CN111319759B - A method for independently controllable multi-rotor unmanned flight control with six degrees of freedom in space - Google Patents

A method for independently controllable multi-rotor unmanned flight control with six degrees of freedom in space Download PDF

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CN111319759B
CN111319759B CN202010116803.9A CN202010116803A CN111319759B CN 111319759 B CN111319759 B CN 111319759B CN 202010116803 A CN202010116803 A CN 202010116803A CN 111319759 B CN111319759 B CN 111319759B
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CN111319759A (en
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束攀峰
李峰
赵俊杰
李博
朱二琳
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Jiangsu University of Technology
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C27/00Rotorcraft; