CN107908193B - Non-planar eight-rotor omnidirectional aircraft and control method - Google Patents
Non-planar eight-rotor omnidirectional aircraft and control method Download PDFInfo
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- CN107908193B CN107908193B CN201711468981.2A CN201711468981A CN107908193B CN 107908193 B CN107908193 B CN 107908193B CN 201711468981 A CN201711468981 A CN 201711468981A CN 107908193 B CN107908193 B CN 107908193B
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- 229920000049 Carbon (fiber) Polymers 0.000 claims description 3
- 239000004917 carbon fiber Substances 0.000 claims description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/02—Gyroplanes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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Abstract
The invention discloses a non-planar eight-rotor omnidirectional aircraft and a control method, wherein the aircraft comprises a fuselage, eight support arms, eight rotors and a control system, wherein one ends of the eight support arms are arranged on the fuselage, the eight rotors are respectively arranged in the middle of the support arms, the control system is arranged in the fuselage and connected with the rotors, the spatial position of the other ends of the eight support arms is positioned at the vertex of a cube taking the fuselage as the center, and the control system comprises a position controller and a gesture controller. The invention can realize any desired thrust and torque combination, hover and acceleration in any direction with any gesture, has high gesture controllability and stability, and realizes complete decoupling of motion and gesture.
Description
Technical Field
The invention relates to the technical field of aircrafts, in particular to a non-planar eight-rotor omnidirectional aircraft and a control method thereof.
Background
Unmanned aerial vehicles are rapidly becoming a mature technology and have been successfully applied to a variety of tasks including surveillance, inspection, mapping and search and rescue. Due to its flexibility and mechanical simplicity, such tasks are performed using, for example, a four-rotor drone. However, these conventional planar multi-rotor unmanned aerial vehicles are under-actuated, i.e., their thrust and torque cannot be independently controlled in six degrees of freedom. Conventional multi-rotor drones are unable to independently control their thrust and torque vectors in any direction, which limits the possible position and attitude trajectories to combine them, as well as their ability to interact with the flight environment and perform complex maneuvering tasks, thus requiring the drone to be able to instantaneously resist any force and torque disturbances.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the non-planar eight-rotor omnidirectional aircraft and the control method, which can realize any expected lifting force and torque combination, hover and acceleration in any direction in any gesture, have high gesture controllability and the resultant force and the resultant moment of the stable aircraft are respectively controllable in six degrees of freedom in space, so that the independent adjustment of the movement direction and gesture can be realized, and the complete decoupling of the movement and the gesture is realized.
In order to achieve the above purpose, the technical scheme of the invention is as follows: the utility model provides a eight rotor qxcomm technology crafts of non-planar type, includes fuselage, one end installs eight support arms on the fuselage, sets up eight rotors at the support arm middle part respectively and installs the control system who is connected with each rotor in the fuselage, and the other end spatial position of eight support arms is located the summit of a square with the fuselage as center, control system includes position controller and gesture controller.
Further, the rotor includes a rotor and a reversible motor that directly drives the rotor.
Further, the direction of the rotor is arranged perpendicular to its position vector.
Further, each rotor actuator centroid is equidistant from the fuselage center.
Further, the supporting arm is made of carbon fiber materials.
Further, the support arms can make up the landing gear in six planes.
Further, the position matrix P and the direction matrix X of the eight rotors are as follows:
wherein,
based on the control method of the non-planar rotary wing omnidirectional aircraft, the aircraft calculates the required force by a position controller as follows:
wherein m is the mass of the aircraft, R (q) is the resultant force matrix, g is the gravitational acceleration,to theoretical centroid acceleration, p err For position error, p err ＝p des -p，p des For the position of the aircraft, p is the actual position of the aircraft, < >>For the rate of change of position error, +.> τ is the time constant, ζ is the damping ratio, k i A gain factor set to reduce interference steady state;
the moment required by the aircraft through the attitude controller is calculated as follows:
wherein τ ω Is a time constant, J is the moment of inertia of the aircraft, ω is the actual angular velocity of the fuselage, ω des For the theoretical angular velocity of the fuselage,q err is the attitude error τ att Is a time constant omega ff For the feedback of the angular velocity of the fuselage,/->Attitude error q err ＝q -1 ·q des ，q des For theoretical posture error, ++>Is its rate of change.
The lift force distributed on each rotor wing by the resultant force and resultant moment required by the aircraft is obtained by adopting the following algorithm:wherein M is + ＝M T (MM T ) -1 M is the rotor f prop A matrix mapped to moment and matrix y= (f, t).
Further, the forces and moments generated by the aircraft rotor are respectively:
wherein f prop,i For lift on ith rotor, x i Generating a unit vector of direction of lift, p, for the ith rotor i For the position of the ith rotor, κ is the coefficient of drag due to aerodynamic disturbances, κf prop,i x i The moment generated for the aerodynamic drag of the rotor.
