CN109308074A - A kind of compensation method and system of drone center of unmanned aerial vehicle offset - Google Patents
A kind of compensation method and system of drone center of unmanned aerial vehicle offset Download PDFInfo
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- 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
The invention discloses a kind of compensation methodes of drone center of unmanned aerial vehicle offset, comprising: obtains the target control torque of unmanned plane；Obtain the additional moment that the unmanned plane is obtained by centre-of gravity shift；Compensating torque needed for picking out the unmanned plane using least square method of recursion；The additional moment and the compensating torque are added in target control torque and compensate control；Compensated Torque distribution is given to four motors, so that unmanned plane described in four motor drivens reaches targeted attitude.The invention also discloses a kind of compensation systems of drone center of unmanned aerial vehicle offset.The present invention can carry out centre-of gravity shift compensation control to unmanned plane, effectively promote the dynamic property and anti-interference ability of unmanned plane, and then promote the flight experience of user.
Description
Technical field
The present invention relates to compensation methodes and system that air vehicle technique field more particularly to a kind of drone center of unmanned aerial vehicle deviate.
Background technique
In the prior art, the unmanned aerial photography aircraft with holder can all have the geometry of aircraft center of gravity and aircraft body
The inconsistent situation in center, the effect that resulting centre-of gravity shift will lead to control is not ideal enough, especially in a manual mode,
Unmanned plane can obviously drift about toward the direction of centre-of gravity shift, leverage the flight experience of user especially new hand and can operate
Property.Therefore, it is necessary to carry out accurate recognition to it aiming at the problem that drone center of unmanned aerial vehicle offset and compensate control.
Summary of the invention
The present invention aiming at the problems existing in the prior art, provides a kind of compensation method of drone center of unmanned aerial vehicle offset and is
System can carry out centre-of gravity shift compensation control to unmanned plane, effectively promote the dynamic property and anti-interference ability of unmanned plane, in turn
Promote the flight experience of user.
The technical solution that the present invention is proposed with regard to above-mentioned technical problem is as follows:
On the one hand, the present invention provides a kind of compensation method of drone center of unmanned aerial vehicle offset, comprising:
Obtain the target control torque of unmanned plane；
Obtain the additional moment that the unmanned plane is obtained by centre-of gravity shift；
Compensating torque needed for picking out the unmanned plane using least square method of recursion；
The additional moment and the compensating torque are added in target control torque and compensate control；
Compensated Torque distribution is given to four motors, so that unmanned plane described in four motor drivens reaches target appearance
State.
Further, the target control torque for obtaining unmanned plane, specifically includes:
According to the object attitude angle of the unmanned plane and the attitude angle resolved by the unmanned plane current pose, meter
It calculates and obtains attitude error；
Target angular velocity is obtained according to the attitude error, and according to the target angular velocity and by the unmanned plane
The angular speed that current pose resolves calculates and obtains attitude angular velocity error；
The target control torque is obtained according to the attitude angular velocity error.
Further, it is described the unmanned plane is picked out using least square method of recursion needed for compensating torque, it is specific to wrap
It includes:
Resultant couple, rate of pitch, rolling angular acceleration and yaw rate based on pitching angular direction, are passed using described
Push away the compensating torque needed for least squares identification goes out the unmanned plane on the pitching angular direction；
Resultant couple, angular velocity in roll, pitching angular acceleration and yaw rate based on rolling angular direction, are passed using described
Push away the compensating torque needed for least squares identification goes out the unmanned plane on the rolling angular direction；
Resultant couple, yaw angular acceleration, angular velocity in roll and rate of pitch based on yaw angular direction, are passed using described
Push away the compensating torque needed for least squares identification goes out the unmanned plane on the yaw angular direction.
