CN107807669A - Control method and device based on enzyme numerical value membrane structure and readable storage medium - Google Patents
Control method and device based on enzyme numerical value membrane structure and readable storage medium Download PDFInfo
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- 102000004190 Enzymes Human genes 0.000 title claims abstract description 155
- 108090000790 Enzymes Proteins 0.000 title claims abstract description 155
- 238000000034 method Methods 0.000 title claims abstract description 46
- 239000012528 membrane Substances 0.000 title claims abstract description 35
- 230000008569 process Effects 0.000 claims description 7
- 230000010354 integration Effects 0.000 claims description 5
- 238000009825 accumulation Methods 0.000 claims description 2
- 238000012545 processing Methods 0.000 abstract description 35
- 230000036544 posture Effects 0.000 description 70
- 230000000694 effects Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 241001269238 Data Species 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 241000894007 species Species 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000003321 amplification Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000012512 characterization method Methods 0.000 description 2
- 239000013256 coordination polymer Substances 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000002045 lasting effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 102100040862 Dual specificity protein kinase CLK1 Human genes 0.000 description 1
- 102100040844 Dual specificity protein kinase CLK2 Human genes 0.000 description 1
- 102100040856 Dual specificity protein kinase CLK3 Human genes 0.000 description 1
- 101000749294 Homo sapiens Dual specificity protein kinase CLK1 Proteins 0.000 description 1
- 101000749291 Homo sapiens Dual specificity protein kinase CLK2 Proteins 0.000 description 1
- 101000749304 Homo sapiens Dual specificity protein kinase CLK3 Proteins 0.000 description 1
- 101100247660 Medicago truncatula RDN1 gene Proteins 0.000 description 1
- 101150015279 RUP1 gene Proteins 0.000 description 1
- 238000003491 array Methods 0.000 description 1
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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
-
- 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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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the invention provides a control method and device of an enzyme numerical value membrane structure and a readable storage medium, and belongs to the technical field of unmanned aerial vehicles. The method comprises the following steps: obtaining corresponding attitude PID control data by operating each current attitude data in the plurality of current attitude data and target attitude data corresponding to each current attitude data through a corresponding first-stage preset enzyme numerical value film operation model, and obtaining a plurality of attitude PID control data in parallel, wherein the target attitude data is used for representing a target flight attitude to which the unmanned aerial vehicle needs to be adjusted; the multiple attitude PID control data parallelly obtain the current PWM control signal of each motor in the multiple motors through the operation of a second-stage preset enzyme numerical value film operation model, so that the unmanned aerial vehicle adjusts the current flight attitude to the target flight attitude according to the current PWM control signal of each motor. Therefore, the data processing time is shortened through parallel operation of the data, and the control period of the unmanned aerial vehicle is further shortened.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, in particular to a kind of control method based on enzyme numerical value membrane structure,
Device and read/write memory medium.
Background technology
With the continuous development of scientific technology and progressive, power electronic equipment has obtained significant progress, so that nothing
It is man-machine to be also widely used.
At present, the flight attitude control to unmanned plane is usually the collection for sampling various sensors and carrying out data, by right
The data of collection are analyzed and handled to realize that the flight attitude to unmanned plane is controlled.Using above-mentioned flight attitude
During control mode, kind of sensor is more, that is, the data gathered are more, then flight attitude control effect is better.But with
The data of collection are more, and the time handled data will be longer, and then the controlling cycle for causing flight to control can also increase
It is long, and cause the control to unmanned plane to produce carryover effects.
Therefore, how in the case of increase kind of sensor, quantity, additionally it is possible to which reduce is to the controlling cycle of unmanned plane
Industry a great problem at present.
The content of the invention
In view of this, it is an object of the invention to provide a kind of control method based on enzyme numerical value membrane structure, device and can
Storage medium is read, to be effectively improved drawbacks described above.
Embodiments of the invention are realized in the following way：
In a first aspect, the embodiments of the invention provide a kind of control method based on enzyme numerical value membrane structure, applied to a nothing
Man-machine, the unmanned plane includes multiple motors.Methods described includes：By each current pose data in multiple current pose data
Pass through a corresponding first order with each targeted attitude data corresponding to current pose data and preset enzyme numerical value film computing
The computing of model obtains multiple posture PID control data, the mesh come a posture PID control data corresponding to obtaining parallel altogether
Mark attitude data be used to characterizing the unmanned plane need to adjust to target flight posture；The multiple posture PID control data
The computing of enzyme numerical value film operational model is preset by the second level to obtain the current PWM of each motor in the multiple motor parallel
Control signal so that the unmanned plane according to the current pwm control signal of each motor by current flight pose adjustment extremely
Target flight posture.
Second aspect, the embodiments of the invention provide a kind of control device based on enzyme numerical value membrane structure, it is characterised in that
Applied to a unmanned plane, the unmanned plane includes multiple motors.Described device includes：First computing module, for working as multiple
Each current pose data and each targeted attitude data corresponding to current pose data are by right in preceding attitude data
The first order answered presets the computing of enzyme numerical value film operational model come a posture PID control data corresponding to obtaining, and obtains parallel altogether
Multiple posture PID control datas, the targeted attitude data be used to characterizing the unmanned plane need to adjust to target flight
Posture.Second computing module, enzyme numerical value film operational model is preset by the second level for the multiple posture PID control data
Computing obtains the current PWM control signals of each motor in the multiple motor parallel, so that the unmanned plane is according to
The current pwm control signal of each motor is by current flight pose adjustment to target flight posture..
The third aspect, the embodiments of the invention provide a kind of read/write memory medium, the read/write memory medium storage
In in computer, the read/write memory medium includes a plurality of instruction, and a plurality of instruction is configured so that computer performs
Methods described.
The beneficial effect of the embodiment of the present invention is：
It is corresponding by each current pose data and a targeted attitude data, then by with to relation do not have and current pose
Data and each targeted attitude data preset the computing of enzyme numerical value film operational model to obtain pair by a corresponding first order
The posture PID control data answered.Due to the concurrent operation effect of enzyme numerical value membrane structure, then multiple postures can be obtained parallel simultaneously
PID control data.And then multiple posture PID control data are preset to the computing of enzyme numerical value film operational model by the second level,
Also by the concurrent operation effect of enzyme numerical value membrane structure, the then parallel current PWM controls for obtaining each motor in multiple motors simultaneously
Signal processed.Therefore, increase in sensor, in the case of the data volume increase of collection, enzyme numerical value film computing is preset based on the first order
Concurrent operation of the enzyme numerical value film operational model to data is preset in model and the second level, shortens the handling duration to data, and then
Reduce the controlling cycle to unmanned plane.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 shows a kind of first structure block diagram for unmanned aerial vehicle (UAV) control device that first embodiment of the invention provides；
Fig. 2 shows a kind of the second structured flowchart of unmanned aerial vehicle (UAV) control device that first embodiment of the invention provides；
Fig. 3 shows a kind of the first circuit diagram of unmanned aerial vehicle (UAV) control device that first embodiment of the invention provides；
Fig. 4 shows a kind of schematic diagram for unmanned aerial vehicle (UAV) control device control unmanned plane that first embodiment of the invention provides；
Fig. 5 shows a kind of second circuit figure for unmanned aerial vehicle (UAV) control device that first embodiment of the invention provides；
Fig. 6 shows a kind of tertiary circuit figure for unmanned aerial vehicle (UAV) control device that first embodiment of the invention provides；
Fig. 7 shows a kind of the 4th circuit diagram of unmanned aerial vehicle (UAV) control device that first embodiment of the invention provides；
Fig. 8 shows a kind of flow for control method based on enzyme numerical value membrane structure that second embodiment of the invention provides
Figure；
Fig. 9 is shown performed by a kind of control method based on enzyme numerical value membrane structure that second embodiment of the invention provides
FPGA cut-away view；
Figure 10 shows that a kind of control method based on enzyme numerical value membrane structure that second embodiment of the invention provides performs
Operational flowchart during FPGA；
Figure 11 shows the first of a kind of control device based on enzyme numerical value membrane structure that third embodiment of the invention provides
Structured flowchart；
Figure 12 shows the second of a kind of control device based on enzyme numerical value membrane structure that third embodiment of the invention provides
Structured flowchart.
Icon：100- unmanned aerial vehicle (UAV) control devices；110- power supply modules；120- multi-data acquisition modules；121- Posture acquisitions
Unit；122- station acquisition units；123- height collecting units；130- data processing modules；140- multichannel drive modules；
141- driver elements；150- data download modules.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, rather than whole embodiments.The present invention implementation being generally described and illustrated herein in the accompanying drawings
The component of example can be configured to arrange and design with a variety of.
Therefore, below the detailed description of the embodiments of the invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.It is common based on the embodiment in the present invention, this area
The every other embodiment that technical staff is obtained under the premise of creative work is not made, belong to the model that the present invention protects
Enclose.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent accompanying drawing in individual accompanying drawing.Term " first ", " the
Two " etc. are only used for distinguishing description, and it is not intended that instruction or hint relative importance.
In the description of the invention, it is also necessary to explanation, unless otherwise clearly defined and limited, term " setting ",
" installation ", " connected ", " connection ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or detachably connecting
Connect, or be integrally connected；Can be mechanical connection or electrical connection；Can be joined directly together, middle matchmaker can also be passed through
Jie is indirectly connected, and can be the connection of two element internals.For the ordinary skill in the art, can be with concrete condition
Understand the concrete meaning of above-mentioned term in the present invention.
First embodiment
Referring to Fig. 1, first embodiment of the invention provides a kind of unmanned aerial vehicle (UAV) control device 100, unmanned aerial vehicle (UAV) control dress
Put 100 applications to be arranged on a unmanned plane, to control the unmanned plane based on the unmanned aerial vehicle (UAV) control device 100.Unmanned aerial vehicle (UAV) control
Device 100 includes：Power supply module 110, multi-data acquisition module 120, data processing module 130, the sum of multichannel drive module 140
According to download module 150.Wherein, multichannel drive module 140 is electric with multi-data acquisition module 120 and data processing module 130 respectively
Connection, power supply module 110 is connected with multi-data acquisition module 120 and data processing module 130 respectively, and data download module
150 are connected with data processing module 130.
Power module is used for the electric energy for obtaining external power source input, after the electric energy voltage stabilizing to the voltage being adapted to each module
Output is to corresponding each module, to ensure the normal work of each module.
Multi-data acquisition module 120 is used for the multiple current pose data for gathering unmanned plane, by multiple current pose data
Transmit to the data processing module 130 of connection.
Data processing module 130 is used for each current pose data in multiple current pose data, and according to
Targeted attitude data corresponding with each current pose data, the multiple current pwm control signals of concurrent operation, and will be currently more
Individual PWM control datas are exported to the multichannel drive module 140 of connection.
Each current pwm control signal that multichannel drive module 140 is used in multiple current pwm control signals is gone
A motor corresponding in multiple motors of drive control unmanned plane, so as to realize the driving to each motor.
Data download module 150 is used for from the control program in downloading data processing module 130, or by user's editing and updating
Control program be uploaded to data processing module 130 again.
Fig. 2 and Fig. 3 are referred to, in a kind of unmanned aerial vehicle (UAV) control device 100 that first embodiment of the invention provides, power supply
The integrated circuit that module is made up of each chip.Wherein, forming the model of each voltage stabilizing chip of power module may include：For dropping
The LM2596-ADJ types of pressure, the LM1117-2.5 types for decompression, 3 be used for be depressured 1117 types and by multiple electric capacity
3 filter circuits of the filtering being used for formed.
Based on the annexation disclosed in Fig. 3, in the present embodiment, power module can obtain the 12V of external power source input
Voltage, and by each chip and circuit, 12V voltage is depressured successively and is filtered into 5V, 3.3V, 2.5V and 1.2V.Afterwards again
A+5V and A+3.3V analog power is exported to multi-data acquisition module 120, to ensure the normal of multi-data acquisition module 120
Work, and it also exports D+3.3V, D+1.2V and D+2.5V digital power to data processing module 130, to ensure at data
Manage the normal work of module 130.
Fig. 2, Fig. 3, Fig. 4 and Fig. 5 are referred to, in a kind of unmanned aerial vehicle (UAV) control device 100 that first embodiment of the invention provides
In, integration module that multi-data acquisition module 120 is made up of multiple units, i.e. multi-data acquisition module 120 includes：Posture is adopted
Collect unit 121, station acquisition unit 122 and height collecting unit 123.Wherein, Posture acquisition unit 121, station acquisition unit
122 and height collecting unit 123 be connected with data processing module 130 to realize the transmission of data.
