CN110673619B - Flight attitude control method and device, unmanned aerial vehicle and storage medium - Google Patents
Flight attitude control method and device, unmanned aerial vehicle and storage medium Download PDFInfo
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Abstract
The embodiment of the invention discloses a flight attitude control method and device, an unmanned aerial vehicle and a storage medium. Wherein, the method comprises the following steps: determining a conversion control parameter of the unmanned aerial vehicle according to a current flight attitude parameter and an attitude adjusting parameter of the unmanned aerial vehicle and a remote control attitude parameter set for the unmanned aerial vehicle by a remote control device; compensating the flight attitude of the unmanned aerial vehicle according to the conversion control parameters and the current flight distribution parameters of the unmanned aerial vehicle to obtain target flight attitude parameters of the unmanned aerial vehicle; and controlling the unmanned aerial vehicle to fly according to the target flight attitude parameters. According to the technical scheme provided by the embodiment of the invention, the actual values of all parameters in the unmanned aerial vehicle are estimated in real time, and the flight attitude parameters of the unmanned aerial vehicle at the next moment are adaptively adjusted according to the actual values, so that the body jitter of the unmanned aerial vehicle in the flight process is reduced, and the control precision of the flight attitude of the unmanned aerial vehicle is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of unmanned aerial vehicles, in particular to a flight attitude control method and device, an unmanned aerial vehicle and a storage medium.
Background
With the rapid development of the unmanned aerial vehicle technology, the functions of safety monitoring or aerial photography and the like through the unmanned aerial vehicle are also rapidly popularized in the daily life of people.
In order to avoid flight influence caused by various interferences encountered by an unmanned aerial vehicle in the flight process, the existing unmanned aerial vehicle self-adaptive attitude control mode is to continuously estimate an interference upper limit encountered by the unmanned aerial vehicle in the flight process of the unmanned aerial vehicle, the interference upper limit has certain uncertainty, and the currently estimated interference upper limit is resisted according to a control quantity which is designed in advance in a controller and is specially used for resisting the interference, so that the unmanned aerial vehicle keeps normal attitude flight, and the anti-interference performance of the controller is improved.
And because unmanned aerial vehicle actual interference in flight usually can not reach the interference upper limit of estimation, the control volume that requires to resist the interference moreover need slightly be bigger than the interference upper limit a bit, just can guarantee that the interference is pushed down completely, the control volume that generates in the controller this moment can surpass actual interference, causes the waste of control volume, increases the shake range of unmanned aerial vehicle fuselage simultaneously easily.
Disclosure of Invention
The embodiment of the invention provides a flight attitude control method and device, an unmanned aerial vehicle and a storage medium, which can reduce the fuselage shake of the unmanned aerial vehicle in the flight process and improve the flight attitude control precision of the unmanned aerial vehicle.
In a first aspect, an embodiment of the present invention provides a method for controlling a flight attitude, where the method includes:
determining a conversion control parameter of the unmanned aerial vehicle according to a current flight attitude parameter and an attitude adjusting parameter of the unmanned aerial vehicle and a remote control attitude parameter set for the unmanned aerial vehicle by a remote control device;
compensating the flight attitude of the unmanned aerial vehicle according to the conversion control parameters and the current flight distribution parameters of the unmanned aerial vehicle to obtain target flight attitude parameters of the unmanned aerial vehicle;
and controlling the unmanned aerial vehicle to fly according to the target flight attitude parameters.
In a second aspect, an embodiment of the present invention provides a device for controlling a flight attitude, the device including:
the conversion parameter determining module is used for determining conversion control parameters of the unmanned aerial vehicle according to the current flight attitude parameters and attitude adjusting parameters of the unmanned aerial vehicle and remote control attitude parameters set for the unmanned aerial vehicle by the remote control equipment;
the target attitude determination module is used for compensating the flight attitude of the unmanned aerial vehicle according to the conversion control parameters and the current flight distribution parameters of the unmanned aerial vehicle to obtain target flight attitude parameters of the unmanned aerial vehicle;
and the attitude control module is used for controlling the unmanned aerial vehicle to fly according to the target flight attitude parameters.
In a third aspect, an embodiment of the present invention provides an unmanned aerial vehicle, including:
one or more processors;
storage means for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement the method for controlling the flight attitude according to any of the embodiments of the present invention.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method for controlling a flight attitude according to any embodiment of the present invention.
