CN109760821B - Unmanned aerial vehicle controlling means and unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle controlling means and unmanned aerial vehicle Download PDFInfo
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- CN109760821B CN109760821B CN201910207560.7A CN201910207560A CN109760821B CN 109760821 B CN109760821 B CN 109760821B CN 201910207560 A CN201910207560 A CN 201910207560A CN 109760821 B CN109760821 B CN 109760821B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C5/00—Stabilising surfaces
- B64C5/10—Stabilising surfaces adjustable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C9/00—Adjustable control surfaces or members, e.g. rudders
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C9/00—Adjustable control surfaces or members, e.g. rudders
- B64C9/14—Adjustable control surfaces or members, e.g. rudders forming slots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C9/00—Adjustable control surfaces or members, e.g. rudders
- B64C9/14—Adjustable control surfaces or members, e.g. rudders forming slots
- B64C9/16—Adjustable control surfaces or members, e.g. rudders forming slots at the rear of the wing
- B64C9/20—Adjustable control surfaces or members, e.g. rudders forming slots at the rear of the wing by multiple flaps
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Abstract
The embodiment of the invention relates to an unmanned aerial vehicle control device and an unmanned aerial vehicle, wherein the control device comprises a main controller and a control surface control structure; the control surface control structure comprises a driving controller, a driving mechanism, a transmission mechanism, a control surface transmission shaft and an angle feedback unit; the angle feedback unit is connected with the control surface transmission shaft and is used for detecting the actual tilting angle of the control surface; the main controller is used for sending a control surface tilting control instruction to the driving controller according to the control surface target tilting angle, receiving a feedback signal sent by the angle feedback unit, and obtaining the actual tilting angle of the control surface according to the feedback signal. According to the embodiment of the invention, the actual tilting angle of the control surface is detected by arranging the angle feedback unit connected with the transmission shaft of the control surface. The main controller can obtain the actual tilting angle of the control surface through the angle feedback unit, so that the control surface can be accurately and effectively controlled according to the actual tilting angle of the control surface.
Description
Technical Field
The embodiment of the invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle control device and an unmanned aerial vehicle using the unmanned aerial vehicle control device.
Background
The fixed wing unmanned aerial vehicle mainly depends on the tilting of each control surface to realize the adjustment of the aircraft gesture in the flight process. The current implementation scheme is that a motor is arranged to drive the control surface to tilt, when the angle of the control surface needs to be adjusted, an external main controller sends a control signal to a corresponding motor controller, and the motor controller drives the corresponding motor to rotate after receiving the control signal. The torque of the motor drives the transmission shaft of the control surface to rotate through the transmission of the gear set, so that the angle of the control surface is driven to change.
In carrying out the invention, the inventors found that: the current main controller cannot know the real tilting condition of the control surface, so that the control surface cannot be accurately and effectively controlled.
Disclosure of Invention
The embodiment of the invention aims to provide an unmanned aerial vehicle control device and an unmanned aerial vehicle using the unmanned aerial vehicle control device, and a main controller can acquire the real tilting condition of a control surface.
In order to solve the technical problems, the invention adopts a technical scheme that: an unmanned aerial vehicle control device, the said control device includes master controller and control surface control structure;
the control surface control structure comprises a driving controller, a driving mechanism, a transmission mechanism, a control surface transmission shaft and an angle feedback unit;
the driving controller is respectively and electrically connected with the main controller and the driving mechanism, the driving mechanism is also connected with the control surface transmission shaft through the transmission mechanism, and the control surface transmission shaft is arranged on a control surface;
the angle feedback unit is connected with the control surface transmission shaft and is used for detecting the actual tilting angle of the control surface, and the angle feedback unit is also electrically connected with the main controller and the driving controller respectively;
the main controller is used for sending a control surface tilting control instruction to the driving controller according to the control surface target tilting angle, receiving a feedback signal sent by the angle feedback unit, and obtaining the actual tilting angle of the control surface according to the feedback signal.