Posture acquisition unit 121 is attitude transducer, for example, its model can be MPU6050 types.In the present embodiment, appearance
State collecting unit 121 can be used for collection unmanned plane be presently in posture corresponding to current pose data.Wherein, posture is adopted
The current pose data that collection unit 121 collects include：Current angle of pitch attitude data (Pitch), current roll angle posture number
According to (Roll) and current yaw angle attitude data (Yaw).In the present embodiment, the power end of Posture acquisition unit 121 passes through socket
JS2 connection power modules, to obtain A+5V and A+3.3V analog power.The SCL-G pins of Posture acquisition unit 121,
SDA-G pins, pin M-DRDY pins, G-AD0 pins and G-TNT pins are connected by socket JS2 and data processing module 130
Connect, so as to which the current angle of pitch attitude data, current roll angle attitude data and current yaw angle attitude data of acquisition be held
Continuous transmits to data processing module 130.
Station acquisition unit 122 is GPS sensor, for example, its model can be NEO-6M types.In the present embodiment, position
Collecting unit 122 can be used for collection unmanned plane be presently in position corresponding to current pose data.Wherein, station acquisition
The current pose data that unit 122 collects include：Current latitude coordinate data and current longitude coordinate data.The present embodiment
In, the power end of station acquisition unit 122 is by socket JS3 connection power modules, to obtain A+3.3V analog power.Position
The NE0-6M-RX pins and NE0-6M-TX pins for putting collecting unit 122 are connected by socket JS3 and data processing module 130
Connect, so as to transmit the current latitude coordinate data of acquisition and current longitude coordinate data are lasting to data processing module
130。
Height collecting unit 123 is baroceptor, for example, its model can be MS5611 types.In the present embodiment, height
Collecting unit 123 can be used for collection unmanned plane be presently in position corresponding to current pose data.Wherein, height gathers
The current pose data that unit 123 collects include：Present level data.In the present embodiment, the power supply of height collecting unit 123
End passes through socket JS1 connection power modules, to obtain A+3.3V analog power.The MS5611-SCL of height collecting unit 123
Pin, MS5611-SDA pins, MS5611-CSD pins, MS5611-SD0 pins and MS5611-PS pins pass through socket
JS1 is connected with data processing module 130, so as to transmit the present level data of acquisition are lasting to data processing module 130.
It is understood that data processing module 130 can obtain multiple current pose data, i.e., multiple current pose data
Including：Current angle of pitch attitude data, current roll angle attitude data, current yaw angle attitude data, current latitude coordinate number
According to, current longitude coordinate data and present level data.And each current pose data in multiple current pose data are：
Current angle of pitch attitude data, current roll angle attitude data, current yaw angle attitude data, current latitude coordinate data, when
Any of preceding longitude coordinate data and present level data, and the species of each current pose data with it is other described every
The species of individual current pose data is different.
Fig. 2, Fig. 3, Fig. 5 and Fig. 6 are referred to, data processing module 130 is the ic core for possessing signal handling capacity
Piece, for example, data processing module 130 can include：Programmadle logic array door (FPGA), and FPGA peripheral circuit.Its
In, FPGA model can be EP3C10E144C8N types.
In the present embodiment, data processing module 130 provides operating clock signals by clock chip for FPGA first, to protect
Demonstrate,prove FPGA normal work.Specifically, the model of clock chip can be OSC-50MHz types.Clock chip is obtained by VCC pin
The D+3.3V of power module digital power maintains normal work.In addition, the OUT of clock chip CLK0 with FPGA respectively
Pin, CLK1 pins, CLK2 pins connect with CLK3 pins, so as to which operating clock signals are exported to FPGA.
In addition, the VCCIO1 pins of the FPGA in data processing module 130 to VCCIO8 pins, 8 VCCINT pins,
VCCA1 pins, VCCA2 pins, VCCD-PLL1 pins and VCCD-PLL2 pins are connected with power module, to obtain D+
3.3V, D+1.2V and D+2.5V digital power maintains normal work.
In the FPGA of data processing module 130 numbering be 28 I/O pin, I0. (DQSIL/CQ1L#.DPCLK1) pin,
Corresponding and Posture acquisition unit 121 the SCL-G pins of IO.VREFB2NO pins, IO.RUP1 pins and IO.RDN1 pins,
SDA-G pins, pin M-DRDY pins, G-AD0 pins connect with G-TNT pins, with obtain current angle of pitch attitude data, when
Preceding roll angle attitude data and current yaw angle attitude data.
IO.DHFIO-BIP pins and IO.DHFIO-BIn pins in the FPGA of data processing module 130 it is corresponding with
The NE0-6M-RX pins of station acquisition unit 122 connect with NE0-6M-TX pins, so as to obtain current latitude coordinate data and
Current longitude coordinate data.
4 I/O pins and IO (DATA1, ASD0) pin that numbering is 1-4 in the FPGA of data processing module 130 are right
Should be with MS5611-SCL pins, MS5611-SDA pins, MS5611-CSD pins, the MS5611-SD0 of height collecting unit 123
Pin connects with MS5611-PS pins, to obtain present level data.
IO.DHFIO-B9n. (DQ1B) pin, IO. (DQ1B) pin in the FPGA of data processing module 130,
IO.DIFFIO-B11p pins and IO.DIFFIO-B11n pins are connected with multichannel drive module 140.
Based on the above-mentioned annexation of FPGA in data processing module 130, FPGA can obtain multiple current pose data
In each current pose data, that is, obtain current angle of pitch attitude data, current roll angle attitude data, current yaw angle posture
Data, current latitude coordinate data, current longitude coordinate data and present level data.And then in data processing module 130
FPGA is according to current angle of pitch attitude data, current roll angle attitude data, current yaw angle attitude data, current latitude coordinate
Data, current longitude coordinate data and present level data can be calculated for the corresponding current PWM controls for controlling each motor
Signal processed, the shared multiple current pwm control signals matched with number of motors.Further, in data processing module 130
FPGA again exports multiple current pwm control signals to multichannel drive module 140.
Fig. 2 and Fig. 5 are referred to, in a kind of unmanned aerial vehicle (UAV) control device 100 that first embodiment of the invention provides, multichannel
The integration module that drive module 140 is made up of multiple units, i.e. multichannel drive module 140 include：Multiple driver elements 141.
Wherein, each driver element 141 in multiple driver elements 141 is connected with data processing module 130, each driver element
141 are used to a motor corresponding to connection.
Specifically, unmanned plane is 4 rotor wing unmanned aerial vehicles, i.e., unmanned plane can have 4 motors.Further, multiple drivings are single
The quantity of member 141 is also 4 accordingly, and each driver element 141 can be model skyWalker electron speed regulator.
The power pins of each driver element 141 are connected with power module to obtain A+5V analog power, to maintain normal work.
