CN108594839A - Control method, aircraft based on more vectoring technologies and storage medium - Google Patents
Control method, aircraft based on more vectoring technologies and storage medium Download PDFInfo
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- CN108594839A CN108594839A CN201810496683.2A CN201810496683A CN108594839A CN 108594839 A CN108594839 A CN 108594839A CN 201810496683 A CN201810496683 A CN 201810496683A CN 108594839 A CN108594839 A CN 108594839A
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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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- 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
Abstract
The invention discloses a kind of control method, aircraft and storage medium based on more vectoring technologies, the method includes：Aircraft is obtained along the practical attitude angle and expected angle of preset coordinate system Z axis, the differential seat angle of the expected angle and practical attitude angle is determined, the first Mean Vector is determined according to the differential seat angle；The first object vector angle that each motor of aircraft is determined based on first Mean Vector regulates and controls the actual vector angle of each motor of aircraft according to the first object vector angle, to promote the practical attitude angle of aircraft to reach the expected angle.The invention enables aircraft power control it is more flexible, driving capability is more effective.
Description
Technical field
The present invention relates to technical field of flight control more particularly to a kind of control method based on more vectoring technologies, aircrafts
And storage medium.
Background technology
For tilt rotor aircraft normally to be a underactuated control system when more rotor mode flights, i.e., coplanar is multiple
Motor controls the rotation and movement of three axis directions.Power wherein along Z axis rotation is driven by the anti-twisted power of multiple rotor wing rotations,
Which results in drive hypodynamic feature.
In the prior art, motor is pre-installed into a setting angle when installing motor, passes through one constant point of each motor
Power alleviates this problem, but due to the presence of this prepackage angle, power loss is larger in entire flight course, constant
Prepackage angle is also not enough to effectively control.
Therefore, there is an urgent need for a kind of more flexible, effective control methods.
Invention content
The main purpose of the present invention is to provide a kind of control methods based on more vectoring technologies, it is intended to solve tilting rotor
When aircraft is with more rotor mode flights, the weaker technology of driving capability is asked in some degree of freedom caused by control input number is very few
Topic.
To achieve the above object, the present invention provides a kind of control method based on more vectoring technologies, described to be based on more vectors
The control method of technology includes：
Aircraft is obtained along the practical attitude angle and expected angle of preset coordinate system Z axis, determines the expected angle and reality
The differential seat angle of border attitude angle determines the first Mean Vector according to the differential seat angle；
The first object vector angle that each motor of aircraft is determined based on first Mean Vector, according to the first object
Vector angle regulates and controls the actual vector angle of each motor of aircraft, to promote the practical attitude angle of aircraft to reach the expectation angle
Degree.
Optionally, the control method based on more vectoring technologies is applied to more gyroplanes, more gyroplane packets
Include the first vector motor, the second vector motor, third vector motor and four-vector motor；
The first object vector angle that each motor of aircraft is determined based on first Mean Vector, according to described first
Target vector angle regulate and control each motor of aircraft actual vector angle the step of include：
The first vector angle, second vector electricity of the first vector motor are determined based on first Mean Vector
Second vector angle of machine, the third vector motor third vector angle and the four-vector motor four-vector angle
Degree；
First vector angle is output to the first vector motor, second vector angle is output to it is described
The third vector angle is output to the third vector motor, exports the four-vector angle by the second vector motor
To the four-vector motor, so that each vector motor adjusts actual vector angle according to each vector angle respectively received.
Optionally, the control method based on more vectoring technologies further includes：
When detecting that the resistance from preset vector is more than preset value, it is based on the drag size and preset aircraft
Course determines the second Mean Vector needed for aircraft normal flight；
The second target vector angle that each motor of aircraft should reach is determined according to second Mean Vector, according to described
Two target vector angles regulate and control the actual vector angle of each motor of aircraft, to promote aircraft normal flight.
Optionally, the control method based on more vectoring technologies includes the following steps：
When it is fixed-wing pattern to detect aircraft by the variation of more rotor modes, each motor actual vector of aircraft angle is adjusted
Degree so that the component of each motor of aircraft is directed toward heading.
