CN108628328A - A kind of control method and device of unmanned plane - Google Patents
A kind of control method and device of unmanned plane Download PDFInfo
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- CN108628328A CN108628328A CN201710175705.0A CN201710175705A CN108628328A CN 108628328 A CN108628328 A CN 108628328A CN 201710175705 A CN201710175705 A CN 201710175705A CN 108628328 A CN108628328 A CN 108628328A
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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
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
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Abstract
An embodiment of the present invention provides a kind of control method and device of unmanned plane, the unmanned plane includes differential mechanism and sending device, and the differential mechanism includes actuator, the differential mechanism and transmission axis connection, the method includes：It receives the sending device and sends specific instruction；The specific instruction is responded, the rotary speed parameter of transmission shaft is adjusted by the actuator in the differential mechanism, controls the flight attitude of unmanned plane.The posture that unmanned plane can be adjusted in the case where not changing driver rotating speed, makes fuel engines steady operation, effectively improves the service life of fuel engines；Fuel engines is mounted on the geometric center of unmanned plane so that the vibration that unmanned plane generates is smaller；A set of automatically controlled circuit and oil feed line are only needed, wiring operations, pipelaying operation are simple and convenient, easy to maintain；Using The gear deceleration, torque is promoted after deceleration, and larger propeller may be used, and pneumatic efficiency is high.
Description
Technical field
The present invention relates to the technical fields of communication, the control method and a kind of unmanned plane more particularly to a kind of unmanned plane
Control device.
Background technology
Traditional multi-rotor unmanned aerial vehicle mostly uses motor as power, and generally existing is short cruise duration, the small problem of load-carrying.
Short in order to solve electronic multi-rotor unmanned aerial vehicle endurance, the small disadvantage of load-carrying, existing more rotors are with unmanned plane using one or more
Fuel engines substitutes motor, efficiently solves that endurance is short, and the small disadvantage of load-carrying, but there are the following problems：1, unmanned plane exists
When flight, by the rotating speed of change fuel engines come change of flight posture, fuel engines rotating speed is all changing at any time, accelerates
Fuel engines is worn, and seriously affects engine life；2., compared with single fuel engines, multiple fuel engines failures
Rate improves, maintainable poor；3, multiple fuel engines operating mode difference are big, and rotating speed consistency is poor, big by such environmental effects,
It is difficult to control；4, each fuel engines is a vibration source, vibrates bigger caused by multiple fuel engines vibration sources.5, every
A fuel engines is required for independent automatically controlled circuit and oil feed line, and cost is higher, and wiring, stringing are more, troublesome maintenance；6、
It is limited by fuel engines torque characteristics, the paddle that size can only be used smaller, pneumatic efficiency is low.
Invention content
In view of the above problems, it is proposed that the embodiment of the present invention overcoming the above problem or at least partly in order to provide one kind
A kind of control method of the unmanned plane to solve the above problems and a kind of control device of unmanned plane.
To solve the above-mentioned problems, the embodiment of the invention discloses a kind of control method of unmanned plane, the unmanned plane packets
Differential mechanism and sending device are included, the differential mechanism includes actuator, the differential mechanism and transmission axis connection, the method includes：
It receives the sending device and sends specific instruction；
The specific instruction is responded, the rotary speed parameter of transmission shaft is adjusted by the actuator in the differential mechanism, controls nothing
Man-machine flight attitude.
Preferably, the transmission shaft includes the first transmission shaft, second driving shaft, third transmission shaft and the 4th transmission shaft, institute
It is the corresponding rotary speed parameter of the first transmission shaft to state the first rotary speed parameter, and second rotary speed parameter is corresponding turn of second driving shaft
Fast parameter, the third rotary speed parameter are the corresponding rotary speed parameter of third transmission shaft, and the 4th rotary speed parameter is the 4th transmission
The corresponding rotary speed parameter of axis, the front differential mechanism are connect with the first transmission shaft, second driving shaft respectively, the rear differential mechanism difference
With third transmission shaft, the 4th transmission axis connection.
Preferably, the specific instruction includes that hovering instructs, the differential mechanism packet front differential mechanism, rear differential mechanism, the sound
The specific instruction is answered, includes by the step of flight attitude of the differential controls unmanned plane：
The hovering instruction is responded, identical torque is applied to each transmission shaft by actuator, controls the preceding differential
The corresponding third rotary speed parameter of rotary speed parameter of corresponding first rotary speed parameter of device and the second rotary speed parameter and the rear differential mechanism
And the 4th rotary speed parameter；
Judge whether first rotary speed parameter, the second rotary speed parameter, third rotary speed parameter and the 4th rotary speed parameter are consistent,
And judge whether lift is consistent with its own gravity；
If so, determining that the flight attitude of the unmanned plane is hovering posture.
Preferably, the specific instruction includes instructing forward, the differential mechanism packet front differential mechanism, rear differential mechanism, the sound
The specific instruction is answered, includes by the step of flight attitude of the differential controls unmanned plane：
It is instructed forward described in response, applies identical torque by one group of two transmission shaft being separated by of the actuator pair,
And different torques is applied to two transmission shafts that another group is separated by by the actuator, control the front differential mechanism pair
The first rotary speed parameter and the second rotary speed parameter answered and it is described after differential mechanism the corresponding third rotary speed parameter of rotary speed parameter and the
Four rotary speed parameters；
In the case of keeping the rotary speed parameter of one group of transmission shaft being separated by identical, turning for the transmission shaft that another group is separated by is judged
Whether fast parameter is different；
If so, determining the flight attitude of the unmanned plane for posture forward.