The PWM pins of each driver element 141 are connected by PWM pins pin corresponding with the FPGA in data processing module 130
Connect, for example, the FPGA in 1 pin and data processing module 130 that the PWM pins of driver element 1411 pass through socket JDT1
IO.DHFIO-B9n. (DQ1B) pin connects.
In the present embodiment, each driver element 141 can obtain a corresponding current pwm control signal, each driving
The then equal current pwm control signal drive amplification, and exporting after amplification to corresponding motor of unit 141, and then according to deserving
The dutycycle de-regulation of preceding pwm control signal corresponds to the rotating speed of motor, and then realizes the control to the flight attitude of unmanned plane.
Wherein, the model of the motor of control can be the X2212 types of bright space brushless electric machine.
Refer to Fig. 2 and Fig. 7, data download module 150 can also be the integrated circuit that is made up of at least one chip.
In the present embodiment, data download module 150 can be to be downloaded using JTAG modes and AS modes.It is public with further reference to Fig. 7 institutes
The annexation opened, data download module 150 include 2 model HEADER-5X2 chip, and each chip is and data
The FPGA connections of processing module 130.So as to be downloaded in a manner of JTAG with AS modes from FPGA, or upload program is to FPGA.
Second embodiment
Referring to Fig. 8, second embodiment of the invention provides a kind of control method based on enzyme numerical value membrane structure, this method
Unmanned plane is can apply to, is applied particularly to the unmanned aerial vehicle (UAV) control device of unmanned plane, the FPGA in the unmanned aerial vehicle (UAV) control device is used
In the whole control computing flows for performing this method.
In the present embodiment, FPGA internal structure inside FPGA as shown in figure 9, have a large amount of programmable logic block resources
(CLB), there is abundant programmable interconnecting interface resource (PI) between programmable logic block, can spirit using Verilog programming languages
Work designs different circuits to realize different functions.And different functional circuits can be distributed in different battle arrays inside FPGA
Arrange, can be carried out parallel between each array.Therefore, can is patrolled using programmable inside FPGA in the present embodiment
Volume block performs the control method based on enzyme numerical value membrane structure.
A kind of enzyme numerical value film operational model is present embodiments provided, the enzyme numerical value film operational model is pre-established and is stored in
In FPGA.The enzyme numerical value film operational model includes 2 layer models, and it is respectively that the first order presets enzyme numerical value film operational model and second
The default enzyme numerical value film operational model of level, wherein, it is that internal layer presets enzyme numerical value film computing that the first order, which presets enzyme numerical value film operational model,
Model, and the and level to preset enzyme numerical value film operational model be that outer layer presets enzyme numerical value film operational model.The first order presets enzyme numerical value
Film operational model is multiple, and multiple first order preset enzyme numerical value film operational model and simultaneously and concurrently perform computing first, again will afterwards
Run obtained result and all bring the default enzyme numerical value film operational model in the second level into, so that enzyme numerical value film computing mould is preset in the second level
Type carries out concurrent operation to data, so as to obtain simultaneously output result.Therefore, FPGA performs kind by enzyme numerical value film operational model
Concurrent operation to unmanned aerial vehicle (UAV) control data is realized based on the control method of enzyme numerical value membrane structure, so as to reduce to unmanned plane
Controlling cycle, reduce control delay.
Specifically, being somebody's turn to do the control method based on enzyme numerical value membrane structure includes：Step S100 and step S200.
Step S100：By each current pose data in multiple current pose data and each current pose data pair
The targeted attitude data answered obtain corresponding one by the computing of the default enzyme numerical value film operational model of a corresponding first order
Posture PID control data, obtain multiple posture PID control data parallel altogether, and the targeted attitude data are used to characterize the nothing
Man-machine needs adjust to target flight posture.
FPGA can obtain multiple current pose data that each sensor is gathered, wherein, multiple current pose data difference
For：Current angle of pitch attitude data, current roll angle attitude data, current yaw angle attitude data, current latitude coordinate data,
Current longitude coordinate data and present level data, i.e. totally 6 kinds of data.Now, FPGA can also obtain multiple targeted attitude numbers
According to the plurality of targeted attitude data need to adjust to flight attitude for characterizing the unmanned plane.Obtain multiple targeted attitude data
Mode can be FPGA press pre-control programming automatic generation, can also be reception control operation of the user terminal based on user and
Generate and send the plurality of targeted attitude data.In multiple targeted attitude data the species of each current pose data with it is multiple
Species in current pose data in each current pose data corresponds, and is：Current angle of pitch attitude data and target
Angle of pitch attitude data is corresponding, and current roll angle attitude data is corresponding with target roll angle attitude data, current yaw angle posture
Data are corresponding with target yaw angle attitude data, and current latitude coordinate data are corresponding with target latitude coordinate data, current longitude
Coordinate data is corresponding with target longitude coordinate data, and present level data are corresponding with object height data.
In the present embodiment, FPGA presets enzyme numerical value film operational model come to a current pose number by a first order
According to, and the targeted attitude data progress computing corresponding to the current attitude data.For example, some first order presets enzyme numerical value
The numbering of film operational model is 1#, then the first order of the 1# presets enzyme numerical value film operational model and then can be used for being directed to the current angle of pitch
Attitude data and target pitch angle attitude data carry out computing, and another first order presets the numbering of enzyme numerical value film operational model
For 2#, then the default enzyme numerical value film operational model of the first order of the 2# then can be used for being directed to current roll angle attitude data and target is rolled
Corner attitude data carries out computing.It should be understood that the first order that FPGA is pre-set presets enzyme numerical value film operational model
Quantity should be identical with the quantity of current pose data, as 6.
Specifically, the default enzyme numerical value film operational model of the first order each pre-set is specially：
Pri1:4×(S.Pi-S.Ti)(E.Si→)4|S.DCi
Pri2:Ci1×E.Si→1|E.Di
Pri3:2×(S.DAi+S.DCi)(E.Di→)1|S.DIi+1|Acc
Pri4:S.DCi-S.DTi(E.Di→)1|S.DDi
Pri5:S.DCi(E.Di→)1|Dis
Pri6:S.DCi(E.Di→)1|S.DPi
Pri7:E.Di→1|E.Pi
Pri8:KPi×S.DPi(E.Pi→)1|C.Si
Pri9:KIi×S.DIi(E.Pi→)1|C.Si
Pri10:KDi×S.DDi(E.Pi→)1|C.Si
Pri11:Ci2×E.Pi→1|E.Ci
The first order, which presets enzyme numerical value film operational model, to be included：Data value and enzyme variable, data value and enzyme variable are used to
The operation rule of characterization model is to carry out computing based on the current data value and the enzyme variable.Data value and the enzyme variable are each
Can be one or more in model.With calculating process as the execution of operation rule, the current data value and the enzyme become
Measure for calculating and being consumed, and new data value and enzyme variable, new data value and enzyme variable are regenerated by calculating
Then it is allocated proportionally by operation rule in the computing of subsequent arithmetic or other models of this model.
