CN108839795A - A kind of Level Promoting multi-rotor unmanned aerial vehicle and control method - Google Patents
A kind of Level Promoting multi-rotor unmanned aerial vehicle and control method Download PDFInfo
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- CN108839795A CN108839795A CN201810863761.8A CN201810863761A CN108839795A CN 108839795 A CN108839795 A CN 108839795A CN 201810863761 A CN201810863761 A CN 201810863761A CN 108839795 A CN108839795 A CN 108839795A
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- Prior art keywords
- unmanned plane
- acceleration
- motor
- aerial vehicle
- support arm
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
- B64D27/02—Aircraft characterised by the type or position of power plant
- B64D27/24—Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
Abstract
The invention belongs to unmanned plane fields, and in particular to a kind of Level Promoting multi-rotor unmanned aerial vehicle and its control method, the unmanned plane include：Unmanned plane main body accelerates motor support arm, support arm fixator, accelerates motor fixing frame, accelerate electricity to adjust, accelerate motor, propeller；The control method is：The control system of the unmanned plane main body is adjusted, when the control system being made to receive assisted instruction, deceleration instruction or brake instruction under state of flight, corresponding control control is carried out to the unmanned plane.The present invention, which has the movement speed and mobility of unmanned plane, to be obviously improved, and the mechanical structure being related to is readily disassembled, and is conveniently replaceable, and large-scale production is suitble to；Shutting down for aerial Level Promoting function is realized, long-distance flight task is conducive to.
Description
Technical field
The invention belongs to unmanned plane fields, and in particular to a kind of Level Promoting multi-rotor unmanned aerial vehicle and control method.
Technical background
Multi-rotor unmanned aerial vehicle (unmanned aerial vehicle or Multi rotor UAV) is one kind by radio
Remote control equipment or the unmanned vehicle of itself presetting apparatus manipulation.Multi-rotor unmanned aerial vehicle is widely used, at low cost, effect
To take than good, risk that no one was injured, survival ability is strong, and mobility is good, and it is easy to use, have in modern war of crucial importance
Effect, also have vast potential for future development in civil field.
Multi-rotor aerocraft is compared with other aircraft, it is advantageous that its mechanical structure is relatively simple, and need to only lead to
Control can be realized in the revolving speed for crossing change motor, and flight maneuver ability is more flexible；Carry out multi-rotor aerocraft control system
Design and optimization, using it is upper for such flight control design provide theoretical foundation and technological approaches；In four rotations
The design of multi-rotor aerocraft is carried out on the basis of rotor aircraft, it is useful not only for rotary aircraft, for others
Rotary aircraft also has similar theoretical value and realistic meaning.
Existing multi-rotor unmanned aerial vehicle is with stronger flexibility and while ease for operation advantage, it may have flying speed
This low deficiency.Existing multi-rotor unmanned aerial vehicle maximum flying speed generally in 12-15m/s or so, is executing some specific
When business, this index is relatively inaccessible to actual demand.
Summary of the invention
For the above technical problems, the present invention provides a kind of Level Promoting multi-rotor unmanned aerial vehicle, including：Unmanned plane
Main body accelerates motor support arm, support arm fixator, accelerates motor fixing frame, accelerate electricity to adjust, accelerate motor, propeller；
The unmanned plane main body is multi-rotor unmanned aerial vehicle；
The control system of the unmanned plane main body includes master controller and flight controller；
The flight controller has 2 idle control output ends mouthful；The acceleration motor fixing frame totally 2, passes through
Accelerate the connection of motor support arm；
The acceleration motor support arm be 2 isometric parallel round tubes, by support arm fixator be fixed between two parties it is described nobody
On the bottom plate of owner's body；The fixed-direction for accelerating motor support arm is the direction pitch of the unmanned plane main body；
The acceleration motor is identical 2 motors of model, is separately fixed on 2 acceleration motor fixing frames,
Fixed-direction is opposite；The acceleration motor provides the motive force of front direction or rear direction for unmanned plane, will according to kinetic theory
Unmanned plane reaction force in the horizontal direction and reaction torque are balanced；
The acceleration electricity adjusts totally 2, and model is identical；2 acceleration electricity, which is adjusted to be separately fixed at, to be accelerated on motor support arm；
As shown in Fig. 2, each described control output end for accelerating electricity to adjust is connect with the closer one acceleration motor, control defeated
Enter end to connect with the idle control output end mouthful of the flight controller；
It totally 2, the propeller, is separately mounted on 2 acceleration motors.
The acceleration motor support arm uses carbon fibre material.
The motor for accelerating motor that the dedicated waist of fixed-wing is selected to push away and pull.
The propeller that the propeller selects the dedicated waist of fixed-wing to push away and pull, using 8045 type propellers.
The acceleration motor fixing frame uses wood materials.