Preferably, the specific instruction includes steering order, and the response specific instruction passes through the differential mechanism control
The step of flight attitude of unmanned plane processed includes：
The steering order is responded, identical torque, control are applied to two transmission shafts being separated by by the actuator
Corresponding first rotary speed parameter of the front differential mechanism and the second rotary speed parameter and it is described after differential mechanism rotary speed parameter corresponding the
Three rotary speed parameters and the 4th rotary speed parameter；
In the case of keeping the rotary speed parameter of one group of transmission shaft being separated by identical, turning for the transmission shaft that another group is separated by is judged
Whether fast parameter is identical；Wherein, the rotary speed parameter of the transmission shaft of different groups differs；
If so, determining that the flight attitude of the unmanned plane is to turn to posture.
The embodiment of the invention discloses a kind of control device of unmanned plane, the unmanned plane includes differential mechanism and transmission dress
It sets, the differential mechanism includes actuator, and the differential mechanism includes with transmission axis connection, described device：
Specific instruction receiving module sends specific instruction for receiving the sending device；
Gesture stability module adjusts transmission shaft for responding the specific instruction by the actuator in the differential mechanism
Rotary speed parameter, control the flight attitude of unmanned plane.
Preferably, the transmission shaft includes the first transmission shaft, second driving shaft, third transmission shaft and the 4th transmission shaft, institute
It is the corresponding rotary speed parameter of the first transmission shaft to state the first rotary speed parameter, and second rotary speed parameter is corresponding turn of second driving shaft
Fast parameter, the third rotary speed parameter are the corresponding rotary speed parameter of third transmission shaft, and the 4th rotary speed parameter is the 4th transmission
The corresponding rotary speed parameter of axis, the front differential mechanism are connect with the first transmission shaft, second driving shaft respectively, the rear differential mechanism difference
With third transmission shaft, the 4th transmission axis connection.
Preferably, the specific instruction includes that hovering instructs, the differential mechanism packet front differential mechanism, rear differential mechanism, the appearance
State control module includes：
First control submodule applies phase by the actuator for responding the hovering instruction to each transmission shaft
Same torque controls turn of corresponding first rotary speed parameter of the front differential mechanism and the second rotary speed parameter and the rear differential mechanism
The corresponding third rotary speed parameter of fast parameter and the 4th rotary speed parameter；
First judging submodule, for judging first rotary speed parameter, the second rotary speed parameter, third rotary speed parameter and
Whether four rotary speed parameters are consistent, and, judge whether lift is consistent with its own gravity；
First posture determination sub-module, for when first rotary speed parameter, the second rotary speed parameter, third rotary speed parameter and
When 4th rotary speed parameter is consistent, and, lift is consistent with its own gravity, determines that the flight attitude of the unmanned plane is hovering appearance
State.
Preferably, the specific instruction includes instructing forward, the differential mechanism packet front differential mechanism, rear differential mechanism, the appearance
State control module includes：
Second control submodule, for respond it is described instruct forward, pass through two biographies that one group of the actuator pair is separated by
Moving axis applies identical torque, and, different torques is applied to two transmission shafts that another group is separated by by the actuator,
The rotary speed parameter for controlling corresponding first rotary speed parameter of the front differential mechanism and the second rotary speed parameter and the rear differential mechanism corresponds to
Third rotary speed parameter and the 4th rotary speed parameter；
Second judgment submodule judges another in the case of keeping the rotary speed parameter of one group of transmission shaft being separated by identical
Whether the rotary speed parameter of one group of transmission shaft being separated by is different；
Second posture determination sub-module, when the rotary speed parameter difference of the transmission shaft for being separated by when another group, determine described in
The flight attitude of unmanned plane is posture forward.
Preferably, the specific instruction includes steering order, the differential mechanism packet front differential mechanism, rear differential mechanism, the appearance
State control module includes：
Third control submodule passes every group of two be separated by by the actuator for responding the steering order
Moving axis applies identical torque, control corresponding first rotary speed parameter of the front differential mechanism and the second rotary speed parameter and it is described after
The corresponding third rotary speed parameter of rotary speed parameter of differential mechanism and the 4th rotary speed parameter；
Third judging submodule judges another in the case of keeping the rotary speed parameter of one group of transmission shaft being separated by identical
Whether the rotary speed parameter of one group of transmission shaft being separated by is identical, wherein the rotary speed parameter of the transmission shaft of difference group differs；
Third posture determination sub-module, when the rotary speed parameter of the transmission shaft for being separated by when another group is identical, described in determination
The flight attitude of unmanned plane is to turn to posture.