The embodiment of the invention provides a flight attitude control method, a device, an unmanned aerial vehicle and a storage medium, wherein a conversion control parameter for controlling the work of a motor in the unmanned aerial vehicle is determined according to a current flight attitude parameter and an attitude adjustment parameter of the unmanned aerial vehicle and a remote control attitude parameter set by a remote control device at the next moment, and then the flight attitude of the unmanned aerial vehicle is compensated in real time according to the conversion control parameter and a current flight distribution parameter set for each motor in the unmanned aerial vehicle to obtain a target flight attitude parameter of the unmanned aerial vehicle at the next moment, and the unmanned aerial vehicle is controlled to fly according to the target flight attitude parameter, so that the problem that the body of the unmanned aerial vehicle shakes due to the fact that the interference upper limit of the unmanned aerial vehicle in the flying process is continuously estimated in the prior art and a proper control quantity is generated according to the interference upper limit to resist actual interference is solved, and the actual values of each parameter in the unmanned aerial vehicle are estimated in real time, and the flight attitude parameters of the unmanned aerial vehicle at the next moment are adaptively adjusted according to the actual value, so that the fuselage jitter of the unmanned aerial vehicle in the flight process is reduced, and the control precision of the flight attitude of the unmanned aerial vehicle is improved.
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Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:
fig. 1 is a flowchart of a flight attitude control method according to an embodiment of the present invention;
fig. 2A is a flowchart of a flight attitude control method according to a second embodiment of the present invention;
fig. 2B is a schematic diagram of a control process of the flight attitude according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a control device for flight attitude according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an unmanned aerial vehicle according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures. In addition, the embodiments and features of the embodiments in the present invention may be combined with each other without conflict.
Example one
Fig. 1 is a flowchart of a method for controlling a flight attitude according to an embodiment of the present invention, and this embodiment is applicable to any situation where an unmanned aerial vehicle is controlled to fly. The control method of the flight attitude provided by the embodiment of the invention can be executed by the control device of the flight attitude provided by the embodiment of the invention, and the device can be realized in a software and/or hardware mode and is integrated in the unmanned aerial vehicle executing the method.
Specifically, referring to fig. 1, the method may include the steps of:
and S110, determining the conversion control parameters of the unmanned aerial vehicle according to the current flight attitude parameters and attitude adjusting parameters of the unmanned aerial vehicle and the remote control attitude parameters set for the unmanned aerial vehicle by the remote control equipment.
Specifically, this embodiment mainly supports anti-interference problem at the flight in-process to unmanned aerial vehicle, and wherein unmanned aerial vehicle mainly indicates many rotor unmanned aerial vehicle, and the work through a plurality of motors in the control unmanned aerial vehicle controls the unmanned aerial vehicle and runs into the stable flight when disturbing. The current flight attitude parameters refer to attitude angle information of the unmanned aerial vehicle at the current moment in the flight process, including a roll angle, a pitch angle, a yaw angle and the like of the unmanned aerial vehicle, the flight attitude angle information of the unmanned aerial vehicle at the current moment can be acquired through attitude sensors such as an accelerometer, a gyroscope sensor, a magnetic compass or a Global Positioning System (Global Positioning System) module and the like configured in the unmanned aerial vehicle, and the current attitude angular rate information of the unmanned aerial vehicle, including the roll angular rate, the pitch angular rate, the yaw angular rate and the like, can be obtained by analyzing the change condition of the attitude angle, namely performing corresponding attitude analysis; the attitude adjustment parameters are self-adaptive adjustment parameters generated by ensuring that the closed-loop system achieves stable response characteristics so as to adjust the current flight attitude parameters of the unmanned aerial vehicle and further resist the interference of the unmanned aerial vehicle in the flight process by keeping the response characteristics of the closed-loop system stable; the remote control device is a remote controller configured for the unmanned aerial vehicle and capable of controlling the unmanned aerial vehicle to fly, and flight attitude parameters of the unmanned aerial vehicle expected by a user at the next moment can be input on the remote control device, namely the remote control attitude parameters in the embodiment can include flight attitude angle information of the unmanned aerial vehicle at the next moment; the conversion control parameter is an intermediate variable of a motor working instruction in the unmanned aerial vehicle for transitioning from the controller to the unmanned aerial vehicle, and is used for compensating the flight attitude of the unmanned aerial vehicle in the flight process so as to control the unmanned aerial vehicle to keep stable flight when encountering interference.
Optionally, in this embodiment, after the current flight attitude parameter of the unmanned aerial vehicle is acquired through each attitude sensor and the remote control attitude parameter set for the unmanned aerial vehicle at the next moment through the remote control device, the current flight attitude parameter and the remote control attitude parameter may be analyzed at first to determine the current attitude adjustment parameter, and then the attitude dynamic model set for the unmanned aerial vehicle in the prior art is adopted to determine the switching control parameter for controlling the operation of the motor in the unmanned aerial vehicle according to the current flight attitude parameter, the attitude adjustment parameter and the remote control attitude parameter.
