CN108829129A - A kind of quadrotor plant protection drone flight balance adjusting method - Google Patents
A kind of quadrotor plant protection drone flight balance adjusting method Download PDFInfo
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- CN108829129A CN108829129A CN201810563744.2A CN201810563744A CN108829129A CN 108829129 A CN108829129 A CN 108829129A CN 201810563744 A CN201810563744 A CN 201810563744A CN 108829129 A CN108829129 A CN 108829129A
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000005484 gravity Effects 0.000 claims abstract description 15
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 239000007921 spray Substances 0.000 claims description 7
- 238000005507 spraying Methods 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 3
- 210000001367 artery Anatomy 0.000 claims description 2
- 238000004080 punching Methods 0.000 claims description 2
- 210000003462 vein Anatomy 0.000 claims description 2
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
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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
- G05D1/10—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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- General Physics & Mathematics (AREA)
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Abstract
The present invention discloses a kind of quadrotor plant protection drone flight balance adjusting method, and the unmanned plane equipped with load, is provided with horizontally movable intelligent battery on unmanned plane on horizontal axis, includes the following steps on the horizontal axis of non-gravity position：Central point is obtained, the central point is equidistant to each unmanned plane rotor；Intelligent battery position is adjusted, where so that drone center of unmanned aerial vehicle is maintained at central point on vertical axis.The present invention is intended to provide a kind of quadrotor plant protection drone flight balance adjusting method, center of gravity can be kept to be located at central point under the situation for carrying other equipment by adjusting the position of intelligent battery on unmanned plane, it realizes the flight balance of unmanned plane, guarantees unmanned plane during flying safety, energy saving.
Description
Technical field
The present invention relates to air vehicle technique field more particularly to a kind of quadrotor plant protection drone flight balance adjusting sides
Method.
Background technique
For unmanned plane in the case where zero load, center of gravity is located at the axis of fuselage, thus balance when realizing unmanned plane during flying.
But due to the difference of unmanned plane application field, the weight of equipment carried has biggish difference.For example, in Handpiece Location
Digital camera, professional camera, medicine-chest, medicinal powder container etc. are carried, the position of centre of gravity of unmanned plane can be all influenced, to influence
Balance when unmanned plane during flying.The method generallyd use at present is " counterweight ", i.e., when head carries certain equipment, by machine
Tail loads the object of constant weight, to guarantee that the center of gravity of electronic unmanned plane is located at location mid-shaft.
" counterweight " regulative mode can solve the gravity balance problem of unmanned plane, but aggravate the load of unmanned plane,
The power consumption of electronic unmanned plane is increased, and influences cruise duration and the flight safety of unmanned plane.Meanwhile in plant protection drone
When operation, the weight of load can be gradually decreased with the progress of plant protection process, and then be constantly changing the center of gravity position of unmanned plane
It sets, thus balance when influencing unmanned plane during flying.
Summary of the invention
The present invention is intended to provide a kind of quadrotor plant protection drone flight balance adjusting method, it can be by adjusting unmanned plane
The position of upper intelligent battery keeps center of gravity to be located at central point under the situation for carrying other equipment, realizes that the flight of unmanned plane is flat
Weighing apparatus guarantees unmanned plane during flying safety, energy saving.
In order to achieve the above objectives, the technical solution adopted by the present invention is as follows：
A kind of quadrotor plant protection drone flight balance adjusting method, horizontal axis of the unmanned plane in non-gravity position
On equipped with load, be provided with horizontally movable intelligent battery on horizontal axis on unmanned plane, include the following steps：
Central point is obtained, the central point is equidistant to each unmanned plane rotor；
Intelligent battery position is adjusted, where so that drone center of unmanned aerial vehicle is maintained at central point on vertical axis.
