CN111007878A - Intelligent fishing unmanned aerial vehicle method based on three fish finding mode flight control algorithms - Google Patents

Intelligent fishing unmanned aerial vehicle method based on three fish finding mode flight control algorithms Download PDF

Info

Publication number
CN111007878A
CN111007878A CN201911154298.0A CN201911154298A CN111007878A CN 111007878 A CN111007878 A CN 111007878A CN 201911154298 A CN201911154298 A CN 201911154298A CN 111007878 A CN111007878 A CN 111007878A
Authority
CN
China
Prior art keywords
unmanned aerial
aerial vehicle
fishing
control
fishing unmanned
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201911154298.0A
Other languages
Chinese (zh)
Inventor
唐苗苗
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ningbo Pariken Intelligent Fishing Tackles Co Ltd
Original Assignee
Ningbo Pariken Intelligent Fishing Tackles Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ningbo Pariken Intelligent Fishing Tackles Co Ltd filed Critical Ningbo Pariken Intelligent Fishing Tackles Co Ltd
Priority to CN201911154298.0A priority Critical patent/CN111007878A/en
Publication of CN111007878A publication Critical patent/CN111007878A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • G05D1/12—Target-seeking control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.

Landscapes

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

Abstract

The invention discloses an intelligent fishing unmanned aerial vehicle method based on three fish finding mode flight control algorithms, which comprises the following steps: s1, establishing a mathematical model of the fishing unmanned aerial vehicle; s2, designing a motor thrust control strategy and a control distribution method of the fishing unmanned aerial vehicle; s3, designing a cascade closed-loop PID flight control method of the fishing unmanned aerial vehicle; s4, planning fish exploring routes of three different fishing unmanned aerial vehicles and intelligently throwing hooks and baits, wherein the fish exploring modes comprise a multi-point fish exploring mode, a rapid fish exploring mode and an area fish exploring mode. Compared with the prior art, the invention has the advantages that: the problem of exist not enough among the current consumption uses type unmanned aerial vehicle is solved, use cascade closed loop PID control algorithm in unmanned aerial vehicle's marine fish finding, guarantee that fishing unmanned aerial vehicle flies along established fish finding circuit, carry out real-time supervision, realize fishing unmanned aerial vehicle's position, height and attitude control, realize real-time accurate fish finding of fishing unmanned aerial vehicle under different fish finding modes through position and height control method simultaneously.

