CN110001953B - Wing type unmanned aerial vehicle and flight control method thereof - Google Patents
Wing type unmanned aerial vehicle and flight control method thereof Download PDFInfo
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- CN110001953B CN110001953B CN201910354937.1A CN201910354937A CN110001953B CN 110001953 B CN110001953 B CN 110001953B CN 201910354937 A CN201910354937 A CN 201910354937A CN 110001953 B CN110001953 B CN 110001953B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
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Abstract
The invention discloses an airfoil unmanned aerial vehicle and a flight control method thereof, comprising the following steps: the device comprises a fuselage frame, a left wing, a right wing, a left wing motor, a right wing motor, a dihedral angle steering engine, a gesture sensing module, a controller and a power module. When the wing type unmanned aerial vehicle flies, two pairs of symmetrical flying wings are used for providing power, the wings are provided with power by motors, an insect-imitating non-tail design mode is adopted, and the flying posture of the wing type unmanned aerial vehicle is adjusted by using a body dihedral angle steering engine and a steering engine; when flying, only the wing motor consumes more energy, and the steering engine only intermittently adjusts the gesture. The unmanned aerial vehicle has unique flight mode, simpler structure compared with other unmanned aerial vehicles, higher flight efficiency and capability of realizing miniaturization of the unmanned aerial vehicle.
Description
Technical Field
The invention belongs to the technical field of wing-shaped unmanned aerial vehicles, and particularly relates to a wing-shaped unmanned aerial vehicle and a flight control method thereof.
Background
Unmanned aerial vehicles are generally classified into three types, namely fixed wings, rotary wings and flapping wings, which all have their own advantages and disadvantages. The fixed wing unmanned aerial vehicle mainly depends on upward resultant force generated by own wings to realize flight, and the flight attitude is adjusted through ailerons and tail wings; the device has poor flexibility in flight, is difficult to realize low-angle flight and relatively low-speed flight, and has less flight freedom. Rotor unmanned aerial vehicle generally has four rotors, six rotors and many rotors etc. it utilizes the rotor rotation of self to produce ascending resultant force, provides power by alternating current motor, needs the motor to have higher rotational speed, so the consumption is great, is difficult to realize long-time or long distance flight. Most of the existing flapping-wing unmanned aerial vehicles are bird-like, and the bird-like unmanned aerial vehicles have the following defects: 1) The adaptability is poor in flight, and if the air flow is encountered, the stable flight is difficult to maintain; 2) The actions such as hovering and the like can not be realized when the bird-like unmanned aerial vehicle flies; 3) The bird-like unmanned aerial vehicle generally comprises a tail wing, and the flight direction and the gesture of the fuselage are controlled through the tail wing, so that the volume is relatively large; 4) Has the defect of less freedom degree.
In summary, a new type of wing unmanned aerial vehicle structure and a flight control method thereof are needed.
Disclosure of Invention
The invention aims to provide an airfoil unmanned aerial vehicle and a flight control method thereof, which aim to solve one or more technical problems. The unmanned aerial vehicle can utilize less power output to realize the flying with more degrees of freedom, and can simultaneously consider the flying time or the flying distance with the multiple degrees of freedom.