Preferably, the step of acquisition central point includes：
Obtain the rotary middle point of four rotors；
Non-conterminous two rotary middle points are separately connected, the line segment of two intersections is obtained；
Make to obtain two planes, two planes perpendicular to the plane of line segment where midpoint with the midpoint of two lines section respectively
Intersection, obtains center line；
Horizontal basal plane where obtaining unmanned plane body, center line intersect with horizontal basal plane, obtain being located on unmanned plane
Heart point.
Preferably, further comprising the steps of after obtaining central point：
Load weight is adjusted, the corresponding intelligent battery location information of different loads weight is obtained；
According to intelligent battery location information, the displacement parameter changed with load weight is generated.
Preferably, the method for adjusting intelligent battery position, includes the following steps：
Obtain the default job information of unmanned plane；
According to the default job information of unmanned plane, the change information of load weight is calculated；
According to the displacement parameter of the change information of load weight and intelligent battery, the mesh of intelligent battery in the unit time is obtained
Mark amount of movement Q；
The every transfer momentum R for reading motor, according to every turn of the target amount of movement Q of intelligent battery in the unit time and motor
Amount of movement R obtains the rotating speed of target n of motor, and control motor drive module driving motor is rotated according to rotating speed of target n, adjusts intelligence
Energy battery location, where making drone center of unmanned aerial vehicle be maintained at central point on vertical axis.
Preferably, the method that control motor drive module driving motor is rotated according to rotating speed of target n, includes the following steps：
Obtain the rotary speed information of motor, wherein the rotary speed information of the motor includes the current rotating speed n of motoriOn and
The revolving speed n at one momenti-1；
According to the rotating speed of target n of motor, the current rotating speed n of motoriAnd the revolving speed n of the last moment of motori-1, obtain
Control the duty ratio M of pulse；
Duty ratio according to control pulse sends control pulse to motor drive module, so that motor drive module driving electricity
Machine is rotated according to the rotating speed of target n of motor.
Preferably, the rotating speed of target of the motor
Preferably, the duty ratio M=(n-n of the control pulsei)Kp+(n-ni)Ki+[(n-ni)-(ni-ni-1)]Kd,
In, KpFor pump motor revolving speed proportionality coefficient；KiFor pump motor revolving speed integral coefficient；KdFor pump motor Differential of Speed coefficient.
Preferably, the default job information includes flying speed and sprinkling information, and the sprinkling information includes that spraying swath is wide
Unit area fountain height in degree and operating area.
Preferably, the change information for calculating load weight, includes the following steps：
According to the flying speed of unmanned plane and spraying swath width, the spray area of unit time is calculated；
According to unit area fountain height in the spray area of unit time and operating area, nobody is calculated in the unit time
Total fountain height of machine；
According to total fountain height of unmanned plane in the unit time, the change information of load weight is generated.
Compared with prior art, the invention has the advantages that：
The present invention solves the problems, such as drone center of unmanned aerial vehicle balance adjustment by adjusting the position of intelligent battery, is not necessarily to " counterweight ",
Under the premise of not influencing cruise duration and the flight safety of unmanned plane, realizes according to the weight of UAV flight's equipment and adjust
Save the center of gravity and balance of unmanned plane.The position for adjusting intelligent battery is realized by motor, and the rotating speed of target of motor is basis
The default job information of unmanned plane, after obtaining the target amount of movement of intelligent battery in the unit time, and according to intelligence in the unit time
What the target amount of movement of energy battery and every transfer momentum of motor obtained, therefore, the rotating speed of target of motor considers unmanned plane
Handling situations, in real time adjust motor rotating speed of target, to be rotated by motor drive module driving motor according to rotating speed of target,
So as to adjust the motor speed to corresponding intelligent battery amount of movement, it is stable to centre of gravity adjustment thus to reduce operation factor
It influences.
Detailed description of the invention
Fig. 1 is the method for the present invention flow chart；
Fig. 2 is that central point obtains flow chart；
Fig. 3 is one embodiment figure；
Fig. 4 is another implementation example figure.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing, to the present invention into
Row is further described.
