CN110329497A - The multi-rotor unmanned aerial vehicle and its control method of a kind of paddle face variable-angle - Google Patents
The multi-rotor unmanned aerial vehicle and its control method of a kind of paddle face variable-angle Download PDFInfo
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- CN110329497A CN110329497A CN201910577528.8A CN201910577528A CN110329497A CN 110329497 A CN110329497 A CN 110329497A CN 201910577528 A CN201910577528 A CN 201910577528A CN 110329497 A CN110329497 A CN 110329497A
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- rotor
- angle
- aerial vehicle
- unmanned aerial
- motor
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C19/00—Aircraft control not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
- B64D27/02—Aircraft characterised by the type or position of power plant
- B64D27/24—Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
-
- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The multi-rotor unmanned aerial vehicle and its control method of a kind of paddle face variable-angle, including multi-rotor unmanned aerial vehicle rack, undercarriage, tilting rotor motor platform and revolving speed rotor drive system can be determined；Wherein, multi-rotor unmanned aerial vehicle bottom of the frame is provided with undercarriage；There are also multiple rotor arms for setting in multi-rotor unmanned aerial vehicle rack, and the end of each rotor arm is provided with structure of verting；It can each be provided in tilting rotor motor platform and determine revolving speed rotor drive system, determine to be provided with the fixed propeller of pitch in revolving speed rotor drive system.Posture and the position of motor are controlled with the angle (i.e. paddle face angle degree) of steering engine control tilting platform.The present invention uses the motor or driven by engine propeller for determining revolving speed, the dynamics Controlling of unmanned plane is purely completed by the adjusting of paddle face angle degree, so be added to by steering engine and encoder-driven and feedback angle can tilting rotor motor platform, replace revolving speed to control unmanned plane with paddle face tilt angle.
Description
Technical field
The present invention relates to the structure of multi-rotor unmanned aerial vehicle and control modes, and in particular to a kind of more rotations of paddle face variable-angle
Wing unmanned plane and its control method.
Background technique
For multi-rotor unmanned aerial vehicle since its structure is simple, control technology is mature, be widely used in take photo by plane, investigate, agriculture
On the fields such as industry plant protection.
Traditional multi-rotor unmanned aerial vehicle is to realize that body posture and height are controlled by adjusting the revolving speed of each rotor motor
System.This has higher requirement to response speed of the revolving speed of rotor motor control, guarantees the appearance to unmanned plane in time with this
State and height carry out stable control.The gesture stability of unmanned plane generates horizontal velocity, and then controls the position of unmanned plane.If
The posture response speed of unmanned plane is slow, then unmanned plane not can guarantee balance control.
And the requirement of rotor motor quick response, it is multi-rotor unmanned aerial vehicle to heavy-duty, the difficult point of diversified development.At present
The motor (such as brshless DC motor) of only minority is just able to satisfy the requirement of unmanned aerial vehicle (UAV) control, and motor provides the energy by battery,
This brings a variety of limitations for the development of unmanned plane: (1) energy density of current battery is small, the major part weight of multi-rotor unmanned aerial vehicle
Amount is all in the weight of battery, limits the load-carrying efficiency of unmanned plane；(2) and the energy of battery offer can only support nobody
Machine flies in a relatively short period of time, limits the endurance of unmanned plane；(3) in addition, the response speed of rotor motor, with propeller
Size increase, inertia increase and slow down, limit the maximum load of unmanned plane.
Summary of the invention
The present invention is low for traditional multi-rotor unmanned aerial vehicle energy density, most motor rotational speed regulation response speeds are slow
The problems such as, it is therefore intended that propose the multi-rotor unmanned aerial vehicle and its control method of a kind of paddle face variable-angle.
To achieve the above object, the present invention adopts the following technical scheme that:
The multi-rotor unmanned aerial vehicle of a kind of paddle face variable-angle, comprising: multi-rotor unmanned aerial vehicle rack, undercarriage, can vert rotation
Wing motor platform and determine revolving speed rotor drive system；Wherein, multi-rotor unmanned aerial vehicle bottom of the frame is provided with undercarriage；More rotors
There are also multiple rotor arms for setting in unmanned aerial vehicle rack, and the end of each rotor arm is provided with structure of verting；It each can tilting rotor
It is provided in motor platform and determines revolving speed rotor drive system, determine to be provided with the fixed spiral of pitch in revolving speed rotor drive system
Paddle.