Description

Intelligent fishing unmanned aerial vehicle method based on three fish finding mode flight control algorithms
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to an intelligent fishing unmanned aerial vehicle method based on three fish finding modes flight control algorithms.
Background
The unmanned aerial vehicle is mainly applied to various fields of production and life of people at present; with unmanned aerial vehicle and traditional fishing especially the sea fishing activity combination of its time can make fishing more intelligent and specialization, make simultaneously the monitoring fishing activity that the fishing people can make things convenient for intelligence more, civilian consumption class four rotor unmanned aerial vehicle already extensive be applied to fields such as aerial photograph and survey and drawing, because of its low price, convenient to carry controls the convenience and has become the first-selected of a lot of consumption players, its shortcoming is that loading capacity is limited, at sea fishing in-process difficult bait and the fishhook of carrying the weight.
Then the main use of relatively large-scale industrial grade unmanned aerial vehicle is patrolled and examined to electric power, and the pesticide sprays, fields such as farmland plant protection and police usefulness fire control, and this type of unmanned aerial vehicle's characteristics are the heavier load of portability, and the time of endurance is relatively long, and stability is good, but bulky carries inconveniently, and is expensive moreover to be not applicable to a large amount of fishing people and use for a long time.
Therefore, the intelligent fishing unmanned aerial vehicle method based on the three fish finding mode flight control algorithms is imperative.
Disclosure of Invention
The technical problems to be solved by the invention are that the existing civil consumption type quad-rotor unmanned aerial vehicle is limited in load capacity, heavy baits and hooks are not easy to carry in the sea fishing process, the large-scale industrial unmanned aerial vehicle is large in size, inconvenient to carry, high in price, not suitable for a large number of fishermen to use for a long time, and a control algorithm suitable for the fishing unmanned aerial vehicle is lacked at present.
In order to solve the technical problems, the technical scheme provided by the invention is as follows: an intelligent fishing unmanned aerial vehicle method based on three fish finding mode flight control algorithms comprises the following steps:
s1, establishing a mathematical model of the fishing unmanned aerial vehicle;
s2, designing a motor thrust control strategy and a control distribution method of the fishing unmanned aerial vehicle;
s3, designing a cascade closed-loop PID flight control method of the fishing unmanned aerial vehicle;
s4, planning fish exploring routes of three different fishing unmanned aerial vehicles and intelligently throwing hooks and baits, wherein the fish exploring modes comprise a multi-point fish exploring mode, a rapid fish exploring mode and an area fish exploring mode.
Compared with the prior art, the invention has the advantages that: the method uses a cascade closed-loop PID control algorithm for offshore fish detection of the unmanned aerial vehicle, calculates and corrects a fish detection route of the unmanned aerial vehicle in real time by adopting a position control and attitude control method, ensures that the fishing unmanned aerial vehicle flies along a set fish detection line, monitors in real time, controls the position, height and attitude of the fishing unmanned aerial vehicle by adopting the cascade closed-loop PID control algorithm, and realizes real-time accurate fish detection of the fishing unmanned aerial vehicle in different fish detection modes by adopting the position and height control method.
As an improvement, in the step S1, under the coordinate system of the fishing unmanned aerial vehicle body and the inertial coordinate system, the kinematic and kinetic equations of the position and attitude of the unmanned aerial vehicle are established, which specifically include: (1) a position kinematics equation of the fishing unmanned aerial vehicle;
the coordinates of the gravity center of the fishing unmanned aerial vehicle under an inertial system are xio,yio,zio]And the coordinate of the gravity center initial moment of the unmanned aerial vehicle under the inertial system is [ x ]io,yio,zio]The velocity components in the inertial system and the body system are [ u ] respectivelyi,vi,wi]And [ u, v, w]The roll angle, pitch angle and yaw angle of the unmanned aerial vehicle in the flying process are respectively
Figure RE-GDA0002398595400000021
The kinematic equation of the position of the unmanned plane is:
Figure RE-GDA0002398595400000022
Figure RE-GDA0002398595400000023
wherein R isbiFor coordinate transformation matrix from inertial system to body system of unmanned fishing vehicle, t0T represents the initial moment and the current moment of the fishing unmanned aerial vehicle in the flying process respectively;
an attitude kinematics equation of the fishing unmanned aerial vehicle;
the attitude kinematics equation of the fishing unmanned aerial vehicle under the inertial system and the body system is as follows:
Figure RE-GDA0002398595400000024
wherein the content of the first and second substances,
Figure RE-GDA0002398595400000025
is the attitude angle change rate of the unmanned aerial vehicle relative to the inertial system, [ omega ]xb,ωyb,ωzb]The angular velocity component of the unmanned aerial vehicle system relative to the inertial system is under the system;
a position kinetic equation of the fishing unmanned aerial vehicle;
the position kinetic equation of the fishing unmanned aerial vehicle comprises height and level control kinetic equations, and the specific kinetic equation is in the form as follows:
Figure RE-GDA0002398595400000026
wherein, FbIs the total lift force of four motors under the machine system along the direction obzbThe negative direction of (a); f1b,F2b,F3b,F4bLift under the machine system, along o, generated for each of the four motorsbzbThe negative direction of (a); p, q and r are the edge o of the airplane under the airplane systembxb,obyb,obzbThe angular velocities of the directions are respectively a rolling angular velocity, a pitch angular velocity and a yaw angular velocity; omega1,Ω2,Ω3,Ω4The number of revolutions of a No. 1,2,3,4 motor is given in rpm (revolutions per minute); g is the acceleration of gravity with the unit of m/s 2; rbiIs a transformation matrix from an inertia system to a body system; m is the mass of the fishing unmanned aerial vehicle;
Figure RE-GDA0002398595400000031
the speed variation of each shaft of the fishing unmanned aerial vehicle under the airplane system is obtained;
an attitude dynamics equation of the fishing unmanned aerial vehicle;
the attitude dynamics equations of the fishing unmanned aerial vehicle in the three directions of rolling, pitching and yawing are as follows:
Figure RE-GDA0002398595400000032
wherein [ Mx,My,Mz]Roll, pitch and yaw moments borne by the fishing unmanned aerial vehicle; [ F ]1,F2,F3,F4]The motors 1,2,3 and 4 respectively generate upward lifting force; [ I ] ofxx,Iyy,Izz]Respectively is the rotational inertia of the fishing unmanned aerial vehicle in each direction; i isxzFor fishing unmanned aerial vehicle system down obxbzbA planar product of inertia; [ x ] of1,y1]Is the horizontal coordinate of the No. 1 motor in the machine system; [ -x ]2,-y2]Is the horizontal coordinate of the No. 2 motor in the machine system;
as an improvement, the specific control distribution strategy and control method of the four motor lift forces of the fishing unmanned aerial vehicle in the step S2 are as follows:
lift equations generated by four motors and propellers of the fishing unmanned aerial vehicle:
Figure RE-GDA0002398595400000033
wherein, KTThe lift coefficient is the comprehensive lift coefficient of the motor and the propeller; f is the total lift force generated by the four motors;
moment equation that four motors and screw of fishing unmanned aerial vehicle produced:
Figure RE-GDA0002398595400000034
wherein, JrThe moment of inertia of each propeller itself; kMThe coefficient of reaction torque of the motor and the propeller is used as the coefficient of reaction torque;
control distribution equation of four motors and propellers of fishing unmanned aerial vehicle:
Figure RE-GDA0002398595400000035
wherein, U1(N) is the height control quantity output by the height control loop; u shape2(N m) is the roll control quantity output by the roll control loop; u shape3(N · m) is a pitch control amount output by the pitch control circuit;U4(N m) is the yaw control quantity output by the course control loop;
as an improvement, a cascade closed-loop PID flight control algorithm of the fishing unmanned aerial vehicle is designed according to a built fishing unmanned aerial vehicle mathematical model and a motor control allocation strategy, and the specific method comprises the following steps:
a height control loop of the fishing unmanned aerial vehicle;
the height control loop of the fishing unmanned aerial vehicle comprises an inner loop vertical speed control and an outer loop height loop control, a specific control block diagram is shown in the attached figure 2, and a calculation formula is as follows:
Figure RE-GDA0002398595400000048
wherein, U1A height control quantity output for the height control loop; hcH (m): desired altitude and actual altitude under inertial system; kph,Kih,KdhProportional, integral and differential coefficients of the height control loop, respectively; w is ac(m/s) is the vertical desired speed under the machine system; w (m/s) is the actual vertical speed of the airplane under the airplane body system; kpwIs the proportionality coefficient of the vertical speed control loop;
Figure RE-GDA0002398595400000041
(m/s2) is the desired vertical acceleration in the inertial system;
an attitude control loop of the fishing unmanned aerial vehicle;
the attitude control loop of the fishing unmanned aerial vehicle comprises an inner ring attitude angular velocity control loop and an outer ring attitude angular velocity control loop of three channels (rolling, pitching and yawing), and a specific equation is as follows:
Figure RE-GDA0002398595400000042
wherein, U2,U3,U4The roll control quantity, the pitch control quantity and the yaw control quantity of the intelligent fishing unmanned aerial vehicle are respectively set; kpp,Kpq,KprThe proportionality coefficients of the inner ring angular velocity control loops of the rolling channel, the pitching channel and the yawing channel are respectively;
Figure RE-GDA0002398595400000043
the proportional coefficients of the outer ring attitude angle control loops of the rolling channel, the pitching channel and the yawing channel are respectively;
Figure RE-GDA0002398595400000044
integral coefficients of outer ring attitude angle control loops of the rolling channel, the pitching channel and the yawing channel respectively;
Figure RE-GDA0002398595400000045
differential coefficients of outer ring attitude angle control loops of the rolling channel, the pitching channel and the yawing channel are respectively;
Figure RE-GDA0002398595400000046
respectively a target rolling angle, a target pitch angle and a target yaw angle;
Figure RE-GDA0002398595400000047
respectively an actual rolling angle, an actual pitch angle and an actual yaw angle;
(3) a position control loop of the fishing unmanned aerial vehicle;
the position control loop of the fishing unmanned aerial vehicle comprises a horizontal north position control loop and an east position control loop equation, the horizontal position control loop comprises an inner ring horizontal speed control loop and an outer ring horizontal position control loop, and the fishing unmanned aerial vehicle is in the system obzbHorizontal o of the lift generated on the shaft in the inertial systemixiAnd oiyiThe lift generated on the shaft is:
Figure RE-GDA0002398595400000051
wherein, [ x ]i,yi]For the horizontal north and east displacement quantity output by the fishing unmanned aerial vehicle under the inertial system in the actual flight, the rolling angle can be approximately considered as the rolling angle because the rolling and pitching attitude change of the fishing unmanned aerial vehicle in the horizontal direction is very small
Figure RE-GDA0002398595400000052
And pitch angle θ are small quantities, the above equation can be simplified as:
Figure RE-GDA0002398595400000053
the horizontal speeds u and v of the fishing unmanned aerial vehicle under the machine system are converted into the following horizontal speeds under the inertia system:
Figure RE-GDA0002398595400000054
wherein [ u ]i,vi]Horizontal north and east velocity components of the fishing unmanned aerial vehicle under an inertial system;
the horizontal north and east position control loop equations of the fishing unmanned aerial vehicle are as follows:
Figure RE-GDA0002398595400000055
wherein the content of the first and second substances,
Figure RE-GDA0002398595400000056
the variation of horizontal north and east speed components of the fishing unmanned aerial vehicle under an inertial system is respectively; [ K ]px,Kpy]The scale coefficients of the horizontal north and east position control loops, respectively; [ K ]ix,Kiy]The integral coefficients of the horizontal north and east position control loops are respectively; [ K ]dx,Kdy]Differential coefficients for the horizontal north and east position control loops, respectively; [ K ]pu,Kpv]The proportionality coefficients of the horizontal north and east inner loop speed control loops, respectively;
as an improvement, in the step S4, three fish finding mode routes of the fishing unmanned aerial vehicle are planned according to the designed cascade closed-loop PID flight control algorithm of the fishing unmanned aerial vehicle, specifically as follows:
(1) planning the height and horizontal position track of the multi-point fish-finding mode;
in the multi-point fish finding mode, the height of the fishing unmanned aerial vehicle rises firstly, after the unmanned aerial vehicle flies for a period of time, the unmanned aerial vehicle lands to a certain height, flies for a period of time again, then rises to the previous height, reaches a certain point after flying for a period of time, lands again, and reciprocates cyclically, the horizontal northbound displacement track of the fishing unmanned aerial vehicle is a straight line, the northbound position of the unmanned aerial vehicle keeps constant in the rising or falling process of the unmanned aerial vehicle, the initial moment of the horizontal northbound displacement track of the fishing unmanned aerial vehicle slightly changes, and the horizontal northbound displacement track does not change any more after the unmanned aerial vehicle moves to a corresponding position point;
(2) planning the height and horizontal position track of the fast fish finding mode;
in the fast fish finding mode, the expected height of the fishing unmanned aerial vehicle firstly rises linearly, after flying to a target point, the fishing unmanned aerial vehicle starts to land, then a fish finding task is carried out until the fish finding task is finished, the height rises, then the fishing unmanned aerial vehicle returns to the initial point, after flying to a set target height, the fishing unmanned aerial vehicle carries out circular motion in the horizontal direction, the fast fish finding task is executed, and the horizontal north and east positions are changed continuously;
planning the height and horizontal position track of the regional fish finding mode;
under the regional mode of exploring the fish, fishing unmanned aerial vehicle's expectation altitude variation condition is unanimous completely with quick fish exploring, and fishing unmanned aerial vehicle flies earlier to set target altitude after, constantly gos forward in the horizontal direction to scanning round trip carries out regional fish exploring task, and the level northbound position constantly increases, and the level easyly makes a round trip to the position change.
Drawings
FIG. 1 is an overall control block diagram and control strategy of the present invention.
FIG. 2 is a schematic block diagram of the height control loop of the present invention.
FIG. 3 is a functional block diagram of the roll attitude angle control loop of the present invention.
Fig. 4 is a schematic block diagram of the pitch attitude angle control loop of the present invention.
FIG. 5 is a schematic block diagram of a yaw attitude control loop of the present invention.
FIG. 6 is a schematic block diagram of the horizontal position control loop of the present invention.
Fig. 7 is a functional block diagram of the horizontal velocity control loop of the present invention.
Fig. 8 is a height variation of the present invention.