The embodiment of the present invention includes following advantages：
In the embodiment of the present invention, receives the sending device and send specific instruction；The specific instruction is responded, by described
Actuator in differential mechanism adjusts the rotary speed parameter of transmission shaft, controls the flight attitude of unmanned plane；Using a fuel engines,
Three differential mechanisms (front differential mechanism, rear differential mechanism and center differential), make single fuel engines separate four power output ends,
And each output end is allowed to export different rotating speeds, the posture of unmanned plane can be adjusted in the case where not changing driver rotating speed,
Make fuel engines steady operation, effectively improves the service life of fuel engines；Fuel engines is mounted in the geometry of unmanned plane
The heart so that the vibration that unmanned plane generates is smaller；Only need a set of automatically controlled circuit and oil feed line, wiring operations, pipelaying operation letter
Folk prescription is just, easy to maintain；Using The gear deceleration, torque is promoted after deceleration, and larger propeller may be used, and pneumatic efficiency is high.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing
Fig. 1 is a kind of step flow chart of the control method embodiment one of unmanned plane of the embodiment of the present invention；
Fig. 2 is a kind of unmanned plane of the embodiment of the present invention；
Fig. 3 is a kind of step flow chart of the control method embodiment two of unmanned plane of the embodiment of the present invention；
Fig. 4 is a kind of structure diagram of the control device embodiment of unmanned plane of the embodiment of the present invention.
Specific implementation mode
The technical issues of in order to keep the embodiment of the present invention solved, technical solution and advantageous effect are more clearly understood, with
The embodiment of the present invention is further described in lower combination accompanying drawings and embodiments.It should be appreciated that specific implementation described herein
Example is only used to explain the present invention, is not intended to limit the present invention.
Referring to Fig.1, a kind of step flow chart of the control method embodiment one of unmanned plane of the present invention, the nothing are shown
Man-machine includes differential mechanism and sending device, and the differential mechanism includes actuator, the differential mechanism and transmission axis connection, specifically can be with
Include the following steps：
Step 101, it receives the sending device and sends specific instruction；
Show that a kind of unmanned plane in the embodiment of the present invention, the unmanned plane may include four axis unmanned planes, institute with reference to Fig. 3
It includes front differential mechanism 01, rear differential mechanism 02 and center differential 03 and fuel engines to state unmanned plane, and the fuel engines is logical
Output shaft is crossed to connect with the center differential；The center differential connects with the front differential mechanism and the rear differential mechanism respectively
It connects；Power exports power to center differential via the fuel engines by output shaft, then will by the center differential
Front differential mechanism of the power transmission to connection, rear differential mechanism, the transmission shaft includes the first transmission shaft 04, second driving shaft 05, the
Three transmission shafts 06 and the 4th transmission shaft 07.
The front differential mechanism include the first transmission shaft 04, second driving shaft 05, input shaft, the first actuator, the second actuator,
Driving gear, planetary gear, planet carrier, driven gear；The front differential mechanism is realized that each rotating speed is different and is arranged.
Further, which includes third transmission shaft 06, the 4th transmission shaft 07, input shaft, third actuator,
Four actuator, driving gear, planetary gear, planet carrier, driven gear.First rotary speed parameter is that the first transmission shaft is corresponding
Rotary speed parameter, second rotary speed parameter are the corresponding rotary speed parameter of second driving shaft, and the third rotary speed parameter passes for third
The corresponding rotary speed parameter of moving axis, the 4th rotary speed parameter are the corresponding rotary speed parameter of the 4th transmission shaft.
In the embodiment of the present invention, receives the sending device and send specific instruction, which may include starting to refer to
Enable, instruction of landing, hovering instruction, forward instruction and steering order etc., the embodiment of the present invention is not restricted this.
Step 102, the specific instruction is responded, the rotating speed that transmission shaft is adjusted by the actuator in the differential mechanism is joined
Number, controls the flight attitude of unmanned plane.
Specific in the embodiment of the present invention, respond the enabled instruction, landing instruction, hovering instruction, forward instruct and turn
To instruction etc., the rotary speed parameter of different transmission shafts is adjusted by the actuator in the front differential mechanism or the rear differential mechanism, into
And control the flight attitude of unmanned plane；For example, when the instruction that unmanned plane receives is hovering instruction, control can be passed through
The first actuator, the second actuator, third actuator, the 4th actuator in front differential mechanism or rear differential mechanism make each transmission shaft
Rotary speed parameter reach balance, and, sensor may be used and judge whether lift consistent with its own gravity, which can be with
Including acceleration transducer, angular-rate sensor etc., the embodiment of the present invention is not restricted this；It can make control unmanned plane
Flight attitude is hovering posture；It is, of course, also possible to be applied by one group of two transmission shaft being separated by of the actuator pair identical
Torque, and, different torques is applied to two transmission shafts that another group is separated by by the actuator, makes first rotating speed
Parameter is more than the 4th rotary speed parameter；Or, second rotary speed parameter is made to be more than third rotary speed parameter；Control unmanned plane flies forward
Row determines that the flight attitude of unmanned plane is posture forward, can also pass through first controlled in front differential mechanism or rear differential mechanism
Actuator, the second actuator, third actuator, the 4th actuator keep first rotary speed parameter and the 4th rotary speed parameter big
In the second rotary speed parameter and third rotary speed parameter, or the second rotary speed parameter and the third rotary speed parameter is made to be more than the first rotating speed
Parameter and the 4th rotary speed parameter in the case of keeping the rotary speed parameter of one group of transmission shaft being separated by identical, while keeping another
The rotary speed parameter for the transmission shaft that group is separated by is identical, wherein the rotary speed parameter of the transmission shaft of difference group differs, and unmanned plane is made to carry out
It turns to, can also include other flight attitudes, the embodiment of the present invention is not restricted this.