Further, the resultant couple based on pitching angular direction, rate of pitch, rolling angular acceleration and yaw angle speed
Degree, the compensating torque needed for picking out the unmanned plane on the pitching angular direction using the least square method of recursion, tool
Body includes:
Obtain the torque equilibrium equation of unmanned plane pitching angular directionWherein, MxFor nobody
The resultant couple of machine pitching angular direction,For rolling angular acceleration,For rate of pitch,For yaw rate, Ixx、Iyy、IzzFor
The rotary inertia of unmanned plane,For the compensating torque of pitching angular direction；
If system of linear equations Ax=b, then A (k :) x=bk, wherein k=1,2 ... n, A (k :)=[ak1,ak2,…,
akn], x=[x1,x2,…,xn]T；
Enable b=Mx,It is distinguished using least square method of recursion
Know the compensating torque needed for the unmanned plane is on the pitching angular direction out
The least square method of recursion are as follows:
xk+1=xk+Qk[bk-A(k,:)xk], k=1,2 ..., n；
Pk+1=[I-QkA(k,:)]Pk；
Wherein, initial weight vector x is randomly generated0=rand (n, 1), if P0=α I ∈ Rn×n, α=106~1010, I ∈ Rn ×nIt is unit matrix.
Further, described to give compensated Torque distribution to four motors, so that nothing described in four motor drivens
It is man-machine to reach targeted attitude, it specifically includes:
Weight, rotary inertia and motor based on the unmanned plane to mass centre brachium, successively by the pitching
The compensating torque of angular direction, the compensating torque of the rolling angular direction, the compensating torque for yawing angular direction are distributed to described
Four motors make unmanned plane described in four motor drivens reach targeted attitude to adjust the revolving speed of four motors.
On the other hand, the present invention provides a kind of compensation system of drone center of unmanned aerial vehicle offset, comprising:
First obtains module, for obtaining the target control torque of unmanned plane；
Second obtains module, the additional moment obtained for obtaining the unmanned plane by centre-of gravity shift；
Module is recognized, for compensating torque needed for picking out the unmanned plane using least square method of recursion；
Compensating module is compensated for the additional moment and the compensating torque to be added in target control torque
Control；And
Distribution module, for giving compensated Torque distribution to four motors, so that nothing described in four motor drivens
It is man-machine to reach targeted attitude.
Further, the first acquisition module specifically includes:
Attitude error computing unit, it is current for the object attitude angle according to the unmanned plane and by the unmanned plane
The attitude angle that attitude algorithm obtains calculates and obtains attitude error；
Attitude angular velocity error calculation unit, for obtaining target angular velocity according to the attitude error, and according to institute
The angular speed stating target angular velocity and being resolved by the unmanned plane current pose calculates and obtains attitude angular velocity error；
And
Acquiring unit, for obtaining the target control torque according to the attitude angular velocity error.
Further, the identification module specifically includes:
First identification unit, for resultant couple, rate of pitch, rolling angular acceleration and yaw based on pitching angular direction
Angular speed, the balancing force needed for picking out the unmanned plane on the pitching angular direction using the least square method of recursion
Square；
Second identification unit, for resultant couple, angular velocity in roll, pitching angular acceleration and yaw based on rolling angular direction
Angular speed, the balancing force needed for picking out the unmanned plane on the rolling angular direction using the least square method of recursion
Square；And
Third identification unit, for resultant couple, yaw angular acceleration, angular velocity in roll and pitching based on yaw angular direction
Angular speed, the balancing force needed for picking out the unmanned plane on the yaw angular direction using the least square method of recursion
Square.