FIG. 9 is a horizontal north displacement trajectory variation of the present invention.
FIG. 10 is a horizontal east displacement trajectory variation of the present invention.
Fig. 11 is a height variation of the present invention in the fast zone fish finder mode.
Fig. 12 shows the variation of the horizontal north displacement trajectory in the fast fish-finding mode of the present invention.
Fig. 13 shows the variation of the horizontal east displacement trajectory in the fast fish-finding mode of the present invention.
FIG. 14 shows the variation of the horizontal north displacement trajectory in the zonal fish finding mode of the present invention.
Fig. 15 shows the variation of the horizontal east displacement trajectory in the zonal fish-finding mode of the present invention.
FIG. 16 is a graph comparing the expected and actual heights of the multiple spot fish finder mode of the present invention.
FIG. 17 is a comparison of the horizontal expected and actual trajectories for the multiple spot fish finder mode of the present invention.
Fig. 18 is a graph comparing the expected and actual heights of the rapid fish finding mode of the present invention.
FIG. 19 is a comparison of the horizontal expected and actual trajectory for the fast fish finder mode of the present invention.
FIG. 20 is a graph comparing the expected and actual heights of the zonal fish model of the present invention.
FIG. 21 is a comparison of the horizontal expected and actual trajectories for the zonal fish model of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
When the method is implemented specifically, the intelligent fishing unmanned aerial vehicle method based on three fish finding mode flight control algorithms comprises the following steps:
s1, establishing a mathematical model of the fishing unmanned aerial vehicle;
s2, designing a motor thrust control strategy and a control distribution method of the fishing unmanned aerial vehicle;
s3, designing a cascade closed-loop PID flight control method of the fishing unmanned aerial vehicle;
s4, planning fish exploring routes of three different fishing unmanned aerial vehicles and intelligently throwing hooks and baits, wherein the fish exploring modes comprise a multi-point fish exploring mode, a rapid fish exploring mode and an area fish exploring mode.
The step S1 is that under the body coordinate system and the inertial coordinate system of the fishing unmanned aerial vehicle, the kinematics and the kinetic equation of the position and the attitude of the unmanned aerial vehicle are established, and the method specifically comprises the following steps: (1) a position kinematics equation of the fishing unmanned aerial vehicle;
the coordinates of the gravity center of the fishing unmanned aerial vehicle under an inertial system are xio,yio,zio]And the coordinate of the gravity center initial moment of the unmanned aerial vehicle under the inertial system is [ x ]io,yio,zio]The velocity components in the inertial system and the body system are [ u ] respectivelyi,vi,wi]And [ u, v, w]The roll angle, pitch angle and yaw angle of the unmanned aerial vehicle in the flying process are respectively
Figure RE-GDA0002398595400000071
The kinematic equation of the position of the unmanned plane is:
Figure RE-GDA0002398595400000072
Figure RE-GDA0002398595400000073
wherein R isbiFor coordinate transformation matrix from inertial system to body system of unmanned fishing vehicle, t0T represents the initial moment and the current moment of the fishing unmanned aerial vehicle in the flying process respectively;
(2) an attitude kinematics equation of the fishing unmanned aerial vehicle;
the attitude kinematics equation of the fishing unmanned aerial vehicle under the inertial system and the body system is as follows:
Figure RE-GDA0002398595400000074
wherein the content of the first and second substances,
Figure RE-GDA0002398595400000075
for the attitude of the unmanned aerial vehicle relative to the inertial systemRate of change of state angle, [ omega ]xb,ωyb,ωzb]The angular velocity component of the unmanned aerial vehicle system relative to the inertial system is under the system;
(3) a position kinetic equation of the fishing unmanned aerial vehicle;
the position kinetic equation of the fishing unmanned aerial vehicle comprises height and level control kinetic equations, and the specific kinetic equation is in the form as follows:
Figure RE-GDA0002398595400000081
wherein, FbIs the total lift force of four motors under the machine system along the direction obzbThe negative direction of (a); f1b,F2b,F3b,F4bLift under the machine system, along o, generated for each of the four motorsbzbThe negative direction of (a); p, q and r are the edge o of the airplane under the airplane systembxb,obyb,obzbThe angular velocities of the directions are respectively a rolling angular velocity, a pitch angular velocity and a yaw angular velocity; omega1,Ω2,Ω3,Ω4The number of revolutions of a No. 1,2,3,4 motor is given in rpm (revolutions per minute); g is the acceleration of gravity with the unit of m/s 2; rbiIs a transformation matrix from an inertia system to a body system; m is the mass of the fishing unmanned aerial vehicle;
Figure RE-GDA0002398595400000082
the speed variation of each shaft of the fishing unmanned aerial vehicle under the airplane system is obtained;
(4) an attitude dynamics equation of the fishing unmanned aerial vehicle;
the attitude dynamics equations of the fishing unmanned aerial vehicle in the three directions of rolling, pitching and yawing are as follows:
Figure RE-GDA0002398595400000083
wherein [ Mx,My,Mz]Roll, pitch and yaw moments borne by the fishing unmanned aerial vehicle; [ F ]1,F2,F3,F4]Respectively 1,2,3,4 motor and propeller generationUpward lift of (a); [ I ] ofxx,Iyy,Izz]Respectively is the rotational inertia of the fishing unmanned aerial vehicle in each direction; i isxzFor fishing unmanned aerial vehicle system down obxbzbA planar product of inertia; [ x ] of1,y1]Is the horizontal coordinate of the No. 1 motor in the machine system; [ -x ]2,-y2]Is the horizontal coordinate of the No. 2 motor in the machine system;
the specific control distribution strategy and control method for the four motor lift forces of the fishing unmanned aerial vehicle in the step S2 are as follows:
(1) lift equations generated by four motors and propellers of the fishing unmanned aerial vehicle:
Figure RE-GDA0002398595400000084
wherein, KTThe lift coefficient is the comprehensive lift coefficient of the motor and the propeller; f is the total lift force generated by the four motors;
(2) moment equation that four motors and screw of fishing unmanned aerial vehicle produced:
Figure RE-GDA0002398595400000091
wherein, JrThe moment of inertia of each propeller itself; kMThe coefficient of reaction torque of the motor and the propeller is used as the coefficient of reaction torque;
(3) control distribution equation of four motors and propellers of fishing unmanned aerial vehicle:
Figure RE-GDA0002398595400000092
wherein, U1(N) is the height control quantity output by the height control loop; u shape2(N m) is the roll control quantity output by the roll control loop; u shape3(N · m) is a pitch control amount output by the pitch control circuit; u shape4(N m) is the yaw control quantity output by the course control loop;
according to the established fishing unmanned aerial vehicle mathematical model and the motor control distribution strategy, a cascade closed-loop PID flight control algorithm of the fishing unmanned aerial vehicle is designed, and the specific method is as follows:
(1) a height control loop of the fishing unmanned aerial vehicle;
the height control loop of the fishing unmanned aerial vehicle comprises an inner loop vertical speed control and an outer loop height loop control, a specific control block diagram is shown in the attached figure 2, and a calculation formula is as follows:
Figure RE-GDA0002398595400000093
wherein, U1A height control quantity output for the height control loop; hcH (m): desired altitude and actual altitude under inertial system; kph,Kih,KdhProportional, integral and differential coefficients of the height control loop, respectively; w is ac(m/s) is the vertical desired speed under the machine system; w (m/s) is the actual vertical speed of the airplane under the airplane body system; kpwIs the proportionality coefficient of the vertical speed control loop;
Figure RE-GDA0002398595400000094
(m/s2) is the desired vertical acceleration in the inertial system;