In order to achieve the above purpose, the invention adopts the following technical scheme:
an airfoil unmanned aerial vehicle comprising: the device comprises a fuselage frame, a left wing, a right wing, a left wing motor, a right wing motor, a dihedral angle steering engine, a gesture sensing module, a controller and a power module; the left frame of the fuselage frame is provided with a left wing motor and a flapping wing type left wing, and the left wing motor is used for driving the left wing to flutter; a right wing motor and a flapping wing type right wing are arranged on the right frame of the fuselage frame, and the right wing motor is used for driving the right wing to flutter; the upper frame of the machine body frame comprises a first upper frame and a second upper frame which are equal in length; one end of the first upper frame is hinged with the upper end of the left frame of the machine body frame through a first hinge shaft, the other end of the first upper frame is hinged with one end of the second upper frame through a second hinge shaft, and the other end of the second upper frame is hinged with the upper end of the right frame of the machine body frame through a third hinge shaft; the first hinge shaft, the second hinge shaft and the third hinge shaft are all perpendicular to the horizontal plane; a dihedral angle steering engine is arranged at the hinge joint of the first upper frame and the second upper frame; the horizontal included angle between the first upper frame and the second upper frame is a dihedral angle, and the dihedral angle steering engine is used for adjusting the dihedral angle; two ends of the lower frame of the machine body frame are hinged to the lower ends of the left frame and the right frame of the machine body frame through a fourth hinge shaft and a fifth hinge shaft respectively; the fourth hinge shaft and the fifth hinge shaft are perpendicular to a horizontal plane; the center of the lower frame of the machine body frame is provided with a steering engine for adjusting the angle of the steering angle, wherein the steering angle is an included angle between the lower frame of the machine body frame and the upper frame of the machine body frame; the gesture sensing module includes: space sensors, accelerometers, magnetometers and gyroscopes; the gesture sensing module is used for obtaining a pitch angle, a roll angle, a yaw angle and a true north included angle of the unmanned aerial vehicle; the controller includes: the device comprises a wireless communication unit, a control unit, a feedback unit and a driving unit; the signal input end of the wireless communication unit is used for realizing remote communication with the outside, and the signal output end of the wireless communication unit is connected with the signal input end of the control unit; the signal output end of the gesture sensing module is connected with the signal input end of the feedback unit, the signal output end of the feedback unit is connected with the signal input end of the control unit, and the signal output end of the control unit is connected with the signal input end of the driving unit; the driving unit comprises a left wing motor driving unit and a right wing motor driving unit; the signal output end of the left wing motor driving unit is connected with the signal receiving end of the left wing motor, and the signal output end of the right wing motor driving unit is connected with the signal receiving end of the right wing motor; the power module is used for supplying power to the left wing motor, the right wing motor, the dihedral angle steering engine, the gesture sensing module and the controller.
The invention is further improved in that the yaw zero angle and the true north angle are fixed in the same direction, and the attitude feedback adopts an angle fusion method:
in θ * In order to achieve a fusion angle, the two-dimensional image is,the angle is yaw angle, gamma is yaw angle weight, alpha is true north included angle gamma, and the value is 0 to 1;
the controller calculates the fusion angle conversion as the pulse width required by the rotation of the steering engine, and the control of the flight direction is realized through the steering engine.
The invention is further improved in that the dihedral angle steering engine and the steering engine both adopt AFRC-D1302, the period is 20ms, the pulse width adjustment range is 0.5-2.5 ms, the pulse width 0.5ms steering engine rotates 0 degree, the pulse width 1ms steering engine rotates 45 degrees, and the pulse width 1.5ms steering engine rotates 90 degrees; wherein, the pulse width is in direct proportion to the rotation angle.
The invention is further improved in that when the value range of the dihedral angle theta is 180 degrees < theta <360 degrees, the gravity center of the unmanned aerial vehicle moves backwards; when the value range of the dihedral angle theta is 0 degrees < theta <180 degrees, the gravity center of the unmanned aerial vehicle moves forward.
The invention further improves that a driving unit of the controller adopts a two-way MOSFET UCC27524A for realizing independent control of the flapping frequency of the left wing and the right wing.
A further improvement of the invention is that the specific structure of the left/right wing comprises: the first wing, the second wing, the first connecting rod and the second connecting rod; the first wing and the second wing are hinged through a sixth hinge shaft, and the axis of the sixth hinge shaft is coincident with the axis of the left/right frame; the left/right wing motor is fixedly arranged on the left/right frame through a mounting frame, and a first transmission gear is arranged at the output end of the left/right wing motor; the mounting frame is also provided with a second transmission gear and a third transmission gear, and the first transmission gear is meshed with the second transmission gear and the third transmission gear at the same time; one end of the first connecting rod is hinged to the first wing, and the other end of the first connecting rod is hinged to the end face of the second transmission gear; one end of the second connecting rod is hinged to the second wing, and the other end of the second connecting rod is hinged to the end face of the third transmission gear; wherein the first wing and the second wing can be driven to flutter by a left/right wing motor.
The flight control method of the aerofoil unmanned aerial vehicle comprises the following steps: the method is characterized in that a head-mode flight mode, namely a directional mode is adopted, and the unmanned aerial vehicle always takes a fixed direction as a forward direction when in flight;
setting the yaw zero angle and the true north angle in the same direction;
the attitude feedback adopts an angle fusion method:
fusion angle = yaw angle + yaw angle weight + true north angle (1-yaw angle weight);
the controller calculates the fusion angle conversion as the pulse width required by the rotation of the steering engine, and the control of the flight direction is realized through the steering engine.