In this embodiment, the attitude dynamics model is
Wherein,
representing the change rate of the attitude angle of the unmanned aerial vehicle; x2Representing the unmanned aerial vehicle flight attitude angular rate;
representing the attitude angular acceleration of the unmanned aerial vehicle; u is a conversion control parameter of the unmanned aerial vehicle; a and B are respectively nominal model parameters; k1And K2Respectively an attitude angle adjusting parameter and an attitude angle rate adjusting parameter in the attitude adjusting parameters; exemplary, preset
X2 T＝[ωx,ωy,ωz]，
Wherein,
theta and psi are the roll angle, pitch angle and yaw angle of the drone, omegax、ωyAnd ωzRespectively the roll angle rate, the pitch angle rate and the yaw angle rate of the unmanned aerial vehicle; and representing the mode of attitude motion of the unmanned aerial vehicle under the action of the conversion control parameter u.
In addition, can confirm the gesture adjustment parameter that corresponds according to the closed loop response characteristic of the closed loop system at unmanned aerial vehicle place among this embodiment, through carrying out real-time update to unmanned aerial vehicle's gesture adjustment parameter to make closed loop response characteristic of closed loop system keep at a stable value, in order to resist the interference that unmanned aerial vehicle met. Optionally, before obtaining the attitude adjustment parameter of the unmanned aerial vehicle in this embodiment, the method may further include: determining a closed-loop response characteristic parameter of the unmanned aerial vehicle according to the current flight attitude parameter and the remote control attitude parameter of the unmanned aerial vehicle; and determining corresponding attitude adjustment parameters according to the closed loop response characteristic parameters.
Specifically, the closed-loop system of the unmanned aerial vehicle can be approximated to a second-order system, and at the moment, the closed-loop response characteristic parameters of the closed-loop system formed by the unmanned aerial vehicle flying at the current moment can be estimated in real time by analyzing the current flight attitude parameters and the remote control attitude parameters of the unmanned aerial vehicle by adopting an online identification algorithm, wherein the closed-loop response characteristic parameters comprise damping information and bandwidth information of the unmanned aerial vehicle under the closed-loop system; since the closed-loop response characteristic parameters of the closed-loop system are preset to be kept at a stable value, a damping expected value and a bandwidth expected value which guarantee the stability of the closed-loop system are set in the embodiment, and at the moment, the attitude adjustment parameter corresponding to the next moment is determined according to the damping information and the bandwidth information in the estimated closed-loop response characteristic parameters of the unmanned aerial vehicle and the difference between the preset damping expected value and the bandwidth expected value.
For example, the preset attitude dynamic model includes the following parameters:
wherein E and WnRespectively damping information and bandwidth information in closed loop response characteristic parameters of the unmanned aerial vehicle; k1、K2E and WnThe different parameters in the unmanned aerial vehicle respectively represent corresponding parameter values of a rolling angle, a pitch angle and a yaw angle in an attitude angle of the unmanned aerial vehicle; to any single channel in roll angle, pitch angle and yaw angle in the unmanned aerial vehicle attitude angle, the approximate second order system of closed loop system at unmanned aerial vehicle place is:
resetting the parameters in the above formula: z is a radical of2i(k)＝X2i(k+1)，h2i(k)＝[X1ic(k)-X1i(k),X2i(k)]T，
The existing online identification algorithm is as follows:
in this embodiment, θ can be obtained by using the above existing online identification algorithm2iEstimated value of (k +1)
Further by the reset parameters
Calculating a damping parameter xi in the closed loop response characteristic parameters of the unmanned aerial vehiclei(k +1) and a bandwidth parameter ωni(k +1) and a preset expected damping value ξidSum bandwidth desired value ωnidAnd comparing to generate corresponding attitude adjustment parameters so that the unmanned aerial vehicle can be stably kept at the expected damping value and the expected bandwidth value.
At this time, the update rule of the adaptive posture adjustment parameter is not specifically limited in this embodiment, and one of the update rules may be:
wherein, gamma is1And gamma2For adaptively updating constants, the constant is freely set by a developer, and K in the attitude adjustment parameters1And K2The initial values of (a) are:
K20＝2EdWndat this time
And then obtaining the attitude adjusting parameter K at the next moment through the iteration of the formula1And K2(ii) a Another update rule may also be:
ΔK2(k)＝γ2(EdWnd-E(k)Wn(k) ); and K in the attitude adjustment parameter1And K2The initial values of (a) are:
K2(0)＝2EdWndat this time K1(k)＝K1(k-1)+ΔK1(k)，K2(k)＝K2(k-1)+ΔK2(k) (ii) a And then the attitude adjustment parameter K at the next moment can be obtained through the formula iteration1(K +1) and K2(k+1)。
And S120, compensating the flight attitude of the unmanned aerial vehicle according to the conversion control parameters and the current flight distribution parameters of the unmanned aerial vehicle to obtain target flight attitude parameters of the unmanned aerial vehicle.
