CN110329497B - Multi-rotor unmanned aerial vehicle with variable paddle surface angle and control method thereof - Google Patents

Multi-rotor unmanned aerial vehicle with variable paddle surface angle and control method thereof Download PDF

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Publication number
CN110329497B
CN110329497B CN201910577528.8A CN201910577528A CN110329497B CN 110329497 B CN110329497 B CN 110329497B CN 201910577528 A CN201910577528 A CN 201910577528A CN 110329497 B CN110329497 B CN 110329497B
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rotor
unmanned aerial
aerial vehicle
fixed
motor
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CN110329497A (en
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王小鹏
张富强
张东升
杨静
金雨斌
李鹏
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Xian Jiaotong University
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Xian Jiaotong University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C19/00—Aircraft control not otherwise provided for
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02—Aircraft characterised by the type or position of power plants
    • B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract

A multi-rotor unmanned aerial vehicle with a variable paddle surface angle and a control method thereof comprise a multi-rotor unmanned aerial vehicle frame, an undercarriage, a tiltable rotor motor platform and a fixed-speed rotor driving system; wherein, the bottom of the multi-rotor unmanned aerial vehicle frame is provided with an undercarriage; the multi-rotor unmanned aerial vehicle frame is also provided with a plurality of rotor arms, and the end part of each rotor arm is provided with a tilting structure; each tiltable rotor motor platform is provided with a fixed-speed rotor driving system, and the fixed-speed rotor driving system is provided with a propeller with fixed propeller pitch. The steering engine is used for controlling the angle (namely the angle of the paddle surface) of the tilting platform to control the posture and the position of the motor. The invention uses a motor or an engine with fixed rotating speed to drive the propeller, and the dynamics control of the unmanned aerial vehicle is completed by adjusting the angle of the propeller surface, so a tiltable rotor motor platform driven by a steering engine and an encoder and feeding back the angle is added, and the rotating speed is replaced by the tilting angle of the propeller surface to control the unmanned aerial vehicle.

Description

Multi-rotor unmanned aerial vehicle with variable paddle surface angle and control method thereof
Technical Field
The invention relates to a structure and a control mode of a multi-rotor unmanned aerial vehicle, in particular to a multi-rotor unmanned aerial vehicle with a variable paddle surface angle and a control method thereof.
Background
Because its simple structure, control technology is mature, has extensively been applied to fields such as aerial photography, investigation, agricultural plant protection.
Traditional many rotor unmanned aerial vehicle realizes organism gesture and altitude control through the rotational speed of adjusting each rotor motor. This has higher requirement to the response speed of the rotational speed control of rotor motor to this guarantees in time to carry out stable control to unmanned aerial vehicle's gesture and height. The attitude control of the unmanned aerial vehicle generates horizontal velocity, and then controls the position of the unmanned aerial vehicle. If the attitude response speed of the unmanned aerial vehicle is low, the unmanned aerial vehicle cannot guarantee balance control.
And the requirement of rotor motor quick response is the difficult point of many rotor unmanned aerial vehicle to heavy-duty, diversified development. Only a few motors (like brushless DC motor) can satisfy the requirement of unmanned aerial vehicle control at present, and the motor provides the energy by the battery, and this has brought multiple restriction for unmanned aerial vehicle's development: (1) at present, the energy density of a battery is low, most of the weight of a multi-rotor unmanned aerial vehicle is on the weight of the battery, and the load carrying efficiency of the unmanned aerial vehicle is limited; (2) the energy provided by the battery can only support the unmanned aerial vehicle to fly in a short time, so that the flight time of the unmanned aerial vehicle is limited; (3) in addition, the response speed of the rotor motor is reduced along with the increase of the size and the inertia of the propeller, and the maximum load of the unmanned aerial vehicle is limited.
Disclosure of Invention
The invention aims to solve the problems that the traditional multi-rotor unmanned aerial vehicle is low in energy density, low in speed regulation response speed of most motor engines and the like, and aims to provide a multi-rotor unmanned aerial vehicle with a variable paddle surface angle and a control method thereof.