To achieve the above object, the present invention also provides a kind of aircraft, the aircraft includes：Memory, controller and storage
It is described to be based on more vectors on the memory and the control program based on more vectoring technologies that can be run on the controller
The step as described in the above-mentioned control method based on more vectoring technologies is realized when the control program of technology is executed by the controller.
Optionally, the aircraft include at least three rotors and be separately connected with three rotors first to third electricity
Machine, the aircraft further include first to third vector mechanism, and described first to third vector mechanism respectively with described first to
Three motors connect so that described first to third motor can provide thrust direction variable vectored thrust.
In addition, to achieve the above object, the present invention also provides a kind of storage medium, being stored with and being based on the storage medium
The control program of more vectoring technologies is realized when the control program based on more vectoring technologies is executed by a controller and is based on as above-mentioned
Step described in the control method of more vectoring technologies.
The present embodiment by obtain aircraft along preset coordinate system Z axis practical attitude angle and expected angle, determine described in
The differential seat angle of expected angle and practical attitude angle determines the first Mean Vector according to the differential seat angle；Based on the first phase
It hopes vector determine the first object vector angle of each motor of aircraft, each motor of aircraft is regulated and controled according to the first object vector angle
Actual vector angle, i.e., the Resulting thrust force side of all motors on aircraft is adjusted by adjusting the actual vector angle of each motor
To and size because each motor independent control and can increase vector angle this controlled quentity controlled variable so that aircraft power controls more
Flexibly, driving capability is more effective.
Description of the drawings
Fig. 1 is the aircaft configuration schematic diagram of the hardware running environment of the embodiment of the present invention；
Fig. 2 is tilting rotor wing unmanned aerial vehicle control technology structural topology of the embodiment of the present invention based on more vectoring technologies
Figure；
Fig. 3 is an embodiment schematic diagram of vector mechanism in the embodiment of the present invention；
Fig. 4 is that the present invention is based on the flow diagrams of the control method first embodiment of more vectoring technologies；
Fig. 5 is that an embodiment schematic diagram of preset coordinate system and more gyroplanes is illustrated in the embodiment of the present invention
Figure.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific implementation mode
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
In subsequent description, using the suffix of such as " module ", " component " or " unit " for indicating element only for being conducive to
The explanation of the present invention, itself does not have specific meaning.Therefore, " module ", " component " or " unit " can be used mixedly.
It is of the invention for ease of understanding, briefly describe the prior art related to the present invention and central inventive of the present invention point.
In the prior art, by adjusting the rotating speed of motor to realize the posture regulation and control to aircraft, and aircraft is by more rotor moulds
Formula variation is the process of fixed-wing pattern, is to drive specific rotor and motor (generally aircraft nose on aircraft by inclining rotary mechanism
Portion both ends rotor) vert with change motor offer push/pull (hereinafter referred " thrust ") direction realize, this inclines
Turning over journey, there are following characteristics：One, it is using, is being to switch to normal flight pattern from vertical helicopter mode；Two, it is tying
Structure is formal, and inclining rotary mechanism includes the driver for running through an interlocking bar on airframe head and being connected with the interlocking bar
Structure, two motor/rotors are fixedly installed on the interlocking bar both ends, and aircraft is inclined by interlocking bar described in transmission mechanism control
Turn, and then motor/rotor is driven to vert, and because two motor/rotors are fixedly installed on the interlocking bar both ends, removes rotor leaf
Outside piece rotary motion, two motor/rotors can not be freely rotated relative to the static setting of interlocking bar, thus described two motors/
Rotor links two-by-two, it is not possible to independent control；Three, in control parameter, in adjustment aspect, course, aircraft flight is safeguarded
When stablizing, the component size of motor offer only is adjusted by controlling motor speed, does not adjust the side for the component that motor provides
To the purpose for adjusting the component direction that motor is provided is only used for cutting aircraft between more rotor modes and fixed-wing pattern
It changes.