Further, first identification unit specifically includes:
Equation obtains subelement, for obtaining the torque equilibrium equation of unmanned plane pitching angular directionWherein, MxFor nobody
The resultant couple of machine pitching angular direction,For rolling angular acceleration,For rate of pitch,For yaw rate, Ixx、Iyy、Izz
For the rotary inertia of unmanned plane,For the compensating torque of pitching angular direction；
Subelement is set, for setting system of linear equations Ax=b, then A (k :) x=bk, wherein k=1,2 ... n, A (k :)
=[ak1,ak2,…,akn], x=[x1,x2,…,xn]T；And
Subelement is recognized, for enabling b=Mx,Using passing
Push away the compensating torque needed for least squares identification goes out the unmanned plane on the pitching angular direction
The least square method of recursion are as follows:
xk+1=xk+Qk[bk-A(k,:)xk], k=1,2 ..., n；
Pk+1=[I-QkA(k,:)]Pk；
Wherein, initial weight vector x is randomly generated0=rand (n, 1), if P0=α I ∈ Rn×n, α=106~1010, I ∈ Rn ×nIt is unit matrix.
Further, the distribution module is specifically used for:
Weight, rotary inertia and motor based on the unmanned plane to mass centre brachium, successively by the pitching
The compensating torque of angular direction, the compensating torque of the rolling angular direction, the compensating torque for yawing angular direction are distributed to described
Four motors make unmanned plane described in four motor drivens reach targeted attitude to adjust the revolving speed of four motors.
Technical solution provided in an embodiment of the present invention has the benefit that
After drone center of unmanned aerial vehicle offset, compensating torque needed for unmanned plane is accurately distinguished using least square method of recursion
Know, and identification obtained compensating torque add back target control torque compensating control, so as to by compensated Torque distribution
To four motors of unmanned plane, unmanned plane is made to reach targeted attitude, to effectively promote the dynamic property of unmanned plane and anti-interference
Ability, and then promote the flight experience of user.
Detailed description of the invention
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, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the flow diagram of the compensation method for the drone center of unmanned aerial vehicle offset that the embodiment of the present invention one provides；
Fig. 2 is the compensation principle figure in the compensation method for the drone center of unmanned aerial vehicle offset that the embodiment of the present invention one provides；
Fig. 3 is bowing after addition additional moment in the compensation method for the drone center of unmanned aerial vehicle offset that the embodiment of the present invention one provides
Elevation angle output waveform figure；
Fig. 4 is the pitch angle in the compensation method for the drone center of unmanned aerial vehicle offset that the embodiment of the present invention one provides after compensation control
Output waveform figure；
To the identification waveform diagram of additional moment when Fig. 5 is unmanned plane practical flight in the embodiment of the present invention one；
Fig. 6 is the structural schematic diagram of the compensation system of drone center of unmanned aerial vehicle offset provided by Embodiment 2 of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
Embodiment one
The embodiment of the invention provides a kind of compensation methodes of drone center of unmanned aerial vehicle offset, referring to Fig. 1, this method comprises:
S1, the target control torque for obtaining unmanned plane；
S2, the additional moment that the unmanned plane is obtained by centre-of gravity shift is obtained；
S3, the unmanned plane is picked out using least square method of recursion needed for compensating torque；
S4, it the additional moment and the compensating torque is added in target control torque compensates control；
S5, compensated Torque distribution is given to four motors, so that unmanned plane described in four motor drivens reaches mesh
Mark posture.
It should be noted that after drone center of unmanned aerial vehicle offset, obtain unmanned plane by additional moment that centre-of gravity shift obtains with
And the target control torque of unmanned plane, while compensating torque needed for obtaining unmanned plane as least square method of recursion, it then will be attached
Reinforcing square and compensating torque are added in target control torque, compensate control, and then will be compensated by unmanned plane parameter
Torque distribution gives four motors, obtains the revolving speed of four motors, to be resolved according to the revolving speed of four motors and sensing data
Attitude angle information out, so that unmanned plane reaches targeted attitude.
Further, the target control torque for obtaining unmanned plane, specifically includes:
According to the object attitude angle of the unmanned plane and the attitude angle resolved by the unmanned plane current pose, meter
It calculates and obtains attitude error；
Target angular velocity is obtained according to the attitude error, and according to the target angular velocity and by the unmanned plane
The angular speed that current pose resolves calculates and obtains attitude angular velocity error；
The target control torque is obtained according to the attitude angular velocity error.