Specifically, in the above-mentioned first order presets enzyme numerical value film operational model, #i, i=2 ..., 7 be each described the
One-level presets enzyme numerical value film operational model reference numeral.S.Ti[input] represents the targeted attitude number in the model that numbering is #i
According to.S.Pi[input] represents the current pose data in the model that numbering is #i.S.DCi[0] represent in the model that numbering is #i
Pose difference data, its initial value be 0.S.DAi[Acc] represents the aggregate-value for the pose difference that computing obtains, its initial value
From the reading value in FPGA register Dis, to be stored into again in register Dis after calculating renewal every time.S.DTi[Dis]
And S.DPi[0] the previous pose difference number that the FPGA in the model that numbering is #i is read from register Dis is represented
According to, and be stored to again in register Dis after the completion of this calculating.E.Si[Max] is represented in the model that numbering is #i
Enzyme variable, its initial value are the maximum in the pose difference data of definition. E.Di[0] and E.Pi[0] show that numbering is #i's
Enzyme variable in model, it is used for the calculating of subsequent step, and its initial value is 0.
Pri1:4×(S.Pi-S.Ti)(E.Si→)4|S.DCiIt is poor for numbering posture corresponding to acquisition in the model for being #i
Value Data, pose difference data are current pose difference data.Pri2:Ci1×E.Si→1|E.Di、 Pri7:E.Di→1|
E.PiAnd Pri11:Ci2×E.Pi→1|E.CiIt is used to obtain the enzyme variable in the model that numbering is #i.Pri3:2×(S.DAi+
S.DCi)(E.Di→)1|S.DIi+ 1 | the pose difference accumulation data that Acc is used to obtain in the model that numbering is #i.Pri4:
S.DCi-S.DTi(E.Di→)1|S.DDiFor obtain numbering be #i model in current pose difference data with it is preceding once
Difference between the pose difference data of acquisition. Pri8:KPi×S.DPi(E.Pi→)1|C.SiFor obtaining the mould that numbering is #i
Ratio controlled quentity controlled variable in type in corresponding posture PID control data.Pri9:KIi×S.DIi(E.Pi→)1|C.SiFor being compiled
Number for the integration control amount in #i model in corresponding posture PID control data.Pri10:KDi×S.DDi(E.Pi→)1|C.Si
For obtaining the differential controlled quentity controlled variable in the model that numbering is #i in corresponding posture PID control data.
In the present embodiment, enzyme numerical value film operational model is preset based on each first order pre-set.FPGA first will be every
Current pose data corresponding to group and targeted attitude data are brought into a corresponding first order and preset enzyme numerical value film operational model.
Concurrent operation is performed so as to which 6 first order preset the communication of enzyme numerical value film operational model, so that FPGA is preset by each first order
Enzyme numerical value film operational model obtains the pose difference data between current pose data and targeted attitude data corresponding to every group, altogether
Multiple pose difference data are obtained parallel, and multiple pose difference data are respectively：Angle of pitch pose difference data, roll angle posture
Difference data, yaw angle pose difference data, latitude coordinate difference data, longitude coordinate difference data and height difference data.
Further, based on multiple pose difference data, FPGA again each pose difference data bring into corresponding to a first order preset
Enzyme numerical value film operational model, so that each first order presets enzyme numerical value film operational model controls calculation by default PID/feedback
Method continues computing.For example, angle of pitch pose difference data are continued to bring the model progress computing that numbering is 1# into.So as to
The concurrent operation of enzyme numerical value film operational model is preset based on 6 first order, FPGA can obtain each pose difference number simultaneously parallel
According to corresponding posture PID control data, multiple posture PID control data are obtained parallel altogether.Wherein, multiple posture PID controls
Data include：Angle of pitch posture PID control data, roll angle posture PID control data, yaw angle posture PID control data, latitude
Spend coordinate PID control data, longitude coordinate PID control data and height PID control data；And each posture PID control number
According to including：The differential controlled quentity controlled variable of each the ratio controlled quentity controlled variable of posture, the integration control amount of each posture and each posture.
As shown in Figure 10, FPGA is current to corresponding one group based on the default enzyme numerical value film operational model of any one first order
When attitude data and targeted attitude data perform computing, it is as shown in Figure 10 that it specifically performs flow in FPGA.Specifically,
FPGA calculates control pose difference data first, and is stored in deviation register Dis.It calculates function：Dis=Tar-
Current, it is used to be expressed as current pose difference data, Distemp=Dis, it is used for before being expressed as the appearance once obtained
State difference data.Afterwards, FPGA calculates P controlled quentity controlled variables in posture PID control data, I controls respectively based on pose difference data
Amount and D controlled quentity controlled variables, are stored in register, and use C respectivelyP、CIAnd CDRepresent.Specifically calculating function is：P controlled quentity controlled variables：CP=P ×
Dis, I controlled quentity controlled variable：CI=CI+Ci(master control quality), Ci=I × Dis (current calculated value), D controlled quentity controlled variables：CD=D × (Dis-
Distemp).Afterwards, FPGA is by calculating function：C=CP+CI+CD, so as to obtain a corresponding pose difference data.
Also it is as shown in Figure 8：
Step S200：The multiple posture PID control data preset the computing of enzyme numerical value film operational model by the second level
To obtain the current pwm control signal of each motor in the multiple motor parallel, so that the unmanned plane is according to described each
The current pwm control signal of motor is by current flight pose adjustment to target flight posture.
After presetting enzyme numerical value film operational model based on each first order, FPGA can obtain each first order and preset enzyme numerical value
Posture PID control data corresponding to the one of film operational model computing output, obtain multiple posture PID control data altogether.FPGA is again
Multiple posture PID control data of acquisition are brought into the default enzyme numerical value film operational model in the second level set in advance and transported
Calculate.It is understood that it is 1 that enzyme numerical value film operational model is preset in the second level.