In order to achieve the purpose, the invention adopts the following technical scheme:
a multi-rotor drone with variable blade angle, comprising: the multi-rotor unmanned aerial vehicle comprises a multi-rotor unmanned aerial vehicle frame, an undercarriage, a tiltable rotor motor platform and a fixed-speed rotor driving system; wherein, the bottom of the multi-rotor unmanned aerial vehicle frame is provided with an undercarriage; the multi-rotor unmanned aerial vehicle frame is also provided with a plurality of rotor arms, and the end part of each rotor arm is provided with a tilting structure; each tiltable rotor motor platform is provided with a fixed-speed rotor driving system, and the fixed-speed rotor driving system is provided with a propeller with fixed propeller pitch.
The invention has the further improvement that the tilting structure comprises a rotating shaft and steering engines, wherein the rotating shaft is arranged at the end parts of the rotor arms, and the steering engines are arranged on the bottom surface of each rotor arm.
The invention is further improved in that the constant-speed rotor drive system comprises a motor and a battery, wherein the battery is connected with the motor, the motor is connected with a propeller with a fixed propeller pitch, and the propeller with the fixed propeller pitch is arranged on the motor.
The invention is further improved in that the constant-speed rotor drive system comprises a battery and an engine, wherein the battery is connected with the engine, the engine is connected with a propeller with fixed pitch, and the propeller with fixed pitch is arranged on the motor.
The invention is further improved in that an inertial sensor is arranged in the center of the multi-rotor unmanned aerial vehicle frame.
The invention is further improved in that an encoder is arranged on each rotating shaft.
A control method of a multi-rotor unmanned aerial vehicle with a variable paddle surface angle obtains a dynamic model on six degrees of freedom according to the dynamic analysis of the unmanned aerial vehicle:
Figure BDA0002112469390000021
Figure BDA0002112469390000022
Figure BDA0002112469390000023
Figure BDA0002112469390000024
Figure BDA0002112469390000025
Figure BDA0002112469390000026
wherein F is the thrust generated by the propeller in the normal direction when the propeller is driven to rotate by the motor with fixed rotating speed,α1、α2、α3and alpha4Four adjustable angles respectively clamped by four tiltrotor motor platforms and the plane of the four-rotor unmanned aerial vehicle frame, theta is the pitch angle of the unmanned aerial vehicle,
Figure BDA0002112469390000031
Roll angle of the unmanned aerial vehicle, gamma is yaw angle of the unmanned aerial vehicle, m is total mass of the unmanned aerial vehicle, L is length from the nose to the tail of the unmanned aerial vehicle, T is counter torque generated by each rotor wing on the plane of the rotor wing, and alphaiIs alpha1、α2、α3And alpha4(ii) a Gamma is a yaw angle;
according to the dynamics model in six degrees of freedom, the included angles alpha between the four rotor propellers and the plane of the unmanned aerial vehicle are controlled1、α2、α3And alpha4And the attitude and position control of the unmanned aerial vehicle is realized.
Compared with the prior art, the invention has the following beneficial effects: the traditional multi-rotor unmanned aerial vehicle uses propellers with fixed propeller pitches, and the thrust of each propeller of the unmanned aerial vehicle is intelligently adjusted by adjusting the rotating speed of a motor; the tilting mechanism is arranged in front of the propeller and the motor, so that the thrust and the reactive torque of the unmanned aerial vehicle on each degree of freedom can be controlled by the tilting angle, the posture and the height of the unmanned aerial vehicle are controlled by adjusting the angle of the propeller surface, and the problems that the large propeller cannot be used for control and the oil-driven engine cannot be used for providing unmanned aerial vehicle power due to the fact that the rotation speed is difficult to adjust because the large propeller has large rotational inertia, the adjustment speed of the oil-driven engine is slow and the like are limited are solved.
When the unmanned aerial vehicle is controlled, a dynamic model in six degrees of freedom is obtained according to the dynamic analysis of the unmanned aerial vehicle: according to the dynamics model in the six degrees of freedom, the attitude and the position of the unmanned aerial vehicle are controlled by controlling included angles alpha 1, alpha 2, alpha 3 and alpha 4 between the four rotor propellers and the plane of the unmanned aerial vehicle. The unmanned aerial vehicle can be directly changed into oil-driven driving, so that the cruising ability of the unmanned aerial vehicle is greatly improved.