The driving controller is used for receiving the control surface tilting control instruction and receiving a feedback signal sent by the angle feedback unit so as to control the driving mechanism to operate according to the control surface tilting control instruction and the feedback signal.
In some embodiments, the drive controller is specifically configured to:
performing an inner closed loop control, wherein the inner closed loop control comprises:
obtaining the actual tilting angle of the control surface according to the feedback signal received by the driving controller; and
and adjusting the control of the driving mechanism according to the actual inclination angle of the control surface so that the actual inclination angle of the control surface is close to the target inclination angle of the control surface corresponding to the control surface inclination control instruction.
In some embodiments, the master controller is specifically for:
performing an outer closed loop control, wherein the outer closed loop control comprises:
and adjusting the control surface tilting control instruction according to the actual control surface tilting angle obtained by the main controller so as to enable the actual control surface tilting angle to be close to the target control surface tilting angle.
In some embodiments, the drive controller is further configured to, after performing the inner closed loop control:
and sending a feedback instruction to the main controller.
In some embodiments, the master controller is specifically for:
receiving the feedback instruction sent by the driving controller;
executing outer closed loop control according to the feedback instruction:
and adjusting the control surface tilting control instruction according to the actual control surface tilting angle obtained by the main controller so as to enable the actual control surface tilting angle to be close to the target control surface tilting angle.
In some embodiments, the master controller is further to:
receiving the feedback instruction sent by the driving controller;
and receiving a feedback signal sent by the angle feedback unit, obtaining an actual tilting angle of the control surface according to the feedback signal, judging whether the actual tilting angle of the control surface accords with the target tilting angle of the control surface, and if the actual tilting angle of the control surface accords with the target tilting angle of the control surface, confirming that the corresponding control surface control structure is normal.
In some embodiments, the angle feedback unit is a potentiometer.
In some embodiments, the transmission is a gear assembly.
In some embodiments, the drive mechanism is a motor.
In order to solve the technical problems, the invention adopts another technical scheme that: an unmanned aerial vehicle, the unmanned aerial vehicle comprising:
a body;
a wing coupled to the fuselage;
and the unmanned aerial vehicle control device is arranged on the airframe.
According to the unmanned aerial vehicle control device and the unmanned aerial vehicle applying the unmanned aerial vehicle control device, the actual tilting angle of the control surface is detected by arranging the angle feedback unit connected to the control surface transmission shaft. The main controller can obtain the actual tilting angle of the control surface through the angle feedback unit, so that the control surface can be accurately and effectively controlled according to the actual tilting angle of the control surface.
Drawings
One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which the figures of the drawings are not to be taken in a limiting sense, unless otherwise indicated.
FIG. 1 is a schematic structural view of one embodiment of the unmanned aerial vehicle of the present invention;
FIG. 2 is a schematic diagram of one embodiment of a drone control of the present invention;
FIG. 3 is a schematic hardware configuration of a main controller in an embodiment of the unmanned aerial vehicle control apparatus of the present invention;
fig. 4 is a schematic hardware structure of a driving controller in an embodiment of the unmanned aerial vehicle control device of the present invention.
Detailed Description
In order to facilitate an understanding of the present invention, a technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
As shown in fig. 1, a schematic structural diagram of an unmanned aerial vehicle 100 according to an embodiment of the present invention is shown, and in the embodiment shown in fig. 1, the unmanned aerial vehicle 100 is a fixed wing unmanned aerial vehicle, and in the flight process, the adjustment of the aircraft attitude is mainly realized by means of each control surface. In the embodiment shown in fig. 1, the unmanned aerial vehicle 100 includes a fuselage, wings connected to the fuselage, aileron control surfaces 21, vertical tail control surfaces 22, and horizontal tail control surfaces 23. The aileron control surface 21 is located at the rear edges of two wings of the unmanned aerial vehicle, and is used for controlling the roll motion of the unmanned aerial vehicle, the horizontal tail control surface 23 is used for controlling the pitch angle of the unmanned aerial vehicle, and the vertical tail control surface 22 is used for controlling the yaw angle of the unmanned aerial vehicle.