In the embodiment of the present invention, receives the sending device and send specific instruction；The specific instruction is responded, by described
Actuator in differential mechanism adjusts the rotary speed parameter of transmission shaft, controls the flight attitude of unmanned plane；Using a fuel engines,
Three differential mechanisms (front differential mechanism, rear differential mechanism and center differential), make single fuel engines separate four power output ends,
And each output end is allowed to export different rotating speeds, the posture of unmanned plane can be adjusted in the case where not changing driver rotating speed,
Make fuel engines steady operation, effectively improves the service life of fuel engines；Fuel engines is mounted in the geometry of unmanned plane
The heart so that the vibration that unmanned plane generates is smaller；Only need a set of automatically controlled circuit and oil feed line, wiring operations, pipelaying operation letter
Folk prescription is just, easy to maintain；Using The gear deceleration, torque is promoted after deceleration, and larger propeller may be used, and pneumatic efficiency is high.
With reference to Fig. 2, a kind of step flow chart of the control method embodiment two of unmanned plane of the present invention, the nothing are shown
Man-machine includes differential mechanism and sending device, and the differential mechanism includes actuator, the differential mechanism and transmission axis connection, specifically can be with
Include the following steps：
Step 201, it receives the sending device and sends specific instruction；
It is described to receive the step of sending device sends specific instruction in a kind of preferred embodiment of the embodiment of the present invention
Before, further include following sub-step：
Sub-step S2011 receives the sending device and sends enabled instruction；
Sub-step S2012 responds the specific instruction, starts the unmanned plane.
Can may include remote control with the specific instruction of transmission and reception apparatus, the sending device after unmanned plane starts
Deng, the embodiment of the present invention is not restricted this, the specific instruction may include instruction forward, steering order, hovering instruction etc., this
Inventive embodiments are not restricted this；
Step 202, the hovering instruction is responded, identical torque, control are applied to each transmission shaft by the actuator
Make corresponding first rotary speed parameter of the front differential mechanism and the second rotary speed parameter and the corresponding third rotating speed ginseng of the rear differential mechanism
Number and the 4th rotary speed parameter；
It further, can be identical to transmission shaft application by controlling actuator when the specific instruction is hovering instruction
Torque, control corresponding first rotary speed parameter of the front differential mechanism and the second rotary speed parameter and it is described after differential mechanism it is corresponding
Third rotary speed parameter and the 4th rotary speed parameter；Specifically, the first actuator, the second actuator, third actuator, can be controlled
Four the first transmission shafts of actuator pair, second driving shaft, third transmission shaft, the 4th transmission shaft apply torque, control the preceding differential
Corresponding first rotary speed parameter of device and the second rotary speed parameter and the rear corresponding third rotary speed parameter of differential mechanism and the 4th rotating speed
Parameter.
Step 203, judge first rotary speed parameter, the second rotary speed parameter, third rotary speed parameter and the 4th rotary speed parameter
It is whether consistent, and, judge whether lift is consistent with its own gravity；
Step 204, if so, determining that the flight attitude of the unmanned plane is hovering posture；
It is rear poor with this when corresponding first rotary speed parameter of the front differential mechanism and the second rotary speed parameter in the embodiment of the present invention
When the corresponding third rotary speed parameter of fast device and consistent the 4th rotary speed parameter, and, judge whether lift is consistent with its own gravity, then
It can determine that the flight attitude of unmanned plane is hovering posture, can judge that lift is with its own gravity by acceleration transducer etc.
It is no consistent.
Step 205, it instructs forward, is applied by one group of two transmission shaft being separated by of the actuator pair identical described in response
Torque, and, different torques is applied to two transmission shafts that another group is separated by by the actuator, control it is described before it is poor
Corresponding first rotary speed parameter of fast device and the second rotary speed parameter and it is described after differential mechanism the corresponding third rotating speed ginseng of rotary speed parameter
Number and the 4th rotary speed parameter；
Specific in the embodiment of the present invention, response is described to be instructed forward, with the transmission shaft that is separated by for one group, e.g., transmission shaft
04 with transmission shaft 07 is one group, and transmission shaft 05 and transmission shaft 06 are another group, pass through one group of two be separated by of the actuator pair
Transmission shaft applies identical torque, and, different torsions is applied to two transmission shafts that another group is separated by by the actuator
Square controls the rotary speed parameter of corresponding first rotary speed parameter of the front differential mechanism and the second rotary speed parameter and the rear differential mechanism
Corresponding third rotary speed parameter and the 4th rotary speed parameter；In the case of keeping the second rotary speed parameter identical with third rotary speed parameter,
It controls the first rotary speed parameter and is more than the 4th rotary speed parameter, the direction flight forward of unmanned plane differential mechanism backward can be controlled；It keeps
In the case of first rotary speed parameter is identical with the 4th rotary speed parameter, control third rotary speed parameter is more than the second rotary speed parameter, can be with
Direction flight forward of the unmanned plane to front differential mechanism is controlled, certainly, the mode of above-mentioned control unmanned plane flight forward only this hair
Bright embodiment is enumerated, and can also include the mode of other control unmanned plane flight forwards, and the embodiment of the present invention does not make this
Limitation.