Drawings
Fig. 1 is a schematic structural diagram of the unmanned aerial vehicle of the present invention.
Fig. 2 is a schematic view of the tilting structure.
Fig. 3 is a schematic diagram of the control of the drone (the relationship between the control of each degree of freedom and the control amount of each rotor in the horizontal plane), where (a) is vertical motion, (b) is pitch motion, (c) is roll motion, (d) is yaw motion, (e) is fore-and-aft motion, and (f) is lateral motion.
Fig. 4 is a schematic diagram of a pitch angle control scheme, wherein (a) is a schematic diagram showing a pitch angle θ of the quad-rotor drone, and (b) is a schematic diagram showing an angle α between each propeller and a plane of the frame, and a thrust F of the propeller.
In the figure, 1 is many rotor unmanned aerial vehicle frame, and 2 are the undercarriage, and 3 are for deciding rotational speed rotor actuating system, and 4 are tilting rotor motor platform, and 5 are the pivot, and 6 are the steering wheel, and 7 are first motor, and 8 are the second motor, and 9 are the third motor, and 10 are the fourth motor.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
Referring to fig. 1 and 2, the unmanned aerial vehicle of the present invention mainly includes: many rotor unmanned aerial vehicle frame 1, undercarriage 2, tilting rotor motor platform 4 and decide rotational speed rotor actuating system 3. The multi-rotor unmanned aerial vehicle frame 1 is a foundation of the whole unmanned aerial vehicle structure, and the bottom of the multi-rotor unmanned aerial vehicle frame 1 is provided with an undercarriage 2; a plurality of rotor arms are further arranged on the multi-rotor unmanned aerial vehicle frame 1, a rotating shaft 5 is arranged at the end part of each rotor arm, a tiltable rotor motor platform 4 is arranged on the rotating shaft 5 at the end part of each rotor arm, a steering engine 6 is arranged on the bottom surface of each rotor arm, and the steering engine 6 controls the angle change; each tiltrotor motor platform 4 is provided with a fixed-speed rotor driving system 3, and the fixed-speed rotor driving system 3 is provided with a propeller with a fixed propeller pitch.
The fixed-speed rotor driving system 3 comprises a motor and a battery, wherein the battery is connected with the motor, the motor is connected with a propeller with a fixed propeller pitch, and the propeller with the fixed propeller pitch is arranged on the motor. The rotational speed of the motor output is fixed.
Or the rotor driving system 3 with fixed rotating speed comprises a battery and an engine, wherein the battery is connected with the engine, the engine is connected with a propeller with fixed propeller pitch, and the propeller with fixed propeller pitch is arranged on the motor.
The battery supplies energy, and the battery or the engine is used as a power source and directly supplies fixed rotating speed and torque to the propeller. The motor is replaced by an engine with higher energy density. Since only a stable fixed speed is required, there is no problem that the engine speed control response is slow and not available for multi-rotor unmanned aerial vehicle control.
The invention is specifically 4 rotor arms. The multi-rotor unmanned aerial vehicle provided by the invention is not limited to the four-rotor unmanned aerial vehicle shown in fig. 1, and can be a six-rotor unmanned aerial vehicle, an eight-rotor unmanned aerial vehicle, a coaxial double-rotor multi-rotor unmanned aerial vehicle or other unmanned aerial vehicles with multi-rotor structures.
The structure of the unmanned aerial vehicle is improved on the basis of the structure of the traditional multi-rotor unmanned aerial vehicle (a four-rotor unmanned aerial vehicle is taken as an example) in order to meet the requirement of angle control of quick response. The method specifically comprises the following steps: firstly, a tilting structure is added at the position of a rotor motor of the unmanned aerial vehicle, namely, the end part of each rotor arm is provided with the tilting structure; referring to fig. 2, the tilting structure comprises a rotating shaft 5 and a steering engine 6, and the tilting structure is used for realizing the deflection of the plane of the propeller. Secondly, the motors used by each propeller of the unmanned aerial vehicle can be replaced by different constant-rotating-speed motors or driven by an engine through a direct-current brushless motor, and the requirement of the unmanned aerial vehicle with the novel structure on the rotating speed of a driving system is that the rotating speed of the unmanned aerial vehicle is always kept consistent only under the working condition of rated power. Based on the above improvements to the conventional multi-rotor drone, a new drone structure of the present invention is proposed (as shown in fig. 1).