The present invention on motor by increasing vector mechanism so that motor can be in connecting rod up conversion direction, i.e. motor is opposite
In connecting rod direction-changeable, be nonstatic so that motor can provide thrust direction with respect to connecting rod can be changed vectored thrust.This hair
In bright, motor is driven to change direction relative to connecting rod by vector mechanism, the direction of verting of motor is more flexible in the present invention, can be with
The axis direction of connecting rod rotates for rotation center, is using, in addition to aircraft can be made in vertical helicopter mode and normal flight
Other than switching between pattern, control, the stability control of vector are can be also used for, in form, each motor is independent mutually
It is set on connecting rod, it can be achieved that independent control of verting not only controls motor speed in control parameter, also by controlling electricity
Machine verts direction to control the thrust direction of motor offer, and then controls component direction and size that motor provides.Wherein, vertically
Helicopter mode, that is, more rotor modes, normal flight pattern, that is, fixed-wing pattern.
As shown in Figure 1, Fig. 1 is the aircaft configuration schematic diagram of the hardware running environment of the embodiment of the present invention.
As shown in Figure 1, the aircraft may include：Controller 1001, memory 1002.Controller 1001 can be on aircraft
Flight controller primary processor (FMU), memory 1002 can be high-speed RAM memories, can also be read only memory ROM,
It can also be Flash flash memories and the memory (non-volatilememory) stablized.Before memory 1002 can be independently of
State the storage device of controller 1001.The control program based on more vectoring technologies, the control are stored in the memory 1002
Device 1001 processed can call the control program based on more vectoring technologies in memory 1002 and execute the step of various embodiments of the present invention
Suddenly.
Further, Fig. 3 is tilting rotor wing unmanned aerial vehicle control technology of the embodiment of the present invention based on more vectoring technologies
Structural topology figure.
With reference to Fig. 3, the aircraft further includes：Inertial Measurement Unit (IMU), Global Satellite Navigation System (GNSS), machinery
Position sensor, vector driving mechanism and power motor, input and output GPIO, motor, rudder face and load.
The Inertial Measurement Unit (IMU) is for acquiring aspect data, so that controller 1001 carries out appearance to aircraft
State resolves, and in the present invention, Inertial Measurement Unit (IMU) can be used for detecting aspect data, and aspect data are passed
It is defeated to arrive controller 1001 (in Fig. 3 by taking flight controller primary processor as an example), so that the controller 1001 passes through filtering algorithm
Calculate the practical attitude angle of aircraft；
The Global Satellite Navigation System (GNSS) is for acquiring aircraft position data, so that controller 1001 carries out aircraft
Position resolve；
The mechanical position sensor is used to detect the location information of vector mechanism, specifically includes the rotation angle of vector mechanism
Degree, i.e., the rotational angle of vector mechanism when vector mechanism driving-motor verts；
The vector driving mechanism refers to the actuating unit rotated for driving vector mechanism, and power motor refers to driving rotor leaf
The motor of piece rotation.
The aircraft be more rotors tilt rotor aircraft (including unmanned plane), can be three gyroplanes, quadrotor fly
Machine or six gyroplanes etc..
The aircraft in the embodiment of the present invention include at least three rotors and be separately connected with three rotors the
One to third motor, and the aircraft further includes first to third vector mechanism, described first to third vector mechanism respectively with institute
First is stated to the connection of third motor so that described first could provide direction variable thrust to third motor.
As shown in figure 3, passing through vector mechanism 10 so that the black box that rotor 20 and motor 30 are formed is with the axis of connecting rod 40
Line direction is rotation center rotation, and then adjusts the thrust direction of motor 30 so that the thrust direction of each motor of aircraft 30 is variable.
When the aircraft is quadrotor aircraft, the aircraft includes first to fourth electricity being separately connected with four rotors
Machine, the aircraft further include first to fourth vector mechanism, and first to fourth vector mechanism is respectively with described first to
Four motors connect so that first to fourth motor can provide thrust direction variable vectored thrust.
More than one vector motor is installed, thrust direction is sat relative to body on the aircraft in various embodiments of the present invention
The variable motor of mark system is vector motor.