(2) an attitude control loop of the fishing unmanned aerial vehicle;
the attitude control loop of the fishing unmanned aerial vehicle comprises an inner ring attitude angular velocity control loop and an outer ring attitude angular velocity control loop of three channels (rolling, pitching and yawing), and a specific equation is as follows:
Figure RE-GDA0002398595400000101
wherein, U2,U3,U4The roll control quantity, the pitch control quantity and the yaw control quantity of the intelligent fishing unmanned aerial vehicle are respectively set; kpp,Kpq,KprThe proportionality coefficients of the inner ring angular velocity control loops of the rolling channel, the pitching channel and the yawing channel are respectively;
Figure RE-GDA0002398595400000102
the proportional coefficients of the outer ring attitude angle control loops of the rolling channel, the pitching channel and the yawing channel are respectively;
Figure RE-GDA0002398595400000103
integral coefficients of outer ring attitude angle control loops of the rolling channel, the pitching channel and the yawing channel respectively;
Figure RE-GDA0002398595400000104
differential coefficients of outer ring attitude angle control loops of the rolling channel, the pitching channel and the yawing channel are respectively;
Figure RE-GDA0002398595400000105
respectively a target rolling angle, a target pitch angle and a target yaw angle;
Figure RE-GDA0002398595400000106
respectively an actual rolling angle, an actual pitch angle and an actual yaw angle;
(3) a position control loop of the fishing unmanned aerial vehicle;
the position control loop of the fishing unmanned aerial vehicle comprises a horizontal north position control loop and an east position control loop equation, the horizontal position control loop comprises an inner ring horizontal speed control loop and an outer ring horizontal position control loop, and the fishing unmanned aerial vehicle is in the system obzbHorizontal o of the lift generated on the shaft in the inertial systemixiAnd oiyiThe lift generated on the shaft is:
Figure RE-GDA0002398595400000107
wherein, [ x ]i,yi]For the horizontal north and east displacement quantity output by the fishing unmanned aerial vehicle under the inertial system in the actual flight, the rolling angle can be approximately considered as the rolling angle because the rolling and pitching attitude change of the fishing unmanned aerial vehicle in the horizontal direction is very small
Figure RE-GDA0002398595400000108
And pitch angle θ are small quantities, the above equation can be simplified as:
Figure RE-GDA0002398595400000109
the horizontal speeds u and v of the fishing unmanned aerial vehicle under the machine system are converted into the following horizontal speeds under the inertia system:
Figure RE-GDA00023985954000001010
wherein [ u ]i,vi]Horizontal north and east velocity components of the fishing unmanned aerial vehicle under an inertial system;
the horizontal north and east position control loop equations of the fishing unmanned aerial vehicle are as follows:
Figure RE-GDA0002398595400000111
wherein the content of the first and second substances,
Figure RE-GDA0002398595400000112
the variation of horizontal north and east speed components of the fishing unmanned aerial vehicle under an inertial system is respectively; [ K ]px,Kpy]The scale coefficients of the horizontal north and east position control loops, respectively; [ K ]ix,Kiy]The integral coefficients of the horizontal north and east position control loops are respectively; [ K ]dx,Kdy]Differential coefficients for the horizontal north and east position control loops, respectively; [ K ]pu,Kpv]The proportionality coefficients of the horizontal north and east inner loop speed control loops, respectively;
and S4, planning three fish detecting mode routes of the fishing unmanned aerial vehicle according to the designed cascade closed-loop PID flight control algorithm of the fishing unmanned aerial vehicle, specifically as follows:
(1) planning the height and horizontal position track of the multi-point fish-finding mode;
in the multi-point fish finding mode, the height of the fishing unmanned aerial vehicle rises firstly, after the unmanned aerial vehicle flies for a period of time, the unmanned aerial vehicle lands to a certain height, flies for a period of time again, then rises to the previous height, reaches a certain point after flying for a period of time, lands again, and reciprocates cyclically, the horizontal northbound displacement track of the fishing unmanned aerial vehicle is a straight line, the northbound position of the unmanned aerial vehicle keeps constant in the rising or falling process of the unmanned aerial vehicle, the initial moment of the horizontal northbound displacement track of the fishing unmanned aerial vehicle slightly changes, and the horizontal northbound displacement track does not change any more after the unmanned aerial vehicle moves to a corresponding position point;
(2) planning the height and horizontal position track of the fast fish finding mode;
in the fast fish finding mode, the expected height of the fishing unmanned aerial vehicle firstly rises linearly, after flying to a target point, the fishing unmanned aerial vehicle starts to land, then a fish finding task is carried out until the fish finding task is finished, the height rises, then the fishing unmanned aerial vehicle returns to the initial point, after flying to a set target height, the fishing unmanned aerial vehicle carries out circular motion in the horizontal direction, the fast fish finding task is executed, and the horizontal north and east positions are changed continuously;
planning the height and horizontal position track of the regional fish finding mode;
under the regional mode of exploring the fish, fishing unmanned aerial vehicle's expectation altitude variation condition is unanimous completely with quick fish exploring, and fishing unmanned aerial vehicle flies earlier to set target altitude after, constantly gos forward in the horizontal direction to scanning round trip carries out regional fish exploring task, and the level northbound position constantly increases, and the level easyly makes a round trip to the position change.
The working principle of the invention is as follows:
example (b):
the expected height, horizontal north direction and east direction displacement units in the modes of multi-point fish detection, quick fish detection and regional fish detection are m, and the time quantum units are s;
the expected height, horizontal north direction and east direction displacement change conditions of the intelligent fishing unmanned aerial vehicle in the multi-point fish finding mode are as follows:
Figure RE-GDA0002398595400000113
Figure RE-GDA0002398595400000121
Figure RE-GDA0002398595400000122
the expected height, horizontal north direction and east direction displacement change conditions of the intelligent fishing unmanned aerial vehicle in the fast fish finding mode are as follows:
Figure RE-GDA0002398595400000123
Figure RE-GDA0002398595400000124
Figure RE-GDA0002398595400000125
the expected height, horizontal north direction and east direction displacement change conditions of the intelligent fishing unmanned aerial vehicle in the region fish finding mode are as follows:
Figure RE-GDA0002398595400000126
Figure RE-GDA0002398595400000127
Figure RE-GDA0002398595400000131
the intelligent fishing unmanned aerial vehicle realizes multi-point fish detection, fast fish detection and regional fish detection tasks through a height, position and attitude control loop, and a comparison sketch of an expected fish detection track and an actual fish detection track in the horizontal direction is shown in attached figures 9-14;
according to the attached drawing, the intelligent fishing unmanned aerial vehicle can realize fish finding tasks under three different modes, namely multi-point fish finding, quick fish finding and regional fish finding through a cascade PID control algorithm, the expected fish finding track is basically consistent with the actual fish finding track, and the fish finding requirement is met.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature, and in the description of the invention, "plurality" means two or more unless explicitly defined otherwise.
In the present invention, unless otherwise specifically stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.
In the description herein, reference to the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.