Compared with the prior art, the invention has the beneficial effects that: the eight rotor wings are configured in a non-planar way, the rotating speed of the eight rotor wings can be independently controlled to enable the resultant torque of the fuselage to be zero, the included angle between the plane direction of the rotor wings and the fuselage enables the resultant force and resultant torque of the eight rotor wings to be respectively controllable in six degrees of freedom of space, the independent adjustment of the movement direction and the gesture can be realized, and the complete decoupling of the movement and the gesture is realized.
Drawings
Figure 1 is a schematic structural view of a non-planar eight-rotor omnidirectional aircraft of the present invention;
figure 2 is a rotor actuator position diagram of a non-planar eight-rotor omnidirectional aircraft of the present invention;
figure 3 is a control block diagram of a non-planar eight-rotor omnidirectional aircraft of the present invention;
figure 4 is a model of the lift produced by each rotor of a non-planar eight-rotor omnidirectional aircraft in accordance with the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings and examples.
In the autonomous flight process of a general aircraft, a track tracking control algorithm generates components of the total lift force of a rotor wing in an expected direction by changing the attitude angle of the aircraft, so that the aircraft flies along the expected track, the track tracking control updates virtual target points continuously from the flight position of the aircraft, keeps the actual flight path of the aircraft consistent with the expected path, reduces track tracking errors caused by yaw angle errors, adopts a hovering outer ring controller, namely a position controller, in hovering, adopts constant-speed outer ring control in track tracking and keeping motion state, and distributes corresponding expected speeds according to the position errors under inertial coordinates.
When gain faults occur in the aircraft execution unit, the self-reconfiguration control compensates the influence of the drop of the lift factor by increasing the rotating speed of the rotor, and when the failure faults occur, the self-reconfiguration control gives up the control of the yaw angle and only controls the pitch angle theta, the roll angle phi and the flying height to ensure safety.
As shown in fig. 1, the non-planar eight-rotor omnidirectional aircraft comprises a fuselage, eight support arms, eight rotors and a control system, wherein one ends of the eight support arms are installed on the fuselage, the eight rotors are respectively arranged in the middle of the support arms, the control system is installed in the fuselage and connected with the rotors, the spatial position of the other ends of the eight support arms is located at the top point of a cube taking the fuselage as the center, the six view directions are identical, and the control system comprises a position controller and an attitude controller.
Eight support arms are square summit and center connection type and are installed in the fuselage and equal in length, and are identical in six view directions, and the support arms adopt carbon fiber construction because of the strong rigidity and the light weight.
The rotor includes a rotor and a reversible motor that directly drives the rotor, and eight rotor positions are forming eight vertices of a cube.
The supporting arm can form landing gear on six planes and protect the machine body.
As shown in fig. 2, the rotor actuator centroid is equidistant from the fuselage center, determining the inertial tensor of the fuselage. The support arm is four pairs, and the rotor is eight, and the position matrix P and the direction matrix X of eight rotors are as follows:
wherein the method comprises the steps of
As shown in fig. 1 and 4, each rotor is directly driven by an electric motor, and the energy loss of the traditional mechanical transmission is completely avoided. The eight rotor wings are configured in a non-planar way, the rotating speed of the eight rotor wings can be independently controlled to enable the resultant torque of the fuselage to be zero, the included angle between the plane direction of the rotor wings and the fuselage enables the resultant force and the resultant torque of the eight rotor wings to be respectively controllable in six degrees of freedom of space, therefore, the independent adjustment of the movement direction and the gesture can be realized, and the complete decoupling of the movement and the gesture is realized.
As shown in fig. 3-4, the non-planar eight-rotor omnidirectional aircraft described herein calculates the required force and the desired moment by position and attitude controllers within the fuselage, respectively, to select the lift of each rotor.
Forces and moments generated by the rotor of an aircraft:
wherein f prop,i For lift on ith rotor, x i Generating a unit vector of direction of lift, p, for the ith rotor i The second term of torque, where κ is the coefficient of drag caused by aerodynamic disturbances and is the position of the ith rotorf prop,i x i The moment generated for the aerodynamic drag of the rotor.
The translational and rotational motion dynamics of an aircraft are represented by newton-euler equationsAnd->
The aircraft calculates the required force by means of a position controller in the fuselage:
wherein m is the mass of the aircraft, R (q) is the resultant force matrix, g is the gravitational acceleration,to theoretical centroid acceleration, p err For position error, p err ＝p des -p，p des For the position of the aircraft, p is the actual position of the aircraft, < >>For the rate of change of position error, +.> τ is the time constant, ζ is the damping ratio, k i A gain factor set to reduce interference steady state;
the aircraft calculates the required moment by means of a attitude controller in the fuselageWherein τ ω Is a time constant, J is the moment of inertia of the aircraft, ω is the actual angular velocity of the fuselage, ω des Is the theoretical fuselageThe angular velocity of the light emitted from the light source,q err is the attitude error τ att Is a time constant omega ff For the feedback of the angular velocity of the fuselage,/->Attitude error q err ＝q -1 ·q des ，q des As the theoretical attitude error, the position and orientation error,is its rate of change.