Further, the left wing motor driving unit and the right wing motor driving unit are used for independently controlling the flapping frequency of the left wing and the right wing, so that the differential speed is realized, and further, the unmanned aerial vehicle roll action flying is realized.
Further, the dihedral angle is adjusted through the dihedral angle steering engine, so that the gravity center position of the unmanned aerial vehicle is changed, and pitching action flying of the unmanned aerial vehicle is realized.
Further, the steering angle is adjusted through the steering engine, so that the axial direction of the wing root of the unmanned aerial vehicle is changed, and further, the yaw action flying of the unmanned aerial vehicle is realized.
Compared with the prior art, the invention has the following beneficial effects:
the wing-shaped unmanned aerial vehicle can realize a flight mode with more degrees of freedom by using less power output, and can simultaneously consider the flight time or the flight distance with the multiple degrees of freedom. The concrete steps are as follows: when the wing type unmanned aerial vehicle flies, two pairs of symmetrical flying wings are used for providing power, the wings are provided with power by motors, an insect-imitating non-tail design mode is adopted, and the flying posture of the wing type unmanned aerial vehicle is adjusted by using a fuselage dihedral angle steering engine and a steering engine; when flying, only the wing motor consumes more energy, and the steering engine only intermittently adjusts the gesture. The unmanned aerial vehicle has unique flight mode, simpler structure compared with other unmanned aerial vehicles, higher flight efficiency and capability of realizing miniaturization of the unmanned aerial vehicle. In addition, the current bird-like unmanned aerial vehicle generally adopts left and right wings to flutter to provide forward power, and the adjustment of the flight direction and the gesture is realized by utilizing the adjustment of the tail wing, so that the power generated by the left and right wings and the tail wing not only needs to provide forward power, but also needs to provide upward power, and the motor for providing power for the left and right wings has larger torque and correspondingly higher power consumption. The unmanned aerial vehicle flies in a flapping wing mode, is smaller in power consumption energy source, longer in flight time and capable of realizing a flying mode with more degrees of freedom.
The flight control method is used for flight control of the unmanned aerial vehicle, the left wing and the right wing are in flapping fit with steering engine rotation, fewer power outputs can be utilized, a flight mode with more degrees of freedom can be realized, and the flight time or the flight distance and the multiple degrees of freedom can be simultaneously considered.
Drawings
FIG. 1 is a schematic block diagram of a system for an airfoil unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic top view of an airfoil unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the front view of FIG. 2;
FIG. 4 is a schematic illustration of a differential operation of an airfoil unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 5 is another differential operation schematic of an airfoil unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 6 is a schematic illustration of one manner of rotation of a dihedral steering engine in an airfoil unmanned aerial vehicle in accordance with an embodiment of the present invention;
FIG. 7 is a schematic illustration of another manner of rotation of a dihedral steering engine in an airfoil unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a rotation of a steering engine in an airfoil unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 9 is a schematic illustration of another manner of rotation of a steering engine in an airfoil unmanned aerial vehicle according to an embodiment of the present invention;
in fig. 2 to 9, 1, dihedral steering engine; 2. a left wing motor; 3. a left wing; 4. a right wing motor; 5. a right wing; 6. steering engine.
Detailed Description
In order to make the objects, technical advantages and solutions of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be further and completely described below with reference to the accompanying drawings in the embodiments; the description is only for the explanation of the technical scheme of the present invention, and is not used for limiting the protection scope of the present invention.
Referring to fig. 1 to 3, an airfoil unmanned aerial vehicle structure according to an embodiment of the present invention includes: the steering engine comprises a frame, a left wing 3, a right wing 5, a left wing motor 2, a right wing motor 4, a dihedral angle steering engine 1, a steering engine 6, a gesture sensing module, a controller and a power module;
the left frame of the fuselage frame is provided with a left wing motor 2 and a flapping wing type left wing 3, and the left wing motor 2 is used for driving the left wing 3 to flutter;
a right wing motor 4 and a flapping wing type right wing 5 are arranged on the right frame of the fuselage frame, and the right wing motor 4 is used for driving the right wing 5 to flutter;
the upper frame of the machine body frame comprises a first upper frame and a second upper frame which are equal in length; one end of the first upper frame is hinged with the upper end of the left frame of the machine body frame through a first hinge shaft, the other end of the first upper frame is hinged with one end of the second upper frame through a second hinge shaft, and the other end of the second upper frame is hinged with the upper end of the right frame of the machine body frame through a third hinge shaft; the first hinge shaft, the second hinge shaft and the third hinge shaft are all perpendicular to the horizontal plane; a dihedral angle steering engine 1 is arranged at the hinge joint of the first upper frame and the second upper frame; the horizontal included angle between the first upper frame and the second upper frame is a dihedral angle, and the dihedral angle steering engine 1 is used for adjusting the dihedral angle; two ends of the lower frame of the machine body frame are hinged to the lower ends of the left frame and the right frame of the machine body frame through a fourth hinge shaft and a fifth hinge shaft respectively; the fourth hinge shaft and the fifth hinge shaft are perpendicular to the horizontal plane; the center of the lower frame of the machine body frame is provided with a steering engine 6 for adjusting the angle of the steering angle, wherein the steering angle is the included angle between the lower frame of the machine body frame and the upper frame of the machine body frame; the lifting and steering of the wing type unmanned aerial vehicle and the six-degree-of-freedom flight of the unmanned aerial vehicle can be realized by adjusting the flapping frequency of the left wing 3 and the right wing 5 and the angles of the dihedral steering engine 1 and the steering engine 6.
The flapping wing motion mechanism comprises a left wing driving motor, a right wing driving motor, corresponding gears and shaft transmission parts, and the structure of the flapping wing motion mechanism can refer to the technical scheme disclosed in Chinese patent publication No. CN 103241379B.
The dihedral angle mechanism comprises a dihedral angle steering engine 1 and corresponding transmission parts; the dihedral angle steering engine 1 is arranged at the front end part of the frame of the unmanned aerial vehicle.
The steering mechanism comprises a steering engine 6 and corresponding transmission components; the steering engine 6 is arranged at the rear end part of the frame of the unmanned aerial vehicle.
The gesture sensing mechanism comprises a preset gesture sensor, the spatial gesture sensor MPU9250 comprises a triaxial acceleration, a triaxial gyroscope and a triaxial magnetometer, and the pitch angle, the roll angle and the yaw angle of the machine body can be obtained through the gesture sensor.
The unmanned aerial vehicle gesture feedback part comprises space sensor MPU9250, triaxial accelerometer, triaxial magnetometer, triaxial gyroscope, installs in unmanned aerial vehicle intermediate position, transfers to steering wheel 6 above, and the direction is forward, can obtain unmanned aerial vehicle pitch angle (the contained angle of organism coordinate system x axle and horizontal plane), roll angle (the contained angle between organism coordinate system y cross axle and the horizontal line), yaw angle (organism around z axle rotation angle) degree and with true north contained angle. The invention adopts a head-mode flight mode, namely a directional mode, and the unmanned aerial vehicle always takes a fixed direction as a forward direction when in flight.
The fuselage frame is provided with a fuselage skin.
In the invention, the yaw zero angle and the true north angle are fixed in the same direction, and the attitude feedback adopts an angle fusion method:
fusion angle = yaw angle + yaw angle weight + true north angle (1-yaw angle weight);
the main controller converts and calculates the fusion angle into the pulse width required by the rotation of the steering engine 6, so that the control of the flight direction can be realized more accurately.
The wireless communication mechanism module is as follows: the FS-IA6B is used for receiving the wireless remote control and transmitting the six-channel PWM signal, and transmitting the PWM signal to the controller, and the controller analyzes the PWM signal to be a specific function.
A power management mechanism module: the system is powered by the controller at 3.3V, the wireless communication module at 5V and the dual-path MOSFET at 5V.
The controller comprises a driving unit, a control unit, a feedback unit and a wireless communication unit; the control unit can adopt an embedded control chip, adopts context M3stm32f407, is responsible for analyzing the instruction of the wireless communication module and analyzing the instruction of the feedback unit, and outputs PWM pulses required by the MOSFET.
Preferably, the controller realizes the control steps of:
(1) The controller detects whether the wireless communication module receives a function starting command, if yes, the step (2) is executed, otherwise, the step (2) is not executed;
(2) The controller analyzes the command of the wireless communication module and determines the flight mode of the command; simultaneously detecting a gesture sensing module and determining the current pose;
(3) Executing a corresponding flight mode, circularly detecting a gesture sensing module, preventing the gesture threshold value of the current flight state from being exceeded, and if the gesture threshold value is exceeded, not executing the function;
(4) And (3) circularly executing the step (1), the step (2) and the step (3).