Claims (5)

1. An intelligent unmanned fishing vehicle method based on three fish finding modes flight control algorithms is characterized in that: the method comprises the following steps:
s1, establishing a mathematical model of the fishing unmanned aerial vehicle;
s2, designing a motor thrust control strategy and a control distribution method of the fishing unmanned aerial vehicle;
s3, designing a cascade closed-loop PID flight control method of the fishing unmanned aerial vehicle;
s4, planning fish exploring routes of three different fishing unmanned aerial vehicles and intelligently throwing hooks and baits, wherein the fish exploring modes comprise a multi-point fish exploring mode, a rapid fish exploring mode and an area fish exploring mode.
2. The intelligent unmanned fishing vehicle method based on three fish finding mode flight control algorithms according to claim 1, characterized in that: the step S1 is that under the body coordinate system and the inertial coordinate system of the fishing unmanned aerial vehicle, the kinematics and the kinetic equation of the position and the attitude of the unmanned aerial vehicle are established, and the method specifically comprises the following steps: (1) a position kinematics equation of the fishing unmanned aerial vehicle;
the coordinates of the gravity center of the fishing unmanned aerial vehicle under an inertial system are xio,yio,zio]And the coordinate of the gravity center initial moment of the unmanned aerial vehicle under the inertial system is [ x ]io,yio,zio]The velocity components in the inertial system and the body system are [ u ] respectivelyi,vi,wi]And [ u, v, w]The roll angle, pitch angle and yaw angle of the unmanned aerial vehicle in the flying process are respectively
Figure RE-FDA0002398595390000011
The kinematic equation of the position of the unmanned plane is:
Figure RE-FDA0002398595390000012
Figure RE-FDA0002398595390000013
wherein R isbiFor coordinate transformation matrix from inertial system to body system of unmanned fishing vehicle, t0T represents the initial moment and the current moment of the fishing unmanned aerial vehicle in the flying process respectively;
(2) an attitude kinematics equation of the fishing unmanned aerial vehicle;
the attitude kinematics equation of the fishing unmanned aerial vehicle under the inertial system and the body system is as follows:
Figure RE-FDA0002398595390000014
wherein the content of the first and second substances,
Figure RE-FDA0002398595390000015
is the attitude angle change rate of the unmanned aerial vehicle relative to the inertial system, [ omega ]xb,ωyb,ωzb]The angular velocity component of the unmanned aerial vehicle system relative to the inertial system is under the system;
(3) a position kinetic equation of the fishing unmanned aerial vehicle;
the position kinetic equation of the fishing unmanned aerial vehicle comprises height and level control kinetic equations, and the specific kinetic equation is in the form as follows:
Figure RE-FDA0002398595390000021
wherein, FbIs the total lift force of four motors under the machine system along the direction obzbThe negative direction of (a); f1b,F2b,F3b,F4bLift under the machine system, along o, generated for each of the four motorsbzbThe negative direction of (a); p, q and r are the edge o of the airplane under the airplane systembxb,obyb,obzbThe angular velocities of the directions are respectively a rolling angular velocity, a pitch angular velocity and a yaw angular velocity; omega1,Ω2,Ω3,Ω4Is 1,2,3Number 4 motor speed in rpm (revolutions per minute); g is the acceleration of gravity with the unit of m/s 2; rbiIs a transformation matrix from an inertia system to a body system; m is the mass of the fishing unmanned aerial vehicle;
Figure RE-FDA0002398595390000022
the speed variation of each shaft of the fishing unmanned aerial vehicle under the airplane system is obtained;
(4) an attitude dynamics equation of the fishing unmanned aerial vehicle;
the attitude dynamics equations of the fishing unmanned aerial vehicle in the three directions of rolling, pitching and yawing are as follows:
Figure RE-FDA0002398595390000023
wherein [ Mx,My,Mz]Roll, pitch and yaw moments borne by the fishing unmanned aerial vehicle; [ F ]1,F2,F3,F4]The motors 1,2,3 and 4 respectively generate upward lifting force; [ I ] ofxx,Iyy,Izz]Respectively is the rotational inertia of the fishing unmanned aerial vehicle in each direction; i isxzFor fishing unmanned aerial vehicle system down obxbzbA planar product of inertia; [ x ] of1,y1]Is the horizontal coordinate of the No. 1 motor in the machine system; [ -x ]2,-y2]Is the horizontal coordinate of the No. 2 motor in the machine system.
3. The intelligent unmanned fishing vehicle method based on three fish finding mode flight control algorithms according to claim 1, characterized in that: the specific control distribution strategy and control method for the four motor lift forces of the fishing unmanned aerial vehicle in the step S2 are as follows:
(1) lift equations generated by four motors and propellers of the fishing unmanned aerial vehicle:
Figure RE-FDA0002398595390000024
wherein, KTThe lift coefficient is the comprehensive lift coefficient of the motor and the propeller; f is fourThe total lift force generated by the motor;
(2) moment equation that four motors and screw of fishing unmanned aerial vehicle produced:
Figure RE-FDA0002398595390000031
wherein, JrThe moment of inertia of each propeller itself; kMThe coefficient of reaction torque of the motor and the propeller is used as the coefficient of reaction torque;
(3) control distribution equation of four motors and propellers of fishing unmanned aerial vehicle:
Figure RE-FDA0002398595390000032
wherein, U1(N) is the height control quantity output by the height control loop; u shape2(N m) is the roll control quantity output by the roll control loop; u shape3(N · m) is a pitch control amount output by the pitch control circuit; u shape4And (N m) is the yaw control quantity output by the course control loop.
4. The intelligent unmanned fishing vehicle method based on three fish finding mode flight control algorithms according to claim 1, characterized in that: according to the established fishing unmanned aerial vehicle mathematical model and the motor control distribution strategy, a cascade closed-loop PID flight control algorithm of the fishing unmanned aerial vehicle is designed, and the specific method is as follows:
(1) a height control loop of the fishing unmanned aerial vehicle;
the height control loop of the fishing unmanned aerial vehicle comprises an inner loop vertical speed control and an outer loop height loop control, a specific control block diagram is shown in the attached figure 2, and a calculation formula is as follows:
Figure RE-FDA0002398595390000033
wherein, U1A height control quantity output for the height control loop; hcH (m): desired altitude and actual altitude under inertial system; kph,Kih,KdhRespectively the ratio of the height control loopIntegral and differential coefficients; w is ac(m/s) is the vertical desired speed under the machine system; w (m/s) is the actual vertical speed of the airplane under the airplane body system; kpwIs the proportionality coefficient of the vertical speed control loop;