It should be noted that as shown in Fig. 2, by object attitude angle RtargetThe attitude angle resolved with current pose
Rcurrent, calculate and obtain attitude error.Target angular velocity ω is obtained through PD control device by attitude errord, then with current appearance
The angular velocity omega that state resolves calculates and obtains attitude angular velocity error ωerr.By attitude angular velocity error ωerrThrough PID control
Device obtains target control torque, the additional moment Δ M that then will be obtained by centre-of gravity shift in compensation control modulexWith by minimum two
Multiply the compensating torque that identification obtainsIt is added in target control torque, compensates control.And then by unmanned plane parameter,
Such as weight, rotary inertia, brachium etc., torque is distributed into four motors and obtains the revolving speed of four motors, is finally turned by motor
Speed and quadrotor kinetic model are plus sensing data resolving attitude angle information Rcurrent.Wherein, attitude angle includes
Pitch angle, roll angle and yaw angle.
Further, it is described the unmanned plane is picked out using least square method of recursion needed for compensating torque, it is specific to wrap
It includes:
Resultant couple, rate of pitch, rolling angular acceleration and yaw rate based on pitching angular direction, are passed using described
Push away the compensating torque needed for least squares identification goes out the unmanned plane on the pitching angular direction；
Resultant couple, angular velocity in roll, pitching angular acceleration and yaw rate based on rolling angular direction, are passed using described
Push away the compensating torque needed for least squares identification goes out the unmanned plane on the rolling angular direction；
Resultant couple, yaw angular acceleration, angular velocity in roll and rate of pitch based on yaw angular direction, are passed using described
Push away the compensating torque needed for least squares identification goes out the unmanned plane on the yaw angular direction.
It, can be from pitching angular direction, rolling angular direction and partially it should be noted that when the torque to unmanned plane compensates
The torque of boat angular direction compensates respectively.
Further, the resultant couple based on pitching angular direction, rate of pitch, rolling angular acceleration and yaw angle speed
Degree, the compensating torque needed for picking out the unmanned plane on the pitching angular direction using the least square method of recursion, tool
Body includes:
Obtain the torque equilibrium equation of unmanned plane pitching angular directionWherein, MxFor nobody
The resultant couple of machine pitching angular direction,For rolling angular acceleration,For rate of pitch,For yaw rate, Ixx、Iyy、Izz
For the rotary inertia of unmanned plane,For the compensating torque of pitching angular direction；
If system of linear equations Ax=b, then A (k :) x=bk, wherein k=1,2 ... n, A (k :)=[ak1,ak2,…,
akn], x=[x1,x2,…,xn]T；
Enable b=Mx,It is distinguished using least square method of recursion
Know the compensating torque needed for the unmanned plane is on the pitching angular direction out
The least square method of recursion are as follows:
xk+1=xk+Qk[bk-A(k,:)xk], k=1,2 ..., n；
Pk+1=[I-QkA(k,:)]Pk；
Wherein, initial weight vector x is randomly generated0=rand (n, 1), if P0=α I ∈ Rn×n, α=106~1010, I ∈ Rn ×nIt is unit matrix.
It should be noted that the present embodiment for obtaining the compensating torque of pitching angular direction to be illustrated.Unmanned plane
Torque equilibrium equation are as follows:Wherein, Mx, My, MzRespectively unmanned plane x, y, z
The resultant couple in three directions,For the rotary inertia of unmanned plane, p, q, r are angular speed,For corresponding angular acceleration,For since centre-of gravity shift is in three directions of x, y, z
The additional moment of generation.Wherein, coordinate system is defined as: origin takes the mass center in unmanned plane, and coordinate system and body are connected；X-axis with
The longitudinal axis of fuselage design is parallel, and in the symmetrical plane in unmanned plane, is directing forwardly；Y-axis is perpendicular to unmanned plane symmetrical plane
It is directed toward right；Z axis is and downwardly directed perpendicular to X-axis in unmanned plane symmetrical plane.Whole coordinate system meets the eulerian coordinate system right side
Hand rule.