A further improvement of the present invention lies in that structure of verting includes shaft and steering engine, the end of rotor arm is arranged in shaft
Portion, steering engine are arranged on the bottom surface of each rotor arm.
A further improvement of the present invention lies in that determining revolving speed rotor drive system includes motor and battery, wherein battery with
Motor is connected, and the motor propeller fixed with pitch is connected, and the fixed propeller of pitch is arranged on motor.
A further improvement of the present invention lies in that determining revolving speed rotor drive system includes battery and engine, battery and hair
Motivation is connected, and the engine propeller fixed with pitch is connected, and the fixed propeller of pitch is arranged on motor.
A further improvement of the present invention lies in that being equipped with inertial sensor in multi-rotor unmanned aerial vehicle frame central position.
A further improvement of the present invention lies in that being provided with encoder in each shaft.
A kind of control method of the multi-rotor unmanned aerial vehicle of paddle face variable-angle is obtained according to the dynamic analysis to unmanned plane
Kinetic model on to six-freedom degree:
Wherein, F be propeller by fixed rotating speed motor drive rotate when in the direction of its normal caused by thrust, α1、
α2、α3With α4Respectively four can tilting rotor motor platform and four adjustable angles folded by quadrotor drone plane of rack
Degree, θ be unmanned plane pitch angle,The roll angle of unmanned plane, the yaw angle that γ is unmanned plane, m are the gross mass of unmanned plane, L
For the length of unmanned head to tail portion, T is each rotor generated countertorque, α in its planeiFor α1、α2、α3With α4；γ
For yaw angle；
According to the kinetic model on above-mentioned six-freedom degree, by four propeller aircrafts of control and unmanned plane plane it
Between angle α1、α2、α3With α4, realize the posture and position control of unmanned plane.
Compared with prior art, the invention has the benefit that traditional multi-rotor unmanned aerial vehicle has used pitch to fix
Propeller, intelligence adjusts the thrust of each propeller of unmanned plane by adjusting the revolving speed of motor；And the present invention is due in spiral shell
Inclining rotary mechanism is set before rotation paddle and motor, allows thrust of the unmanned plane in each freedom degree, reaction torque by verting
Angle control, control the posture and height of unmanned plane by adjusting paddle face angle degree, overcome since big propeller turns
Dynamic inertia it is big and caused by rotational speed regulation it is difficult, and equal adjusting is limited the dynamic engine rotational speed regulation speed of oil itself slowly, and
The problem of cannot being controlled using big propeller, and unmanned mechanomotive force cannot being provided with the dynamic engine of oil.
Unmanned plane of the invention, according to the dynamic analysis to unmanned plane, obtains on six-freedom degree when being controlled
Kinetic model: according to the kinetic model on above-mentioned six-freedom degree, pass through four propeller aircrafts of control and unmanned plane
Angle α 1, α 2, α 3 and α 4 between plane, realize the posture and position control of unmanned plane.Unmanned plane in the present invention can be straight
It connects and changes the dynamic driving of oil into, greatly increase the cruising ability of unmanned plane.
Detailed description of the invention
Fig. 1 is unmanned plane structural schematic diagram of the invention.
Fig. 2 is the structural schematic diagram that verts.
Fig. 3 is the unmanned aerial vehicle (UAV) control schematic diagram relationship of control amount (control of each freedom degree and each rotor in the horizontal plane),
In, it (d) is yawing rotation, (e) to move forward and backward, (f) that it (c) is rolling movement that it (b) is pitching movement that (a), which is vertical movement,
For lateral movement.
Fig. 4 is tilt angle control principle drawing, wherein (a) is the schematic diagram for indicating the pitching angle theta of quadrotor drone, (b)
The schematic diagram of the α and airscrew thrust F of angle between each propeller of expression and plane of rack.