The lift force distributed on each rotor wing by the resultant force and resultant moment required by the aircraft is obtained by adopting the following algorithm:
wherein M is + ＝M T (MM T ) -1
Wherein M is the rotor f prop A matrix mapped to moment and matrix y= (f, t).
The above is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiment. It will be appreciated that other modifications and variations which may be directly derived or contemplated by those skilled in the art without departing from the spirit and scope of the present invention are deemed to be included within the scope of the present invention.
Claims (5)
1. A control method of a non-planar eight-rotor omnidirectional aircraft, which is characterized by comprising the following steps: the aircraft comprises a fuselage (1), eight support arms (2) connected to the outer side of the fuselage (1), eight rotors (3) respectively arranged in the middle of the support arms (2) and an aircraft controller arranged in the fuselage, wherein the positions of the eight rotors are spatially symmetrical to the center of the fuselage (1), the inner ends of the support arms (2) are arranged on the fuselage (1) and the whole arms are completely symmetrical to the center of the fuselage (1), the positions of the eight rotors (3) form eight vertexes of a cube, and the directions of the rotors are vertical to the position vectors of the rotors;
eight supporting arms (2) are arranged on the machine body (1) in a way that the top points of the cubes are connected with the center;
the rotor (3) consists of a rotor and a reversible motor for directly driving the rotor;
the center of mass of the actuator is equidistant from the center of the machine body (1), thereby determining the inertia tensor of the aircraft; the support arm (2) is made of carbon fiber, because of its high rigidity and light weight;
the supporting arm (2) can form landing gear on six planes and has protection function on the machine body (1);
the support arm is four pairs, and the rotor is eight, and the position matrix P and the direction matrix X of eight rotors are as follows:
wherein the method comprises the steps of
The method comprises the steps that a track tracking control algorithm generates components of total lift force of a rotor wing in an expected direction through changing an attitude angle of the aircraft in an autonomous flight process of the aircraft, so that the aircraft flies along the expected track, a track tracking controller updates virtual target points continuously from a flight position of the aircraft, an actual flight path of the aircraft is kept consistent with the expected path, track tracking errors caused by yaw angle errors are reduced, a hovering outer ring controller, namely a position controller, is adopted when the aircraft hovers, a constant speed outer ring controller is adopted when the track is tracked and kept in a motion state, and the constant speed outer ring controller distributes corresponding expected speeds according to the position errors under inertial coordinates; when gain faults occur in the aircraft execution unit, the self-reconstruction controller compensates the influence of the decline of the lift factor by increasing the rotating speed of the rotor, and when failure faults occur, the self-reconstruction controller gives up the control of the yaw angle and only controls the pitch angle theta, the roll angle phi and the flying height to ensure safety;
forces and moments generated by the rotor of an aircraft:
wherein the second term of the moment is the moment generated by the aerodynamic drag of the rotor.
2. The method for controlling a non-planar eight-rotor omnidirectional aircraft of claim 1, wherein: the translational motion and the rotational motion dynamics of the aircraft are expressed by Newton-Euler equationsAnd->
3. The method for controlling a non-planar eight-rotor omnidirectional aircraft of claim 1, wherein: the aircraft calculates the required force asWherein the position error is defined as p err ＝p des -p, increasing k i The term is to reduce the effect of aerodynamic disturbances,τ time constant, ζ is damping ratio.
4. Root of Chinese characterA method of controlling a non-planar eight-rotor omnidirectional aircraft according to claim 1, wherein: the aircraft calculates the required moment through a gesture controller in the machine body (1)Wherein the posing errors are defined as p err ＝p -1 ·p des The body angular rate is->Wherein the method comprises the steps of
5. A method of controlling a non-planar eight-rotor omnidirectional aircraft according to any one of claims 1-4, wherein: the lift force distributed on each rotor wing by the resultant force and resultant moment required by the aircraft is obtained by adopting the following algorithm:wherein M is + ＝M T (MM T ) -1 。
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| CN108515822A (en) * | 2018-05-11 | 2018-09-11 | 西南交通大学 | Air-ground amphibious robot of omnidirectional |
| CN109108990A (en) * | 2018-07-24 | 2019-01-01 | 西北工业大学 | A kind of station module inner machine people with non-co-planar more rotors |
| CN112977881A (en) * | 2019-12-17 | 2021-06-18 | 袁俊伟 | Space vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107021218A (en) * | 2017-05-23 | 2017-08-08 | 福州大学 | The on-plane surface aircraft and control method of a kind of wind disturbance resistance |
| CN207689917U (en) * | 2017-12-29 | 2018-08-03 | 福州大学 | A kind of eight rotor omnidirectional aircraft of non-planar |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107021218A (en) * | 2017-05-23 | 2017-08-08 | 福州大学 | The on-plane surface aircraft and control method of a kind of wind disturbance resistance |
| CN207689917U (en) * | 2017-12-29 | 2018-08-03 | 福州大学 | A kind of eight rotor omnidirectional aircraft of non-planar |
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| 微型八旋翼飞行器的姿态角回路智能控制;陈向坚;;江苏航空(第04期);全文 * |
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