When the wing type unmanned aerial vehicle flies, two pairs of symmetrical flying wings are used for providing power, the wings are powered by two hollow cup motors with the strong magnetism of 6 mm, the rated power is about 0.5 watt (the rated current is 0.12A, the rated voltage is 4.2V, the weight is 2 g), the flying gesture of the wing type unmanned aerial vehicle is adjusted by adopting an insect-imitating tail-free design mode and utilizing a steering engine with a machine body dihedral angle and a steering engine (the steering engine adopts an AFRC-D1302, the weight is 1.7g, the voltage is 3.7V, and the current is less than 30 mA), and the energy consumption is larger when flying, the wing type unmanned aerial vehicle only adjusts the gesture. The unmanned aerial vehicle has unique flight mode, simpler structure compared with other unmanned aerial vehicles, higher flight efficiency and capability of realizing miniaturization of the unmanned aerial vehicle. The bird-like unmanned aerial vehicle generally adopts left and right wings to flutter to provide forward power, and utilizes the adjustment of the tail wing to realize the adjustment of flight direction and gesture, so that when flying, the power generated by the left and right wings and the tail wing not only needs to provide forward power, but also needs to provide upward power, and the motor for providing power for the left and right wings is required to have larger torque, and correspondingly, higher power consumption can be realized. The unmanned aerial vehicle flies in the flapping wing mode, is smaller in power consumption energy source, and longer in flight time, and meanwhile, the system can realize a flight mode with more degrees of freedom.
Referring to fig. 1, the controller is connected with a gesture feedback part, a left wing motor drive, a right wing motor drive, a steering engine 6 and a dihedral angle steering engine 1, and can realize the closed-loop operation of feedback and control of the gesture of the unmanned aerial vehicle. The left wing motor 2 and the right wing motor 4 are respectively connected with a left wing motor drive and a right wing motor drive, so that the rotation speed of the motors can be adjusted, and the flutter frequency of the left wing 3 and the right wing 5 can be adjusted. The dihedral angle steering engine 1 and the steering engine 6 are connected with a controller, so that the pitching and yaw angle adjustment of the unmanned aerial vehicle is realized. The power management part is connected with other parts to supply power to the controller to be 3.3V stably, the wireless communication module is 5V, and the two-way MOSFET power supply is 5V. Voltage regulation and conversion are realized. The wireless communication part is connected with the controller to realize the receiving of the ground station information.
Referring to fig. 2 and 3, a left wing motor 2 and a right wing motor 4 are respectively connected to a dihedral angle steering engine 1, a left wing 3 and a right wing 5 are respectively connected to the left wing motor 2 and the right wing motor 4, and a steering engine 6 is connected to a wing root for adjusting the wing direction. The flapping frequency of the left wing 3 and the right wing 5 is independently controlled through the left wing motor drive and the right wing motor drive, so that the differential function is realized. The lifting and steering of the unmanned aerial vehicle are realized by controlling the angles of the dihedral angle steering engine 1 and the steering engine 6, the steering engine adopts an AFRC-D1302, the period is 20ms, the pulse width adjustment range is 0.5-2.5 ms, the pulse width is 0.5ms, the pulse width is 1ms, the steering engine rotates 45 degrees, and the pulse width is 1.5ms, the steering engine rotates 90 degrees; the pulse width is proportional to the rotation angle.
Referring to fig. 4 and 5, the differential operation schematic diagrams of the left wing and the right wing are shown, the flapping frequency of the left wing 3 and the right wing 5 can be controlled independently, the differential function is realized, the controller realizes the flapping of the left wing 3 and the right wing 5 by independently controlling the pulse frequency of the driving unit, and the unmanned plane can fly in a rolling action; the specific control method comprises the following steps:
(1) Realize negative roll angle flight: the flapping frequency of the right wing 5 is greater than that of the left wing 3, namely the controller sends pulse frequency to the right wing motor drive to be greater than that of the left wing motor drive;
(2) Realize the flight of positive roll angle: the flapping frequency of the right wing 5 is smaller than that of the left wing 3, namely the controller sends pulse frequency to the motor drive of the right wing to be smaller than that of the motor drive of the left wing.