Step 206, in the case of keeping the rotary speed parameter of one group of transmission shaft being separated by identical, judge another group of biography being separated by
Whether the rotary speed parameter of moving axis is different；
Step 207, if so, determining the flight attitude of the unmanned plane for posture forward；
In the embodiment of the present invention, in the case of keeping the second rotary speed parameter identical with third rotary speed parameter, first turn is controlled
Fast parameter is more than the 4th rotary speed parameter, can control the direction flight forward of unmanned plane differential mechanism backward；The first rotating speed is kept to join
In the case of number is identical with the 4th rotary speed parameter, control third rotary speed parameter is more than the second rotary speed parameter, can control unmanned plane
To the direction flight forward of front differential mechanism, determine the flight attitude of the unmanned plane for posture forward.
Step 208, the steering order is responded, identical torsion is applied to two transmission shafts being separated by by the actuator
Square, control corresponding first rotary speed parameter of the front differential mechanism and the second rotary speed parameter and it is described after differential mechanism corresponding the
Three rotary speed parameters and the 4th rotary speed parameter；
In the embodiment of the present invention, instruction that unmanned plane receives is when turning to, by the actuator to be separated by two
Transmission shaft applies identical torque, controls corresponding first rotary speed parameter of the front differential mechanism and the second rotary speed parameter and described
The corresponding third rotary speed parameter and the 4th rotary speed parameter of differential mechanism afterwards.
Step 209, in the case of keeping the rotary speed parameter of one group of transmission shaft being separated by identical, judge another group of biography being separated by
Whether the rotary speed parameter of moving axis is identical, wherein the rotary speed parameter of the transmission shaft of difference group differs；
Step 210, if so, determining that the flight attitude of the unmanned plane is to turn to posture.
Specifically, corresponding 4th rotating speed of corresponding first rotary speed parameter of front differential mechanism and rear differential mechanism can be controlled
Parameter keeps the two identical, and the corresponding third that can control corresponding second rotary speed parameter of front differential mechanism and rear differential mechanism turns
Fast parameter keeps the two identical, but the first rotary speed parameter and the 4th rotary speed parameter are more than the second rotary speed parameter and third rotary speed parameter,
In this manner it is possible to which unmanned plane is made to be turned to, determine that the flight attitude of the unmanned plane is to turn to posture.
In another preferred embodiment of the embodiment of the present invention, the specific instruction further includes landing instruction, the method
Further include：It receives the sending device and sends landing instruction, respond the specific instruction, land the unmanned plane.
It in the embodiment of the present invention, receives the sending device and sends specific instruction, respond the hovering instruction, pass through start
Device applies identical torque to each transmission shaft, controls corresponding first rotary speed parameter of the front differential mechanism and the second rotating speed ginseng
The corresponding third rotary speed parameter of rotary speed parameter and the 4th rotary speed parameter of number and the rear differential mechanism；Judge first rotating speed
Whether parameter, the second rotary speed parameter, third rotary speed parameter and the 4th rotary speed parameter are consistent, and, judge lift and its own gravity
It is whether consistent；If so, determining that the flight attitude of the unmanned plane is hovering posture；It is instructed forward described in response, passes through the work
Two transmission shafts that dynamic one group of device pair is separated by apply identical torque, and, by the actuator to another group be separated by two
A transmission shaft applies different torques, controls corresponding first rotary speed parameter of the front differential mechanism and the second rotary speed parameter and institute
State the corresponding third rotary speed parameter of rotary speed parameter and the 4th rotary speed parameter of rear differential mechanism；Keep turn of one group of transmission shaft being separated by
In the case of fast parameter is identical, judge whether the rotary speed parameter for the transmission shaft that another group is separated by is different；If so, determine it is described nobody
The flight attitude of machine is posture forward；The steering order is responded, two transmission shafts being separated by are applied by the actuator
Identical torque, control corresponding first rotary speed parameter of the front differential mechanism and the second rotary speed parameter and it is described after differential mechanism
The corresponding third rotary speed parameter of rotary speed parameter and the 4th rotary speed parameter；Keep the rotary speed parameter of one group of transmission shaft being separated by identical
In the case of, judge whether the rotary speed parameter for the transmission shaft that another group is separated by is identical, wherein the rotary speed parameter of the transmission shaft of difference group
It differs；If so, determining that the flight attitude of the unmanned plane is to turn to posture, in the embodiment of the present invention, single fuel oil is made to start
Machine separates four power output ends, and each output end is allowed to export different rotating speeds, can be in the feelings for not changing driver rotating speed
The posture that unmanned plane is adjusted under condition, effectively improves the service life of fuel engines so that unmanned plane generates with small vibration.