A kind of control method of Level Promoting multi-rotor unmanned aerial vehicle is right using above-mentioned Level Promoting multi-rotor unmanned aerial vehicle
The control system of the unmanned plane main body is adjusted, and the control system is made to receive assisted instruction under state of flight, subtract
When speed instruction or brake instruction, the unmanned plane is controlled according to the following contents：
When the unmanned plane receives assisted instruction, the master controller adjusts the acceleration electricity by flight controller
It is accordingly controlled, makes the revolving speed promotion for accelerating electricity tune to control the acceleration motor by the duty ratio of PWM wave, to make
The speed of the unmanned plane increases；
When the unmanned plane receives deceleration instruction, the master controller adjusts the acceleration electricity by flight controller
It is accordingly controlled, makes the revolving speed decline for accelerating electricity tune to control the acceleration motor by the duty ratio of PWM wave, to make
The acceleration of the unmanned plane reduces；
When the unmanned plane receives brake instruction, the master controller adjusts the acceleration electricity by flight controller
Accordingly controlled, make it is described accelerate electricity regulation system is described motor is accelerated invert, to make the speed of the unmanned plane
Reduce.
Beneficial effects of the present invention：
The present invention proposes a kind of Level Promoting multi-rotor unmanned aerial vehicle and control method, to the movement speed of multi-rotor unmanned aerial vehicle
Have with mobility and be obviously improved, the mechanical structure being related to is readily disassembled, and is conveniently replaceable, and large-scale production is suitble to；It realizes
Shutting down for aerial Level Promoting function, is conducive to long-distance flight task.
The present invention has rational design, it is easy to accomplish, there is good practical value.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of Level Promoting multi-rotor unmanned aerial vehicle described in the specific embodiment of the invention；
Fig. 2 is control system described in the specific embodiment of the invention, accelerates electricity reconciliation that the connection relationship of motor is accelerated to show
It is intended to.
In figure：1, unmanned plane main body；2, accelerate motor support arm；3, support arm fixator；4, accelerate motor fixing frame；5, accelerate
Electricity is adjusted；6, accelerate motor；7, propeller；8, control system；8-1, master controller；8-2, flight controller.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing and embodiment,
Further description is made to the present invention.It should be appreciated that described herein, specific examples are only used to explain the present invention, and
It is not used in the restriction present invention.
The present invention proposes a kind of Level Promoting multi-rotor unmanned aerial vehicle, as shown in Figure 1, including unmanned plane main body 1, accelerating motor
Support arm 2, support arm fixator 3 accelerate motor fixing frame 4, electricity are accelerated to adjust 5, accelerate motor 6, propeller 7；
The unmanned plane main body is the multi-rotor unmanned aerial vehicle with independent flight function；
The control system 8 of the unmanned plane main body is as shown in Fig. 2, include master controller 8-1 and flight controller 8-2；
In the present embodiment, the master controller 8-1 uses STM32F4 single-chip microcontroller；
The flight controller has 2 idle control output ends mouthful；In the present embodiment, the unmanned plane main body flies
Line control unit is that APM2.8 open source flies control；
The acceleration motor fixing frame totally 2, by accelerating the connection of motor support arm；The acceleration motor fixing frame is wooden
Material, the mechanism of being cut by laser obtain, and have light, secured solid, accurate feature；
The acceleration motor support arm be 2 isometric parallel round tubes, by support arm fixator be fixed between two parties it is described nobody
On the bottom plate of owner's body；The fixed-direction for accelerating motor support arm is the direction pitch of the unmanned plane main body；
The acceleration motor support arm uses carbon fibre material；
The acceleration motor is identical 2 motors of model, is separately fixed on 2 acceleration motor fixing frames,
Fixed-direction is opposite；The acceleration motor provides the motive force of front direction or rear direction for unmanned plane, will according to kinetic theory
Unmanned plane reaction force in the horizontal direction and reaction torque are balanced；
The motor for accelerating motor that the dedicated waist of fixed-wing is selected to push away and pull；
The acceleration electricity adjusts totally 2, and model is identical；2 acceleration electricity, which is adjusted to be separately fixed at, to be accelerated on motor support arm；
As shown in Fig. 2, each described control output end for accelerating electricity to adjust is connect with the closer one acceleration motor, control defeated
Enter end to connect with the idle control output end mouthful of the flight controller；
It totally 2, the propeller, is separately mounted on 2 acceleration motors；
The propeller that the propeller selects the dedicated waist of fixed-wing to push away and pull, using 8045 type propellers, by air-flow
Influence is preferably minimized, to reduce in its operational process for influence caused by the whole machine balancing of the aircraft；
The present invention proposes a kind of control method of Level Promoting multi-rotor unmanned aerial vehicle, using the above-mentioned more rotors of Level Promoting
Unmanned plane is adjusted the control system of the unmanned plane main body, receives the control system under state of flight and adds
When speed instruction, deceleration instruction or brake instruction, the unmanned plane is controlled according to the following contents：
When the unmanned plane receives assisted instruction, the master controller adjusts the acceleration electricity by flight controller
It is accordingly controlled, makes the revolving speed promotion for accelerating electricity tune to control the acceleration motor by the duty ratio of PWM wave, to make
The speed of the unmanned plane increases；
When the unmanned plane receives deceleration instruction, the master controller adjusts the acceleration electricity by flight controller
It is accordingly controlled, makes the revolving speed decline for accelerating electricity tune to control the acceleration motor by the duty ratio of PWM wave, to make
The acceleration of the unmanned plane reduces；
When the unmanned plane receives brake instruction, the master controller adjusts the acceleration electricity by flight controller
Accordingly controlled, make it is described accelerate electricity regulation system is described motor is accelerated invert, to make the speed of the unmanned plane
Reduce.