As shown in Figure 1, as the embodiment of the present invention, a kind of quadrotor plant protection drone flight balance adjusting method, nothing
It is man-machine on the horizontal axis of non-gravity position equipped with load, be provided on horizontal axis on unmanned plane horizontally movable
Intelligent battery includes the following steps：
Central point is obtained, central point is equidistant to each unmanned plane rotor；
Intelligent battery position is adjusted, where so that drone center of unmanned aerial vehicle is maintained at central point on vertical axis.
It is realized since unmanned plane during flying relies primarily on the rotor being mounted on horn, multiple rotors are usually symmetricly set on
In unmanned plane circumferential direction, rotor provides upward pulling force at work, and in flight course, the pulling force that each rotor provides is several
Identical, multiple pulling force form a upward resultant force in central point, to guarantee flight balance and easy to control, unmanned plane
Center of gravity is located on the vertical axis where the central point of four rotors, and unmanned plane is avoided to generate torque in flight course；Meanwhile
During flat fly, multiple pulling force can form a vertical component on central point and a horizontal component, vertical component are used for
Keep unmanned plane hanging, horizontal component is used to drive the movement of unmanned plane horizontal direction, and drone center of unmanned aerial vehicle is made to be located at central point institute
On vertical axis, the complexity of control can be reduced convenient for manipulation, be conducive to guarantee flight stability.
Wherein, as shown in Fig. 2, the step of obtaining central point includes the rotary middle point for obtaining four rotors；It is separately connected
Non-conterminous two rotary middle points obtain the line segment of two intersections；Made respectively with the midpoint of two lines section perpendicular to midpoint institute
In the plane of line segment, two planes are obtained, two plane intersections obtain center line；Horizontal basal plane where obtaining unmanned plane body,
Center line intersects with horizontal basal plane, obtains the central point being located on unmanned plane.Since rotor is the week for being symmetricly set on unmanned plane
Upwards, central point is obtained in this way, can guarantee central point being equidistant to each rotor.
Specifically, further comprising the steps of as shown in figure 3, after obtaining central point：Load weight is adjusted, is obtained different negative
The corresponding intelligent battery location information of loading capacity；According to intelligent battery location information, generates and join with the displacement that load weight changes
Number.The stage is debugged in unmanned plane, the case where according to load, from zero load to fully loaded, the position of intelligent battery is adjusted, so that unmanned plane
Center of gravity be located in vertical straight line where central point；According to tune-up data, the corresponding intelligent battery of load of different weight is obtained
Location information；It is mounted on due to intelligent battery on the horizontal axis of unmanned plane body, and intelligent battery can only be on horizontal axis
It moves horizontally, according to information above, the unique function curve between intelligent battery position and load weight can be generated, it is final to obtain
To the displacement parameter changed with load weight.
As a preferred embodiment, as shown in figure 4, the method for adjustment intelligent battery position, includes the following steps：It obtains
Take the default job information of unmanned plane；According to the default job information of unmanned plane, the change information of load weight is calculated；According to
The change information of load weight and the displacement parameter of intelligent battery obtain the target amount of movement Q of intelligent battery in the unit time；It reads
The every transfer momentum R for taking motor is obtained according to every transfer momentum R of the target amount of movement Q of intelligent battery in the unit time and motor
To the rotating speed of target n of motor, controls motor drive module driving motor and is rotated according to rotating speed of target n, adjust intelligent battery position,
Where so that drone center of unmanned aerial vehicle is maintained at central point on vertical axis.
By above-mentioned specific implementation process it is found that the revolving speed of motor is the rotating speed of target n of motor, the rotating speed of target of motor
And the rotating speed of target n of motor considers the job information of unmanned plane, adjusts the rotating speed of target n of motor in real time, with
It is rotated by motor drive module driving motor according to rotating speed of target n, so as to adjust the corresponding intelligent battery displacement of motor speed
Amount, can thus reduce the influence that operation factor adjusts drone center of unmanned aerial vehicle.
