CN109388145A - A kind of method, apparatus and aircraft controlling aircraft - Google Patents
A kind of method, apparatus and aircraft controlling aircraft Download PDFInfo
- Publication number
- CN109388145A CN109388145A CN201710667848.3A CN201710667848A CN109388145A CN 109388145 A CN109388145 A CN 109388145A CN 201710667848 A CN201710667848 A CN 201710667848A CN 109388145 A CN109388145 A CN 109388145A
- Authority
- CN
- China
- Prior art keywords
- aircraft
- moment
- motor
- yawing
- rolling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
- G05D1/0072—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements to counteract a motor failure
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
Abstract
The present embodiments relate to technical field of flight control, more particularly to a kind of method, apparatus and aircraft for controlling aircraft, method includes: to receive gesture stability instruction, wherein the gesture stability instruction, which carries, controls the yawing N that the flight attitude of the aircraft needs originallyN, rolling moment LNWith pitching moment MNSize information；Judge whether the torque output capability of the motor of the aircraft meets and exports the yawing N that the script needsN, rolling moment LNWith pitching moment MNNeeds；If not satisfied, the yawing N then needed originally to the flight attitude of the aircraftN, rolling moment LN, pitching moment MNSize handled, obtain the torque output capability yawing N that can export that treated of the motor of the aircraftN', rolling moment LN' and pitching moment MN'.By the above-mentioned means, the case where motor that the present invention when adjusting the flight attitude of aircraft, can avoid the occurrence of aircraft overloads, causes aircraft bombing.
Description
Technical field
The present embodiments relate to technical field of flight control more particularly to it is a kind of control aircraft method, apparatus and
Aircraft.
Background technique
Unmanned vehicle refers to be flown using the non-riding type of radio robot and the presetting apparatus provided for oneself manipulation
Machine can carry micro-camera, realize airborne acquisition video, picture etc., can also be used to carry various measuring instruments, realize
Aerological sounding etc., therefore, unmanned vehicle has in fields such as agricultural, detection, meteorological, hazard forecasting and rescues widely answers
With.
Unmanned vehicle has come dependent on yawing caused by the difference of anti-twisted power caused by the different rotating speeds between motor
The gesture stability yawed at left/right；And dependent on the rolling moment of the thrust difference institute bad student between motor, come complete to
Left/gesture stability for flying to the right, forward/backward is completed dependent on the pitching moment of the thrust difference institute bad student between motor and is flown
Capable gesture stability.In order to facilitate reader more fully understand unmanned vehicle how to pass through control motor realize yaw, rolling and
Pitching is illustrated by taking four axis unmanned vehicles as an example below,
As shown in Figure 1, when the revolving speed of motor M1 and M3 are greater than the revolving speed of motor M2 and M4, by the rotor of motor M1 and M3
Rotation and generate anti-twisted power be greater than by motor M2 and M4 rotor rotate and generate anti-twisted power, the anti-twisted power difference caused by
Yawing makes four axis unmanned vehicles that the flight attitude to left drift occur.
As shown in Fig. 2, when the revolving speed of motor M2 and M4 are greater than the revolving speed of motor M1 and M3, by the rotor of motor M2 and M4
Rotation and generate anti-twisted power be greater than by motor M1 and M3 rotor rotate and generate anti-twisted power, the anti-twisted power difference caused by
Yawing makes four axis unmanned vehicles that the flight attitude yawed to the right occur.
As shown in figure 3, when the revolving speed of motor M2 and M3 are greater than the revolving speed of motor M1 and M4, caused by motor M2 and M3
Thrust be greater than motor M1 and M4 caused by thrust, the thrust difference caused by rolling moment make four axis unmanned vehicles occur to
The posture of left flight.
As shown in figure 4, when the revolving speed of motor M1 and M4 are greater than the revolving speed of motor M2 and M3, caused by motor M1 and M4
Thrust be greater than motor M2 and M3 caused by thrust, the thrust difference caused by rolling moment make four axis unmanned vehicles occur to
The posture of right flight.
As shown in figure 5, it is similar with the principle in Fig. 4, when the revolving speed of motor M4 and M3 are greater than the revolving speed of motor M1 and M2,
Thrust caused by motor M4 and M3 is greater than thrust caused by motor M1 and M2, and pitching moment caused by thrust difference makes four
The posture of axis unmanned vehicle generation flight forward.
Similarly, as shown in fig. 6, when the revolving speed of motor M1 and M2 are greater than the revolving speed of motor M4 and M3, motor M1 and M2 institute
The thrust of generation is greater than thrust caused by motor M4 and M3, and pitching moment caused by thrust difference makes four axis unmanned vehicles
The posture flown backward occurs.
It follows that unmanned vehicle forward, flight backward when, dependent between motor thrust difference caused by bow
Face upward torque；Similarly, aircraft is to the left, when flight to the right, dependent on rolling moment caused by the thrust difference between motor.With
Unlike this, aircraft is then to rely on caused by anti-twisted power of the motor in rotary course to the left, when yawing to the right
Torque is yawed, which formed since the air drag being subject to when motor rotation acts on.The side of above-mentioned thrust difference
To plane vertical with the plane where more rotor fuselages, where the direction of above-mentioned anti-twisted power and the fuselage of multi-rotor aerocraft
It is coplanar.
The present inventor has found in the implementation of the present invention: for unmanned vehicle, especially more rotors fly
For row device, the ability that motor generates the thrust vertical with plane where fuselage generates and co-planar where fuselage than motor
The ability of anti-twisted power is much larger, therefore, especially in the yaw-position for unmanned vehicle carrying out that anti-twisted power is needed to realize
When demand for control increases, there is a possibility that motor operating is saturated and then leads to aircraft bombing phenomenon and increase extreme.In addition, due to nothing
People's aircraft intrinsic airframe structure feature, and the specific principle and motor that are controlled due to the flight attitude of unmanned vehicle
The limitation of fan-out capability will lead to when completing the complicated gesture stability of unmanned vehicle, such as pitching, and rolling and yaw are same
When Shi Fasheng, due to causing the easy of motor of unmanned vehicle to reach saturation state, to cause serious uncontrollable aircraft bombing
Phenomenon.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of method, apparatus and aircraft for controlling aircraft, Neng Gou
When adjusting the flight attitude of aircraft, the case where avoiding the occurrence of the motor overload of aircraft, cause aircraft bombing.
In order to solve the above technical problem, the present invention provides a kind of control aircraft methods, comprising: receives gesture stability and refers to
It enables, wherein the gesture stability instruction, which carries, controls the yawing N that the flight attitude of the aircraft needs originallyN, rolling
Torque LNWith pitching moment MNSize information；It is defeated to judge whether the torque output capability of the motor of the aircraft meets
The yawing N that the script needs outN, rolling moment LNWith pitching moment MNNeeds；If not satisfied, then to the flight
The yawing N that the flight attitude of device needs originallyN, rolling moment LN, pitching moment MNSize handled, obtain described
The torque output capability of the motor of aircraft can export that treated yawing NN', rolling moment LN' and pitching moment
MN'；It will treated yawing NN', rolling moment LN' and pitching moment MN' will actually be exported as the motor it is inclined
Boat torque, rolling moment and pitching moment, control the motor, to control the flight attitude of the aircraft.
Further, whether the torque output capability of the motor for judging the aircraft meets the output script need
The yawing N wantedN, rolling moment LNWith pitching moment MNNeeds, comprising:
JudgementIt is whether true；
If so, then determine that the torque output capability of the motor of the aircraft is unsatisfactory for exporting the inclined of the script needs
Navigate torque NN, rolling moment LNWith pitching moment MNNeeds；
If not, it then determines that the torque output capability of the motor of the aircraft meets and exports the inclined of the script needs
Navigate torque NN, rolling moment LNWith pitching moment MNNeeds；
Wherein, T is torque threshold.