Referring to fig. 6 and 7, a rotation schematic diagram of a dihedral angle steering engine is shown, and lifting and steering of the unmanned aerial vehicle are realized through angle control of the dihedral angle steering engine 1 and the steering engine 6; through the rotation angle of the dihedral angle steering engine 1, the gravity center position of the unmanned aerial vehicle is changed, so that the direction of the overall resultant force borne by the unmanned aerial vehicle is changed, and pitching action flying of the unmanned aerial vehicle can be realized; the specific method comprises the following steps:
(1) Realize negative pitch angle flight: the dihedral angle theta (180 degrees < theta <360 degrees) enables the gravity center of the unmanned aerial vehicle to move backwards, and can realize negative pitching angle flight when the wing flutters;
(2) Realize positive pitch angle flight: the dihedral angle theta (0 degrees < theta <180 degrees) enables the gravity center of the unmanned aerial vehicle to move forward, and when the wing flutters, the flying at a positive pitching angle can be realized, and the dihedral is the horizontal included angle between the first upper frame and the second upper frame;
referring to fig. 8 and 9, in order to provide a rotation schematic diagram of the steering engine, the rotation angle of the steering engine 6 is adjusted to change the axial direction of the wing root of the unmanned aerial vehicle, so that the resultant force of the wing reaction forces is axially changed, and the yaw action flight of the unmanned aerial vehicle can be realized; the specific method comprises the following steps:
(1) Realize the flight of positive yaw angle: the steering angle gamma (-180 degrees < gamma <0 degrees), the wing root of the unmanned aerial vehicle rotates gamma by rotating the steering engine 6, and the reaction force in the flapping direction of the wing forms an included angle with the wing root, so that the flying at a positive yaw angle can be realized;
(2) Realize the negative yaw angle flight: the steering angle gamma (0 degrees < gamma <180 degrees), the steering angle is the included angle between the lower frame of the frame and the upper frame of the frame, and the steering engine 6 is rotated to enable the wing root of the unmanned aerial vehicle to rotate gamma, and the reacting force in the flapping direction of the wing generates an included angle with the wing root, so that the unmanned aerial vehicle can fly at a negative yaw angle.
According to the wing type unmanned aerial vehicle flight control method, the left wing and the right wing are adopted to be in flapping fit with the steering engine to rotate, so that six-degree-of-freedom flight of the unmanned aerial vehicle can be realized; the two steering engines intermittently work, consume less energy, and can simultaneously consider the flight time and the flight distance.
In the control method, the lifting of the unmanned aerial vehicle is realized through the frequency of wing flapping, the higher the flapping frequency is, the faster the lifting speed is, the lower the flapping frequency is, the faster the reducing speed is, and the wing flapping frequency is realized through adjusting the pulse frequency or the pulse width of the left wing motor drive and the right wing motor drive; the left wing 3 and the right wing 5 flutter frequency difference, the dihedral angle steering engine 1 and the steering engine 6 rotate to realize the unmanned aerial vehicle steering function. The wing flapping frequency is realized by adjusting the pulse frequency or pulse width of motor drive, and the drive adopts a two-way MOSFET UCC27524A. The flapping frequency of the left wing 3 and the right wing 5 can be controlled independently, so that the differential function is realized. The steering engine adopts AFRC-D1302, the period is 20ms, the pulse width adjustment range is 0.5-2.5 ms, the steering engine with the pulse width of 0.5ms rotates 0 DEG, the steering engine with the pulse width of 1ms rotates 45 DEG, the steering engine with the pulse width of 1.5ms rotates 90 DEG, and the pulse width and the rotation angle are in a proportional relation.
In summary, the invention discloses an airfoil unmanned aerial vehicle and a flight control method thereof, comprising the following steps: the device comprises a driving unit, a control unit, a feedback unit and a wireless communication unit. The method specifically comprises the following steps: the system comprises a main controller part, a motor driving part, a steering engine driving part, a gesture feedback part, a wireless receiving part, a power supply part, a debugging interface and an LED part. The wing type unmanned aerial vehicle includes: the device comprises a left wing, a right wing, a flapping wing movement mechanism, a dihedral angle mechanism, a direction adjusting mechanism, a gesture sensing mechanism, a wireless communication mechanism and a power management mechanism. The main controller is connected with the gesture feedback part, the left wing motor drive, the right wing motor drive, the steering engine and the dihedral angle steering engine and is used for realizing the closed-loop operation of the feedback and control of the gesture of the unmanned aerial vehicle; the left wing motor and the right wing motor are respectively connected with a left wing motor drive and a right wing motor drive and are used for realizing the rotation speed adjustment of the motors so as to further realize the flapping frequency adjustment of the wings; the dihedral angle steering engine and the steering engine are connected with the controller and are used for realizing pitching and yawing angle adjustment of the unmanned aerial vehicle; the power management part is connected with other parts and is used for realizing voltage regulation and conversion; the wireless communication part is connected with the controller and is used for receiving the information of the ground station. The unmanned aerial vehicle and the flight control method can realize the lifting and steering of the wing-shaped unmanned aerial vehicle and the six-degree-of-freedom flight of the unmanned aerial vehicle.
