CN108594839B - Control method, aircraft and storage medium based on more vectoring technologies - Google Patents
Control method, aircraft and storage medium based on more vectoring technologies Download PDFInfo
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- CN108594839B CN108594839B CN201810496683.2A CN201810496683A CN108594839B CN 108594839 B CN108594839 B CN 108594839B CN 201810496683 A CN201810496683 A CN 201810496683A CN 108594839 B CN108594839 B CN 108594839B
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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
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Abstract
The invention discloses a kind of control method based on more vectoring technologies, aircraft and storage mediums, the described method includes: obtaining aircraft along the practical attitude angle and expected angle of preset coordinate system Z axis, the differential seat angle for determining the expected angle He practical 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 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 methods based on more vectoring technologies, aircraft
And storage medium.
Background technique
For tilt rotor aircraft normally to be a underactuated control system when more rotor mode flights, i.e., coplanar is multiple
The rotation and movement of three axis directions of motor control.Wherein the power 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, each motor constant point
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, a kind of more flexible, effective control method is needed.
Summary of the invention
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 freedom degree 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 first vector motor are determined based on first Mean Vector
The four-vector angle of second vector angle of machine, the third vector angle of the third vector motor and the four-vector motor
Degree；
First vector angle is output to 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 respectively received each vector angle.
Optionally, the control method based on more vectoring technologies further include:
When detecting that the resistance from preset vector is greater 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 the following steps are included:
When detecting aircraft by the variation of more rotor modes is fixed-wing mode, 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 connection, so that described first can provide the vectored thrust that thrust direction can be changed to third motor.
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 this control amount of vector angle, so that aircraft power control is more
Flexibly, driving capability is more effective.
Detailed description of the invention
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 an embodiment schematic diagram of preset coordinate system and more gyroplanes signal 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 embodiment
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, be conducive to using the suffix for indicating such as " module ", " component " or " unit " of element
Explanation of the 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 revolving speed of motor to realize the posture regulation to aircraft, and aircraft is by more rotor moulds
Formula variation is the process of fixed-wing mode, is to drive specific rotor and motor (generally aircraft nose on aircraft by inclining rotary mechanism
Portion both ends rotor) it verts to change push/pull (hereinafter referred " thrust ") the direction realization of motor offer, this inclines
Turning over journey, there are following characteristics: one, being to switch to normal flight mode from vertical helicopter mode in effect；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 is only adjusted by control motor speed, does not adjust the side for the component that motor provides
To the purpose in i.e. component direction provided by adjustment motor is only used for cutting aircraft between more rotor modes and fixed-wing mode
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, enable motor 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 is rotation center rotation, in effect, in addition to aircraft can be made in vertical helicopter mode and normal flight
Other than switching between mode, control, the stability control of vector 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 mode, that is, fixed-wing mode.
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 memory, be also possible to read only memory ROM,
It can also be Flash flash memory and stable memory (non-volatilememory).Memory 1002 can be independently of preceding
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.
Referring to Fig. 3, the aircraft further include: 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 that the power mechanism for the rotation of driving vector mechanism, power motor refer to driving rotor leaf
The motor of piece rotation.
The aircraft is the tilt rotor aircraft (including unmanned plane) of more rotors, can be three gyroplanes, quadrotor flies
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, by 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 30 of aircraft 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 connection, so that first to fourth motor can provide the variable vectored thrust of thrust direction.
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 referring 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 for perpendicular to horizontal plane direction where 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 Unit) module acquires aspect data, is resolved by filtering algorithm
Aspect angle out, aspect angle number evidence is including aircraft from nobody along the attitude angle of each reference axis, the present embodiment
Aircraft is obtained in attitude angle data along the practical attitude angle of Z axis.
Expected angle can refer to that aircraft controller is in certain posture based on attitude data determines, control aircraft is prestored
Target angle can also refer to that aircraft controller passes through the expected angle for including in the received remote control signal of 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
Practical attitude angle and expected angle are stated with the presence or absence of 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 the practical attitude angle and expected angle with the presence or absence of 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 rotating aircraft.
Each vector motor can generate a pulling force/thrust, since each vector motor is distributed in the difference of aircraft rotation center
Direction and distance, each vector motor will 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 of the motor vector angle having is transferred to each motor vector mechanism and carries out vector.Wherein, each vector
Motor generates pulling force/thrust vector and is 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 of first object vector angle comprising each motor is corresponded to and is output to each motor by degree, and each motor is based on received
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, slowly draws close to the expected angle until being overlapped.
