing to the horizontal level comprises the following steps:
① taking two rotors close to the tilt direction as adjusting wings, if the tilt direction is coincident with any one rotor, taking the coincident rotor as adjusting wings;
②, for the case that two rotors are used as the adjusting wings, the proportion of the projection length of the inclined direction on the straight line of the adjusting wings is used as the adjusting proportion of the adjusting wings, and for the case that one rotor is used as the adjusting wings, 1 is used as the adjusting proportion;
③ calculating tilt strength according to the tilt angle, using the tilt strength as the adjustment strength reference, and taking the product of the adjustment proportion and the adjustment strength reference as the adjustment value;
④ the adjustment value is added to the original scale adjustment value as the calculated scale adjustment value.
2. The multi-wing drone balance reference value adjustment method according to claim 1, characterized in that: the inclination of the gyroscope is an inclination angle vector of the gyroscope relative to a horizontal plane, and comprises an inclination direction and an inclination angle.
3. The method of claim 1, wherein the maximum value of the proportional adjustment values in step ③ is less than or equal to twice the minimum value, and if the maximum value of the proportional adjustment values calculated in step ③ is greater than twice the minimum value, the process is terminated and an alarm is issued, and if the maximum value of the proportional adjustment values calculated in step ③ after step ④ is greater than twice the minimum value, the maximum value of the calculated results is twice the minimum value.
4. The multi-wing drone balance reference value adjustment method according to claim 1, characterized in that: specifically, the inclination intensity n is calculated to be 2sin (a) from the inclination angle a of the plane where the multi-wing is located with respect to the horizontal plane, which is read by the gyroscope.
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| CN203601574U (en) * | 2013-12-04 | 2014-05-21 | 广州地理研究所 | Single-rotation-wing power-driven unmanned plane balance adjusting device |
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| US9477229B1 (en) * | 2015-06-15 | 2016-10-25 | Hon Hai Precision Industry Co., Ltd. | Unmanned aerial vehicle control method and unmanned aerial vehicle using same |
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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 |