Figure RE-FDA0002398595390000034
(m/s2) is the desired vertical acceleration in the inertial system;
(2) an attitude control loop of the fishing unmanned aerial vehicle;
the attitude control loop of the fishing unmanned aerial vehicle comprises an inner ring attitude angular velocity control loop and an outer ring attitude angular velocity control loop of three channels (rolling, pitching and yawing), and a specific equation is as follows:
Figure RE-FDA0002398595390000041
wherein, U2,U3,U4The roll control quantity, the pitch control quantity and the yaw control quantity of the intelligent fishing unmanned aerial vehicle are respectively set; kpp,Kpq,KprThe proportionality coefficients of the inner ring angular velocity control loops of the rolling channel, the pitching channel and the yawing channel are respectively;
Figure RE-FDA0002398595390000042
the proportional coefficients of the outer ring attitude angle control loops of the rolling channel, the pitching channel and the yawing channel are respectively;
Figure RE-FDA0002398595390000043
integral coefficients of outer ring attitude angle control loops of the rolling channel, the pitching channel and the yawing channel respectively;
Figure RE-FDA0002398595390000044
differential coefficients of outer ring attitude angle control loops of the rolling channel, the pitching channel and the yawing channel are respectively;
Figure RE-FDA0002398595390000045
respectively a target rolling angle, a target pitch angle and a target yaw angle;
Figure RE-FDA0002398595390000046
respectively an actual rolling angle, an actual pitch angle and an actual yaw angle;
(3) a position control loop of the fishing unmanned aerial vehicle;
the position control loop of the fishing unmanned aerial vehicle comprises a horizontal north position control loop and an east position control loop equation, the horizontal position control loop comprises an inner ring horizontal speed control loop and an outer ring horizontal position control loop, and the lift force generated by the fishing unmanned aerial vehicle on an obzb shaft of a machine system is horizontal o under an inertial systemixiAnd oiyiThe lift generated on the shaft is:
Figure RE-FDA0002398595390000047
wherein, [ x ]i,yi]For the horizontal north and east displacement quantity output by the fishing unmanned aerial vehicle under the inertial system in the actual flight, the rolling angle can be approximately considered as the rolling angle because the rolling and pitching attitude change of the fishing unmanned aerial vehicle in the horizontal direction is very small
Figure RE-FDA0002398595390000048
And pitch angle θ are small quantities, the above equation can be simplified as:
Figure RE-FDA0002398595390000049
the horizontal speeds u and v of the fishing unmanned aerial vehicle under the machine system are converted into the following horizontal speeds under the inertia system:
Figure RE-FDA00023985953900000410
wherein [ u ]i,vi]Horizontal north and east velocity components of the fishing unmanned aerial vehicle under an inertial system;
the horizontal north and east position control loop equations of the fishing unmanned aerial vehicle are as follows:
Figure RE-FDA0002398595390000051
wherein the content of the first and second substances,
Figure RE-FDA0002398595390000052
the variation of horizontal north and east speed components of the fishing unmanned aerial vehicle under an inertial system is respectively; [ K ]px,Kpy]The scale coefficients of the horizontal north and east position control loops, respectively; [ K ]ix,Kiy]The integral coefficients of the horizontal north and east position control loops are respectively; [ K ]dx,Kdy]Differential coefficients for the horizontal north and east position control loops, respectively; [ K ]pu,Kpv]The scaling coefficients for the horizontal north and east inner loop speed control loops, respectively.
5. The intelligent unmanned fishing vehicle method based on three fish finding mode flight control algorithms according to claim 1, characterized in that: and S4, planning three fish detecting mode routes of the fishing unmanned aerial vehicle according to the designed cascade closed-loop PID flight control algorithm of the fishing unmanned aerial vehicle, specifically as follows:
(1) planning the height and horizontal position track of the multi-point fish-finding mode;
in the multi-point fish finding mode, the height of the fishing unmanned aerial vehicle rises firstly, after the unmanned aerial vehicle flies for a period of time, the unmanned aerial vehicle lands to a certain height, flies for a period of time again, then rises to the previous height, reaches a certain point after flying for a period of time, lands again, and reciprocates cyclically, the horizontal northbound displacement track of the fishing unmanned aerial vehicle is a straight line, the northbound position of the unmanned aerial vehicle keeps constant in the rising or falling process of the unmanned aerial vehicle, the initial moment of the horizontal northbound displacement track of the fishing unmanned aerial vehicle slightly changes, and the horizontal northbound displacement track does not change any more after the unmanned aerial vehicle moves to a corresponding position point;
(2) planning the height and horizontal position track of the fast fish finding mode;
in the fast fish finding mode, the expected height of the fishing unmanned aerial vehicle firstly rises linearly, after flying to a target point, the fishing unmanned aerial vehicle starts to land, then a fish finding task is carried out until the fish finding task is finished, the height rises, then the fishing unmanned aerial vehicle returns to the initial point, after flying to a set target height, the fishing unmanned aerial vehicle carries out circular motion in the horizontal direction, the fast fish finding task is executed, and the horizontal north and east positions are changed continuously;
(3) planning the height and horizontal position track of the regional fish finding mode;
under the regional mode of exploring the fish, fishing unmanned aerial vehicle's expectation altitude variation condition is unanimous completely with quick fish exploring, and fishing unmanned aerial vehicle flies earlier to set target altitude after, constantly gos forward in the horizontal direction to scanning round trip carries out regional fish exploring task, and the level northbound position constantly increases, and the level easyly makes a round trip to the position change.
CN201911154298.0A 2019-11-22 2019-11-22 Intelligent fishing unmanned aerial vehicle method based on three fish finding mode flight control algorithms Pending CN111007878A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911154298.0A CN111007878A (en) 2019-11-22 2019-11-22 Intelligent fishing unmanned aerial vehicle method based on three fish finding mode flight control algorithms