Further, the yawing N that the flight attitude to the aircraft needs originallyN, rolling moment LNWith bow
Face upward torque MNSize handled, the torque output capability for obtaining the motor of the aircraft can export that treated partially
Navigate torque NN', rolling moment LN' and pitching moment MN', comprising:
Further judge whether the torque output capability of the motor of the aircraft meets and exports the rolling that the script needs
Torque LNWith pitching moment MNNeeds:
If not satisfied, the yawing N then needed originally to the flight attitude of the aircraftN, rolling moment LNAnd pitching
Torque MNSize carry out diminution processing, using result as treated the yawing NN', rolling moment LN' and pitching
Torque MN'；
If satisfied, the rolling moment L for then needing the flight attitude of the aircraft originallyNWith pitching moment MNIt keeps not
Become, as treated the rolling moment LN' and pitching moment MN', and the flight attitude of the aircraft is needed originally
Yawing NNSize carry out diminution processing, using result as treated the yawing NN'。
Further, whether the torque output capability of the motor for further judging the aircraft meets described in output
Originally the rolling moment L neededNWith pitching moment MNNeeds, comprising:
JudgementIt is whether true；
If so, then determine that the torque output capability of the motor of the aircraft is unsatisfactory for exporting the rolling that the script needs
Torque LNWith pitching moment MNNeeds；
If not, it then determines that the torque output capability of the motor of the aircraft meets and exports the rolling that the script needs
Torque LNWith pitching moment MNNeeds；
Wherein, T is torque threshold.
Further, the yawing N that the flight attitude to the aircraft needs originallyN, rolling moment LNWith bow
Face upward torque MNSize carry out diminution processing, using result as treated the yawing NN', rolling moment LN' and bow
Face upward torque MN', using following formula:
NN'=0,
Wherein, LNmaxFor the maximum rolling moment that the torque output capability of the motor of the aircraft is met by, MNmaxFor
The maximum pitching moment that the torque output capability of the motor of the aircraft is met by.
Optionally, the yawing N that the flight attitude to the aircraft needs originallyN, rolling moment LNAnd pitching
Torque MNSize carry out diminution processing, using result as treated the yawing NN', rolling moment LN' and pitching
Torque MN', using following formula:
Further, the rolling moment L that the flight attitude by the aircraft needs originallyNWith pitching moment MNIt protects
Hold it is constant, as treated the rolling moment LN' and pitching moment MN', and the flight attitude of the aircraft is needed originally
The yawing N wantedNSize carry out diminution processing, using result as treated the yawing NN', using following public affairs
Formula:
LN'=LN；
MN'=MN；
Wherein, LNmaxFor the maximum rolling moment that the torque output capability of the motor of the aircraft is met by, MNmaxFor
The maximum pitching moment that the torque output capability of the motor of the aircraft is met by.
In order to solve the above-mentioned technical problem, the present invention also provides a kind of devices for controlling aircraft, comprising: receiving module,
For receiving gesture stability instruction, wherein the gesture stability instruction carries the flight attitude script for controlling the aircraft
The yawing N neededN, rolling moment LNWith pitching moment MNSize information；
Judgment module, for judging whether the torque output capability of motor of the aircraft meets the output script need
The yawing N wantedN, rolling moment LNWith pitching moment MNNeeds；
Processing module, for determined in the judgment module torque output capability of motor of aircraft be not able to satisfy it is defeated
The yawing N that the script needs outN, rolling moment LNWith pitching moment MNWhen needing, to the flight appearance of the aircraft
The yawing N that state needs originallyN, rolling moment LN, pitching moment MNSize handled, obtain the electricity of the aircraft
The torque output capability of machine can export that treated yawing NN', rolling moment LN' and pitching moment MN'；
Control module, for will treated yawing NN', rolling moment LN' and pitching moment MN' it is used as the electricity
Yawing, rolling moment and the pitching moment that machine will actually export, control the motor, to control described fly
The flight attitude of row device.
Further, the judgment module judges whether the torque output capability of the motor of the aircraft meets output institute
State the yawing N needed originallyN, rolling moment LNWith pitching moment MNNeeds, comprising:
JudgementIt is whether true；
If so, then determine that the torque output capability of the motor of the aircraft is unsatisfactory for exporting the inclined of the script needs
Navigate torque NN, rolling moment LNWith pitching moment MNNeeds；
If not, it then determines that the torque output capability of the motor of the aircraft meets and exports the inclined of the script needs
Navigate torque NN, rolling moment LNWith pitching moment MNNeeds,
Wherein, T is torque threshold.
Further, the processing module is specifically used for:
Not being able to satisfy the output script in the torque output capability that the judgment module determines the motor of aircraft needs
The yawing N wantedN, rolling moment LNWith pitching moment MNWhen needing, further judge the torque of the motor of the aircraft
Whether fan-out capability, which meets, exports the rolling moment L that the script needsNWith pitching moment MNNeeds；
If not satisfied, the yawing N then needed originally to the flight attitude of the aircraftN, rolling moment LNAnd pitching
Torque MNSize carry out diminution processing, using result as treated the yawing NN', rolling moment LN' and pitching
Torque MN'；
If satisfied, the rolling moment L for then needing the flight attitude of the aircraft originallyNWith pitching moment MNIt keeps not
Become, as treated the rolling moment LN' and pitching moment MN', and the flight attitude of the aircraft is needed originally
Yawing NNSize carry out diminution processing, using result as treated the yawing NN'。
Further, the processing module further judges whether the torque output capability of the motor of the aircraft meets
Export the rolling moment L that the script needsNWith pitching moment MNNeeds, comprising:
JudgementIt is whether true；
If so, then determine that the torque output capability of the motor of the aircraft is unsatisfactory for exporting the rolling that the script needs
Torque LNWith pitching moment MNNeeds；
If not, it then determines that the torque output capability of the motor of the aircraft meets and exports the rolling that the script needs
Torque LNWith pitching moment MNNeeds；
Wherein, T is torque threshold.
Further, the yawing N that the processing module needs the flight attitude of the aircraft originallyN, rolling
Torque LNWith pitching moment MNSize carry out diminution processing, using result as treated the yawing NN', rolling
Torque LN' and pitching moment MN', using following formula:
NN'=0,
Wherein, LNmaxFor the maximum rolling moment that the torque output capability of the motor of the aircraft is met by, MNmaxFor
The maximum pitching moment that the torque output capability of the motor of the aircraft is met by.
Optionally, the yawing N that the processing module needs the flight attitude of the aircraft originallyN, rolling power
Square LNWith pitching moment MNSize carry out diminution processing, using result as treated the yawing NN', rolling power
Square LN' and pitching moment MN', using following formula:
Further, the rolling moment L that the processing module needs the flight attitude of the aircraft originallyNAnd pitching
Torque MNIt remains unchanged, as treated the rolling moment LN' and pitching moment MN', and to the flight appearance of the aircraft
The yawing N that state needs originallyNSize carry out diminution processing, using result as treated the yawing NN', it adopts
With following formula:
LN'=LN；
MN'=MN；
Wherein, LNmaxFor the maximum rolling moment that the torque output capability of the motor of the aircraft is met by, MNmaxFor
The maximum pitching moment that the torque output capability of the motor of the aircraft is met by.
In order to solve the above-mentioned technical problem, the present invention also provides a kind of aircraft, including motor；At least one processor,
It is connect with the motor；And the memory being connect at least one described processor communication；Wherein, the memory storage
There is the instruction that can be executed by least one described processor, described instruction is executed by least one described processor, so that described
At least one processor is able to carry out above-mentioned method.