Wherein, current flight distribution parameter refers to and carries out the distribution basis that the motor control volume that works is referred to according to the whole flight control volume transition of unmanned aerial vehicle to each motor of control in the unmanned aerial vehicle, according to this current flight distribution parameter can be with unmanned aerial vehicle's whole flight control volume, also be exactly unmanned aerial vehicle's conversion control parameter, correspond in distributing unmanned aerial vehicle's each motor to each motor work in the control unmanned aerial vehicle.
Specifically, this embodiment can confirm the work order of each motor among the unmanned aerial vehicle according to unmanned aerial vehicle's conversion control parameter and current flight distribution parameter after confirming unmanned aerial vehicle's conversion control parameter, and then compensates unmanned aerial vehicle's flight gesture, obtains unmanned aerial vehicle's target flight gesture parameter, also is exactly the gesture parameter that unmanned aerial vehicle actually flies at next moment.
And S130, controlling the unmanned aerial vehicle to fly according to the target flight attitude parameters.
Specifically, after the target flight attitude parameter of the unmanned aerial vehicle at the next moment is obtained, the unmanned aerial vehicle is controlled to fly according to the target flight attitude parameter, the moment is subsequently taken as the current moment, the control method of the flight attitude in the embodiment is continuously adopted to determine the target flight attitude parameter at the next moment, and then the unmanned aerial vehicle is controlled to fly, so that the closed loop system where the unmanned aerial vehicle is located is kept under the stable closed loop response characteristic parameter, various interferences encountered by the unmanned aerial vehicle can be resisted, and the control precision of the flight attitude is improved.
The technical scheme provided by the embodiment determines the conversion control parameters for controlling the work of the motor in the unmanned aerial vehicle according to the current flight attitude parameters, attitude adjustment parameters and the remote control attitude parameters at the next moment set by the remote control equipment, and then compensates the flight attitude of the unmanned aerial vehicle in real time according to the conversion control parameters and the current flight distribution parameters set for each motor in the unmanned aerial vehicle, so as to obtain the target flight attitude parameters of the unmanned aerial vehicle at the next moment, and control the flight of the unmanned aerial vehicle according to the target flight attitude parameters, thereby solving the problem that the body of the unmanned aerial vehicle shakes due to the fact that the interference upper limit of the unmanned aerial vehicle in the flight process is continuously estimated in the prior art, and the suitable control quantity is generated according to the interference upper limit to resist the actual interference, reduce the fuselage shake of unmanned aerial vehicle at the flight in-process, improve the control accuracy of unmanned aerial vehicle flight gesture.
Example two
Fig. 2A is a flowchart of a flight attitude control method according to a second embodiment of the present invention, and fig. 2B is a schematic diagram of a principle of a flight attitude control process according to the second embodiment of the present invention. The embodiment is optimized on the basis of the embodiment. Optionally, in this embodiment, a specific flight process of controlling the drone to fly in a stable flight attitude is mainly explained in detail.
Optionally, as shown in fig. 2A, this embodiment may specifically include the following steps:
and S210, determining the target attitude angle rate of the unmanned aerial vehicle according to the current flight attitude angle, the attitude angle adjusting parameter and the remote control attitude angle of the unmanned aerial vehicle.
Specifically, when the current flight attitude angle of the unmanned aerial vehicle and the remote control attitude angle set for the unmanned aerial vehicle by the remote control device are obtained, as shown in fig. 2B, the current flight attitude angle and the remote control attitude angle can be firstly compared to obtain a corresponding attitude angle error, and then the attitude angle error is adjusted by the attitude angle adjusting parameter determined according to the current flight attitude parameter and the remote control attitude parameter to obtain the target attitude angle rate of the unmanned aerial vehicle.
Illustratively, according to a model of attitude dynamics
Can obtain X2c＝A-1K1(X1c-X1) (ii) a Wherein, X2cIs the target attitude angular rate, X1cRemote control attitude angle, X, set for the remote control device for the unmanned aerial vehicle1Is the flight attitude angle of the unmanned aerial vehicle, K1An attitude angle adjusting parameter predetermined according to a closed loop response characteristic parameter of the closed loop system; and inputting the acquired flight attitude angle, the attitude angle adjusting parameter and the remote control attitude angle into the formula to obtain the target attitude angle rate of the unmanned aerial vehicle.
And S220, determining the conversion control parameters of the unmanned aerial vehicle according to the current flight attitude angular rate, the attitude angular rate adjusting parameters and the target attitude angular rate of the unmanned aerial vehicle.