Specifically, pre-set the and level presets enzyme numerical value film operational model and is specially：
Pr11-16:4×C.Si(E.Ci→)1|C.Mi1+1|C.Mi2+1|C.Mi3+1|C.Mi4, i=2 ..., 7
Pr17：
Pr18:C.M52+C.M62+C.M72-C.M21-C.M31-C.M41(E.M→)1|PWM1
Pr19:C.M52+C.M62+C.M72+C.M22+C.M32+C.M42(E.M→)1|PWM2
Pr110:C.M52+C.M62+C.M72+C.M23+C.M33-C.M43(E.M→)1|PWM3
Pr111:C.M52+C.M62+C.M72+C.M24+C.M34+C.M44(E.M→)1|PWM4
Pr112:C12×E.M→1|E.O
Pr113:C.T×(E.O→)1|C.F
The second level, which is preset in enzyme numerical value film operational model, also to be included：Data value and enzyme variable, data value and enzyme variable are
Operation rule for characterization model is to carry out computing based on the current data value and the enzyme variable.Data value and the enzyme variable
Can also be one or more in a model.As calculating process is with the execution of operation rule, current data value and should
Enzyme variable is used to calculate and be consumed, and regenerates new data value and enzyme variable, new data value and enzyme by calculating
Variable is then allocated proportionally in the subsequent arithmetic of this model by operation rule.
Specifically, in presetting enzyme numerical value film operational model in the above-mentioned second level, the quantity of multiple posture PID control data
For 6, the quantity of multiple motors is 4.
C.Mi1[0],C.Mi2[0],C.Mi3[0],C.Mi4[0] it is used to represent that enzyme numerical value film operational model is preset in the second level
The controlled quentity controlled variable for each motor that computing obtains.
PWM1[input],PWM2[input],PWM3[input],PWM4[input] is used to represent that enzyme is preset in the second level
Current PWM control data of the numerical value film operational model based on each motor obtained to controlled quentity controlled variable computing, the initial value of each of which are equal
For previous input value.
E.O [0] represents that the enzyme variable in enzyme numerical value film operational model is preset in the second level, for rule according to defined in it
Then carry out computing and obtain controlled quentity controlled variable.E.M [0] represents that the enzyme variable in enzyme numerical value film operational model is preset in the second level, for basis
Its defined rule carrys out the current PWM control datas that computing obtains each motor.E.O [0] represents that enzyme numerical value is preset in the second level
Enzyme variable in film operational model, monitor whether computing terminates for the rule defined in.C.T [1] represents second
Enzyme variable in the default enzyme numerical value film operational model of level, its initial value is 1, when C.T [1] is consumed in computing, its initial value
0 is updated to, and when it is updated to 1 once more, the computing that enzyme numerical value film this cycle of operational model is preset in the second level terminates.
Pr11-16:4×C.Si(E.Ci→)1|C.Mi1+1|C.Mi2+1|C.Mi3+1|C.Mi4, i=2 ..., 7 is more for characterizing
Each posture PID control data are required to obtain the current PWM of each motor for being performed in individual posture PID control data
In the calculating process of control signal, so as to obtain the controlled quentity controlled variable of each motor.
Because the number of motors for needing to control is 4, preset in the second level in enzyme numerical value film operational model：
Pr18:C.M52+C.M62+C.M72-C.M21-C.M31-C.M41(E.M→)1|PWM1Multiple motors are obtained for characterizing
In the first motor current pwm control signal.
Pr19:C.M52+C.M62+C.M72+C.M22+C.M32+C.M42(E.M→)1|PWM2Multiple motors are obtained for characterizing
In the second motor current pwm control signal.
Pr110:C.M52+C.M62+C.M72+C.M23+C.M33-C.M43(E.M→)1|PWM3Multiple motors are obtained for characterizing
In the 3rd motor current pwm control signal.
Pr111:C.M52+C.M62+C.M72+C.M24+C.M34+C.M44(E.M→)1|PWM4Multiple motors are obtained for characterizing
In the 4th motor current pwm control signal.
Pr17:And Pr112:C12× E.M → 1 | E.O is used to obtain enzyme
Variable.
In the present embodiment, enzyme numerical value film operational model is preset based on the second level pre-set.FPGA by the more of acquisition
Individual posture PID control data are brought into the second level and preset in enzyme numerical value film operational model.Enzyme numerical value film is preset based on the second level
Operational model performs the computing to multiple posture PID control data, and FPGA obtains controlled quentity controlled variable corresponding to each motor, multiple altogether
Controlled quentity controlled variable.Further, FPGA also by the second level presets enzyme numerical value film operational model, and multiple controlled quentity controlled variables are brought into often respectively
In operational formula corresponding to individual motor, then by performing concurrent operation, so as to obtain the motor by each operational formula
Current PWM control datas.Afterwards, FPGA then pwm control signals according to corresponding to the generation of each PWM control datas, so as to parallel
The current pwm control signal of each motor is obtained simultaneously.FPGA each current pwm control signal will be exported to corresponding electricity
Machine, so that by each current control of the pwm control signal to corresponding motor speed, by the current flight posture of unmanned plane
Adjust to target flight posture.
3rd embodiment
Figure 11 is referred to, third embodiment of the invention provides a kind of control device 200 based on enzyme numerical value membrane structure, should
Control device 200 based on enzyme numerical value membrane structure is applied in the FPGA of unmanned plane.The control dress based on enzyme numerical value membrane structure
Putting 200 includes：
First computing module 210, for by each current pose data in multiple current pose data and it is described each work as
Targeted attitude data corresponding to preceding attitude data preset by a corresponding first order computing of enzyme numerical value film operational model come
A posture PID control data corresponding to acquisition, obtain multiple posture PID control data parallel altogether, and the targeted attitude data are used
In characterize the unmanned plane need to adjust to target flight posture.
Second computing module 220, enzyme numerical value film computing is preset by the second level for the multiple posture PID control data
The computing of model obtains the current PWM control signals of each motor in the multiple motor parallel, so that the unmanned plane root
According to the current pwm control signal of each motor by current flight pose adjustment to target flight posture.
Figure 12 is referred to, in a kind of control device 200 based on enzyme numerical value membrane structure that third embodiment of the invention provides
In, the first computing module 210 includes：
Difference obtaining unit 211, for each current pose data and the corresponding targeted attitude data are equal
The computing of enzyme numerical value film operational model is preset by corresponding one first order come obtain each current pose data with
Pose difference data between the corresponding targeted attitude data, common multiple pose difference data.
Pid data obtaining unit 212, for each pose difference data in the multiple pose difference data to be passed through
The corresponding first order presets the computing of enzyme numerical value film operational model come a posture PID control data corresponding to obtaining, altogether
Multiple posture PID control data are obtained parallel
It should be noted that due to it is apparent to those skilled in the art that, convenience and letter for description
It is clean, the specific work process of the system of foregoing description, device and unit, it may be referred to corresponding in preceding method embodiment
Journey, it will not be repeated here.