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 control amount that aircraft calculates should are as follows: the motor component of rotation center two 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 modes 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, adjusts angular dimension ang are as follows:
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 angles are bigger, the bigger offer of thrust 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 this control amount of vector angle, so that aircraft power control is more
Flexibly, driving capability is more effective.
Further, the control method second embodiment the present invention is based on more vectoring technologies is proposed based on the above embodiment.
In second embodiment of the invention, the control method based on more vectoring technologies is applied to more gyroplanes, institute
Stating more gyroplanes includes 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:
Step S21, based on first Mean Vector determine 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 first vector motor, second vector angle is defeated by step S22
Second vector motor is arrived out, the third vector angle is 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 respectively received each vector angle
Angle.
More gyroplanes include but is 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 adjusts actual vector angle according to respectively received first to fourth vector angle
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, control output effect is more preferable.
Further, the control method 3rd embodiment the present invention is based on more vectoring technologies is proposed based on the above embodiment.
In the third embodiment, the control method based on more vectoring technologies further include:
Step S30, when detecting that the resistance from preset vector is greater 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
According to the actual vector angle of the second target vector angle regulation each motor of aircraft, 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 guarantee 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 toward the thrust that preset vector flies according to aircraft.
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 of the second target vector angle comprising each motor is corresponded to and is output to each motor, each motor is based on received control
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 it is big to be based on the resistance when detecting that the resistance from preset vector is greater than preset value
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, the control method fourth embodiment the present invention is based on more vectoring technologies is proposed based on the above embodiment.
In the fourth embodiment, the control method based on more vectoring technologies the following steps are included:
Step S50, when detecting aircraft by the variation of more rotor modes is fixed-wing mode, 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 example, 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 realizes aircraft by more rotors to fixed-wing so that component is directed toward heading by the rotation of each vector motor
Conversion.
In the present embodiment by each vector motor is independently controlled rather than linkage control, increase indirectly control output
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 as described in above-described embodiment when the control program based on more vectoring technologies is executed by a controller
Step, particular content is as detailed above, and details are not described herein again.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the system that include a series of elements not only include 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 being somebody's turn to do
There is also other identical elements in the process, method of element, article or system.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied 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.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all 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 respective first object vector angle of 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；
Wherein, first Mean Vector refers to the resultant force for promoting aircraft to rotate；First Mean Vector is inputted into aircraft control
Device carries out control calculating, each motor first object vector angle having is determined, by the first object azimuth comprising each motor
The control signal of degree is corresponding to be output to each motor, and each motor is based on respective first object vector angle in received control signal
Regulate and control actual vector angle, the Resulting thrust force side of all motors on aircraft is adjusted by adjusting the actual vector angle of each motor
To and size, each vector motor generate pulling force/thrust vector and be equal to first Mean Vector；
The practical attitude angle for obtaining aircraft in real time adjusts aircraft according to the differential seat angle between practical attitude angle and expected angle
Posture realizes the real-time adjustment to aspect, in the rotary course that aircraft rotates to expected angle, forms closed-loop control.
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 first vector motor, second vector motor are determined based on first Mean Vector
The four-vector angle of second vector angle, the third vector angle of the third vector motor and the four-vector motor；
First vector angle is output to 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 respectively received each vector angle.
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 greater 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 of vector angle regulation each motor of aircraft is marked, 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 the following steps are included:
When detecting aircraft by the variation of more rotor modes is fixed-wing mode, 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: 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 revolves 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 to can provide thrust direction variable
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.
Priority Applications (1)
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| WO2020062166A1 (en) * | 2018-09-29 | 2020-04-02 | 深圳市大疆创新科技有限公司 | Control method of unmanned aerial vehicles and unmanned aerial vehicles |
| CN109515700B (en) * | 2018-12-14 | 2021-04-06 | 北京航空航天大学 | Four-rotor aircraft vector control method and four-rotor aircraft |
| CN111367309B (en) * | 2018-12-25 | 2023-09-01 | 杭州海康威视数字技术股份有限公司 | Unmanned aerial vehicle flight control method and device |
| 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 |
| CN113791632B (en) * | 2021-09-10 | 2023-07-18 | 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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