In embodiments of the present invention, it when needing to adjust the flight attitude of aircraft, determines and is meeting adjustment aircraft
Whether the motor of aircraft overloads when yawing, rolling moment required for flight attitude and pitching power, if overload, to required
Yawing, rolling moment and the pitching moment wanted carry out diminution processing, and according to yawing, the rolling moment after diminution
With pitching moment control motor, avoid yawing required for controlling the flight attitude of motor output adjustment aircraft by force,
When rolling moment and pitching moment, the problem of causing motor overload, cause aircraft bombing.
Detailed description of the invention
One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys
The bright restriction not constituted to embodiment, the element in attached drawing with same reference numbers label are expressed as similar element, remove
Non- to have special statement, composition does not limit the figure in attached drawing.
Fig. 1 is that four axis unmanned vehicles realize the schematic diagram to left drift；
Fig. 2 is that four axis unmanned vehicles realize the schematic diagram yawed to the right；
Fig. 3 is that four axis unmanned vehicles realize the schematic diagram to fly to the left；
Fig. 4 is that four axis unmanned vehicles realize the schematic diagram to fly to the right；
Fig. 5 is the schematic diagram that four axis unmanned vehicles realize flight forward；
Fig. 6 is that four axis unmanned vehicles realize the schematic diagram to fly backward；
Fig. 7 is the running environment schematic diagram of the embodiment of the present invention；
Fig. 8 is the flow chart of the method first embodiment of present invention control aircraft；
Fig. 9 is the flow chart of the method second embodiment of present invention control aircraft；
Figure 10 is the schematic diagram of the Installation practice of present invention control aircraft；
Figure 11 is the schematic diagram of aircraft embodiment of the present invention.
Specific embodiment
What is be described below is some in multiple possible embodiments of the invention, it is desirable to provide to of the invention basic
Solution, it is no intended to confirm the range of crucial or conclusive element or the desired protection of restriction of the invention.It is easily understood that
According to the technique and scheme of the present invention, in the case where not changing connotation of the invention, those of ordinary skill in the art can be proposed
Other implementations being replaced mutually.Therefore, following specific embodiments and attached drawing are shown technical solution of the present invention
Example property explanation, and be not to be construed as whole of the invention or be considered as to define or limit technical solution of the present invention.
In following description, for the clear and simplicity of description, there is no own in attached drawing again to air-conditioner control system
Component is shown one by one, and it is to be fully able to realize multiple portions of the invention that emphasis, which shows those of ordinary skill in the art, in attached drawing
Part, and to those skilled in the art, perhaps multipart operation is all familiar and apparent.
Referring to Fig. 7, Fig. 7 is application environment schematic diagram of the embodiment of the present invention, which includes aircraft 10 and distant
Control device 11, aircraft 10 include fuselage 101, be connected on fuselage 101 motor 102, setting motor 102 on propeller 103,
Be set on the fuselage 101 and the control device (not shown) that is electrically connected with the motor 102 and with control device electricity
Property connection communication device (not shown).Control device drives spiral shell for controlling the rotation of motor 102, by the rotation of motor 102
103 spiral of paddle is revolved, to generate upwards thrust, realizes the rising or decline of aircraft 10.Since motor 102 is affixed to machine
On body 101, when motor 102 rotates, motor 102 can also generate the thrust for acting on fuselage 101, by adjusting different electricity
The thrust size of machine and between different motors generate thrust it is poor, realize aircraft 103 left/right flight, forward/backward
Flight；In addition, motor 102 can also generate the anti-twisted power for acting on fuselage 101, by the anti-twisted power size for adjusting different motors
Generate that anti-twisted power is poor between different motors, realize aircraft 103 to left drift/yaw to the right.
It should be understood that the thrust size that motor 102 acts on fuselage 101 is related with the revolving speed of motor, usual situation
Under, the revolving speed of motor is bigger, and thrust is bigger, and the corresponding arm of force of motor 102 be it is fixed, for the fixed arm of force,
By adjusting the size of thrust, the size of torque caused by the thrust of adjustable motor.It therefore, can be by adjusting motor
Revolving speed, the thrust of motor is further changed, to adjust the size of rolling moment and pitching moment produced by motor, to realize
To the gesture stability of left/right flight and the forward/backward flight of aircraft.
Similarly, motor 102 is during rotor rotates, to overcome air drag and what is generated act on fuselage 101
Anti-twisted power size is also related with the revolving speed of motor, it is generally the case that the revolving speed of motor is bigger, anti-twisted power, and motor 102 is corresponding
The arm of force be it is fixed, for the fixed arm of force, by adjusting the size of anti-twisted power, the anti-twisted power institute of adjustable motor
The size of the torque of generation.Therefore, the anti-twisted power of motor can be further changed, to adjust electricity by the revolving speed of adjusting motor
The size of yawing caused by machine, to realize the control of the flight attitude of the left/right yaw to aircraft.
Communication device is used to communicate to connect with remote controler 11, and aircraft 10 is handed over by communication device with remote controler 11
Mutually, such as: when needing to control the flight attitude of aircraft 10, can remote controller 11 to communication device send gesture stability refer to
It enables, gesture stability instruction is sent to control device by communication device, and control device instructs control motor 102 according to gesture stability
Revolving speed, adjustment yawing, rolling moment and/or pitching moment, so as to adjust the flight attitude of aircraft.
In some embodiments, aircraft 10 is chosen as four axis nobody flies device, and four motors of four axis unmanned vehicles are
It is identical, and the corresponding arm of force of each motor is also fixation, and therefore, the maximum that the motor of four axis unmanned planes can be output is partially
Torque, maximum rolling moment and the maximum pitching moment of navigating are fixed.
The present invention provides the flying vehicles control method for being applied to above-mentioned application environment.The executing subject of flying vehicles control method
It is aircraft, referring to Fig. 8, method includes:
Step 201: receiving gesture stability instruction, wherein the gesture stability instruction carries the control aircraft
The yawing N that flight attitude needs originallyN, rolling moment LNWith pitching moment MNSize information；
The flight attitude of aircraft depends mainly on its yawing, rolling moment and pitching moment, wherein yawing
Left/right yaw is carried out for controlling aircraft, rolling moment carries out left/right flight, pitching for controlling aircraft
Torque carries out forward/backward flight for controlling aircraft, and therefore, aircraft needs torque in different flight attitudes
It is different.
Step 202: judging whether the torque output capability of the motor of the aircraft meets the yaw that output needs originally
Torque NN, rolling moment LNWith pitching moment MNNeeds otherwise will be directly according to yaw forces if not satisfied, enter step 203
Square NN, rolling moment LNWith pitching moment MNMotor is controlled；
As aircraft completed dependent on pitching moment caused by the thrust difference between different motors aircraft forward/
The gesture stability to fly backward, dependent between different motors thrust difference caused by rolling moment come complete aircraft to
Left/gesture stability for flying to the right；And it completes to fly dependent on yawing caused by the anti-twisted power difference between different motors
The gesture stability of row device left/right yaw.And the thrust and anti-twisted power of motor depend on motor revolving speed, the revolving speed of motor with
The electric current of motor is direct ratio, and when its electric current is smaller, revolving speed is slower, and when its electric current is bigger, revolving speed is faster, but each is electric
The permitted load (i.e. maximum current) of machine be it is fixed, when the current value of input be more than motor load when, motor will go out
Existing saturation state, causes aircraft bombing, therefore, is receiving to when gesture stability instruction, is first judging the torque output of the motor of aircraft
Whether ability meets yawing, rolling moment and the pitching moment needed originally.