In addition, on one hand, in the aspect of a sensor, the sensor is the same as that of the traditional multi-rotor unmanned aerial vehicle, and an inertial sensor is arranged in the center of a rack 1 of the multi-rotor unmanned aerial vehicle to acquire information such as the attitude, the position and the like of the unmanned aerial vehicle; on the other hand, be provided with the encoder on every pivot 5, feedback rotor motor platform 4's that can vert angle information for rotor motor platform 4's that can vert angle control.
The control method of the multi-rotor unmanned aerial vehicle with the variable blade surface angle comprises the following steps (taking four rotors as an example):
according to the flight principle of the multi-rotor unmanned aerial vehicle, the control of position change in the horizontal plane is realized by controlling the attitude, and the take-off and landing movement in the vertical direction is realized by directly controlling the throttle amount. The relationship between the change in attitude and position and the component of the magnitude of each rotor control amount in the horizontal plane is shown in fig. 3 (a), (b), (c), (d), (e), and (f). In a non-horizontal plane, the thrust and counter-torque of each rotor may cancel out with the other rotor on the diagonal. For a quad-rotor drone, four motors, respectively a first motor 7, a second motor 8, a third motor 9 and a fourth motor 10 in fig. 3.
For a traditional multi-rotor unmanned aerial vehicle, the change of two attitude angles of a pitch angle and a roll angle is realized by the differential of the rotating speed between a front propeller and a rear propeller or between a left propeller and a right propeller; the change of the yaw angle is realized by generating unbalanced counter torque by the differential motion between the propellers rotating by the anticlockwise pin and the instantaneous pin, and driving the unmanned aerial vehicle to deflect in the horizontal plane. These differential changes in rotational speed can be replaced by a constant rotational speed, controlled by changes in the angle of the blade normal. The stability control of the position and the posture of the unmanned aerial vehicle is realized by taking the component force of the propeller thrust and the component force of the generated torque on each coordinate axis as control force. The method comprises the following specific steps:
firstly, a dynamic model is established, and the three attitude angles, namely the pitch angle theta and the roll angle of the unmanned aerial vehicle are controlled by taking the included angle between a propeller and the plane of a rack as a control quantity
Figure BDA0002112469390000061
A yaw angle gamma. The kinetic model is as follows:
referring to fig. 4 (a) for a schematic view showing the pitch angle θ of the quad-rotor drone, the right side is the coordinate axis direction of the view, i.e., the view seen from the left side of the drone, the second motor 8 and the third motor 9 are visible, the first motor 7 and the fourth motor 10 are invisible, and fig. 4 (b) for a view showing the angle α between each propeller and the plane of the airframe and the thrust F of the propellerSchematic diagram of four-angle alpha in quad-rotor unmanned aerial vehicle1α2α3α4And F denotes a thrust generated in a normal direction of the propeller when the propeller is rotated by the fixed-speed motor, and T denotes a counter torque generated in a plane of each rotor.
In addition, the roll angle is shown as
Figure BDA0002112469390000062
The yaw angle is denoted gamma, the total mass of the aircraft (i.e. drone) is denoted m, the length of the aircraft head to tail is denoted L,
Figure BDA0002112469390000063
d is the arm length of each rotor support, and the included angle between the tiltable rotor motor platform 4 and the horizontal plane is represented as theta, then according to the dynamics analysis of the unmanned aerial vehicle, a dynamics model in the following six degrees of freedom can be obtained:
Figure BDA0002112469390000064
Figure BDA0002112469390000065
Figure BDA0002112469390000066
Figure BDA0002112469390000067
Figure BDA0002112469390000068
Figure BDA0002112469390000069
the first three formulas are respectively kinetic analysis formulas of the unmanned aerial vehicle in translation in the xyz three directions, and the last three formulasThe method is a dynamics analysis formula on three attitude angle degrees of freedom of yaw, pitch and roll of the unmanned aerial vehicle, the control output quantity is the acceleration and the angular acceleration on six degrees of freedom, and the control quantity is the included angle alpha between four rotor propellers and the plane of the unmanned aerial vehicle1、α2、α3And alpha4。
By controlling included angles alpha between four rotor propellers and the plane of the unmanned aerial vehicle1、α2、α3And alpha4And the attitude and position control of the unmanned aerial vehicle is realized.