It should be noted that, fig. 1 illustrates only a few control surfaces of the unmanned aerial vehicle 100, and in other embodiments, other control surfaces or a larger number of control surfaces may be included.
The unmanned aerial vehicle 100 further comprises a control device 10 arranged on the fuselage, as shown in fig. 2, the control device 10 comprising a main controller 11 and at least one control surface control structure 12 (only one control surface control structure is shown in fig. 2). Control surface control structure 12 includes a drive controller 121, a drive mechanism 122, a transmission mechanism 123, a control surface drive shaft 124, and an angle feedback unit 125. The driving controller 121 is electrically connected to the main controller 11 and the driving mechanism 122, and the driving mechanism is further connected to a control surface transmission shaft 124 through a transmission mechanism 123, where the control surface transmission shaft 124 is disposed on the control surface shown in fig. 1. The angle feedback unit 125 is connected to the control surface transmission shaft 124, and the angle feedback unit 125 is further electrically connected to the main controller 11 and the driving controller 121, respectively.
The number of control structures 12 may be set according to the number of control surfaces in the unmanned aerial vehicle 100 and the control requirement, and in the embodiment shown in fig. 1, at least one control structure may include two aileron control structures, one vertical tail control structure, and two horizontal tail control structures, which are respectively used to control tilting of the corresponding aileron control surfaces, vertical tail control surfaces, and horizontal tail control surfaces.
The main controller 11 is configured to send a control plane tilting control command to the driving controller 121 according to a control plane target tilting angle, and the driving controller 121 receives the control plane tilting control command and controls the driving mechanism 122 to operate according to the control plane tilting control command. The driving mechanism 122 operates to drive the transmission mechanism 123 to operate, and the transmission mechanism 123 drives the control surface transmission shaft 124 to rotate. The angle feedback unit 125 is connected to the control surface transmission shaft 124, and when the control surface transmission shaft 124 rotates, the angle feedback unit 125 can rotate along with the control surface transmission shaft 124, so that the actual tilting angle of the control surface, that is, the actual tilting angle of the control surface, can be detected. The angle feedback unit 125 sends the feedback signal generated by the angle feedback unit to the main controller 11 and the driving controller 121, the main controller 11 can obtain the actual tilting angle of the control surface through calculation according to the feedback signal, and the driving controller 121 controls the driving mechanism to operate according to the control surface tilting control command sent by the main controller 11 and the feedback signal.
The actual tilting angle of the control surface is detected by arranging an angle feedback unit connected with the control surface transmission shaft. The main controller 11 can obtain the actual tilting angle of the control surface through the angle feedback unit 125, so that the control surface can be accurately and effectively controlled according to the actual tilting angle of the control surface. For example, the control plane tilting control instruction is adjusted according to the actual tilting angle of the control plane, the gestures of the control planes are self-checked before the unmanned aerial vehicle takes off, and the like.
Wherein the drive controller 121 may adjust the control of the drive mechanism 122 according to the feedback signal received by the drive controller 121. In some embodiments, the drive controller 121 may perform closed loop control according to the control surface tilting control command and the feedback signal. The actual tilting angle of the control surface is obtained according to the feedback signal received by the driving controller 121, and then the control of the driving mechanism 122 is continuously adjusted according to the actual tilting angle of the control surface, so that the actual tilting angle of the control surface is continuously close to the target tilting angle of the control surface until the degree of the actual tilting angle of the control surface is close to the target tilting angle of the control surface meets the preset precision requirement.
The main controller 11 may adjust the control plane tilting control command according to the feedback signal received by the main controller 11. In some embodiments, the main controller 11 may perform closed-loop control according to the target tilt angle of the control surface and the feedback signal. The actual tilting angle of the control surface is obtained according to the feedback signal received by the main controller 11, and then the control surface tilting control command is continuously adjusted according to the actual tilting angle of the control surface, so that the actual tilting angle of the control surface is continuously close to the target tilting angle of the control surface until the degree of the actual tilting angle of the control surface close to the target tilting angle of the control surface meets the preset precision requirement.
In other embodiments, the main controller 11 performs outer closed-loop control according to the target tilt angle of the control surface and the feedback signal received by the main controller 11, and the driving controller 121 performs inner closed-loop control according to the tilt control command of the control surface and the feedback signal received by the driving controller 121. Namely, the outer closed-loop control of the main controller 11 and the inner closed-loop control of the driving controller 121 are performed in combination to improve the control efficiency.
The main controller 11 firstly sends a control surface tilting control command to the driving controller 121 according to the control surface target tilting angle, and the driving controller 121 performs inner closed-loop control according to the control surface tilting control command and the feedback signal received by the driving controller 121. The driving controller 121 sends a feedback command to the main controller 11 after the execution of the inner closed loop control. And the main controller 11 adjusts the control surface tilting control instruction according to the control surface target tilting angle and the feedback signal received by the main controller 11. And then, sending the adjusted control surface tilting control instruction to the driving controller 121 for inner closed-loop control, after the inner closed-loop control is finished, sending a feedback instruction to the main controller 11 again by the driving controller 121, and performing outer closed-loop control again by the main controller 11 until the degree that the actual tilting angle of the control surface is close to the target tilting angle of the control surface meets the accuracy requirement preset by the main controller 11.
In other embodiments, the control structures may be self-inspected before the unmanned aerial vehicle 100 takes off according to the feedback signal, for example, the main controller 11 sends the control tilt control command to the driving controller 121 according to the control target tilt angle. The driving controller 121 performs inner closed loop control according to the control surface tilting control command and the feedback signal received by the driving controller 121. The driving controller 121 sends a feedback command to the main controller 11 after the execution of the inner closed loop control. The main controller 11 obtains the feedback signal sent by the angle feedback unit 125 at this time, and obtains the actual tilting angle of the control surface according to the feedback signal. And then judging whether the actual inclination angle of the control surface accords with the target inclination angle of the control surface, if so, indicating that the control surface control structure operates normally, otherwise, judging that the control surface control structure operates abnormally.
Specifically, in some embodiments, the drive mechanism 122 may employ a motor, such as a brushed motor, a brushless motor, a DC motor, a stepper motor, an AC induction motor, or the like. The transmission mechanism 123 may be a gear assembly, and the main controller 11 may be a separately arranged controller, or may be a flight control chip of an unmanned aerial vehicle. The angle feedback unit 125 may be a potentiometer, or other device that may be connected to the control surface drive shaft and generate a change signal as the control surface drive shaft rotates.
The potentiometer is generally composed of a resistor body and a movable electric brush, when the electric brush moves along the resistor body, the resistance value of the resistor body changes along with the displacement of the electric brush, and the resistance value or the voltage value which has a certain relation with the displacement can be obtained at the output end of the potentiometer. In practical application, the electric brush of the potentiometer is connected with the control surface transmission shaft 124, and when the control surface transmission shaft 124 rotates, the electric brush of the potentiometer also rotates, so that the voltage of the output pin of the potentiometer changes. After receiving the control surface tilting control command of the main controller 11, the driving controller 121 drives the motor to rotate according to the control surface tilting control command, and the motor drives the control surface transmission shaft to rotate through torque transmission of the gear assembly after rotating, so that the control surface is driven to change the angle. And when the control surface transmission shaft rotates, the potentiometer is driven to rotate, so that the voltage at the output end of the potentiometer is changed. The angle change of the control surface can be calculated according to the voltage change, so that the actual tilting angle of the control surface is obtained.