The above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, one skilled in the art may make modifications and equivalents to the specific embodiments of the present invention, and any modifications and equivalents not departing from the spirit and scope of the present invention are within the scope of the claims of the present invention.
Claims (9)
1. An airfoil unmanned aerial vehicle, comprising: the steering engine comprises a frame, a left wing (3), a right wing (5), a left wing motor (2), a right wing motor (4), a dihedral angle steering engine (1), a steering engine (6), a gesture sensing module, a controller and a power module;
a left wing motor (2) and a left wing (3) of the flapping wing type are arranged on the left frame of the fuselage frame, and the left wing motor (2) is used for driving the left wing (3) to flutter;
a right wing motor (4) and a right wing (5) of the flapping wing type are arranged on the right frame of the fuselage frame, and the right wing motor (4) is used for driving the right wing (5) to flutter;
the upper frame of the machine body frame comprises a first upper frame and a second upper frame which are equal in length; one end of the first upper frame is hinged with the upper end of the left frame of the machine body frame through a first hinge shaft, the other end of the first upper frame is hinged with one end of the second upper frame through a second hinge shaft, and the other end of the second upper frame is hinged with the upper end of the right frame of the machine body frame through a third hinge shaft; the first hinge shaft, the second hinge shaft and the third hinge shaft are all perpendicular to the horizontal plane; a dihedral angle steering engine (1) is arranged at the hinge joint of the first upper frame and the second upper frame; the horizontal included angle between the first upper frame and the second upper frame is a dihedral angle, and the dihedral angle steering engine (1) is used for adjusting the dihedral angle;
two ends of the lower frame of the machine body frame are hinged to the lower ends of the left frame and the right frame of the machine body frame through a fourth hinge shaft and a fifth hinge shaft respectively; the fourth hinge shaft and the fifth hinge shaft are perpendicular to a horizontal plane; the center of the lower frame of the machine body frame is provided with a steering engine (6) for adjusting the angle of the steering angle, wherein the steering angle is the included angle between the lower frame of the machine body frame and the upper frame of the machine body frame;
the gesture sensing module includes: space sensors, accelerometers, magnetometers and gyroscopes; the gesture sensing module is used for obtaining a pitch angle, a roll angle, a yaw angle and a true north included angle of the unmanned aerial vehicle;
the controller includes: the device comprises a wireless communication unit, a control unit, a feedback unit and a driving unit; the signal input end of the wireless communication unit is used for realizing remote communication with the outside, and the signal output end of the wireless communication unit is connected with the signal input end of the control unit; the signal output end of the gesture sensing module is connected with the signal input end of the feedback unit, the signal output end of the feedback unit is connected with the signal input end of the control unit, and the signal output end of the control unit is connected with the signal input end of the driving unit; the driving unit comprises a left wing motor driving unit and a right wing motor driving unit; the signal output end of the left wing motor driving unit is connected with the signal receiving end of the left wing motor (2), and the signal output end of the right wing motor driving unit is connected with the signal receiving end of the right wing motor (4);
the power supply module is used for supplying power to the left wing motor (2), the right wing motor (4), the dihedral angle steering engine (1), the steering engine (6), the gesture sensing module and the controller;
the yaw zero angle and the true north angle are fixed in the same direction, and the attitude feedback adopts an angle fusion method:
in θ * In order to achieve a fusion angle, the two-dimensional image is,is the yaw angleGamma is the weight of the yaw angle, and alpha is the true north angle;
the controller calculates the fusion angle conversion as the pulse width required by the rotation of the steering engine (6), and the control of the flight direction is realized through the steering engine (6).