Specifically, when the current flight attitude angular rate and the target attitude angular rate of the unmanned aerial vehicle are obtained, as shown in fig. 2B, the current flight attitude angular rate and the target attitude angular rate may be compared to obtain an attitude angular rate error between the current time and the next time, and then the attitude angular rate error is adjusted by an attitude angular rate adjustment parameter determined according to the current flight attitude parameter and the remote control attitude parameter to obtain a conversion control parameter of the unmanned aerial vehicle.
Illustratively, according to a model of attitude dynamics
Can obtain u ═ B-1K2(X2c-X2) (ii) a Wherein u is a transfer control parameter of the UAV, X2cIs the target attitude angular rate, X2Is the current flight attitude angular rate, K, of the drone2Adjusting parameters for attitude angle rate predetermined according to closed loop response characteristic parameters of a closed loop system; and inputting the acquired current flight attitude angular rate, the acquired attitude angular rate adjusting parameter and the acquired target attitude angular rate into the formula to obtain the conversion control parameter of the unmanned aerial vehicle.
And S230, determining a motor input signal of the unmanned aerial vehicle according to the conversion control parameter and the current flight distribution parameter of the unmanned aerial vehicle.
Specifically, as shown in fig. 2B, because the conversion control parameter of the unmanned aerial vehicle is the intermediate variable of the instruction conversion of the overall control quantity of the unmanned aerial vehicle to control the operation of each motor in the unmanned aerial vehicle, there is a certain instruction distribution relationship between the conversion control parameter and each motor in the unmanned aerial vehicle at this moment, that is, the current flight distribution parameter in this embodiment, therefore according to the conversion control parameter and the current flight distribution parameter of the unmanned aerial vehicle, the corresponding motor control distribution operation is executed, and then the motor input signal corresponding to each motor in the unmanned aerial vehicle is determined.
For example, the distribution relationship of motor control in the unmanned aerial vehicle is as follows: u-Mv; wherein M is a matrix composed of current flight distribution parameters set for each motor in the unmanned aerial vehicle, and v is motor input of each motor in the unmanned aerial vehicleAn input matrix of signals, when:
vT＝[v1,v2,......,vn](ii) a And the response of the motor in the unmanned aerial vehicle has a time constant tau, and the equal small model of the motor can be approximated to an inertia link, namely:
the formula represents the input and output transfer function of each motor in the unmanned aerial vehicle, s is a Laplace operator, i is a motor number, n motors and delta are arranged in the unmanned aerial vehicleiFor the actual specific tension, delta, generated by the i-th motoricA specific pull force generated for a desired motor input for the ith motor; at the moment, the conversion control parameters and the current flight distribution parameters of the unmanned aerial vehicle are respectively input into the formula, and motor input signals corresponding to all motors in the unmanned aerial vehicle are obtained through calculation.
Optionally, in this embodiment, the flight distribution parameter at the next moment can be adjusted in real time according to the flight attitude parameter of the unmanned aerial vehicle at the current moment, so as to ensure stable flight of the unmanned aerial vehicle, and therefore before determining the motor input signal of the unmanned aerial vehicle, the method may further include: and determining the current flight distribution parameters according to the current flight attitude parameters of the unmanned aerial vehicle and the motor input signals at the previous moment.
Specifically, the present embodiment may analyze the current flight attitude parameter of the unmanned aerial vehicle and the motor input signal at the previous moment through an online identification algorithm, and update the corresponding current flight distribution parameter in real time; the dynamic model of the attitude angular rate at this time is
At this time, for any single channel of the roll rate, the pitch rate and the yaw rate in the attitude angular rate of the unmanned aerial vehicle, the discrete form can be expressed as: x2i(k+1)＝X2i(k)+Tbi(k)Mi(k) v (k); wherein M isi(k)＝[mi1,mi2,......,min]Representing the corresponding distribution parameters of each motor in any single channel of the roll angle rate, the pitch angle rate and the yaw angle rate;
for the parameter reset in the above equation:
h1i(k)＝v(k)，θ1i(k)＝Mi T(k)；
the existing online identification algorithm is as follows:
in this embodiment, θ can be obtained by using the above existing online identification algorithm1iEstimated value of (k +1)
And then through the reset parameter theta1i(k)＝Mi T(k) And calculating the current flight distribution parameters of the unmanned aerial vehicle, so as to determine click input signals of all motors in the unmanned aerial vehicle according to the current flight distribution parameters and the conversion control parameters of the unmanned aerial vehicle.
And S240, controlling and compensating a motor in the unmanned aerial vehicle according to the motor input signal, and generating a corresponding pulse width modulation signal.