The method (for example, an outer closed loop control method, a control surface control structure self-checking method, etc.) executed in the main controller 11 may be implemented by running a software program in the main controller 11. Fig. 3 is a schematic diagram of the hardware configuration of the main controller 11, and as shown in fig. 3, the main controller 11 includes:
one or more first processors 11a and a first memory 11b, one first processor 11a being exemplified in fig. 3.
The first processor 11a and the first memory 11b may be connected by a bus or otherwise, which is exemplified in fig. 3 by a bus connection.
The first memory 11b is used as a nonvolatile computer-readable storage medium for storing nonvolatile software programs, nonvolatile computer-executable programs, and modules. The first processor 11a executes various functional applications and data processing of the main controller 11 by running the nonvolatile software programs, instructions, and modules stored in the first memory 11b, that is, implements the closed-loop control method, the control surface control structure self-checking method, and the like of the above-described embodiments.
The first memory 11b may include a storage program area that may store an operating system, at least one application program required for functions, and a storage data area; the storage data area may store data created according to the use of the main controller, etc. Further, the first memory 11b may include a high-speed random access memory, and may also include a nonvolatile memory, such as at least one magnetic disk storage device, a flash memory device, or other nonvolatile solid-state storage device. In some embodiments, the first memory 11b optionally includes a memory remotely located with respect to the first processor 11a, which may be connected to the relay point generating device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the first memory 11b, and when executed by the one or more first processors 11a, perform the outer closed loop control method, the control surface control structure self-checking method, and the like described above.
Among them, the method (e.g., an inner closed loop control method, etc.) performed in the drive controller 121 may be implemented by running a software program in the drive controller 121. Fig. 4 is a schematic hardware configuration of the drive controller 121, and as shown in fig. 4, the drive controller 121 includes:
one or more second processors 121a and a second memory 121b, one second processor 121a being exemplified in fig. 4.
The second processor 121a and the second memory 121b may be connected by a bus or otherwise, for example in fig. 4.
The second memory 121b serves as a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The second processor 121a executes various functional applications and data processing of the drive controller 121 by running nonvolatile software programs, instructions, and modules stored in the second memory 121b, that is, implements the inner closed loop control method and the like of the above-described embodiment.
The second memory 121b may include a storage program area that may store an operating system, at least one application program required for functions, and a storage data area; the storage data area may store data created according to the use of the main controller, etc. In addition, the second memory 121b may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the second memory 121b optionally includes memory remotely located relative to the second processor 121a, which may be connected to the relay point generating device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the second memory 121b, and when executed by the one or more second processors 121a, perform the above-described inner closed loop control method, etc.
It should be noted that the description of the present invention and the accompanying drawings illustrate preferred embodiments of the present invention, but the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, which are not to be construed as additional limitations of the invention, but are provided for a more thorough understanding of the present invention. The above-described features are further combined with each other to form various embodiments not listed above, and are considered to be the scope of the present invention described in the specification; further, modifications and variations of the present invention may be apparent to those skilled in the art in light of the foregoing teachings, and all such modifications and variations are intended to be included within the scope of this invention as defined in the appended claims.