As another preferred embodiment, the side that motor drive module driving motor is rotated according to rotating speed of target n is controlled
Method includes the following steps：Obtain the rotary speed information of motor, wherein the rotary speed information of motor includes the current rotating speed n of motoriWith
And the revolving speed n of last momenti-1；According to the rotating speed of target n of motor, the current rotating speed n of motoriAnd the last moment of motor
Revolving speed ni-1, obtain the duty ratio M of control pulse；Duty ratio M according to control pulse sends control arteries and veins to motor drive module
Punching, so that motor drive module driving motor is rotated according to the rotating speed of target n of motor.
Control the duty ratio M=(n-n of pulsei)Kp+(n-ni)Ki+[(n-ni)-(ni-ni-1)]Kd, wherein KpFor water pump electricity
Machine revolving speed proportionality coefficient；KiFor pump motor revolving speed integral coefficient；KdFor pump motor Differential of Speed coefficient.
It is worth noting that, motor has many unstable factors during rotation, motor is easy to cause to rotate
Revolving speed fluctuates in journey, therefore, although motor drive module driving motor is rotated according to rotating speed of target n, motor rotation
During, if there is influence motor speed unstable factor, actual speed may and rotating speed of target n there is deviation.
In order to guarantee that motor can be rotated according to rotating speed of target n, needs to acquire the rotary speed information of motor, control motor driven
Module drive motor is rotated according to rotating speed of target n.
In one embodiment, the motor speed information of acquisition includes the current rotating speed n of motoriAnd motor last moment
Revolving speed ni-1；And according to the rotating speed of target n of motor, the current rotating speed n of motoriAnd the revolving speed n of the last moment of motori-1,
The duty ratio of control pulse is obtained, and sends control pulse to motor drive module according to the duty ratio of control pulse, with control
Motor drive module is rotated according to control pulsed drive motor according to rotating speed of target n；
Wherein, by above-mentioned control motor drive module driving motor according to the rotating speed of target n citing rotated it can be found that
The rotary speed information of motor in real time, and closed-loop control is formed with motor drive module and motor, closed loop control in this way
System, so that on the basis of monitoring the rotary speed information of motor in real time, it can be with received motor speed information and motor mesh
Mark revolving speed n is parameter, obtains the duty ratio of control pulse, makes motor drive module according to the corresponding control of duty ratio of control pulse
Pulsed drive motor processed is rotated according to rotating speed of target n；Turn accordingly even when some influence motors occurs during rotation in motor
The unstable factor of speed can also control motor drive module driving motor with rotating speed of target n rotation, ensure that intelligent battery
Displacement is accurate.
It is understandable, default job information include flying speed and sprinkling information, sprinkling information include spraying swath width and
Unit area fountain height in operating area.
It should be noted that unit area fountain height, spraying swath width one in the flying speed of above-mentioned unmanned plane, operating area
As be by client input setting value, every transfer momentum is configured according to the parameter of motor.
Specifically, calculating the change information of load weight, include the following steps：According to the flying speed and spray of unmanned plane
Breadth degree calculates the spray area of unit time；It is sprayed according to unit area in the spray area of unit time and operating area
The amount of spilling calculates total fountain height of unmanned plane in the unit time；According to total fountain height of unmanned plane in the unit time, load is generated
The change information of weight.
Certainly, the present invention can also have other numerous embodiments, without deviating from the spirit and substance of the present invention,
Those skilled in the art can make various corresponding changes and modifications, but these corresponding changes and change according to the present invention
Shape all should fall within the scope of protection of the appended claims of the present invention.
Claims (9)
1. a kind of quadrotor plant protection drone flight balance adjusting method, the unmanned plane is on the horizontal axis of non-gravity position
Equipped with load, horizontally movable intelligent battery is provided on unmanned plane on horizontal axis, which is characterized in that including following
Step：
Central point is obtained, the central point is equidistant to each unmanned plane rotor；
Intelligent battery position is adjusted, where so that drone center of unmanned aerial vehicle is maintained at central point on vertical axis.