In figure, 1 is multi-rotor unmanned aerial vehicle rack, and 2 be undercarriage, and 3 is determine revolving speed rotor drive system, and 4 be the rotation that can vert
Wing motor platform, 5 be shaft, and 6 be steering engine, and 7 be first motor, and 8 be the second motor, and 9 be third motor, and 10 be the 4th motor.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawing.
Referring to Fig. 1 and Fig. 2, unmanned plane of the invention specifically includes that multi-rotor unmanned aerial vehicle rack 1, undercarriage 2, can vert
Rotor motor platform 4 and determine revolving speed rotor drive system 3.Wherein, multi-rotor unmanned aerial vehicle rack 1 is entire unmanned plane structure
Basis, 1 bottom of multi-rotor unmanned aerial vehicle rack are provided with undercarriage 2；There are also multiple rotors for setting in multi-rotor unmanned aerial vehicle rack 1
The end of arm, each rotor arm is provided with shaft 5, can tilting rotor motor platform 4 be arranged in each rotor arm end turn
On axis 5, steering engine 6 is provided on the bottom surface of each rotor arm, and angle change is controlled by steering engine 6；It each can tilting rotor electricity
It is provided on machine platform 4 and determines revolving speed rotor drive system 3, determine to be provided with the fixed spiral of pitch in revolving speed rotor drive system 3
Paddle.
Determining revolving speed rotor drive system 3 includes motor and battery, wherein battery is connected to the motor, and motor and pitch are solid
Fixed propeller is connected, and the fixed propeller of pitch is arranged on motor.The revolving speed of motor output is fixed.
Or determining revolving speed rotor drive system 3 includes battery and engine, battery is connected with engine, engine and paddle
It is connected away from fixed propeller, the fixed propeller of pitch is arranged on motor.
The energy, battery or engine are provided as power source by battery, are supplied directly to the fixed revolving speed of propeller and torsion
Square.Motor is replaced by the higher engine of energy density.As long as due to the fixed rotating speed aspired for stability, so there is no engines to turn
Fast control response is not useable for the problem of multi-rotor unmanned aerial vehicle control slowly.
It is specially 4 rotor arms in the present invention.Multi-rotor unmanned aerial vehicle proposed by the invention is not limited to four shown in Fig. 1
Rotor wing unmanned aerial vehicle can be six rotors, eight rotors, the more rotors of coaxial double-oar or other more rotor structure unmanned planes.
The base of structure of the invention in traditional multi-rotor unmanned aerial vehicle (selecting quadrotor drone as example here) structure
On plinth, in order to meet the requirement that the angle of quick response controls, the structure of unmanned plane is transformed.Specifically: it is first
The position of unmanned plane rotor motor adds structure of verting, i.e., the end of each rotor arm is provided with structure of verting；Referring to figure
2, structure of verting includes shaft 5 and steering engine 6, and the deflection of propeller plan is realized by verting structure.Secondly unmanned plane is each
Motor used in a propeller, can be replaced into different permanent revolving speed motor or by engine driving by DC brushless motor,
Because the demand of the new structure unmanned plane to drive system revolving speed is, it is only necessary to its revolving speed under the operating condition of rated power
It is always consistent.Based on the improvement above to traditional multi-rotor unmanned aerial vehicle, propose new unmanned plane structure of the invention (as schemed
Shown in 1).
In addition, in terms of sensor, it is on the one hand identical as traditional multi-rotor unmanned aerial vehicle, at 1 center of multi-rotor unmanned aerial vehicle rack
Position is equipped with inertial sensor, with information such as the posture, the positions that obtain unmanned plane；On the other hand, it is arranged in each shaft 5
Have encoder, come feed back can tilting rotor motor platform 4 angle information, for can tilting rotor motor platform 4 angle control
System.