Claims (7)
1. An unmanned aerial vehicle controlling means, its characterized in that: the control device comprises a main controller and a control surface control structure;
the control surface control structure comprises a driving controller, a driving mechanism, a transmission mechanism, a control surface transmission shaft and an angle feedback unit;
the driving controller is respectively and electrically connected with the main controller and the driving mechanism, the driving mechanism is also connected with the control surface transmission shaft through the transmission mechanism, and the control surface transmission shaft is arranged on a control surface;
the angle feedback unit is connected with the control surface transmission shaft and is used for detecting the actual tilting angle of the control surface, and the angle feedback unit is also electrically connected with the main controller and the driving controller respectively;
the main controller is used for sending a control surface tilting control instruction to the driving controller according to the control surface target tilting angle and receiving a feedback signal sent by the angle feedback unit so as to obtain the actual tilting angle of the control surface according to the feedback signal;
the driving controller is used for receiving the control surface tilting control instruction, receiving a feedback signal sent by the angle feedback unit and controlling the driving mechanism to operate according to the control surface tilting control instruction and the feedback signal;
the drive controller is specifically configured to:
executing inner closed loop control, and executing after executing the inner closed loop control:
sending a feedback instruction to the main controller;
the main controller is specifically configured to:
receiving the feedback instruction sent by the driving controller;
executing outer closed loop control according to the feedback instruction:
receiving a feedback signal sent by the angle feedback unit, and obtaining the actual tilting angle of the control surface according to the feedback signal;
adjusting the control surface tilting control instruction according to the control surface actual tilting angle so as to enable the control surface actual tilting angle to be close to the control surface target tilting angle;
alternatively, the main controller is configured to:
receiving the feedback instruction sent by the driving controller;
and receiving a feedback signal sent by the angle feedback unit according to the feedback instruction, obtaining an actual tilting angle of the control surface according to the feedback signal, judging whether the actual tilting angle of the control surface accords with the target tilting angle of the control surface, and if the actual tilting angle of the control surface accords with the target tilting angle of the control surface, confirming that the corresponding control surface control structure is normal.
2. The unmanned aerial vehicle control of claim 1, wherein the inner closed loop control comprises:
obtaining the actual tilting angle of the control surface according to the feedback signal received by the driving controller; and
and adjusting the control of the driving mechanism according to the actual inclination angle of the control surface so that the actual inclination angle of the control surface is close to the target inclination angle of the control surface corresponding to the control surface inclination control instruction.
3. The unmanned aerial vehicle control of claim 1, wherein the main controller is specifically configured to:
performing an outer closed loop control, wherein the outer closed loop control comprises:
receiving a feedback signal sent by the angle feedback unit, and obtaining the actual tilting angle of the control surface according to the feedback signal;
and adjusting the control surface tilting control instruction according to the control surface actual tilting angle so as to enable the control surface actual tilting angle to be close to the control surface target tilting angle.
4. A drone control device according to any one of claims 1 to 3, wherein the angle feedback unit is a potentiometer.
5. A drone control according to any one of claims 1 to 3, wherein the transmission mechanism is a gear assembly.
6. A drone control according to any one of claims 1 to 3, wherein the drive mechanism is a motor.
7. An unmanned aerial vehicle, characterized in that the unmanned aerial vehicle comprises:
a body;
a wing coupled to the fuselage;
and the unmanned aerial vehicle control device according to any one of claims 1 to 6, which is provided to the airframe.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910207560.7A CN109760821B (en) | 2019-03-19 | 2019-03-19 | Unmanned aerial vehicle controlling means and unmanned aerial vehicle |
| PCT/CN2020/078611 WO2020187092A1 (en) | 2019-03-19 | 2020-03-10 | Unmanned aerial vehicle control device and unmanned aerial vehicle |
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| CN201910207560.7A CN109760821B (en) | 2019-03-19 | 2019-03-19 | Unmanned aerial vehicle controlling means and unmanned aerial vehicle |
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| CN109760821A CN109760821A (en) | 2019-05-17 |
| CN109760821B true CN109760821B (en) | 2024-03-29 |
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| CN109760821B (en) * | 2019-03-19 | 2024-03-29 | 深圳市道通智能航空技术股份有限公司 | Unmanned aerial vehicle controlling means and unmanned aerial vehicle |
| CN110162079B (en) * | 2019-07-16 | 2019-10-29 | 江苏集萃智能制造技术研究所有限公司 | A kind of Self-balance Control System of manned whirlpool spray aircraft |
| CN112697389B (en) * | 2020-12-02 | 2024-05-14 | 哈尔滨工程大学 | Automatic angle changing device for closed-loop control surface and control method thereof |
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| CN109760821A (en) | 2019-05-17 |
| WO2020187092A1 (en) | 2020-09-24 |
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