Due to considering unmanned plane under conditions of small angle variation is flown, after approximate processing, with the direction x, i.e. pitch orientation
For, it obtainsWherein,
Ixx、Izz-Iyy、For parameter to be identified, Mx、It (filters to obtain by sensor or control loop is straight for known quantity
Connect output).Least square method of recursion is picked outIt is added in control loop, to additional moment Δ MxIt compensates
Control.Similarly, rolling angular direction can be picked out and yaw the compensating torque of angular direction.
Further, described to give compensated Torque distribution to four motors, so that nothing described in four motor drivens
It is man-machine to reach targeted attitude, it specifically includes:
Weight, rotary inertia and motor based on the unmanned plane to mass centre brachium, successively by the pitching
The compensating torque of angular direction, the compensating torque of the rolling angular direction, the compensating torque for yawing angular direction are distributed to described
Four motors make unmanned plane described in four motor drivens reach targeted attitude to adjust the revolving speed of four motors.
It should be noted that ideally, the kinetic model of quadrotor drone can be described as: be regarded as
The three-dimensional rigid body of one power and three torque.The approximate power of the quadrotor drone under the conditions of small angle variation is given as follows
Learn model:
Wherein, x, y are respectively the coordinate of horizontal plane；Z is upright position；ψ is the yaw angle around z-axis, and θ is bowing around y-axis
The elevation angle, φ are the roll angle around x-axis；U is the thrust upward from uav bottom；τψ, τθ, τφRespectively yawing, pitching
Torque, rolling moment.
Dynamic model:
Four motors provide lift, and general lift is proportional to square of revolving speed.If not considering air drag, then quadrotor
Model simplification it is as follows:
Wherein, φ, θ, ψ are fuselage respectively around x-axis, y-axis, the angle (counterclockwise) of z-axis rotation；Ix、Iy、IzIt is respectively
Rotary inertia of the fuselage in three directions；JrIt is rotary inertia；L is brachium of the motor to mass centre；M is the quality of fuselage；g
It is acceleration (numerical value 9.81)；U1,U2,U3,U4, Ω obtains by following equations:
Ω=Ω2+Ω4-Ω1-Ω3
Wherein, Ω1,Ω2,Ω3,Ω4The revolving speed of respectively four motors, b, d are undetermined coefficient.
Emulation experiment is carried out using the method for the embodiment of the present invention.
The emulation module that unmanned plane is built using MATLAB software, it is 0 that in input terminal, to give pitch angle φ, which be average value,
Square-wave signal first assumes additional moment Δ Mx=0.1, additional moment is added in control loop, the waveform meeting of pitch angle φ
There is an offset, as shown in Figure 3.It, will after adding least square method of recursion identification feedback moduleIdentification result
It compensates in control loop, the situation of change of pitch angle φ is as shown in Figure 4.The result shows that the control of square wave is defeated after identification convergence
Meet preset requirement out.
Least square method of recursion and compensation control are added in the winged control source code based on C++, the identification knot to take off every time
Fruit as shown in Figure 5 (red line mutation indicates unmanned plane take-off and landing), is as a result basically stable near a fixed value.From reality
It has been observed that taking off under manual mode (under no-wind environment) indoors, unmanned plane is substantially vertical to take off flight effect, does not drift about
Phenomenon；It takes off under outdoor (have wind environment under) manual mode, unmanned plane can have certain small range in external disturbance
Drift, but compared with additional moment caused by centre-of gravity shift is not compensated processing, improvement is clearly.