It should be noted that for embodiment of the method, for simple description, therefore it is all expressed as a series of action group
It closes, but those skilled in the art should understand that, the embodiment of the present invention is not limited by the described action sequence, because according to
According to the embodiment of the present invention, certain steps can be performed in other orders or simultaneously.Secondly, those skilled in the art also should
Know, embodiment described in this description belongs to preferred embodiment, and the involved action not necessarily present invention is implemented
Necessary to example.
With reference to Fig. 3, a kind of structure diagram of the control device embodiment of unmanned plane of the present invention, the unmanned plane are shown
Including differential mechanism and sending device, the differential mechanism includes actuator, and the differential mechanism and transmission axis connection can specifically include
Following module：
Specific instruction receiving module 301 sends specific instruction for receiving the sending device；
Gesture stability module 302 adjusts transmission for responding the specific instruction by the actuator in the differential mechanism
The rotary speed parameter of axis controls the flight attitude of unmanned plane.
Preferably, the module being connected with the specific instruction receiving module further includes：
Enabled instruction receiving module sends enabled instruction for receiving the sending device；
Unmanned plane starting module starts the unmanned plane for responding the specific instruction.
Preferably, the transmission shaft includes the first transmission shaft, second driving shaft, third transmission shaft and the 4th transmission shaft, institute
It is the corresponding rotary speed parameter of the first transmission shaft to state the first rotary speed parameter, and second rotary speed parameter is corresponding turn of second driving shaft
Fast parameter, the third rotary speed parameter are the corresponding rotary speed parameter of third transmission shaft, and the 4th rotary speed parameter is the 4th transmission
The corresponding rotary speed parameter of axis, the front differential mechanism are connect with the first transmission shaft, second driving shaft respectively, the rear differential mechanism difference
With third transmission shaft, the 4th transmission axis connection.
Preferably, the specific instruction includes that hovering instructs, the differential mechanism packet front differential mechanism, rear differential mechanism, the appearance
State control module includes：
First control submodule applies phase by the actuator for responding the hovering instruction to each transmission shaft
Same torque controls turn of corresponding first rotary speed parameter of the front differential mechanism and the second rotary speed parameter and the rear differential mechanism
The corresponding third rotary speed parameter of fast parameter and the 4th rotary speed parameter；
First judging submodule, for judging first rotary speed parameter, the second rotary speed parameter, third rotary speed parameter and
Whether four rotary speed parameters are consistent, and, judge whether lift is consistent with its own gravity；
First posture determination sub-module, for when first rotary speed parameter, the second rotary speed parameter, third rotary speed parameter and
When 4th rotary speed parameter is consistent, and, lift is consistent with its own gravity, determines that the flight attitude of the unmanned plane is hovering appearance
State.
Preferably, the specific instruction includes instructing forward, the differential mechanism packet front differential mechanism, rear differential mechanism, the appearance
State control module includes：
Second control submodule, for respond it is described instruct forward, pass through two biographies that one group of the actuator pair is separated by
Moving axis applies identical torque, and, different torques is applied to two transmission shafts that another group is separated by by the actuator,
The rotary speed parameter for controlling corresponding first rotary speed parameter of the front differential mechanism and the second rotary speed parameter and the rear differential mechanism corresponds to
Third rotary speed parameter and the 4th rotary speed parameter；
Second judgment submodule judges another in the case of keeping the rotary speed parameter of one group of transmission shaft being separated by identical
Whether the rotary speed parameter of one group of transmission shaft being separated by is different；
Second posture determination sub-module, when the rotary speed parameter difference of the transmission shaft for being separated by when another group, determine described in
The flight attitude of unmanned plane is posture forward.
Preferably, the specific instruction includes steering order, the differential mechanism packet front differential mechanism, rear differential mechanism, the appearance
State control module includes：
Third control submodule, for responding the steering order, by the actuator to two transmission shafts being separated by
Apply identical torque, controls corresponding first rotary speed parameter of the front differential mechanism and the second rotary speed parameter and the rear differential
The corresponding third rotary speed parameter of rotary speed parameter of device and the 4th rotary speed parameter；
Third judging submodule judges another in the case of keeping the rotary speed parameter of one group of transmission shaft being separated by identical
Whether the rotary speed parameter of one group of transmission shaft being separated by is identical, wherein the rotary speed parameter of the transmission shaft of difference group differs；
Third posture determination sub-module, when the rotary speed parameter of the transmission shaft for being separated by when another group is identical, described in determination
The flight attitude of unmanned plane is to turn to posture.
Preferably, the specific instruction further includes landing instruction, and described device further includes：
Landing command reception module sends landing instruction for receiving the sending device；
Unmanned plane landing module, for responding the specific instruction, land the unmanned plane.
For device embodiments, since it is basically similar to the method embodiment, so fairly simple, the correlation of description
Place illustrates referring to the part of embodiment of the method.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with
The difference of other embodiment, the same or similar parts between the embodiments can be referred to each other.
It should be understood by those skilled in the art that, the embodiment of the embodiment of the present invention can be provided as method, apparatus or calculate
Machine program product.Therefore, the embodiment of the present invention can be used complete hardware embodiment, complete software embodiment or combine software and
The form of the embodiment of hardware aspect.Moreover, the embodiment of the present invention can be used one or more wherein include computer can
With in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of program code
The form of the computer program product of implementation.