2. The wing-shaped unmanned aerial vehicle according to claim 1, wherein the dihedral angle steering engine (1) and the steering engine (6) are both AFRC-D1302, the period is 20ms, the pulse width adjustment range is 0.5-2.5 ms, the pulse width is 0.5ms, the pulse width is 1ms, the steering engine rotates 45 degrees, and the pulse width is 1.5ms, the steering engine rotates 90 degrees;
wherein, the pulse width is in direct proportion to the rotation angle.
3. The airfoil unmanned aerial vehicle of claim 1, wherein the center of gravity of the unmanned aerial vehicle is shifted rearward when the dihedral angle θ is in the range of 180 ° < θ <360 °; when the value range of the dihedral angle theta is 0 degrees < theta <180 degrees, the gravity center of the unmanned aerial vehicle moves forward.
4. An aerofoil unmanned aerial vehicle according to claim 1, wherein the drive unit of the controller employs a two-way MOSFET UCC27524a for individual control of the flapping frequency of the left wing (3) and the right wing (5).
5. The airfoil unmanned aerial vehicle of claim 1, wherein the specific structure of the left/right wing comprises: the first wing, the second wing, the first connecting rod and the second connecting rod;
the first wing and the second wing are hinged through a sixth hinge shaft, and the axis of the sixth hinge shaft is coincident with the axis of the left/right frame;
the left/right wing motor is fixedly arranged on the left/right frame through a mounting frame, and a first transmission gear is arranged at the output end of the left/right wing motor; the mounting frame is also provided with a second transmission gear and a third transmission gear, and the first transmission gear is meshed with the second transmission gear and the third transmission gear at the same time;
one end of the first connecting rod is hinged to the first wing, and the other end of the first connecting rod is hinged to the end face of the second transmission gear; one end of the second connecting rod is hinged to the second wing, and the other end of the second connecting rod is hinged to the end face of the third transmission gear;
wherein the first wing and the second wing can be driven to flutter by a left/right wing motor.
6. A method of flight control of an airfoil unmanned aerial vehicle according to any of claims 1 to 5, comprising: the method is characterized in that a head-mode flight mode, namely a directional mode is adopted, and the unmanned aerial vehicle always takes a fixed direction as a forward direction when in flight;
setting the yaw zero angle and the true north angle in the same direction;
the attitude feedback adopts an angle fusion method:
fusion angle = yaw angle + yaw angle weight + true north angle (1-yaw angle weight);
the controller calculates the fusion angle conversion as the pulse width required by the rotation of the steering engine (6), and the control of the flight direction is realized through the steering engine (6).
7. The flight control method of the wing type unmanned aerial vehicle according to claim 6, wherein the flapping frequency of the left wing (3) and the right wing (5) is independently controlled through the driving unit of the left wing motor (2) and the driving unit of the right wing motor (4), so that the differential speed is realized, and further the unmanned aerial vehicle can fly in a rolling motion.
8. The flight control method of the aerofoil unmanned aerial vehicle according to claim 6, wherein the dihedral angle is adjusted through the dihedral angle steering engine (1), so that the gravity center position of the unmanned aerial vehicle is changed, and further pitching action flight of the unmanned aerial vehicle is realized.
9. The flight control method of the aerofoil unmanned aerial vehicle according to claim 6, wherein the steering angle is adjusted through the steering engine (6), so that the axial direction of the wing root of the unmanned aerial vehicle is changed, and further yaw action flight of the unmanned aerial vehicle is realized.
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| CN110712750B (en) * | 2019-09-03 | 2020-12-18 | 北京航空航天大学 | Miniature four-flapping-wing aircraft control system |
| NL2023828B1 (en) * | 2019-09-13 | 2021-05-18 | Univ Delft Tech | Attitude control mechanism for a flapping wing aerial vehicle |
| CN111086638A (en) * | 2020-01-16 | 2020-05-01 | 四川川测研地科技有限公司 | Natural gas line patrols line fixed wing unmanned aerial vehicle |
| CN112046743A (en) * | 2020-09-15 | 2020-12-08 | 李得正 | Flight control device and control method of bionic bird aircraft |
| CN114180055A (en) * | 2021-12-17 | 2022-03-15 | 北京航天测控技术有限公司 | Piezoelectric driving type micro flapping wing aircraft and flight control method |
| CN114355986B (en) * | 2022-03-21 | 2022-06-03 | 山东天空之眼智能科技有限公司 | Unmanned aerial vehicle self-adaptation anti-interference control system |
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