The each embodiment of the method for the present invention is proposed based on above-mentioned aircraft hardware configuration.
It is described to be based on more vector skills in the control method first embodiment the present invention is based on more vectoring technologies with reference to Fig. 4
The control method of art includes：
Step S10 obtains aircraft along the practical attitude angle and expected angle of preset coordinate system Z axis, determines the expectation
The differential seat angle of angle and practical attitude angle determines the first Mean Vector according to the differential seat angle；
Aircraft controller pre-establishes the body coordinate system being fixed on aircraft as shown in Figure 5, and origin O is located at body weight
It is perpendicular to body y direction, Z axis is the horizontal plane direction where the body that the heart, X-axis, which are along body y direction, Y-axis,.
Before carrying out gesture stability to aircraft, the practical attitude data of aircraft need to be obtained, the IMU of aircraft can be passed through
(Inertial measurement unit Inertial Measurement Units) module acquires aspect data, is resolved by filtering algorithm
Go out aspect angle, aspect angle-data includes attitude angle of the aircraft along each reference axis, from nobody in the present embodiment
Practical attitude angle of the aircraft along Z axis is obtained in attitude angle data.
Expected angle can refer to aircraft controller and be in certain posture based on attitude data determines, the control aircraft that prestores
Target angle can also refer to the expected angle for including in the remote control signal that aircraft controller is received by communication module, phase
Hope that angle can be a specific angle value, or an angular range.
In one embodiment, aircraft is obtained in real time along the practical attitude angle and expected angle of preset coordinate system Z axis, judges institute
It states practical attitude angle and expected angle whether there is angle difference；If there are angles for the practical attitude angle and expected angle
Difference, then the step for executing the differential seat angle of the determination expected angle in the step S10 and practical attitude angle.In real time
The practical attitude angle for obtaining aircraft adjusts aspect according to the differential seat angle between practical attitude angle and expected angle, can
Realize the real-time adjustment to aspect, in the rotary course that aircraft is rotated to expected angle, the practical attitude angle of aircraft
Real-time change, the differential seat angle also real-time change, and then the control determined according to differential seat angle between practical attitude angle and expected angle
Amount processed also real-time change forms the control of a closed loop.
In another embodiment, practical attitude angle or expected angle generation of the aircraft along preset coordinate system Z axis is being detected
When variation, judge that the practical attitude angle and expected angle whether there is angle difference；If the practical attitude angle and phase
It hopes that there are angle difference for angle, then executes the angle of the determination expected angle and practical attitude angle in the step S10
The step for poor.
After determining expected angle and the differential seat angle of practical attitude angle, the first Mean Vector is determined according to the differential seat angle, this
In embodiment, which is subjected to control calculating, to generate the first Mean Vector, the first Mean Vector refers to rush
The resultant force for making aircraft rotate.
Each vector motor will produce a pulling force/thrust, since each vector motor is distributed in the difference of aircraft rotation center
Direction and distance, each vector motor can lead to each vector motor pulling force/thrust relative to the variation of body coordinate system vector angle
Component vector variation, aircraft controller control calculates each vector motor vector angle having, and will include each vector
The control signal transmission of the motor vector angle having carries out vector to each motor vector mechanism.Wherein, each vector
Motor generate pulling force/thrust vector and be equal to the first Mean Vector.
Step S20 determines the first object vector angle of each motor of aircraft based on first Mean Vector, according to described
First object vector angle regulates and controls the actual vector angle of each motor of aircraft, to promote the practical attitude angle of aircraft to reach described
Expected angle.
First Mean Vector input controller is subjected to control calculating, determines each motor first object azimuth having
The control signal correspondence of first object vector angle comprising each motor is output to each motor by degree, and each motor is based on reception
It controls respective first object vector angle in signal and regulates and controls actual vector angle, in each motor vector angle regulation process,
Aircraft also changes its practical attitude angle simultaneously, is slowly drawn close to the expected angle until overlapping.
For example, 0 ° of practical yaw angle, expected angle are 30 ° to aircraft this moment, angular error at this moment is 30 ° (with up time
Needle rotates to be positive direction).So the controlled quentity controlled variable that aircraft calculates should be：The motor component of rotation center both sides is to clockwise
Direction increases, and vector angle increases.