The embodiment of the present invention can be when the part motor of unmanned plane breaks down, according to fault message to four motors
Control distribution information optimizes, and closes the control instruction of four motors linearly with unmanned plane posture to be achieved and height
System, to make unmanned plane reach its posture and height to be achieved according to the control distribution information after optimization, to overcome rapidly
Influence of the failure to unmanned plane guarantees the controllability of posture and height, keeps the stability of UAV Attitude, avoid accident
Occur.
Embodiment two
The embodiment of the invention provides a kind of compensation systems of drone center of unmanned aerial vehicle offset, can be realized above-mentioned drone center of unmanned aerial vehicle
All processes of the compensation method of offset, referring to Fig. 6, the compensation system of the drone center of unmanned aerial vehicle offset includes:
First obtains module 1, for obtaining the target control torque of unmanned plane；
Second obtains module 2, the additional moment obtained for obtaining the unmanned plane by centre-of gravity shift；
Module 3 is recognized, for compensating torque needed for picking out the unmanned plane using least square method of recursion；
Compensating module 4 is mended for the additional moment and the compensating torque to be added in target control torque
Repay control；And
Distribution module 5, for giving compensated Torque distribution to four motors, so that nothing described in four motor drivens
It is man-machine to reach targeted attitude.
Further, the first acquisition module specifically includes:
Attitude error computing unit, it is current for the object attitude angle according to the unmanned plane and by the unmanned plane
The attitude angle that attitude algorithm obtains calculates and obtains attitude error；
Attitude angular velocity error calculation unit, for obtaining target angular velocity according to the attitude error, and according to institute
The angular speed stating target angular velocity and being resolved by the unmanned plane current pose calculates and obtains attitude angular velocity error；
And
Acquiring unit, for obtaining the target control torque according to the attitude angular velocity error.
Further, the identification module specifically includes:
First identification unit, for resultant couple, rate of pitch, rolling angular acceleration and yaw based on pitching angular direction
Angular speed, the balancing force needed for picking out the unmanned plane on the pitching angular direction using the least square method of recursion
Square；
Second identification unit, for resultant couple, angular velocity in roll, pitching angular acceleration and yaw based on rolling angular direction
Angular speed, the balancing force needed for picking out the unmanned plane on the rolling angular direction using the least square method of recursion
Square；And
Third identification unit, for resultant couple, yaw angular acceleration, angular velocity in roll and pitching based on yaw angular direction
Angular speed, the balancing force needed for picking out the unmanned plane on the yaw angular direction using the least square method of recursion
Square.
Further, first identification unit specifically includes:
Equation obtains subelement, for obtaining the torque equilibrium equation of unmanned plane pitching angular directionWherein, MxFor unmanned plane
The resultant couple of pitching angular direction,For rolling angular acceleration,For rate of pitch,For yaw rate, Ixx、Iyy、IzzFor
The rotary inertia of unmanned plane,For the compensating torque of pitching angular direction；
Subelement is set, for setting system of linear equations Ax=b, then A (k :) x=bk, wherein k=1,2 ... n, A (k :)
=[ak1,ak2,…,akn], x=[x1,x2,…,xn]T；And
Subelement is recognized, for enabling b=Mx,Using passing
Push away the compensating torque needed for least squares identification goes out the unmanned plane on the pitching angular direction
The least square method of recursion are as follows:
xk+1=xk+Qk[bk-A(k,:)xk], k=1,2 ..., n；
Pk+1=[I-QkA(k,:)]Pk；
Wherein, initial weight vector x is randomly generated0=rand (n, 1), if P0=α I ∈ Rn×n, α=106~1010, I ∈ Rn ×nIt is unit matrix.
Further, the distribution module is specifically used for:
Weight, rotary inertia and motor based on the unmanned plane to mass centre brachium, successively by the pitching
The compensating torque of angular direction, the compensating torque of the rolling angular direction, the compensating torque for yawing angular direction are distributed to described
Four motors make unmanned plane described in four motor drivens reach targeted attitude to adjust the revolving speed of four motors.