Step 203: the yawing N that the flight attitude of aircraft is needed originallyN, rolling moment LN, pitching moment MN's
Size is handled, and the torque output capability yawing N that can export that treated of the motor of the aircraft is obtainedN'、
Rolling moment LN' and pitching moment MN'。
When in order to meet the yawing, rolling moment and the pitching moment that need originally, the motor of aircraft is loaded
When overload, then yawing, rolling moment and the pitching moment needed to script is handled, and can be avoided well full by force
The case where yawing, rolling moment and the pitching moment that foot needs originally cause motor overload.
It should be understood that carrying out processing to yawing, rolling moment and pitching moment may is that yawing, rolling
Torque and pitching moment three carry out diminution processing simultaneously, alternatively, in yawing, rolling moment and pitching moment one or
Person is multiple to carry out diminution processing.
Step 204: will treated yawing NN', rolling moment LN' and pitching moment MN' practical as the motor
Yawing, rolling moment and the pitching moment that will be exported, control the motor, to control the aircraft
Flight attitude；
It is understood that treated yawing NN', rolling moment LN' and pitching moment MN', refer to gesture stability
The yawing N that entrained script needs in orderN, rolling moment LNWith pitching moment MNSize information be it is different,
Therefore, according to treated yawing NN', rolling moment LN' and pitching moment MN' adjustment come out aircraft flight appearance
State can also can be instructed with gesture stability in indicated flight attitude it is different, but its feelings for avoiding motor from occurring overloading very well
Condition.
In embodiments of the present invention, it when needing to adjust the flight attitude of aircraft, first determines and is meeting adjustment aircraft
Flight attitude originally need yawing NN, rolling moment LNWith pitching moment MNThe motor of aircraft when needing whether
Overload, if overload, the yawing N that script is neededN, rolling moment LNWith pitching moment MNThe sizes of needs handled,
Obtain the torque output capability yawing N that can export that treated of the motor of aircraftN', rolling moment LN' and pitching
Torque MN', and according to treated yawing NN', rolling moment LN' and pitching moment MN', the motor is controlled
System, controls the flight attitude of the aircraft, to avoid controlling the yawing that motor output needed originally by force well
NN, rolling moment LNWith pitching moment MNWhen, the problem of causing motor overload, cause aircraft bombing.
Referring to Fig. 2, Fig. 2 is the flow chart of the method second embodiment of present invention control aircraft, controlled in this implementation
The executing subject of the method for aircraft is also aircraft, this method comprises:
Step 301: receiving gesture stability instruction, the gesture stability instruction carries the flight appearance for controlling the aircraft
The yawing N that state needs originallyN, rolling moment LNWith pitching moment MNSize information；
Step 302: judging whether the torque output capability of the motor of the aircraft meets what the output script needed
Yawing NN, rolling moment LNWith pitching moment MNNeeds, if not satisfied, 303 are then entered step, otherwise directly according to original
The yawing N of this needsN, rolling moment LNWith pitching moment MNMotor is controlled.
In some embodiments, judge whether the torque output capability of the motor of the aircraft meets the output script
The yawing N neededN, rolling moment LNWith pitching moment MNNeeds, specifically include: judgement
It is whether true, wherein T is torque threshold.IfIt sets up, it is determined that the motor of the aircraft
Torque output capability is unsatisfactory for exporting the yawing N that the script needsN, rolling moment LNWith pitching moment MNNeeds；IfIt is invalid, that is, to meet at this timeThen determine the aircraft
The torque output capability of motor, which meets, exports the yawing N that the script needsN, rolling moment LNWith pitching moment MNNeed
It wants.
It should be understood that total torque that torque threshold T is met by the torque output capability of the motor of aircraft is defeated
It is worth out.
Step 303: judging whether the torque output capability of the motor of aircraft meets and export the rolling that the script needs
Torque LNWith pitching moment MNNeeds otherwise enter step 305 if not satisfied, then entering step 304；
In some embodiments, judge whether the torque output capability of the motor of aircraft meets the output script needs
Rolling moment LNWith pitching moment MNNeeds specifically include: judgementIt is whether true.IfIt sets up, then judges that the torque output capability of the motor of the aircraft is unsatisfactory for exporting the script needs
Rolling moment LNWith pitching moment MNNeeds；IfIt is invalid, that is, to meet at this timeThen judge that the torque output capability of the motor of the aircraft meets and exports the rolling that the script needs
Torque LNWith pitching moment MNNeeds.
Step 304: the yawing N that the flight attitude of the aircraft is needed originallyN, rolling moment LNWith pitching power
Square MNSize carry out diminution processing, using result as treated the yawing NN', rolling moment LN' and pitching power
Square MN'；
In some embodiments, the yawing N flight attitude of the aircraft needed originallyN, rolling moment LNWith
Pitching moment MNSize carry out diminution processing, using result as treated the yawing NN', rolling moment LN' and
Pitching moment MN', using following formula:
NN'=0,
Wherein, LNmaxFor the maximum rolling moment that the torque output capability of the motor of the aircraft is met by, MNmaxFor
The maximum pitching moment that the torque output capability of the motor of the aircraft is met by.
Produced by the thrust difference being to rely between motor as forward/backward flight, the left/right flight of aircraft
Pitching moment, rolling moment realize that and the yaw of the left/right of aircraft is then to rely on aircraft motor and rotating
It is realized in the process since air drag acts on torque caused by the anti-twisted power opposite with rotor rotation direction that be being formed
, but motor generate the vertical thrust of plane where with fuselage ability generated than motor it is anti-with fuselage place co-planar
The ability of torsion is much easier, therefore, when carrying out yaw control to aircraft, motor is needed to export biggish thrust, and electric
The thrust of machine is decided by the revolving speed of motor, and the revolving speed of motor is decided by the electric current of motor, and therefore, aircraft realizes identical pitching
The electric current of motor required for angle or roll angle meets identical yaw angle institute much smaller than electric current required for identical yaw angle is realized
The risk of caused motor overload is much larger than the risk for meeting motor overload caused by pitch angle or roll angle.When aircraft
The torque output capability of motor can not meet the yawing N that the flight attitude of adjustment aircraft needs originally simultaneouslyN, rolling power
Square LNWith pitching moment MNWhen needing, it is preferential meet realize the flight of aircraft left/right, forward/backward flight needed for rolling
Torque and pitching moment are reallocated after meeting rolling moment and pitching moment for realizing the flight of aircraft left/right
Required yawing, such processing mode advantageously reduce the caused aircraft bombing wind when adjusting the flight attitude of aircraft
Danger.
Further, as the rolling moment L that the torque output capability of the motor of aircraft even needs originallyNWith pitching moment MN
When being all unable to satisfy, until by yawing NNZero setting, the rolling moment L then needed originally againNWith pitching moment MNIt carries out
Diminution processing, to guarantee rolling moment LNWith pitching moment MNPreferential strategy.
In further embodiments, the yawing N that the flight attitude to the aircraft needs originallyN, rolling
Torque LNWith pitching moment MNSize carry out diminution processing, using result as treated the yawing NN', rolling
Torque LN' and pitching moment MN', using following formula:
In the present embodiment, the yawing N by being needed to scriptN, rolling moment LNWith pitching moment MNCarry out etc. ratio
Example reduces, and obtains the torque output capability yawing N that can export that treated of the motor of the aircraftN', rolling power
Square LN' and pitching moment MN'。
Step 305: the rolling moment L that the flight attitude of the aircraft is needed originallyNWith pitching moment MNIt keeps not
Become, as treated the rolling moment LN' and pitching moment MN', and the flight attitude of the aircraft is needed originally
Yawing NNSize carry out diminution processing, using result as treated the yawing NN'；
When the torque output capability of the motor of aircraft is unable to satisfy the inclined of the flight attitude script needs of adjustment aircraft
Navigate torque NN, rolling moment LNWith pitching moment MNWhen needing, preferentially meet rolling moment and pitching moment, meeting rolling
When torque and pitching moment, reallocation yawing advantageously reduces the caused aircraft bombing when adjusting the flight attitude of aircraft
Risk.