When aircraft is tilt rotor aircraft, the attitude regulation of tilt rotor aircraft can be divided into two stages, respectively incline
Rotate that wing aircraft does not vert the stage and tilt rotor aircraft verts the stage.Wherein, tilt rotor aircraft stage of not verting is i.e. vertical
More rotor flying patterns under the landing stage, at this point, each motor of tilt rotor aircraft is negative in maximum positive deflection angle and maximum
It is adjusted between deflection angle, adjusting angular dimension ang is：
K*ang=err*P+Ierr*I+Derr/dt*D
K is proportionality coefficient in formula, and err is the differential seat angle, and Ierr is the integral of angular error, and Derr is angular error
Differential.
After tilt rotor aircraft has verted, more vector engine tilt angle biggers, the offer of thrust bigger to nobody
The power that machine advances, while after vector angle intervention, unmanned plane steering behaviour is further promoted.
The present embodiment by obtain aircraft along preset coordinate system Z axis practical attitude angle and expected angle, determine described in
The differential seat angle of expected angle and practical attitude angle determines the first Mean Vector according to the differential seat angle；Based on the first phase
It hopes vector determine the first object vector angle of each motor of aircraft, each motor of aircraft is regulated and controled according to the first object vector angle
Actual vector angle, i.e., the Resulting thrust force side of all motors on aircraft is adjusted by adjusting the actual vector angle of each motor
To and size because each motor independent control and can increase vector angle this controlled quentity controlled variable so that aircraft power controls more
Flexibly, driving capability is more effective.
Further, propose that the present invention is based on the control method second embodiments of more vectoring technologies based on above-described embodiment.
In second embodiment of the invention, the control method based on more vectoring technologies is applied to more gyroplanes, institute
It includes the first vector motor, the second vector motor, third vector motor and four-vector motor to state more gyroplanes；
The first object vector angle that each motor of aircraft is determined based on first Mean Vector, according to described first
Target vector angle regulate and control each motor of aircraft actual vector angle the step of include：
Step S21, based on first Mean Vector determine the first vector motor the first vector angle, described
The of second vector angle of two vector motors, the third vector angle of the third vector motor and the four-vector motor
Four-vector angle；
First vector angle is output to the first vector motor, second vector angle is defeated by step S22
Go out to the second vector motor, the third vector angle be output to the third vector motor, by the four-vector
Angle is output to the four-vector motor, so that each vector motor adjusts actual vector according to each vector angle respectively received
Angle.
More gyroplanes include but not limited to first to fourth vector motor, may also include other non-vector motors or
Vector motor, Fig. 5 are an example of more gyroplanes in the present embodiment, wherein the motor of three rotors connection is vector
Motor, i.e. three motors could provide direction variable thrust.
First to fourth vector angle from each other can be identical, can also be entirely different.
First to fourth vector motor is according to first to fourth vector angle adjustment actual vector angle respectively received
Respective actual vector angle is adjusted to close to first to fourth vector angle by degree, i.e. first to fourth vector motor, until
The practical attitude angle of aircraft reaches the expected angle.
In the present embodiment, by carrying out control calculating to the first Mean Vector, first to fourth vector of aircraft is determined
The respective first object vector angle of motor (i.e. first to fourth vector angle) realizes the independence of first to fourth vector motor
Control so that control is more flexible, and control output effect is more preferable.
Further, propose that the present invention is based on the control method 3rd embodiments of more vectoring technologies based on above-described embodiment.
In the third embodiment, the control method based on more vectoring technologies further includes：
Step S30, when detecting that the resistance from preset vector is more than preset value, based on the drag size and
Preset vector determines the second Mean Vector needed for aircraft normal flight；
Step S40 determines the second target vector angle that each motor of aircraft should reach, root according to second Mean Vector
The actual vector angle for regulating and controlling each motor of aircraft according to the second target vector angle, to promote aircraft normal flight.