Specifically, when obtaining the motor input signal of each motor in unmanned aerial vehicle, can compensate the motor in unmanned aerial vehicle according to this motor input signal, obtain the Pulse Width Modulation (PWM) signal that each motor corresponds to control unmanned aerial vehicle's stable flight.
An exemplary algorithm for compensating the motor is as follows:
its discrete form is identified as:
at the moment, motor input signals of the unmanned aerial vehicle at different moments are input into the formula, and corresponding pulse width modulation signals are obtained through calculation.
And S250, determining the target flight attitude parameter of the unmanned aerial vehicle at the next moment according to the pulse width modulation signal.
Specifically, after the pulse width modulation signal of each motor in the unmanned aerial vehicle is obtained, as shown in fig. 2B, send into each motor of unmanned aerial vehicle with it, and then control the motor work that corresponds according to this pulse width modulation signal to control unmanned aerial vehicle's gesture changes, determine unmanned aerial vehicle's target flight attitude parameter.
And S260, controlling the unmanned aerial vehicle to fly according to the target flight attitude parameters.
The technical scheme provided by the embodiment determines the conversion control parameters for controlling the work of the motor in the unmanned aerial vehicle according to the current flight attitude parameters, attitude adjustment parameters and the remote control attitude parameters at the next moment set by the remote control equipment, and then compensates the flight attitude of the unmanned aerial vehicle in real time according to the conversion control parameters and the current flight distribution parameters set for each motor in the unmanned aerial vehicle, so as to obtain the target flight attitude parameters of the unmanned aerial vehicle at the next moment, and control the flight of the unmanned aerial vehicle according to the target flight attitude parameters, thereby solving the problem that the body of the unmanned aerial vehicle shakes due to the fact that the interference upper limit of the unmanned aerial vehicle in the flight process is continuously estimated in the prior art, and the suitable control quantity is generated according to the interference upper limit to resist the actual interference, reduce the fuselage shake of unmanned aerial vehicle at the flight in-process, improve the control accuracy of unmanned aerial vehicle flight gesture.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a control device for a flight attitude according to a third embodiment of the present invention, and as shown in fig. 3, the device may include:
a conversion parameter determining module 310, configured to determine a conversion control parameter of the unmanned aerial vehicle according to the current flight attitude parameter of the unmanned aerial vehicle, the attitude adjustment parameter, and a remote control attitude parameter set for the unmanned aerial vehicle by the remote control device;
the target attitude determination module 320 is configured to compensate the flight attitude of the unmanned aerial vehicle according to the conversion control parameter and the current flight allocation parameter of the unmanned aerial vehicle, so as to obtain a target flight attitude parameter of the unmanned aerial vehicle;
and the attitude control module 330 is configured to control the flight of the unmanned aerial vehicle according to the target flight attitude parameter.
The technical scheme provided by the embodiment determines the conversion control parameters for controlling the work of the motor in the unmanned aerial vehicle according to the current flight attitude parameters, attitude adjustment parameters and the remote control attitude parameters at the next moment set by the remote control equipment, and then compensates the flight attitude of the unmanned aerial vehicle in real time according to the conversion control parameters and the current flight distribution parameters set for each motor in the unmanned aerial vehicle, so as to obtain the target flight attitude parameters of the unmanned aerial vehicle at the next moment, and control the flight of the unmanned aerial vehicle according to the target flight attitude parameters, thereby solving the problem that the body of the unmanned aerial vehicle shakes due to the fact that the interference upper limit of the unmanned aerial vehicle in the flight process is continuously estimated in the prior art, and the suitable control quantity is generated according to the interference upper limit to resist the actual interference, the fuselage shake of unmanned aerial vehicle at the flight in-process is reduced, the control accuracy of unmanned aerial vehicle flight gesture is improved.
Further, the conversion parameter determining module 310 may include:
the angular rate determining unit is used for determining the target attitude angle rate of the unmanned aerial vehicle according to the current flight attitude angle, the attitude angle adjusting parameter and the remote control attitude angle of the unmanned aerial vehicle;
and the conversion parameter determining unit is used for determining the conversion control parameters of the unmanned aerial vehicle according to the current flight attitude angular rate, the attitude angular rate adjusting parameters and the target attitude angular rate of the unmanned aerial vehicle.
Further, the target posture determination module 320 may include:
the motor signal determining unit is used for determining a motor input signal of the unmanned aerial vehicle according to the conversion control parameter and the current flight distribution parameter of the unmanned aerial vehicle;
the pulse signal generating unit is used for controlling and compensating a motor in the unmanned aerial vehicle according to the motor input signal and generating a corresponding pulse width modulation signal;
and the target attitude determining unit is used for determining the target flight attitude parameter of the unmanned aerial vehicle at the next moment according to the pulse width modulation signal.