The computer-readable of non-volatile program code that the progress processor that the embodiment of the present invention is provided can perform is deposited
The computer program product of storage media, including the computer-readable recording medium of program code is stored, described program code bag
The instruction included can be used for performing the method described in previous methods embodiment, and specific implementation can be found in embodiment of the method, herein not
Repeat again.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, the corresponding process in preceding method embodiment is may be referred to, will not be repeated here.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, can be with
Realize by another way.Device embodiment described above is only schematical, for example, the division of the unit,
Only a kind of division of logic function, can there is other dividing mode when actually realizing, in another example, multiple units or component can
To combine or be desirably integrated into another system, or some features can be ignored, or not perform.It is another, it is shown or beg for
The mutual coupling of opinion or direct-coupling or communication connection can be by some communication interfaces, device or unit it is indirect
Coupling or communication connection, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.
If the function is realized in the form of SFU software functional unit and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part to be contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are causing a computer equipment (can be
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the present invention.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access
Memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
In summary, deposited the embodiments of the invention provide a kind of control method of enzyme numerical value membrane structure, device and can be read
Storage media.Wherein, the control method based on enzyme numerical value membrane structure, applied to a unmanned plane, unmanned plane includes multiple motors.Method
Including：By targeted attitude data corresponding to each current pose data in multiple current pose data and each current pose data
A posture PID control data corresponding to being obtained by the computing of the default enzyme numerical value film operational model of a corresponding first order,
Obtain multiple posture PID control data parallel altogether, targeted attitude data be used to characterizing unmanned plane need to adjust to target flight
Posture；Multiple posture PID control data preset the computing of enzyme numerical value film operational model to obtain multiple electricity parallel by the second level
The current pwm control signal of each motor in machine, so that unmanned plane will currently fly according to the current pwm control signal of each motor
Row pose adjustment is to target flight posture.
By each current pose data and the correspondence of a targeted attitude data, then by with not having and current appearance to relation
State data and each targeted attitude data are obtained by the computing of the default enzyme numerical value film operational model of a corresponding first order
Corresponding posture PID control data.Due to the concurrent operation effect of enzyme numerical value membrane structure, then multiple appearances can be obtained parallel simultaneously
State PID control data.And then multiple posture PID control data are preset to the fortune of enzyme numerical value film operational model by the second level
Calculate, also by the concurrent operation effect of enzyme numerical value membrane structure, then the parallel current PWM for obtaining each motor in multiple motors simultaneously
Control signal.Therefore, increase in sensor, in the case of the data volume increase of collection, enzyme numerical value film fortune is preset based on the first order
Calculate model and concurrent operation of the enzyme numerical value film operational model to data is preset in the second level, shorten the handling duration to data, enter
And reduce the controlling cycle to unmanned plane.
The preferred embodiments of the present invention are these are only, are not intended to limit the invention, for those skilled in the art
For member, the present invention can have various modifications and variations.Any modification within the spirit and principles of the invention, being made,
Equivalent substitution, improvement etc., should be included in the scope of the protection.It should be noted that：Similar label and letter are under
Similar terms is represented in the accompanying drawing in face, therefore, once be defined in a certain Xiang Yi accompanying drawing, then need not in subsequent accompanying drawing
It is further defined and explained.
More than, it is only embodiment of the invention, but protection scope of the present invention is not limited thereto, and it is any to be familiar with
Those skilled in the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be covered
Within protection scope of the present invention.Therefore, protection scope of the present invention should be defined by scope of the claims.
Claims (10)
1. a kind of control method based on enzyme numerical value membrane structure, it is characterised in that applied to a unmanned plane, the unmanned plane includes
Multiple motors, methods described include：
By targeted attitude corresponding to each current pose data in multiple current pose data and each current pose data
Data obtain a corresponding posture PID control number by the computing of the default enzyme numerical value film operational model of a corresponding first order
According to, obtain multiple posture PID control data parallel altogether, the targeted attitude data be used to characterizing the unmanned plane need to adjust to
Target flight posture；
The multiple posture PID control data preset the computing of enzyme numerical value film operational model come described in parallel obtain by the second level
The current pwm control signal of each motor in multiple motors, so that the unmanned plane is controlled according to the current PWM of each motor
Signal processed is by current flight pose adjustment to target flight posture.
2. the control method according to claim 1 based on enzyme numerical value membrane structure, it is characterised in that it is described will be multiple current
Each current pose data and each targeted attitude data corresponding to current pose data pass through correspondingly in attitude data
A first order preset the computing of enzyme numerical value film operational model come a posture PID control data corresponding to obtaining, it is parallel altogether to obtain
Multiple posture PID control data, including：
Each current pose data are pre- by corresponding one first order with the corresponding targeted attitude data
If the computing of enzyme numerical value film operational model come obtain each current pose data and the corresponding targeted attitude data it
Between pose difference data, altogether multiple pose difference data；
Each pose difference data in the multiple pose difference data are preset into enzyme number by corresponding one first order
The computing of value film operational model obtains multiple posture PID control numbers come a posture PID control data corresponding to obtaining parallel altogether
According to.
3. the control method according to claim 2 based on enzyme numerical value membrane structure, it is characterised in that it is described will be the multiple
Each pose difference data preset enzyme numerical value film operational model by corresponding one first order in pose difference data
Computing obtains multiple posture PID control data come a posture PID control data corresponding to obtaining parallel altogether, including：
Each pose difference data described in the multiple pose difference data are brought into the corresponding first order to preset
Enzyme numerical value film operational model, the first order preset the quantity of enzyme numerical value film operational model and the multiple pose difference data
Quantity Matching, common multiple first order preset enzyme numerical value film operational model；
It is equal that each default enzyme numerical value film operational model of the first order in enzyme numerical value film operational model is preset by the multiple first order
Computing to corresponding each pose difference data is performed with default PID/feedback control algolithm；
Acquisition and each pose difference data corresponding pose difference data, obtain the multiple posture altogether
PID control data.