The control method of the multi-rotor unmanned aerial vehicle of above-mentioned pulp noodle variable-angle is (by taking quadrotor as an example):
By the flight theory of multi-rotor unmanned aerial vehicle it is found that in horizontal plane the control of change in location be by posture control realize
, the dropping motion that takes off of vertical direction directly controls throttle amount to realize.Its posture and change in location and each rotor
Relationship between the component of control amount size in the horizontal plane such as (a) in Fig. 3, (b), (c), (d), (e), shown in (f).Non-
On horizontal plane, the thrust and countertorque of each rotor can be offseted with the rotor of another on diagonal line.For quadrotor without
It is man-machine, four motors, first motor 7, the second motor 8, third motor 9 and the 4th motor 10 in respectively Fig. 3.
For traditional multi-rotor unmanned aerial vehicle, the variation of two attitude angles of pitch angle and roll angle be by front and back or
Revolving speed is differential realized between the paddle of left and right；The difference between propeller that the variation of yaw angle is rotated by counterclockwise and instantaneous needle
Movable property bears unbalanced countertorque, drives unmanned plane to deflect in the horizontal plane and is realized.Differential variation on these revolving speeds,
Can be constant by revolving speed, and the variation of paddle face normal direction angle control is to replace.Existed with airscrew thrust and hair torque
Component size in each reference axis is control force, the stability control of Lai Shixian unmanned plane position and posture.It is specific as follows:
Kinetic model is initially set up, by the angle between propeller and plane of rack as control amount, controls unmanned plane
Three attitude angle pitching angle thetas, roll anglesYaw angle γ.Kinetic model is as follows:
(a) is the schematic diagram for indicating the pitching angle theta of quadrotor drone in referring to fig. 4, and right side is the reference axis of the view
Direction, i.e., the view looked on the left of unmanned plane, the second motor 8 and third motor 9 are visual, first motors 7 and
Four motors 10 be it is not visible, (b) is the α and propeller for indicating the angle between each propeller and plane of rack in Fig. 4
The schematic diagram of thrust F is divided into four angle [alpha]s in quadrotor drone1α2α3α4, F expression propeller is by fixed rotating speed motor band
When dynamic rotation in the direction of its normal caused by thrust, each rotor generated countertorque in its plane is indicated with T.
In addition, roll angle is expressed asYaw angle is expressed as γ, and the gross mass of aircraft (i.e. unmanned plane) is expressed as m,
The length of aircraft nose to tail portion is expressed as L,D is the brachium of each rotor bracket, can tilting rotor motor platform 4
It is expressed as θ with the angle of horizontal plane, then dynamic analysis of the basis to unmanned plane, it is dynamic in available following six freedom degree
Mechanical model:
First three formula is the dynamic analysis formula that unmanned plane is translatable on tri- directions xyz, rear three formula respectively
For the dynamic analysis formula in three unmanned plane yaw, pitching, roll attitude angle freedom degrees, controlling output quantity is six
Acceleration and angular acceleration in freedom degree, control amount are all the angle α between four propeller aircrafts and unmanned plane plane1、
α2、α3With α4。
Pass through the angle α between four propeller aircrafts of control and unmanned plane plane1、α2、α3With α4, realize unmanned plane
Posture and position control.
Common multi-rotor unmanned aerial vehicle is controlled posture and the position of unmanned plane by the revolving speed of multiple rotor motors, and the present invention makes
With the motor or driven by engine propeller for determining revolving speed, the dynamics Controlling of unmanned plane is purely by the adjusting of paddle face angle degree Lai complete
At, thus be added to by steering engine and encoder-driven and feedback angle can tilting rotor motor platform, with paddle face tilt angle
Unmanned plane is controlled instead of revolving speed, realizes with the angle (i.e. paddle face angle degree) of steering engine control tilting platform and controls the posture of motor
The position and.
Claims (7)
1. a kind of multi-rotor unmanned aerial vehicle of paddle face variable-angle characterized by comprising multi-rotor unmanned aerial vehicle rack (1) is risen and fallen
Frame (2) tilting rotor motor platform (4) and can determine revolving speed rotor drive system (3)；Wherein, 1 bottom of multi-rotor unmanned aerial vehicle rack
Portion is provided with undercarriage (2)；There are also multiple rotor arms for setting in multi-rotor unmanned aerial vehicle rack (1), and the end of each rotor arm is set
It is equipped with structure of verting；It can each be provided in tilting rotor motor platform (4) and determine revolving speed rotor drive system (3), determine revolving speed rotation
The fixed propeller of pitch is provided in wing drive system (3).