2. a kind of quadrotor plant protection drone flight balance adjusting method according to claim 1, which is characterized in that obtain
The step of central point includes：
Obtain the rotary middle point of four rotors；
Non-conterminous two rotary middle points are separately connected, the line segment of two intersections is obtained；
The plane perpendicular to line segment where midpoint to be made with the midpoint of two lines section respectively, obtains two planes, two planes intersect,
Obtain center line；
Horizontal basal plane where obtaining unmanned plane body, center line intersect with horizontal basal plane, obtain the central point being located on unmanned plane.
3. a kind of quadrotor plant protection drone flight balance adjusting method according to claim 1, which is characterized in that obtain
It is further comprising the steps of after central point：
Load weight is adjusted, the corresponding intelligent battery location information of different loads weight is obtained；
According to intelligent battery location information, the displacement parameter changed with load weight is generated.
4. a kind of quadrotor plant protection drone flight balance adjusting method according to claim 3, which is characterized in that adjustment
The method of intelligent battery position, includes the following steps：
Obtain the default job information of unmanned plane；
According to the default job information of unmanned plane, the change information of load weight is calculated；
According to the displacement parameter of the change information of load weight and intelligent battery, the target for obtaining intelligent battery in the unit time is moved
Momentum Q；
The every transfer momentum R for reading motor, it is dynamic according to every transfer of the target amount of movement Q of intelligent battery in the unit time and motor
R is measured, the rotating speed of target n of motor is obtained, control motor drive module driving motor is rotated according to rotating speed of target n, adjusts intelligence electricity
Pond position, where making drone center of unmanned aerial vehicle be maintained at central point on vertical axis.
5. a kind of quadrotor plant protection drone flight balance adjusting method according to claim 4, which is characterized in that control
The method that motor drive module driving motor is rotated according to rotating speed of target n, includes the following steps：
Obtain the rotary speed information of motor, wherein the rotary speed information of the motor includes the current rotating speed n of motoriAnd last moment
Revolving speed ni-1；
According to the rotating speed of target n of motor, the current rotating speed n of motoriAnd the revolving speed n of the last moment of motori-1, obtain control arteries and veins
The duty ratio M of punching；
Duty ratio according to control pulse sends control pulse to motor drive module, so that motor drive module driving motor is pressed
According to the rotating speed of target n rotation of motor.
6. a kind of quadrotor plant protection drone flight balance adjusting method according to claim 4, it is characterised in that：It is described
The rotating speed of target of motor
7. a kind of quadrotor plant protection drone flight balance adjusting method according to claim 5, it is characterised in that：It is described
Control the duty ratio M=(n-n of pulsei)Kp+(n-ni)Ki+[(n-ni)-(ni-ni-1)]Kd, wherein KpFor pump motor rotating ratio
Example coefficient；KiFor pump motor revolving speed integral coefficient；KdFor pump motor Differential of Speed coefficient.
8. a kind of quadrotor plant protection drone flight balance adjusting method according to claim 4, it is characterised in that：It is described
Default job information includes flying speed and sprinkling information, and the sprinkling information includes unit plane in spraying swath width and operating area
Product fountain height.
9. a kind of quadrotor plant protection drone flight balance adjusting method according to claim 8, which is characterized in that calculate
The change information of load weight out, includes the following steps：
According to the flying speed of unmanned plane and spraying swath width, the spray area of unit time is calculated；
According to unit area fountain height in the spray area of unit time and operating area, unmanned plane in the unit time is calculated
Total fountain height；
According to total fountain height of unmanned plane in the unit time, the change information of load weight is generated.
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| CN201810563744.2A CN108829129A (en) | 2018-06-04 | 2018-06-04 | A kind of quadrotor plant protection drone flight balance adjusting method |
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Cited By (1)
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| CN110341939A (en) * | 2019-08-30 | 2019-10-18 | 吉林大学 | A kind of H-type variablepiston quadrotor plant protection drone |
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Application publication date: 20181116 |