4. the control method according to claim 2 based on enzyme numerical value membrane structure, it is characterised in that each first order
Presetting enzyme numerical value film operational model is：
Pri1:4×(S.Pi-S.Ti)(E.Si→)4|S.DCi
Pri2:Ci1×E.Si→1|E.Di
Pri3:2×(S.DAi+S.DCi)(E.Di→)1|S.DIi+1|Acc
Pri4:S.DCi-S.DTi(E.Di→)1|S.DDi
Pri5:S.DCi(E.Di→)1|Dis
Pri6:S.DCi(E.Di→)1|S.DPi
Pri7:E.Di→1|E.Pi
Pri8:KPi×S.DPi(E.Pi→)1|C.Si
Pri9:KIi×S.DIi(E.Pi→)1|C.Si
Pri10:KDi×S.DDi(E.Pi→)1|C.Si
Pri11:Ci2×E.Pi→1|E.Ci
Wherein, #i, i=2 ..., 7 preset enzyme numerical value film operational model reference numeral for each first order；Pri1:4×
(S.Pi-S.Ti)(E.Si→)4|S.DCiFor obtaining the corresponding pose difference data；The pose difference data are current
The pose difference data, Pri2:Ci1×E.Si→1|E.Di、Pri7:E.Di→1|E.PiAnd Pri11:Ci2×E.Pi→1|
E.CiIt is used to obtain enzyme variable, the enzyme variable is used to characterize the rule that subsequent arithmetic is based on；Pri3:2×(S.DAi+
S.DCi)(E.Di→)1|S.DIi+ 1 | Acc is used to obtain pose difference accumulation data；Pri4:S.DCi-S.DTi(E.Di→)1|
S.DDiFor obtaining the difference between the current pose difference data and the preceding pose difference data once obtained；Pri8:
KPi×S.DPi(E.Pi→)1|C.SiFor obtaining the ratio controlled quentity controlled variable in corresponding posture PID control data；Pri9:KIi×
S.DIi(E.Pi→)1|C.SiFor obtaining the integration control amount in corresponding posture PID control data；Pri10:KDi×S.DDi
(E.Pi→)1|C.SiFor obtaining the differential controlled quentity controlled variable in corresponding posture PID control data.
5. the control method according to claim 1 based on enzyme numerical value membrane structure, it is characterised in that described is the multiple
The computing that posture PID control data preset enzyme numerical value film operational model by the second level is every in the multiple motor to obtain parallel
The current pwm control signal of individual motor, including：
Bring the multiple posture PID control data into the second level and preset enzyme numerical value film operational model；
Enzyme numerical value film operational model is preset by the second level to perform to the multiple posture PID control data operation；
The current pwm control signal of each motor is obtained parallel.
6. the control method according to claim 5 based on enzyme numerical value membrane structure, it is characterised in that preset the second level
Enzyme numerical value film operational model includes：
Pr11-16:4×C.Si(E.Ci→)1|C.Mi1+1|C.Mi2+1|C.Mi3+1|C.Mi4, i=2 ..., 7
Pr17:
Pr18:C.M52+C.M62+C.M72-C.M21-C.M31-C.M41(E.M→)1|PWM1
Pr19:C.M52+C.M62+C.M72+C.M22+C.M32+C.M42(E.M→)1|PWM2
Pr110:C.M52+C.M62+C.M72+C.M23+C.M33-C.M43(E.M→)1|PWM3
Pr111:C.M52+C.M62+C.M72+C.M24+C.M34+C.M44(E.M→)1|PWM4
Pr112:C12×E.M→1|E.O
Pr113:C.T×(E.O→)1|C.F
Wherein, the quantity of the multiple posture PID control data is 6, and the quantity of the multiple motor is 4；Pr11-16:4×
C.Si(E.Ci→)1|C.Mi1+1|C.Mi2+1|C.Mi3+1|C.Mi4, i=2 ..., 7 are used to characterize the multiple posture PID control
Each posture PID control data are required to obtain the current pwm control signal of each motor for being performed in data
Calculating process in；Pr18:C.M52+C.M62+C.M72-C.M21-C.M31-C.M41(E.M→)1|PWM1For characterizing described in acquisition
The current pwm control signal of first motor in multiple motors；Pr19:C.M52+C.M62+C.M72+C.M22+C.M32+C.M42(E.M
→)1|PWM2The current pwm control signal of the second motor in the multiple motor is obtained for characterizing；Pr110:C.M52+C.M62+
C.M72+C.M23+C.M33-C.M43(E.M→)1|PWM3The current PWM of the 3rd motor in the multiple motor is obtained for characterizing
Control signal；Pr111:C.M52+C.M62+C.M72+C.M24+C.M34+C.M44(E.M→)1|PWM4It is described more for characterizing acquisition
The current pwm control signal of 4th motor in individual motor；Pr17:And Pr112:
C12× E.M → 1 | E.O is used to obtain enzyme variable, and the enzyme variable is used to characterize the rule that subsequent arithmetic is based on.
7. the control method according to claim 1 based on enzyme numerical value membrane structure, it is characterised in that each current appearance
State data are：Current angle of pitch attitude data, current roll angle attitude data, current yaw angle attitude data, current latitude
Any of coordinate data, current longitude coordinate data and present level data, and the kind of each current pose data
Class is different from the species of other each current pose data.
8. a kind of control device based on enzyme numerical value membrane structure, it is characterised in that applied to a unmanned plane, the unmanned plane includes
Multiple motors, described device include：
First computing module, for by each current pose data in multiple current pose data and each current pose number
Obtained correspondingly by the computing of the default enzyme numerical value film operational model of a corresponding first order according to corresponding targeted attitude data
A posture PID control data, obtain multiple posture PID control data parallel altogether, the targeted attitude data are used to characterize institute
State unmanned plane need adjust to target flight posture；
Second computing module, enzyme numerical value film operational model is preset by the second level for the multiple posture PID control data
Computing obtains the current pwm control signal of each motor in the multiple motor parallel, so that the unmanned plane is according to
The current pwm control signal of each motor is by current flight pose adjustment to target flight posture.
9. the control device according to claim 8 based on enzyme numerical value membrane structure, it is characterised in that described first calculates mould
Block includes：
Difference obtaining unit, it is corresponding for each current pose data to be passed through with the corresponding targeted attitude data
The first order preset the computing of enzyme numerical value film operational model to obtain each current pose data and corresponding institute
The pose difference data between targeted attitude data are stated, altogether multiple pose difference data；
Pid data obtaining unit, for by each pose difference data in the multiple pose difference data by corresponding
One first order presets the computing of enzyme numerical value film operational model come a posture PID control data corresponding to obtaining, and obtains parallel altogether
Obtain multiple posture PID control data.
A kind of 10. read/write memory medium, it is characterised in that the read/write memory medium is stored in computer, it is described can
Reading storage medium includes a plurality of instruction, and a plurality of instruction is configured so that computer is performed as claim 1-7 is any
Item methods described.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711257732.9A CN107807669B (en) | 2017-12-01 | 2017-12-01 | Control method and device based on enzyme numerical value membrane structure and readable storage medium |
Applications Claiming Priority (1)
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