2. a kind of multi-rotor unmanned aerial vehicle of paddle face variable-angle according to claim 1, which is characterized in that structure of verting packet
Shaft (5) and steering engine (6) are included, the end of rotor arm is arranged in shaft (5), and the bottom surface of each rotor arm is arranged in steering engine (6)
On.
3. a kind of multi-rotor unmanned aerial vehicle of paddle face variable-angle according to claim 1, which is characterized in that determine revolving speed rotor
Drive system (3) includes motor and battery, wherein battery is connected to the motor, and the motor propeller fixed with pitch is connected, paddle
It is arranged on motor away from fixed propeller.
4. a kind of multi-rotor unmanned aerial vehicle of paddle face variable-angle according to claim 1, which is characterized in that determine revolving speed rotor
Drive system (3) includes battery and engine, and battery is connected with engine, and the engine propeller fixed with pitch is connected,
The fixed propeller of pitch is arranged on motor.
5. a kind of multi-rotor unmanned aerial vehicle of paddle face variable-angle according to claim 1, which is characterized in that more rotors without
Man-machine rack (1) center is equipped with inertial sensor.
6. a kind of multi-rotor unmanned aerial vehicle of paddle face variable-angle according to claim 1, which is characterized in that each shaft
(5) encoder is provided on.
7. a kind of control method of the multi-rotor unmanned aerial vehicle of the paddle face variable-angle as described in any one of claim 1-6,
It is characterized in that,
According to the dynamic analysis to unmanned plane, the kinetic model on six-freedom degree is obtained:
Wherein, F be propeller by fixed rotating speed motor drive rotate when in the direction of its normal caused by thrust, α1、α2、α3
With α4Respectively four can tilting rotor motor platform (4) and four angle adjustables folded by quadrotor drone plane of rack, θ
For unmanned plane pitch angle,Roll angle, γ for unmanned plane are the yaw angle of unmanned plane, and m is the gross mass of unmanned plane, and L is
For unmanned head to the length of tail portion, T is each rotor generated countertorque, α in its planeiFor α1、α2、α3Or α4；γ is
Yaw angle；
According to the kinetic model on above-mentioned six-freedom degree, by between four propeller aircrafts of control and unmanned plane plane
Angle α1、α2、α3With α4, realize the posture and position control of unmanned plane.
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| CN201910577528.8A CN110329497B (en) | 2019-06-28 | 2019-06-28 | Multi-rotor unmanned aerial vehicle with variable paddle surface angle and control method thereof |
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| CN201910577528.8A CN110329497B (en) | 2019-06-28 | 2019-06-28 | Multi-rotor unmanned aerial vehicle with variable paddle surface angle and control method thereof |
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| CN110758728A (en) * | 2019-11-04 | 2020-02-07 | 西安交通大学 | Many rotor unmanned aerial vehicle of force feedback |
| CN111319762A (en) * | 2020-03-22 | 2020-06-23 | 西北工业大学 | Biax rotor unmanned vehicles that verts |
| CN111605701A (en) * | 2020-05-08 | 2020-09-01 | 山东新坐标智能装备有限公司 | Rotor unmanned aerial vehicle's screw base and rotor unmanned aerial vehicle |
| CN112394739A (en) * | 2020-10-29 | 2021-02-23 | 南京航空航天大学 | Active-deformation active-disturbance-rejection flight control method for four-rotor aircraft |
| CN112874771A (en) * | 2021-03-15 | 2021-06-01 | 中国民航大学 | Deformation can vert four rotor unmanned aerial vehicle |
| CN114397084A (en) * | 2022-01-06 | 2022-04-26 | 吉林大学 | Six-rotor unmanned aerial vehicle aerodynamic characteristic test device and test method thereof |
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| Publication number | Publication date |
|---|---|
| CN110329497B (en) | 2020-10-27 |
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