In the present embodiment, preset vector refers to the direction that aircraft will be flown to, for example, aircraft flies toward direct north,
Then preset vector is direct north.Aircraft meet with obstruction (such as high wind, obstruction etc.) cause aircraft can not be according to
When original preset vector flight or flying speed are reduced to a certain extent, need to increase pushing away toward preset vector
Power, to ensure aircraft normal flight.
Preset value guidance causes aircraft flight speed to reduce to a certain extent or can not fly according to original preset vector
Resistance critical value, can determine preset value according to the thrust that aircraft flies toward preset vector.
The direction of second Mean Vector is identical as preset vector, and the size of the second Mean Vector is identical or big as resistance
In resistance.Second Mean Vector input controller is subjected to control calculating, determines each motor second target vector angle having,
The control signal correspondence of the second target vector angle comprising each motor is output to each motor, control of each motor based on reception
Respective second target vector angle regulates and controls actual vector angle, in each motor vector angle regulation process, each electricity in signal
The sum of vector vector of machine is close to up to being equal to the second Mean Vector, and then guarantee aircraft normal flight.
By taking three gyroplanes shown in Fig. 5 as an example, which encounters high wind, then controls in flight forward
In general direction, the motor component on the left of the three gyroplanes rotation center increases clockwise, on the right side of rotation center
Motor component increases counterclockwise, and two resultant forces are directed toward the motor component in flight front or left side to counterclockwise simultaneously
Direction increases, and the motor component on the right side of rotation center increases clockwise.
The present embodiment is by the way that when detecting that the resistance from preset vector is more than preset value, it is big to be based on the resistance
Small and preset vector determines the second Mean Vector needed for aircraft normal flight, and the vector angle by regulating and controlling each motor makes
The sum of the vector for obtaining all motors reaches the second Mean Vector, the control with realization to aircraft flight direction and posture, and because
Each motor vector angle is independently variable, and driving capability is more effective relative to traditional control method.
Further, propose that the present invention is based on the control method fourth embodiments of more vectoring technologies based on above-described embodiment.
In the fourth embodiment, the control method based on more vectoring technologies includes the following steps：
Step S50, when it is fixed-wing pattern to detect aircraft by the variation of more rotor modes, each motor of adjustment aircraft is practical
Vector angle so that the component of each motor of aircraft is directed toward heading.
When aircraft turns to fixed-wing by more rotary wing changings, independent tune can be carried out by the actual vector angle to each motor
It is whole, with Fig. 5 examples, the first vector motor, the second vector motor, the output of third vector motor can be rotated to vertically respectively
The control signal in face so that component is directed toward heading by each vector motor rotation, realizes aircraft by more rotors to fixed-wing
Conversion.
By being independently controlled to each vector motor rather than coordinated signals in the present embodiment, control output is increased indirectly
Diversity, can more effectively control the process of verting.
In addition, the embodiment of the present invention also proposes a kind of storage medium, it is stored on the storage medium based on more vector skills
The control program of art is realized when the control program based on more vectoring technologies is executed by a controller as described in above-described embodiment
Step, particular content is as detailed above, and details are not described herein again.
It should be noted that herein, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that process, method, article or system including a series of elements include not only those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or system institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including this
There is also other identical elements in the process of element, method, article or system.
The embodiments of the present invention are for illustration only, can not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical scheme of the present invention substantially in other words does the prior art
Going out the part of contribution can be expressed in the form of software products, which is stored in one as described above
In storage medium (such as ROM/RAM), including some instructions are used so that an airplane equipment executes each embodiment institute of the present invention
The method stated.
It these are only the preferred embodiment of the present invention, be not intended to limit the scope of the invention, it is every to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (7)
1. a kind of control method based on more vectoring technologies, which is characterized in that the control method packet based on more vectoring technologies
Include following steps：
Aircraft is obtained along the practical attitude angle and expected angle of preset coordinate system Z axis, determines the expected angle and practical appearance
The differential seat angle of state angle determines the first Mean Vector according to the differential seat angle；
The first object vector angle that each motor of aircraft is determined based on first Mean Vector, according to the first object vector
Angle regulates and controls the actual vector angle of each motor of aircraft, to promote the practical attitude angle of aircraft to reach the expected angle.