The present invention proposes a kind of Level Promoting multi-rotor unmanned aerial vehicle and control method, to the movement speed of multi-rotor unmanned aerial vehicle
Have with mobility and be obviously improved, the mechanical structure being related to is readily disassembled, and is conveniently replaceable, and large-scale production is suitble to；It realizes
Shutting down for aerial Level Promoting function, is conducive to long-distance flight task.
The present invention has rational design, it is easy to accomplish, there is good practical value.
Claims (6)
1. a kind of Level Promoting multi-rotor unmanned aerial vehicle, which is characterized in that including：Unmanned plane main body accelerates motor support arm, support arm solid
Determine device, accelerates motor fixing frame, accelerate electricity to adjust, accelerate motor, propeller；
The unmanned plane main body is multi-rotor unmanned aerial vehicle；
The control system of the unmanned plane main body includes master controller and flight controller；
The flight controller has 2 idle control output ends mouthful；The acceleration motor fixing frame totally 2, passes through acceleration
The connection of motor support arm；
The acceleration motor support arm is 2 isometric parallel round tubes, is fixed on the unmanned owner between two parties by support arm fixator
On the bottom plate of body；The fixed-direction for accelerating motor support arm is the direction pitch of the unmanned plane main body；
The acceleration motor is identical 2 motors of model, is separately fixed on 2 acceleration motor fixing frames, fixed
It is contrary；The acceleration motor provides the motive force of front direction or rear direction for unmanned plane, according to kinetic theory, by nobody
Machine reaction force in the horizontal direction and reaction torque are balanced；
The acceleration electricity adjusts totally 2, and model is identical；2 acceleration electricity, which is adjusted to be separately fixed at, to be accelerated on motor support arm；Such as figure
Shown in 2, each described control output end for accelerating electricity to adjust is connect with the closer one acceleration motor, control signal
It is connect with the idle control output end mouthful of the flight controller；
It totally 2, the propeller, is separately mounted on 2 acceleration motors.
2. Level Promoting multi-rotor unmanned aerial vehicle according to claim 1, which is characterized in that the acceleration motor support arm uses
Carbon fibre material.
3. Level Promoting multi-rotor unmanned aerial vehicle according to claim 1, which is characterized in that the acceleration motor, which is selected, to be fixed
The motor that the dedicated waist of the wing is pushed away and pulled.
4. Level Promoting multi-rotor unmanned aerial vehicle according to claim 1, which is characterized in that the propeller selects fixed-wing
The propeller that dedicated waist is pushed away and pulled, using 8045 type propellers.
5. Level Promoting multi-rotor unmanned aerial vehicle according to claim 1, which is characterized in that the acceleration motor fixing frame is adopted
Use wood materials.
6. a kind of control method of Level Promoting multi-rotor unmanned aerial vehicle, which is characterized in that pushed away using level described in claim 1
Dynamic multi-rotor unmanned aerial vehicle, is adjusted the control system of the unmanned plane main body, makes the control system under state of flight
When receiving assisted instruction, deceleration instruction or brake instruction, the unmanned plane is controlled according to the following contents：
When the unmanned plane receives assisted instruction, the master controller transfers in row to the acceleration electricity by flight controller
Corresponding control makes the acceleration electricity tune control the revolving speed for accelerating motor by the duty ratio of PWM wave and is promoted, thus described in making
The speed of unmanned plane increases；
When the unmanned plane receives deceleration instruction, the master controller transfers in row to the acceleration electricity by flight controller
Corresponding control makes the acceleration electricity tune control the revolving speed for accelerating motor by the duty ratio of PWM wave and declines, thus described in making
The acceleration of unmanned plane reduces；
When the unmanned plane receives brake instruction, the master controller transfers in row to the acceleration electricity by flight controller
Corresponding control, make it is described accelerate electricity regulation system is described motor is accelerated invert, so that the speed of the unmanned plane be made to reduce.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810863761.8A CN108839795A (en) | 2018-08-01 | 2018-08-01 | A kind of Level Promoting multi-rotor unmanned aerial vehicle and control method |
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| CN201810863761.8A CN108839795A (en) | 2018-08-01 | 2018-08-01 | A kind of Level Promoting multi-rotor unmanned aerial vehicle and control method |
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| Publication Number | Publication Date |
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| CN108839795A true CN108839795A (en) | 2018-11-20 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022205116A1 (en) * | 2021-03-31 | 2022-10-06 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle, control terminal, drone rescue method and drone rescue system |
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