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911154298.0A CN111007878A (en) 2019-11-22 2019-11-22 Intelligent fishing unmanned aerial vehicle method based on three fish finding mode flight control algorithms

Publications (1)

Publication Number Publication Date
CN111007878A true CN111007878A (en) 2020-04-14

Family

ID=70113082

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201911154298.0A Pending CN111007878A (en) 2019-11-22 2019-11-22 Intelligent fishing unmanned aerial vehicle method based on three fish finding mode flight control algorithms

Country Status (1)

Country Link
CN (1) CN111007878A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112904876A (en) * 2021-01-14 2021-06-04 北京航空航天大学 High-mobility micro unmanned aerial vehicle control distribution method considering motor saturation

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2520343A2 (en) * 2011-05-03 2012-11-07 Delta Drone Device and method for seeking targets
CN205942437U (en) * 2016-07-25 2017-02-08 南充驭云创新科技有限公司 A unmanned aerial vehicle for fish finding and flight remote control system thereof
CN106444845A (en) * 2016-10-14 2017-02-22 中国人民解放军国防科学技术大学 Multi-UAV cooperative search method under null-information condition
JP2017104025A (en) * 2015-12-07 2017-06-15 株式会社東和電機製作所 Fishing support system using unmanned aircraft
CN106933104A (en) * 2017-04-21 2017-07-07 苏州工业职业技术学院 A kind of quadrotor attitude based on DIC PID and the mixing control method of position
CN107333723A (en) * 2017-06-21 2017-11-10 宁波派丽肯无人机有限公司 Fish method
JP2018146328A (en) * 2017-03-03 2018-09-20 日本海洋資源開発株式会社 Fishery Information Collection System

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2520343A2 (en) * 2011-05-03 2012-11-07 Delta Drone Device and method for seeking targets
JP2017104025A (en) * 2015-12-07 2017-06-15 株式会社東和電機製作所 Fishing support system using unmanned aircraft
CN205942437U (en) * 2016-07-25 2017-02-08 南充驭云创新科技有限公司 A unmanned aerial vehicle for fish finding and flight remote control system thereof
CN106444845A (en) * 2016-10-14 2017-02-22 中国人民解放军国防科学技术大学 Multi-UAV cooperative search method under null-information condition
JP2018146328A (en) * 2017-03-03 2018-09-20 日本海洋資源開発株式会社 Fishery Information Collection System
CN106933104A (en) * 2017-04-21 2017-07-07 苏州工业职业技术学院 A kind of quadrotor attitude based on DIC PID and the mixing control method of position
CN107333723A (en) * 2017-06-21 2017-11-10 宁波派丽肯无人机有限公司 Fish method
US10268193B2 (en) * 2017-06-21 2019-04-23 Ningbo Pelican Drone Co., Ltd. Method of fishing with unmanned aerial vehicle

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
余杭 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112904876A (en) * 2021-01-14 2021-06-04 北京航空航天大学 High-mobility micro unmanned aerial vehicle control distribution method considering motor saturation
CN112904876B (en) * 2021-01-14 2022-06-21 北京航空航天大学 High-mobility micro unmanned aerial vehicle control distribution method considering motor saturation

Similar Documents

Publication Publication Date Title
Bodie et al. An omnidirectional aerial manipulation platform for contact-based inspection
Rodić et al. The modeling and simulation of an autonomous quad-rotor microcopter in a virtual outdoor scenario
NL2017971B1 (en) Unmanned aerial vehicle
CN109592036B (en) Unmanned aerial vehicle for biologically preventing and treating trichogramma
US10112700B1 (en) Multi-mode mobility micro air vehicle
CN108287542A (en) Unmanned plane and unmanned boat cooperation control system and method based on collaboration cloud control
CN106114853A (en) A kind of push-button aircraft
Pan et al. Development of vision stabilizing system for a large-scale flapping-wing robotic bird
CN108706099A (en) One kind is verted three axis composite wing unmanned planes and its control method
Garcia et al. Attitude stabilization with real-time experiments of a tail-sitter aircraft in horizontal flight
KR20120129002A (en) Underwater robot and Method for controlling the same
CN111007878A (en) Intelligent fishing unmanned aerial vehicle method based on three fish finding mode flight control algorithms
CN113093737B (en) Water-air amphibious omnibearing autonomous search and rescue warship team
Cetinsoy Design and control of a gas-electric hybrid quad tilt-rotor UAV with morphing wing
Ali et al. Modeling and controlling the dynamic behavior of an aerial manipulator
Liu et al. Control of autonomous airship
Qian et al. Dynamic obstacle avoidance path planning of UAVs
Haider et al. Modeling, design and implementation of hybrid fixed-wing tri-copter
WO2023282294A1 (en) Flight equipment and operation method
Detweiler et al. Saving energy with buoyancy and balance control for underwater robots with dynamic payloads
CN104192295A (en) Autonomous flight unmanned aerial vehicle without active force and flight mode
Fan Flight Control System Simulation for Quadcopter Unmanned Aerial Vehicle (UAV) based on Matlab Simulink
Khan et al. Optimal tracking control of flight trajectory for unmanned aerial vehicles
CN113946158A (en) Earthquake wave excitation system and method based on unmanned aerial vehicle set throwing in earthquake source body
CN109515700B (en) Four-rotor aircraft vector control method and four-rotor aircraft

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication

Application publication date: 20200414