2. the control method as described in claim 1 based on more vectoring technologies, which is characterized in that described to be based on more vectoring technologies
Control method be applied to more gyroplanes, more gyroplanes include the first vector motor, the second vector motor, third arrow
Measure motor and four-vector motor；
The first object vector angle that each motor of aircraft is determined based on first Mean Vector, according to the first object
Vector angle regulate and control each motor of aircraft actual vector angle the step of include：
The first vector angle of the first vector motor, the second vector motor are determined based on first Mean Vector
Second vector angle, the third vector motor third vector angle and the four-vector motor four-vector angle；
First vector angle is output to the first vector motor, second vector angle is output to described second
The third vector angle is output to the third vector motor, the four-vector angle is output to institute by vector motor
Four-vector motor is stated, so that each vector motor adjusts actual vector angle according to each vector angle respectively received.
3. the control method as described in claim 1 based on more vectoring technologies, which is characterized in that described to be based on more vectoring technologies
Control method further include：
When detecting that the resistance from preset vector is more than preset value, it is based on the drag size and preset vector
Determine the second Mean Vector needed for aircraft normal flight；
The second target vector angle that each motor of aircraft should reach is determined according to second Mean Vector, according to second mesh
The actual vector angle for marking vector angle regulation and control each motor of aircraft, to promote aircraft normal flight.
4. the control method as described in claim 1 based on more vectoring technologies, which is characterized in that described to be based on more vectoring technologies
Control method include the following steps：
When it is fixed-wing pattern to detect aircraft by the variation of more rotor modes, each motor actual vector angle of aircraft is adjusted, is made
The component for obtaining each motor of aircraft is directed toward heading.
5. a kind of aircraft, which is characterized in that the aircraft includes：It memory, controller and is stored on the memory and can
The control program based on more vectoring technologies run on the controller, it is described based on the control program of more vectoring technologies by institute
State the step of realizing the control method according to any one of claims 1 to 4 based on more vectoring technologies when controller executes.
6. aircraft as claimed in claim 5, which is characterized in that the aircraft includes at least three rotors and revolved with this three
The wing be separately connected first to third motor, the aircraft further includes first swearing to third vector mechanism, described first to third
Measuring mechanism is connect with described first to third motor respectively so that described first to third motor can provide what thrust direction can be changed
Vectored thrust.
7. a kind of storage medium, which is characterized in that be stored with the control program based on more vectoring technologies, institute on the storage medium
Realization when the control program based on more vectoring technologies is executed by a controller is stated to be based on according to any one of claims 1 to 4
The step of control method of more vectoring technologies.
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| CN201810496683.2A CN108594839B (en) | 2018-05-22 | 2018-05-22 | Control method, aircraft and storage medium based on more vectoring technologies |
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Cited By (5)
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| CN110998474A (en) * | 2018-09-29 | 2020-04-10 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method and unmanned aerial vehicle |
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| WO2020237528A1 (en) * | 2019-05-29 | 2020-12-03 | 深圳市大疆创新科技有限公司 | Flight control method and device for vertical take-off and landing unmanned aerial vehicle, and vertical take-off and landing unmanned aerial vehicle |
| CN113791632A (en) * | 2021-09-10 | 2021-12-14 | 常州希米智能科技有限公司 | Processing method and device for real-time flight attitude of unmanned aerial vehicle |
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| CN111367309A (en) * | 2018-12-25 | 2020-07-03 | 杭州海康机器人技术有限公司 | Unmanned aerial vehicle flight control method and device |
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| WO2020237528A1 (en) * | 2019-05-29 | 2020-12-03 | 深圳市大疆创新科技有限公司 | Flight control method and device for vertical take-off and landing unmanned aerial vehicle, and vertical take-off and landing unmanned aerial vehicle |
| CN113791632A (en) * | 2021-09-10 | 2021-12-14 | 常州希米智能科技有限公司 | Processing method and device for real-time flight attitude of unmanned aerial vehicle |
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