In some embodiments, the rolling moment L that the flight attitude by the aircraft needs originallyNWith pitching power
Square MNIt remains unchanged, as treated the rolling moment LN' and pitching moment MN', and to the flight attitude of the aircraft
Originally the yawing N neededNSize carry out diminution processing, using result as treated the yawing NN', it uses
Following formula:
LN'=LN；
MN'=MN；
Wherein, LNmaxFor the maximum rolling moment that the torque output capability of the motor of the aircraft is met by, MNmaxFor
The maximum pitching moment that the torque output capability of the motor of the aircraft is met by.
Step 306: will treated yawing NN', rolling moment LN' and pitching moment MN' practical as the motor
Yawing, rolling moment and the pitching moment that will be exported, control the motor, to control the aircraft
Flight attitude；
In embodiments of the present invention, due to meeting the difference reached needed for yawing under same motor running ability
Rotational speed difference between motor is bigger than meeting the rotational speed difference between the different motors reached needed for rolling moment or pitching moment, thus
The risk for occurring motor aircraft bombing for yawing required for realization is in contrast also just bigger.Therefore, when the electricity of aircraft
The torque output capability of machine can not meet simultaneously adjustment aircraft flight attitude originally need yawing, rolling moment and
When needing of pitching moment, preferentially meets rolling moment and pitching moment, after meeting rolling moment and pitching moment, reallocates
Yawing advantageously reduces the caused aircraft bombing risk when adjusting the flight attitude of aircraft.
Invention further provides the Installation practices of control aircraft.Figure is please referred to, the device 40 for controlling aircraft includes
Receiving module 401, judgment module 402, processing module 403 and control module 404.
Receiving module 401, for receiving gesture stability instruction, wherein for receiving gesture stability instruction, wherein described
Gesture stability instruction, which carries, controls the yawing N that the flight attitude of the aircraft needs originallyN, rolling moment LNWith bow
Face upward torque MNSize information.Judgment module 402, for judging whether the torque output capability of motor of the aircraft is full
Foot exports the yawing N that the script needsN, rolling moment LNWith pitching moment MNNeeds.
In some embodiments, the judgment module 402 judge the motor of the aircraft torque output capability whether
Meet and exports the yawing N that the script needsN, rolling moment LNWith pitching moment MNNeeds, comprising: judgementIt is whether true, wherein T is torque threshold.IfIt sets up, it is determined that
The torque output capability of the motor of the aircraft is unsatisfactory for exporting the yawing N that the script needsN, rolling moment LNWith
Pitching moment MNNeeds, ifIt is invalid, that is, to meet at this time
It then determines that the torque output capability of the motor of the aircraft meets and exports the yawing N that the script needsN, rolling moment
LNWith pitching moment MNNeeds, wherein T is torque threshold.
It should be understood that total torque that torque threshold T is met by the torque output capability of the motor of aircraft is defeated
It is worth out.
The torque output capability of processing module 403, the motor for determining aircraft in the judgment module 402 cannot
Meet and exports the yawing N that the script needsN, rolling moment LNWith pitching moment MNWhen needing, to the aircraft
The yawing N that flight attitude needs originallyN, rolling moment LN, pitching moment MNSize handled, obtain the flight
The torque output capability of the motor of device can export that treated yawing NN', rolling moment LN' and pitching moment MN'。
Control module 404, for will treated yawing NN', rolling moment LN' and pitching moment MN' practical as the motor
Yawing, rolling moment and the pitching moment that will be exported, control the motor, to control the aircraft
Flight attitude.
When needing to adjust the flight attitude of aircraft, first needed originally in the flight attitude for meeting adjustment aircraft inclined
Navigate torque NN, rolling moment LNWith pitching moment MNWhen aircraft motor whether overload, if overload, to script need
Yawing NN, rolling moment LNWith pitching moment MNIt is handled, obtains the torque output capability of the motor of the aircraft
The yawing N that can export that treatedN', rolling moment LN' and pitching moment MN', further according to treated yawing
NN', rolling moment LN' and pitching moment MN' motor is controlled, it avoids controlling the flight of motor output adjustment by force well
The yawing N that the flight attitude of device needs originallyN, rolling moment LNWith pitching moment MNWhen, motor overload is caused, causes to fry
The problem of machine.
Further, due under identical motor running ability, meet the different motors reached needed for yawing it
Between rotational speed difference it is bigger than meeting the rotational speed difference between the different motors reached needed for rolling moment or pitching moment, thus for realize
Required yawing and the risk of motor aircraft bombing occur in contrast also just bigger.Therefore, when the power of the motor of aircraft
Square fan-out capability can not meet the yawing N that the flight attitude of adjustment aircraft needs originally simultaneouslyN, rolling moment LNWith bow
Face upward torque MNWhen needing, preferentially meet rolling moment and pitching moment, after meeting rolling moment and pitching moment, reallocate
Yawing advantageously reduces the caused aircraft bombing risk when adjusting the flight attitude of aircraft, specifically:
Processing module 403 is used for: cannot be expired in the torque output capability that the judgment module determines the motor of aircraft
Foot exports the yawing N that the script needsN, rolling moment LNWith pitching moment MNWhen needing, further judge it is described fly
Whether the torque output capability of the motor of row device, which meets, exports the rolling moment L that the script needsNWith pitching moment MNNeed
It wants.If not satisfied, the yawing N then needed originally to the flight attitude of the aircraftN, rolling moment LNAnd pitching moment
MNSize carry out diminution processing, using result as treated the yawing NN', rolling moment LN' and pitching moment
MN'.If satisfied, the rolling moment L for then needing the flight attitude of the aircraft originallyNWith pitching moment MNIt remains unchanged, makees
For treated the rolling moment LN' and pitching moment MN', and to the yaw that the flight attitude of the aircraft needs originally
Torque NNSize carry out diminution processing, using result as treated the yawing NN'。
In some embodiments, processing module further judges whether the torque output capability of the motor of the aircraft is full
Foot exports the rolling moment L that the script needsNWith pitching moment MNNeeds, comprising: judgementWhether at
It is vertical.IfIt sets up, then judges that the torque output capability of the motor of the aircraft is unsatisfactory for exporting the original
The rolling moment L of this needsNWith pitching moment MNNeeds；IfIt is invalid, that is, to meet at this timeThen judge that the torque output capability of the motor of the aircraft meets and exports the rolling that the script needs
Torque LNWith pitching moment MNNeeds, wherein T is torque threshold.
In some embodiments, the yawing that the processing module needs the flight attitude of the aircraft originally
NN, rolling moment LNWith pitching moment MNSize carry out diminution processing, using result as treated the yawing
NN', rolling moment LN' and pitching moment MN', using following formula:
NN'=0,
Wherein, LNmaxFor the maximum rolling moment that the torque output capability of the motor of the aircraft is met by, MNmaxFor
The maximum pitching moment that the torque output capability of the motor of the aircraft is met by.
In the present embodiment, as the rolling moment L that the torque output capability of the motor of aircraft even needs originallyNAnd pitching
Torque MNWhen being all unable to satisfy, directly by yawing NNZero setting, then by rolling moment LNWith pitching moment MNIt is reduced, it is real
Now with rolling moment LNWith pitching moment MNPreferential strategy.