The embodiment of the present invention is after drone center of unmanned aerial vehicle offset, using least square method of recursion to balancing force needed for unmanned plane
Square carries out accurate recognition, and identification obtained compensating torque adds back target control torque compensating control, to compensate
Torque distribution afterwards makes unmanned plane reach targeted attitude to four motors of unmanned plane, to effectively promote the dynamic of unmanned plane
Performance and anti-interference ability, and then promote the flight experience of user.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of compensation method of drone center of unmanned aerial vehicle offset characterized by comprising
Obtain the target control torque of unmanned plane；
Obtain the additional moment that the unmanned plane is obtained by centre-of gravity shift；
Compensating torque needed for picking out the unmanned plane using least square method of recursion；
The additional moment and the compensating torque are added in the target control torque and compensate control；
Compensated Torque distribution is given to four motors, so that unmanned plane described in four motor drivens reaches targeted attitude.
2. the compensation method of drone center of unmanned aerial vehicle offset as described in claim 1, which is characterized in that the mesh for obtaining unmanned plane
Control moment is marked, is specifically included:
It is obtained according to the object attitude angle of the unmanned plane and the attitude angle resolved by the unmanned plane current pose, calculating
Obtain attitude error；
Target angular velocity is obtained according to the attitude error, and current according to the target angular velocity and by the unmanned plane
The angular speed that attitude algorithm obtains calculates and obtains attitude angular velocity error；
The target control torque is obtained according to the attitude angular velocity error.
3. the compensation method of drone center of unmanned aerial vehicle offset as described in claim 1, which is characterized in that described to use recursion minimum two
Compensating torque needed for multiplication picks out the unmanned plane, specifically includes:
Resultant couple, rate of pitch, rolling angular acceleration and yaw rate based on pitching angular direction, most using the recursion
Small square law picks out unmanned plane compensating torque required on the pitching angular direction；
Resultant couple, angular velocity in roll, pitching angular acceleration and yaw rate based on rolling angular direction, most using the recursion
Small square law picks out unmanned plane compensating torque required on the rolling angular direction；
Resultant couple, yaw angular acceleration, angular velocity in roll and rate of pitch based on yaw angular direction, most using the recursion
Small square law picks out unmanned plane compensating torque required on the yaw angular direction.
4. the compensation method of drone center of unmanned aerial vehicle offset as claimed in claim 3, which is characterized in that described to be based on pitching angular direction
Resultant couple, rate of pitch, rolling angular acceleration and yaw rate, picked out using the least square method of recursion described
Unmanned plane compensating torque required on the pitching angular direction, specifically includes:
Obtain the torque equilibrium equation of unmanned plane pitching angular directionWherein, MxFor unmanned plane
The resultant couple of pitching angular direction,For rolling angular acceleration,For rate of pitch,For yaw rate, Ixx、Iyy、IzzFor
The rotary inertia of unmanned plane,For the compensating torque of pitching angular direction；
If system of linear equations Ax=b, then A (k :) x=bk, wherein k=1,2 ... n, A (k :)=[ak1,ak2,…,akn], x=
[x1,x2,…,xn]T；
Enable b=Mx,It is picked out using least square method of recursion
Unmanned plane compensating torque required on the pitching angular direction
The least square method of recursion are as follows:
xk+1=xk+Qk[bk-A(k,:)xk], k=1,2 ..., n；
Pk+1=[I-QkA(k,:)]Pk；
Wherein, initial weight vector x is randomly generated0=rand (n, 1), if P0=α I ∈ Rn×n, α=106~1010, I ∈ Rn×nIt is
Unit matrix.
5. the compensation method of drone center of unmanned aerial vehicle offset as claimed in claim 3, which is characterized in that described by compensated torque
Four motors are distributed to, so that unmanned plane described in four motor drivens reaches targeted attitude, are specifically included:
Weight, rotary inertia and motor based on the unmanned plane to mass centre brachium, successively by the pitch angle side
To compensating torque, the rolling angular direction compensating torque, it is described yaw angular direction compensating torque distribute to described four
Motor makes unmanned plane described in four motor drivens reach targeted attitude to adjust the revolving speed of four motors.