The invention relates to a general multi-rotor unmanned aerial vehicle, which controls the posture and the position of the unmanned aerial vehicle by the rotating speed of a plurality of rotor motors, a motor or an engine with fixed rotating speed is used for driving a propeller, the dynamic control of the unmanned aerial vehicle is purely completed by adjusting the angle of a propeller surface, so a tilting rotor motor platform driven by a steering engine and an encoder and feeding back the angle is added, the rotating speed is replaced by the tilting angle of the propeller surface to control the unmanned aerial vehicle, and the control of the posture and the position of the motor by controlling the angle (namely the angle of the propeller surface) of the tilting platform by the steering engine is realized.

Claims (5)

1. A control method of a multi-rotor unmanned aerial vehicle with a variable paddle surface angle is characterized in that the multi-rotor unmanned aerial vehicle comprises a multi-rotor unmanned aerial vehicle frame (1), an undercarriage (2), a tiltable rotor motor platform (4) and a fixed-speed rotor driving system (3); wherein, the bottom of the multi-rotor unmanned aerial vehicle frame 1 is provided with an undercarriage (2); a plurality of rotor arms are arranged on the multi-rotor unmanned aerial vehicle rack (1), and the end part of each rotor arm is provided with a tilting structure; each tiltable rotor motor platform (4) is provided with a fixed-speed rotor driving system (3), and the fixed-speed rotor driving system (3) is provided with a propeller with a fixed propeller pitch; the tilting structure comprises a rotating shaft (5) and steering engines (6), the rotating shaft (5) is arranged at the end parts of the rotor arms, and the steering engines (6) are arranged on the bottom surface of each rotor arm;
according to the dynamics analysis of the unmanned aerial vehicle, a dynamics model in six degrees of freedom is obtained:
Figure FDA0002638961550000011
Figure FDA0002638961550000012
Figure FDA0002638961550000013
Figure FDA0002638961550000014
Figure FDA0002638961550000015
Figure FDA0002638961550000016
wherein F is the thrust generated by the propeller in the normal direction when the propeller is driven to rotate by the motor with fixed rotating speed, and alpha1、α2、α3And alpha4Four adjustable angles respectively clamped by four tiltrotor motor platforms (4) and the plane of the four-rotor unmanned aerial vehicle frame, theta is the pitch angle of the unmanned aerial vehicle,
Figure FDA0002638961550000017
Roll angle of unmanned aerial vehicle, yaw angle of unmanned aerial vehicle, m total mass of unmanned aerial vehicle, L length from nose to tail of unmanned aerial vehicle, T counter torque generated by each rotor wing on the plane of each rotor wing, and alphaiIs alpha1、α2、α3Or alpha4(ii) a Gamma is a yaw angle;
according to the dynamics model in six degrees of freedom, the included angles alpha between the four rotor propellers and the plane of the unmanned aerial vehicle are controlled1、α2、α3And alpha4And the attitude and position control of the unmanned aerial vehicle is realized.
2. A method for controlling a multi-rotor drone with variable blade angle according to claim 1, characterised in that the fixed-speed rotor drive system (3) comprises an electric motor and a battery, wherein the battery is connected to the motor, which is connected to the fixed-pitch propeller, which is arranged on the motor.
3. A method for controlling a multi-rotor drone with variable blade angle according to claim 1, characterised in that the fixed-speed rotor drive system (3) comprises a battery and an engine, the battery being connected to the engine, the engine being connected to the fixed-pitch propellers, the fixed-pitch propellers being provided on the motor.
4. A method for controlling a multi-rotor drone with variable blade angle according to claim 1, characterized in that an inertial sensor is installed in the central position of the frame (1) of the multi-rotor drone.
5. Method for controlling a multi-rotor drone with variable blade angle according to claim 1, characterised in that each shaft (5) is provided with an encoder.
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