Certainly, in further embodiments, the yaw forces that processing module needs the flight attitude of the aircraft originally
Square NN, rolling moment LNWith pitching moment MNSize carry out reduce processing processing mode may be to yawing NN、
Rolling moment LNWith pitching moment MNScaled down is carried out, rather than preferentially meets rolling moment LNWith pitching moment MN, then have
Body, the yawing N that processing module needs the flight attitude of the aircraft originallyN, rolling moment LNWith pitching moment MN
Size carry out diminution processing, using result as treated the yawing NN', rolling moment LN' and pitching moment
MN', and following formula can be used:
In some embodiments, the rolling moment L that the processing module needs the flight attitude of the aircraft originallyN
With pitching moment MNIt remains unchanged, as treated the rolling moment LN' and pitching moment MN', and to the aircraft
The yawing N that flight attitude needs originallyNSize carry out diminution processing, using result as treated the yawing
NN', and following formula can be used:
LN'=LN；
MN'=MN；
Wherein, LNmaxFor the maximum rolling moment that the torque output capability of the motor of the aircraft is met by, MNmaxFor
The maximum pitching moment that the torque output capability of the motor of the aircraft is met by.
In the present embodiment, when the torque output capability of the motor of aircraft is unable to satisfy the flight attitude of adjustment aircraft
Originally the yawing N neededN, rolling moment LNWith pitching moment MNNeeds, but the torque output capability of motor is able to satisfy again
Adjust the rolling moment L that the flight attitude of aircraft needs originallyNWith pitching moment MNWhen needing, preferentially meet rolling moment
And pitching moment, yawing is distributed to when meeting rolling moment and pitching moment, then by surplus capacity.
In embodiments of the present invention, since the flight attitude of aircraft is decided by yawing, the rolling moment of aircraft
And pitching moment, and the yawing of aircraft, rolling moment and pitching moment are decided by the motor of aircraft, when required
When yawing, rolling moment and pitching moment exceed the torque output capability of motor, motor aircraft bombing will cause, therefore, when need
When adjusting the flight attitude of aircraft, first judge whether the torque output capability of the motor of aircraft meets output adjustment flight
The motor of aircraft when yawing, rolling moment and pitching moment that the flight attitude of device needs originally, if not satisfied, then right
Originally yawing, rolling moment and the pitching moment needed carries out diminution processing, until the torque output capability of motor can
The needs for meeting the yawing after reducing, rolling moment and pitching moment, just according to yawing, the rolling moment after diminution
Motor is controlled with pitching moment, the flight attitude for controlling motor output adjustment aircraft by force is avoided to need originally well
When yawing, rolling moment and the pitching moment wanted, the problem of causing motor overload, cause aircraft bombing.
Referring to Fig. 6, Fig. 6 is the schematic diagram of aircraft embodiment of the present invention, aircraft 50 includes: memory 51, at least
One processor 52 and motor 53, at least one processor 52 are connect with motor 53 and memory 51 respectively.
Processor 52 is connect with motor 53 and the memory 51 respectively can be connected by bus or other modes, figure
In 6 for being connected by bus.
The memory 51 is stored with the instruction that can be executed by least one described processor 52, and described instruction program is by institute
State at least one processor 52 execution so that at least one described processor 52 is able to carry out: attached step 201 shown in Fig. 8 to
204, step 301 is to step 306 in attached drawing 9, module 401 to 404 in attached drawing 10.
Memory 51 is used as a kind of non-volatile computer readable storage medium storing program for executing, can be used for storing non-volatile software journey
Sequence, non-volatile computer executable program and module, such as the corresponding journey of step performed by processor in the embodiment of the present invention
Sequence instruction/module.Memory 51 may include storing program area and storage data area, wherein storing program area can store operation
Application program required for system, at least one function.In addition, memory 51 may include high-speed random access memory, also
It may include nonvolatile memory, for example, at least a disk memory, flush memory device or other nonvolatile solid states are deposited
Memory device.In some embodiments, it includes the memory remotely located relative to processor 51 that memory 51 is optional, these are long-range
Memory can pass through network connection to air-conditioning.The example of above-mentioned network includes but is not limited to internet, intranet, local
Net, mobile radio communication and combinations thereof.
One or more of modules are stored in the memory 51, when by one or more of processors 51
When execution, execute: attached step 201 shown in Fig. 8 to 204, in attached drawing 9 step 301 to step 306, in attached drawing 10 module 401 to
404。
The embodiment of the invention provides a kind of non-volatile computer readable storage medium storing program for executing, and the non-volatile computer can
It reads storage medium and is stored with computer executable instructions, when which is executed by aircraft, aircraft is executed:
Attached step 201 shown in Fig. 8 is to 204, and step 301 is to step 306 in attached drawing 9, module 401 to 404 in attached drawing 10.
The embodiment of the invention provides a kind of computer program products, including are stored in non-volatile computer readable storage
Calculation procedure on medium, the computer program include program instruction, are computer-executed constantly, make when described program instructs
The computer executes: attached step 201 shown in Fig. 8 to 204, and step 301 is to step 306 in attached drawing 9, module in attached drawing 10
401 to 404.
Method provided by the embodiment of the present invention can be performed in the said goods, has the corresponding functional module of execution method and has
Beneficial effect.The not technical detail of detailed description in the present embodiment, reference can be made to method provided by the embodiment of the present invention.
The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member
It is physically separated with being or may not be, component shown as a unit may or may not be physics list
Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of the modules achieve the purpose of the solution of this embodiment.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；At this
It under the thinking of invention, can also be combined between the technical characteristic in above embodiments or different embodiment, step can be with
It is realized with random order, and there are many other variations of different aspect present invention as described above, for simplicity, they do not have
Have and is provided in details；Although the present invention is described in detail referring to the foregoing embodiments, the ordinary skill people of this field
Member is it is understood that it is still possible to modify the technical solutions described in the foregoing embodiments, or to part of skill
Art feature is equivalently replaced；And these are modified or replaceed, each reality of the present invention that it does not separate the essence of the corresponding technical solution
Apply the range of a technical solution.
It should be noted that the information between modules, unit in air conditioning control device in the embodiment of the present invention
The contents such as interaction, implementation procedure, due to being based on same design with embodiment of the present invention method, particular content is equally applicable to air-conditioning
Control device.Modules in the embodiment of the present invention can be used as individual hardware or software realize, and can be according to need
The combination of the function of each unit is realized using individual hardware or software.
Claims (15)
1. a kind of method for controlling aircraft characterized by comprising
Receive gesture stability instruction, wherein the gesture stability instruction carries the flight attitude script for controlling the aircraft
The yawing N neededN, rolling moment LNWith pitching moment MNSize information；
Judge whether the torque output capability of the motor of the aircraft meets and exports the yawing N that the script needsN, rolling
Torque LNWith pitching moment MNNeeds；
If not satisfied, the yawing N then needed originally to the flight attitude of the aircraftN, rolling moment LN, pitching moment
MNSize handled, obtain the torque output capability yawing that can export that treated of the motor of the aircraft
NN', rolling moment LN' and pitching moment MN'；
It will treated yawing NN', rolling moment LN' and pitching moment MN' will actually be exported as the motor it is inclined
Boat torque, rolling moment and pitching moment, control the motor, to control the flight attitude of the aircraft.
2. the method according to claim 1, wherein the torque of the motor of the judgement aircraft exports energy
Whether power, which meets, exports the yawing N that the script needsN, rolling moment LNWith pitching moment MNNeeds, comprising:
JudgementIt is whether true；
If so, then determine that the torque output capability of the motor of the aircraft is unsatisfactory for exporting the yaw forces that the script needs
Square NN, rolling moment LNWith pitching moment MNNeeds；
If not, it then determines that the torque output capability of the motor of the aircraft meets and exports the yaw forces that the script needs
Square NN, rolling moment LNWith pitching moment MNNeeds；
Wherein, T is torque threshold.