6. a kind of compensation system of drone center of unmanned aerial vehicle offset characterized by comprising
First obtains module, for obtaining the target control torque of unmanned plane；
Second obtains module, the additional moment obtained for obtaining the unmanned plane by centre-of gravity shift；
Module is recognized, for compensating torque needed for picking out the unmanned plane using least square method of recursion；
Compensating module compensates control for the additional moment and the compensating torque to be added in target control torque
System；And
Distribution module, for giving compensated Torque distribution to four motors, so that unmanned plane described in four motor drivens
Reach targeted attitude.
7. the compensation system of drone center of unmanned aerial vehicle offset as claimed in claim 6, which is characterized in that described first obtains module tool
Body includes:
Attitude error computing unit, for the object attitude angle according to the unmanned plane and by the unmanned plane current pose
Obtained attitude angle is resolved, calculates and obtains attitude error；
Attitude angular velocity error calculation unit, for obtaining target angular velocity according to the attitude error, and according to the mesh
Mark angular speed and the angular speed resolved by the unmanned plane current pose, calculate and obtain attitude angular velocity error；And
Acquiring unit, for obtaining the target control torque according to the attitude angular velocity error.
8. the compensation system of drone center of unmanned aerial vehicle offset as claimed in claim 6, which is characterized in that the identification module is specifically wrapped
It includes:
First identification unit, for resultant couple, rate of pitch, rolling angular acceleration and yaw angle speed based on pitching angular direction
Degree, the compensating torque needed for picking out the unmanned plane on the pitching angular direction using the least square method of recursion；
Second identification unit, for resultant couple, angular velocity in roll, pitching angular acceleration and yaw angle speed based on rolling angular direction
Degree, the compensating torque needed for picking out the unmanned plane on the rolling angular direction using the least square method of recursion；With
And
Third identification unit, for resultant couple, yaw angular acceleration, angular velocity in roll and pitch angle speed based on yaw angular direction
Degree, the compensating torque needed for picking out the unmanned plane on the yaw angular direction using the least square method of recursion.
9. the compensation system of drone center of unmanned aerial vehicle offset as claimed in claim 8, which is characterized in that the first identification unit tool
Body includes:
Equation obtains subelement, for obtaining the torque equilibrium equation of unmanned plane pitching angular directionWherein, MxFor unmanned plane
The resultant couple of pitching angular direction,For rolling angular acceleration,For rate of pitch,For yaw rate, Ixx、Iyy、IzzFor
The rotary inertia of unmanned plane,For the compensating torque of pitching angular direction；
Subelement is set, for setting system of linear equations Ax=b, then A (k :) x=bk, wherein k=1,2 ... n, A (k :)=
[ak1,ak2,…,akn], x=[x1,x2,…,xn]T；And
Subelement is recognized, for enabling b=Mx,Most using recursion
Small square law picks out unmanned plane compensating torque required on the pitching angular direction
The least square method of recursion are as follows:
xk+1=xk+Qk[bk-A(k,:)xk], k=1,2 ..., n；
Pk+1=[I-QkA(k,:)]Pk；
Wherein, initial weight vector x is randomly generated0=rand (n, 1), if P0=α I ∈ Rn×n, α=106~1010, I ∈ Rn×nIt is
Unit matrix.
10. the compensation system of drone center of unmanned aerial vehicle offset as claimed in claim 8, which is characterized in that the distribution module is specific
For:
Weight, rotary inertia and motor based on the unmanned plane to mass centre brachium, successively by the pitch angle side
To compensating torque, the rolling angular direction compensating torque, it is described yaw angular direction compensating torque distribute to described four
Motor makes unmanned plane described in four motor drivens reach targeted attitude to adjust the revolving speed of four motors.
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