Further, the control device for flight attitude may further include:
and the distribution parameter determining module is used for determining the current flight distribution parameters according to the current flight attitude parameters of the unmanned aerial vehicle and the motor input signals at the previous moment.
Further, the control device for flight attitude may further include:
the response characteristic determining module is used for determining the closed-loop response characteristic parameters of the unmanned aerial vehicle according to the current flight attitude parameters and the remote control attitude parameters of the unmanned aerial vehicle;
and the adjusting parameter determining module is used for determining corresponding attitude adjusting parameters according to the closed loop response characteristic parameters.
Further, the closed-loop response characteristic parameters include damping information and bandwidth information of the unmanned aerial vehicle in a closed-loop system.
The control device for the flight attitude provided by the embodiment can be applied to the control method for the flight attitude provided by any embodiment, and has corresponding functions and beneficial effects.
Example four
Fig. 4 is a schematic structural diagram of an unmanned aerial vehicle according to a fourth embodiment of the present invention. As shown in fig. 4, the drone comprises a processor 40, a storage device 41 and a communication device 42; the number of processors 40 in the drone may be one or more, with one processor 40 being exemplified in fig. 4; the processor 40, the storage device 41 and the communication device 42 of the drone may be connected by a bus or other means, as exemplified by the bus connection in fig. 4.
The storage device 41 is a computer-readable storage medium, and can be used to store software programs, computer-executable programs, and modules, such as modules corresponding to the control method of the flight attitude in the embodiment of the present invention. The processor 40 executes various functional applications and data processing of the drone by running software programs, instructions and modules stored in the storage device 41, that is, implements the above-described flight attitude control method.
The storage device 41 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the storage device 41 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the storage device 41 may further include memory located remotely from the processor 40, which may be connected to the drone over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The communication device 42 may be used to implement a network connection or a mobile data connection between the drone and the remote control device.
The unmanned aerial vehicle provided by the embodiment can be used for executing the control method of the flight attitude provided by any of the above embodiments, and has corresponding functions and beneficial effects.
EXAMPLE five
Fifth embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, can implement the method for controlling a flight attitude in any of the embodiments described above.
The method specifically comprises the following steps:
determining a conversion control parameter of the unmanned aerial vehicle according to the current flight attitude parameter and the attitude adjustment parameter of the unmanned aerial vehicle and a remote control attitude parameter set for the unmanned aerial vehicle by a remote control device;
compensating the flight attitude of the unmanned aerial vehicle according to the conversion control parameters and the current flight distribution parameters of the unmanned aerial vehicle to obtain target flight attitude parameters of the unmanned aerial vehicle;
and controlling the unmanned aerial vehicle to fly according to the target flight attitude parameters.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the method for controlling the flight attitude provided by any embodiments of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the control device for flight attitude, the included units and modules are merely divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A method of controlling a flight attitude, comprising:
determining a conversion control parameter of the unmanned aerial vehicle according to a current flight attitude parameter and an attitude adjusting parameter of the unmanned aerial vehicle and a remote control attitude parameter set for the unmanned aerial vehicle by a remote control device;
according to unmanned aerial vehicle's current flight attitude parameter, gesture adjusting parameter and remote control equipment be unmanned aerial vehicle's the remote control attitude parameter of setting for, confirm unmanned aerial vehicle's conversion control parameter includes:
determining a target attitude angle rate of the unmanned aerial vehicle according to the current flight attitude angle, the attitude angle adjusting parameter and the remote control attitude angle of the unmanned aerial vehicle;
determining a conversion control parameter of the unmanned aerial vehicle according to the current flight attitude angular rate, the attitude angular rate adjusting parameter and the target attitude angular rate of the unmanned aerial vehicle;
the mode for determining the conversion control parameters of the unmanned aerial vehicle comprises the following steps:
dynamic model according to attitude
To obtain X2c＝A-1K1(X1c-X1)，u＝B-1K2(X2c-X2) And an
Or
ΔK2(k)＝γ2(EdWnd-E(k)Wn(k) In corresponding discretized form, wherein X1Is the flight attitude angle of the unmanned aerial vehicle; edA desired damping matrix for the drone; w is a group ofndA bandwidth matrix for the drone; e is damping information of the unmanned aerial vehicle; w is a group ofnBandwidth information for the drone;
representing the change rate of the attitude angle of the unmanned aerial vehicle; x2Representing the unmanned aerial vehicle flight attitude angular rate;
representing the attitude angular acceleration of the unmanned aerial vehicle; u is a conversion control parameter of the unmanned aerial vehicle; a and B are respectively nominal model parameters; k1And K2Respectively an attitude angle regulation parameter and an attitude angle rate regulation parameter, X, of the attitude regulation parameters2cIs the target attitude angular rate, X1cA remote control attitude angle set for the remote control device for the drone, u being a transfer control parameter for the drone, gamma1And gamma2K in the attitude adjustment parameters for a constant freely set by the developer1And K2The initial values of (a) are:
K20＝2EdWnd(ii) a Or K in the attitude adjustment parameter1And K2The initial values of (a) are:
K2(0)＝2EdWndin corresponding discretized form;
compensating the flight attitude of the unmanned aerial vehicle according to the conversion control parameters and the current flight distribution parameters of the unmanned aerial vehicle to obtain target flight attitude parameters of the unmanned aerial vehicle;
and controlling the unmanned aerial vehicle to fly according to the target flight attitude parameters.