The embodiment of the present invention be with reference to according to the method for the embodiment of the present invention, terminal device (system) and computer program
The flowchart and/or the block diagram of product describes.It should be understood that flowchart and/or the block diagram can be realized by computer program instructions
In each flow and/or block and flowchart and/or the block diagram in flow and/or box combination.These can be provided
Computer program instructions are set to all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing terminals
Standby processor is to generate a machine so that is held by the processor of computer or other programmable data processing terminal equipments
Capable instruction generates for realizing in one flow of flow chart or multiple flows and/or one box of block diagram or multiple boxes
The device of specified function.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing terminal equipments
In computer-readable memory operate in a specific manner so that instruction stored in the computer readable memory generates packet
The manufacture of command device is included, which realizes in one flow of flow chart or multiple flows and/or one side of block diagram
The function of being specified in frame or multiple boxes.
These computer program instructions can be also loaded into computer or other programmable data processing terminal equipments so that
Series of operation steps are executed on computer or other programmable terminal equipments to generate computer implemented processing, thus
The instruction executed on computer or other programmable terminal equipments is provided for realizing in one flow of flow chart or multiple flows
And/or in one box of block diagram or multiple boxes specify function the step of.
Although the preferred embodiment of the embodiment of the present invention has been described, once a person skilled in the art knows bases
This creative concept, then additional changes and modifications can be made to these embodiments.So the following claims are intended to be interpreted as
Including preferred embodiment and fall into all change and modification of range of embodiment of the invention.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that process, method, article or terminal device including a series of elements not only wrap
Those elements are included, but also include other elements that are not explicitly listed, or further include for this process, method, article
Or the element that terminal device is intrinsic.In the absence of more restrictions, being wanted by what sentence "including a ..." limited
Element, it is not excluded that there is also other identical elements in process, method, article or the terminal device including the element.
It above to a kind of method provided by the present invention and a kind of device, is described in detail, tool used herein
Principle and implementation of the present invention are described for body example, and the explanation of above example is only intended to help to understand this hair
Bright method and its core concept；Meanwhile for those of ordinary skill in the art, according to the thought of the present invention, specific real
There will be changes in mode and application range are applied, in conclusion the content of the present specification should not be construed as the limit to the present invention
System.
Claims (10)
1. a kind of control method of unmanned plane, which is characterized in that the unmanned plane includes differential mechanism and sending device, the differential
Device includes actuator, the differential mechanism and transmission axis connection, the method includes：
It receives the sending device and sends specific instruction；
The specific instruction is responded, the rotary speed parameter of transmission shaft is adjusted by the actuator in the differential mechanism, controls unmanned plane
Flight attitude.
2. according to the method described in claim 1, it is characterized in that, the transmission shaft include the first transmission shaft, second driving shaft,
Third transmission shaft and the 4th transmission shaft, first rotary speed parameter be the corresponding rotary speed parameter of the first transmission shaft, described second turn
Fast parameter is the corresponding rotary speed parameter of second driving shaft, and the third rotary speed parameter is the corresponding rotary speed parameter of third transmission shaft,
4th rotary speed parameter be the corresponding rotary speed parameter of the 4th transmission shaft, the front differential mechanism respectively with the first transmission shaft, second
It is driven axis connection, the rear differential mechanism is driven axis connection with third transmission shaft, the 4th respectively.
3. according to the method described in claim 1, it is characterized in that, the specific instruction includes hovering instruction, the differential mechanism
Packet front differential mechanism, rear differential mechanism, the response specific instruction pass through the flight attitude of the differential controls unmanned plane
Step includes：
The hovering instruction is responded, identical torque is applied to each transmission shaft by actuator, controls the front differential mechanism pair
The first rotary speed parameter and the second rotary speed parameter answered and it is described after differential mechanism the corresponding third rotary speed parameter of rotary speed parameter and the
Four rotary speed parameters；
Judge whether first rotary speed parameter, the second rotary speed parameter, third rotary speed parameter and the 4th rotary speed parameter are consistent, with
And judge whether lift is consistent with its own gravity；
If so, determining that the flight attitude of the unmanned plane is hovering posture.
4. according to the method described in claim 1, it is characterized in that, the specific instruction include instruct forward, the differential mechanism
Packet front differential mechanism, rear differential mechanism, the response specific instruction pass through the flight attitude of the differential controls unmanned plane
Step includes：
It is instructed forward described in response, applies identical torque by one group of two transmission shaft being separated by of the actuator pair, and,
Different torques is applied to two transmission shafts that another group is separated by by the actuator, controls the front differential mechanism corresponding
The corresponding third rotary speed parameter of rotary speed parameter and the 4th rotating speed of one rotary speed parameter and the second rotary speed parameter and the rear differential mechanism
Parameter；
In the case of keeping the rotary speed parameter of one group of transmission shaft being separated by identical, the rotating speed ginseng for the transmission shaft that another group is separated by is judged
Whether number is different；
If so, determining the flight attitude of the unmanned plane for posture forward.