3. according to the method described in claim 2, it is characterized in that, what the flight attitude to the aircraft needed originally
Yawing NN, rolling moment LNWith pitching moment MNSize handled, obtain the motor of the aircraft torque output
Ability can export that treated yawing NN', rolling moment LN' and pitching moment MN', comprising:
Further judge whether the torque output capability of the motor of the aircraft meets and exports the rolling power that the script needs
Square LNWith pitching moment MNNeeds:
If not satisfied, the yawing N then needed originally to the flight attitude of the aircraftN, rolling moment LNAnd pitching moment
MNSize carry out diminution processing, using result as treated the yawing NN', rolling moment LN' and pitching moment
MN'；
If satisfied, the rolling moment L for then needing the flight attitude of the aircraft originallyNWith pitching moment MNIt remains unchanged, makees
For treated the rolling moment LN' and pitching moment MN', and to the yaw that the flight attitude of the aircraft needs originally
Torque NNSize carry out diminution processing, using result as treated the yawing NN'。
4. according to the method described in claim 3, it is characterized in that, the torque of the motor for further judging the aircraft
Whether fan-out capability, which meets, exports the rolling moment L that the script needsNWith pitching moment MNNeeds, comprising:
JudgementIt is whether true；
If so, then determine that the torque output capability of the motor of the aircraft is unsatisfactory for exporting the rolling power that the script needs
Square LNWith pitching moment MNNeeds；
If not, it then determines that the torque output capability of the motor of the aircraft meets and exports the rolling power that the script needs
Square LNWith pitching moment MNNeeds；
Wherein, T is torque threshold.
5. according to method described in claim 3 or 4, which is characterized in that the flight attitude to the aircraft is originally
The yawing N neededN, rolling moment LNWith pitching moment MNSize carry out diminution processing, using result as the processing
Yawing N afterwardsN', rolling moment LN' and pitching moment MN', using following formula:
NN'=0,
Wherein, LNmaxFor the maximum rolling moment that the torque output capability of the motor of the aircraft is met by, MNmaxIt is described
The maximum pitching moment that the torque output capability of the motor of aircraft is met by.
6. according to method described in claim 3 or 4, which is characterized in that the flight attitude to the aircraft is originally
The yawing N neededN, rolling moment LNWith pitching moment MNSize carry out diminution processing, using result as the processing
Yawing N afterwardsN', rolling moment LN' and pitching moment MN', using following formula:
7. the method according to any one of claim 3 to 6, which is characterized in that the flight by the aircraft
The rolling moment L that posture needs originallyNWith pitching moment MNIt remains unchanged, as treated the rolling moment LN' and pitching
Torque MN', and to the yawing N that the flight attitude of the aircraft needs originallyNSize carry out diminution processing, by result
As treated the yawing NN', using following formula:
LN'=LN；
MN'=MN；
Wherein, LNmaxFor the maximum rolling moment that the torque output capability of the motor of the aircraft is met by, MNmaxIt is described
The maximum pitching moment that the torque output capability of the motor of aircraft is met by.
8. a kind of device for controlling aircraft characterized by comprising
Receiving module, for receiving gesture stability instruction, wherein the gesture stability instruction carries the control aircraft
The yawing N that flight attitude needs originallyN, rolling moment LNWith pitching moment MNSize information；
Judgment module, for judging whether the torque output capability of motor of the aircraft meets what the output script needed
Yawing NN, rolling moment LNWith pitching moment MNNeeds；
Processing module is not able to satisfy output institute for determining the torque output capability of motor of aircraft in the judgment module
State the yawing N needed originallyN, rolling moment LNWith pitching moment MNWhen needing, it is former to the flight attitude of the aircraft
The yawing N of this needsN, rolling moment LN, pitching moment MNSize handled, obtain the motor of the aircraft
Torque output capability can export that treated yawing NN', rolling moment LN' and pitching moment MN'；
Control module, for will treated yawing NN', rolling moment LN' and pitching moment MN' real as the motor
Yawing, rolling moment and the pitching moment that border will export, control the motor, to control the aircraft
Flight attitude.
9. device according to claim 8, which is characterized in that the judgment module judges the power of the motor of the aircraft
Whether square fan-out capability, which meets, exports the yawing N that the script needsN, rolling moment LNWith pitching moment MNNeeds, packet
It includes:
JudgementIt is whether true；
If so, then determine that the torque output capability of the motor of the aircraft is unsatisfactory for exporting the yaw forces that the script needs
Square NN, rolling moment LNWith pitching moment MNNeeds；
If not, it then determines that the torque output capability of the motor of the aircraft meets and exports the yaw forces that the script needs
Square NN, rolling moment LNWith pitching moment MNNeeds,
Wherein, T is torque threshold.
10. device according to claim 8 or claim 9, which is characterized in that the processing module is specifically used for:
It is not able to satisfy what the output script needed in the torque output capability that the judgment module determines the motor of aircraft
Yawing NN, rolling moment LNWith pitching moment MNWhen needing, further judge the motor of the aircraft torque output
Whether ability, which meets, exports the rolling moment L that the script needsNWith pitching moment MNNeeds；
If not satisfied, the yawing N then needed originally to the flight attitude of the aircraftN, rolling moment LNAnd pitching moment
MNSize carry out diminution processing, using result as treated the yawing NN', rolling moment LN' and pitching moment
MN'；
If satisfied, the rolling moment L for then needing the flight attitude of the aircraft originallyNWith pitching moment MNIt remains unchanged, makees
For treated the rolling moment LN' and pitching moment MN', and to the yaw that the flight attitude of the aircraft needs originally
Torque NNSize carry out diminution processing, using result as treated the yawing NN'。
11. device according to claim 10, which is characterized in that the processing module further judges the aircraft
Whether the torque output capability of motor, which meets, exports the rolling moment L that the script needsNWith pitching moment MNNeeds, comprising:
JudgementIt is whether true；
If so, then determine that the torque output capability of the motor of the aircraft is unsatisfactory for exporting the rolling power that the script needs
Square LNWith pitching moment MNNeeds；
If not, it then determines that the torque output capability of the motor of the aircraft meets and exports the rolling power that the script needs
Square LNWith pitching moment MNNeeds；
Wherein, T is torque threshold.
12. device described in 0 or 11 according to claim 1, which is characterized in that flight of the processing module to the aircraft
The yawing N that posture needs originallyN, rolling moment LNWith pitching moment MNSize carry out diminution processing, using result as
Treated the yawing NN', rolling moment LN' and pitching moment MN', using following formula:
NN'=0,
Wherein, LNmaxFor the maximum rolling moment that the torque output capability of the motor of the aircraft is met by, MNmaxIt is described
The maximum pitching moment that the torque output capability of the motor of aircraft is met by.
13. device described in 0 or 11 according to claim 1, which is characterized in that
The yawing N that the processing module needs the flight attitude of the aircraft originallyN, rolling moment LNWith pitching power
Square MNSize carry out diminution processing, using result as treated the yawing NN', rolling moment LN' and pitching power
Square MN', using following formula:
14. device described in any one of 0 to 13 according to claim 1, which is characterized in that the processing module flies described
The rolling moment L that the flight attitude of row device needs originallyNWith pitching moment MNIt remains unchanged, as treated the rolling power
Square LN' and pitching moment MN', and to the yawing N that the flight attitude of the aircraft needs originallyNSize reduced
Processing, using result treated yawing N as described inN', using following formula:
LN'=LN；
MN'=MN；
Wherein, LNmaxFor the maximum rolling moment that the torque output capability of the motor of the aircraft is met by, MNmaxIt is described
The maximum pitching moment that the torque output capability of the motor of aircraft is met by.