2. The method of claim 1, wherein the compensating the flight attitude of the drone according to the conversion control parameters and the current flight distribution parameters of the drone to obtain the target flight attitude parameters of the drone comprises:
determining a motor input signal of the unmanned aerial vehicle according to the conversion control parameter and the current flight distribution parameter of the unmanned aerial vehicle;
controlling and compensating a motor in the unmanned aerial vehicle according to the motor input signal to generate a corresponding pulse width modulation signal;
and determining the target flight attitude parameter of the unmanned aerial vehicle at the next moment according to the pulse width modulation signal.
3. The method of claim 2, further comprising:
and determining the current flight distribution parameters according to the current flight attitude parameters of the unmanned aerial vehicle and the motor input signals at the previous moment.
4. The method of claim 1, further comprising:
determining a closed-loop response characteristic parameter of the unmanned aerial vehicle according to the current flight attitude parameter and the remote control attitude parameter of the unmanned aerial vehicle;
and determining corresponding attitude adjustment parameters according to the closed loop response characteristic parameters.
5. The method of claim 4, wherein the closed-loop response characteristic parameters include damping information and bandwidth information of the drone under a closed-loop system.
6. A control device for attitude, comprising:
the conversion parameter determining module is used for determining conversion control parameters of the unmanned aerial vehicle according to the current flight attitude parameters and attitude adjusting parameters of the unmanned aerial vehicle and remote control attitude parameters set for the unmanned aerial vehicle by the remote control equipment;
the conversion parameter determination module includes:
the angular rate determining unit is used for determining the target attitude angle rate of the unmanned aerial vehicle according to the current flight attitude angle, the attitude angle adjusting parameter and the remote control attitude angle of the unmanned aerial vehicle;
the conversion parameter determining unit is used for determining conversion control parameters of the unmanned aerial vehicle according to the current flight attitude angular rate, the attitude angular rate adjusting parameters and the target attitude angular rate of the unmanned aerial vehicle;
the mode for determining the conversion control parameters of the unmanned aerial vehicle comprises the following steps:
dynamic model according to attitude
To obtain X2c＝A-1K1(X1c-X1)，u＝B-1K2(X2c-X2) And, and
or
ΔK2(k)＝γ2(EdWnd-E(k)Wn(k) In corresponding discretized form, wherein X1The flight attitude angle of the unmanned aerial vehicle; edA desired damping matrix for the drone; w is a group ofndA bandwidth matrix for the drone; e is damping information of the unmanned aerial vehicle; wnBandwidth information for the drone;
representing the change rate of the attitude angle of the unmanned aerial vehicle; x2Representing the unmanned aerial vehicle flight attitude angular rate;
representing the attitude angular acceleration of the unmanned aerial vehicle; u is a conversion control parameter of the unmanned aerial vehicle; a and B are respectively nominal model parameters; k1And K2Respectively an attitude angle regulation parameter and an attitude angle rate regulation parameter, X, of the attitude regulation parameters2cIs the target attitude angular rate, X1cA remote control attitude angle set for the remote control device for the drone, u being a transfer control parameter for the drone, gamma1And gamma2K in the attitude adjustment parameter as a constant freely set by the developer1And K2The initial values of (a) are:
K20＝2EdWnd(ii) a Or K in the attitude adjustment parameter1And K2The initial values of (a) are:
K2(0)＝2EdWndin corresponding discretized form;
the target attitude determination module is used for compensating the flight attitude of the unmanned aerial vehicle according to the conversion control parameters and the current flight distribution parameters of the unmanned aerial vehicle to obtain target flight attitude parameters of the unmanned aerial vehicle;
and the attitude control module is used for controlling the unmanned aerial vehicle to fly according to the target flight attitude parameters.
7. An unmanned aerial vehicle, characterized in that, the equipment includes:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a method of controlling attitude according to any one of claims 1-5.
8. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out a method for controlling a flying attitude according to any one of claims 1-5.
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