5. according to the method described in claim 1, it is characterized in that, the specific instruction includes steering order, the response institute
Specific instruction is stated, includes by the step of flight attitude of the differential controls unmanned plane：
The steering order is responded, identical torque is applied to two transmission shafts being separated by by the actuator, described in control
The corresponding third of rotary speed parameter of corresponding first rotary speed parameter of front differential mechanism and the second rotary speed parameter and the rear differential mechanism turns
Fast parameter and the 4th rotary speed parameter；
In the case of keeping the rotary speed parameter of one group of transmission shaft being separated by identical, the rotating speed ginseng for the transmission shaft that another group is separated by is judged
Whether number is identical；Wherein, the rotary speed parameter of the transmission shaft of different groups differs；
If so, determining that the flight attitude of the unmanned plane is to turn to posture.
6. a kind of control device of unmanned plane, which is characterized in that the unmanned plane includes differential mechanism and sending device, the differential
Device includes actuator, and the differential mechanism includes with transmission axis connection, described device：
Specific instruction receiving module sends specific instruction for receiving the sending device；
Gesture stability module adjusts turning for transmission shaft for responding the specific instruction by the actuator in the differential mechanism
Fast parameter controls the flight attitude of unmanned plane.
7. device according to claim 6, which is characterized in that the transmission shaft include the first transmission shaft, second driving shaft,
Third transmission shaft and the 4th transmission shaft, first rotary speed parameter be the corresponding rotary speed parameter of the first transmission shaft, described second turn
Fast parameter is the corresponding rotary speed parameter of second driving shaft, and the third rotary speed parameter is the corresponding rotary speed parameter of third transmission shaft,
4th rotary speed parameter be the corresponding rotary speed parameter of the 4th transmission shaft, the front differential mechanism respectively with the first transmission shaft, second
It is driven axis connection, the rear differential mechanism is driven axis connection with third transmission shaft, the 4th respectively.
8. device according to claim 6, which is characterized in that the specific instruction includes that hovering instructs, the differential mechanism
Packet front differential mechanism, rear differential mechanism, the gesture stability module include：
First control submodule applies each transmission shaft by the actuator identical for responding the hovering instruction
Torque controls the rotating speed ginseng of corresponding first rotary speed parameter of the front differential mechanism and the second rotary speed parameter and the rear differential mechanism
The corresponding third rotary speed parameter of number and the 4th rotary speed parameter；
First judging submodule, for judging first rotary speed parameter, the second rotary speed parameter, third rotary speed parameter and the 4th turn
Whether fast parameter is consistent, and, judge whether lift is consistent with its own gravity；
First posture determination sub-module, for when first rotary speed parameter, the second rotary speed parameter, third rotary speed parameter and the 4th
When rotary speed parameter is consistent, and, lift is consistent with its own gravity, determines that the flight attitude of the unmanned plane is hovering posture.
9. device according to claim 6, which is characterized in that the specific instruction includes instructing forward, the differential mechanism
Packet front differential mechanism, rear differential mechanism, the gesture stability module include：
Second control submodule, for respond it is described instruct forward, pass through one group of two transmission shaft being separated by of the actuator pair
Apply identical torque, and, different torques is applied to two transmission shafts that another group is separated by by the actuator, is controlled
Corresponding first rotary speed parameter of the front differential mechanism and the second rotary speed parameter and it is described after differential mechanism rotary speed parameter corresponding the
Three rotary speed parameters and the 4th rotary speed parameter；
Second judgment submodule judges another group in the case of keeping the rotary speed parameter of one group of transmission shaft being separated by identical
Whether the rotary speed parameter for the transmission shaft being separated by is different；
Second posture determination sub-module, when the rotary speed parameter difference of the transmission shaft for being separated by when another group, determine it is described nobody
The flight attitude of machine is posture forward.
10. device according to claim 6, which is characterized in that the specific instruction includes steering order, the differential mechanism
Packet front differential mechanism, rear differential mechanism, the gesture stability module include：
Third control submodule, for responding the steering order, every group is separated by by the actuator two transmission shafts
Apply identical torque, controls corresponding first rotary speed parameter of the front differential mechanism and the second rotary speed parameter and the rear differential
The corresponding third rotary speed parameter of rotary speed parameter of device and the 4th rotary speed parameter；
Third judging submodule judges another group in the case of keeping the rotary speed parameter of one group of transmission shaft being separated by identical
Whether the rotary speed parameter for the transmission shaft being separated by is identical, wherein the rotary speed parameter of the transmission shaft of difference group differs；
Third posture determination sub-module, when the rotary speed parameter of the transmission shaft for being separated by when another group is identical, determine it is described nobody
The flight attitude of machine is to turn to posture.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710175705.0A CN108628328A (en) | 2017-03-22 | 2017-03-22 | A kind of control method and device of unmanned plane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710175705.0A CN108628328A (en) | 2017-03-22 | 2017-03-22 | A kind of control method and device of unmanned plane |
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| CN101101047A (en) * | 2007-08-06 | 2008-01-09 | 刘淮滨 | Constant-speed differential speed double-axis reverse output transmission method and device |
| RU2525353C1 (en) * | 2013-03-15 | 2014-08-10 | Открытое Акционерное Общество "Московский Вертолетный Завод Им. М.Л. Миля" | Rotorcraft adjustable transmission |
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