15. a kind of aircraft characterized by comprising
Motor；
At least one processor is connect with the motor；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one described processor, and described instruction is by described at least one
It manages device to execute, so that at least one described processor is able to carry out the described in any item methods of claim 1 to 7.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710667848.3A CN109388145B (en) | 2017-08-07 | 2017-08-07 | Method and device for controlling aircraft and aircraft |
| PCT/CN2017/112061 WO2019029045A1 (en) | 2017-08-07 | 2017-11-21 | Unmanned aerial vehicle controlling method and device, and unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710667848.3A CN109388145B (en) | 2017-08-07 | 2017-08-07 | Method and device for controlling aircraft and aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109388145A true CN109388145A (en) | 2019-02-26 |
| CN109388145B CN109388145B (en) | 2020-08-21 |
Family
ID=65273339
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710667848.3A Active CN109388145B (en) | 2017-08-07 | 2017-08-07 | Method and device for controlling aircraft and aircraft |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109388145B (en) |
| WO (1) | WO2019029045A1 (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103135543A (en) * | 2011-11-29 | 2013-06-05 | 波音公司 | Control moment gyroscope desaturation in aircraft |
| CN104044734A (en) * | 2014-06-20 | 2014-09-17 | 中国科学院合肥物质科学研究院 | Multi-rotor unmanned airplane with inclined wings and rotors and control system and method |
| CN104102128A (en) * | 2013-04-09 | 2014-10-15 | 中国人民解放军第二炮兵工程大学 | Anti-interference attitude control method suitable for miniaturized unmanned aircraft |
| DE102013013340A1 (en) * | 2013-08-09 | 2015-02-12 | Liebherr-Aerospace Lindenberg Gmbh | A flap system for an aircraft lift-up system or an engine actuator and method for monitoring a flap system |
| CN104950898A (en) * | 2015-06-10 | 2015-09-30 | 北京理工大学 | Reentry vehicle full-order non-singular terminal sliding mode posture control method |
| US20160016653A1 (en) * | 2014-07-18 | 2016-01-21 | Hamilton Sundstrand Corporation | Aircraft component rotary device |
| CN106990790A (en) * | 2017-06-06 | 2017-07-28 | 成都纵横自动化技术有限公司 | A kind of anti-saturation multi-rotor aerocraft control method |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103197670A (en) * | 2013-02-25 | 2013-07-10 | 西北工业大学 | Decoupling method of air vehicle pneumatic strong coupling |
| CN103387051B (en) * | 2013-07-23 | 2016-01-20 | 中国科学院长春光学精密机械与物理研究所 | Quadrotor |
| JP6409503B2 (en) * | 2014-10-29 | 2018-10-24 | 株式会社Ｓｏｋｅｎ | Observation equipment |
| CN104743107B (en) * | 2015-04-24 | 2017-12-15 | 北京双飞伟业科技有限公司 | Multi-rotor aerocraft |
| CN204979224U (en) * | 2015-06-10 | 2016-01-20 | 胡家祺 | Rotor controlling means and rotor craft |
-
2017
- 2017-08-07 CN CN201710667848.3A patent/CN109388145B/en active Active
- 2017-11-21 WO PCT/CN2017/112061 patent/WO2019029045A1/en active Application Filing
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103135543A (en) * | 2011-11-29 | 2013-06-05 | 波音公司 | Control moment gyroscope desaturation in aircraft |
| CN104102128A (en) * | 2013-04-09 | 2014-10-15 | 中国人民解放军第二炮兵工程大学 | Anti-interference attitude control method suitable for miniaturized unmanned aircraft |
| DE102013013340A1 (en) * | 2013-08-09 | 2015-02-12 | Liebherr-Aerospace Lindenberg Gmbh | A flap system for an aircraft lift-up system or an engine actuator and method for monitoring a flap system |
| CN104044734A (en) * | 2014-06-20 | 2014-09-17 | 中国科学院合肥物质科学研究院 | Multi-rotor unmanned airplane with inclined wings and rotors and control system and method |
| US20160016653A1 (en) * | 2014-07-18 | 2016-01-21 | Hamilton Sundstrand Corporation | Aircraft component rotary device |
| CN104950898A (en) * | 2015-06-10 | 2015-09-30 | 北京理工大学 | Reentry vehicle full-order non-singular terminal sliding mode posture control method |
| CN106990790A (en) * | 2017-06-06 | 2017-07-28 | 成都纵横自动化技术有限公司 | A kind of anti-saturation multi-rotor aerocraft control method |
Non-Patent Citations (4)
| Title |
|---|
| YUSHU YUA，XILUN DING，J. JIM ZHU: "Attitude tracking control of a quadrotor UAV in the exponential coordinates", 《JOURNAL OF THE FRANKLIN INSTITUTE》 * |
| 刘海东,包为民,李惠峰: "基于伺服机构饱和抑制的模糊滑模控制方法", 《航天控制》 * |
| 彭程，白越，乔冠宇，宫勋，田彦涛: "四旋翼无人机的偏航抗饱和与多模式PID 控制", 《机器人》 * |
| 王青，华莹，董朝阳，张明廉: "基于模糊变结构的空间飞行器姿态控制", 《航空学报》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019029045A1 (en) | 2019-02-14 |
| CN109388145B (en) | 2020-08-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104699108B (en) | A kind of control distribution method of multi-rotor aerocraft | |
| CN107688295A (en) | A kind of quadrotor finite time self-adaptation control method based on fast terminal sliding formwork | |
| CN106114853B (en) | A kind of push-button aircraft | |
| Fregene et al. | Dynamics and control of a biomimetic single-wing nano air vehicle | |
| CN110347171A (en) | A kind of flying vehicles control method and aircraft | |
| CN104699106B (en) | A kind of control distribution method of eight-rotary wing aircraft | |
| Morbidi et al. | Energy-efficient trajectory generation for a hexarotor with dual-tilting propellers | |
| CN105573331B (en) | A kind of method and device of control multi-rotor aerocraft overturning | |
| CN108572655A (en) | flight control method and related device | |
| CN109407692A (en) | Vert Yaw control method under VTOL fixed-wing unmanned plane rotor mode | |
| CN109189084A (en) | A kind of quadrotor robot software platform designing method and system | |
| CN109311536A (en) | Power device, unmanned vehicle and flight control method | |
| CN107943089A (en) | More specification dynamical system control distribution methods and relevant apparatus | |
| CN109308064A (en) | A kind of the failure tolerant control method and system of quadrotor drone | |
| CN110304244A (en) | Flight control method, device, vert rotor aircraft and medium | |
| Jothiraj et al. | Enabling bidirectional thrust for aggressive and inverted quadrotor flight | |
| CN109388145A (en) | A kind of method, apparatus and aircraft controlling aircraft | |
| CN209700967U (en) | A kind of four axis aircraft camera anti-shake apparatus | |
| CN108427432B (en) | Non-planar three-rotor aircraft and control method | |
| CN108958279A (en) | Unmanned aerial vehicle rolling method, apparatus, unmanned plane and storage medium | |
| CN115542937A (en) | Flapping wing aircraft control method and device, electronic equipment and storage medium | |
| CN114435603A (en) | Multi-rotor flight control method, flight controller and aircraft | |
| US20200398971A1 (en) | Aerial vehicle with rotor blade assembly having rotor blade including vortex generator | |
| CN111766888A (en) | Aircraft-based control method and aircraft | |
| CN206171817U (en) | Simple structure and VTOL aircraft that operates steadily |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 518055 Guangdong city of Shenzhen province Nanshan District Xili Street Xueyuan Road No. 1001 Chi Yuen Building 9 layer B1 Patentee after: Shenzhen daotong intelligent Aviation Technology Co.,Ltd. Address before: 518055 Guangdong city of Shenzhen province Nanshan District Xili Street Xueyuan Road No. 1001 Chi Yuen Building 9 layer B1 Patentee before: AUTEL ROBOTICS Co.,Ltd. |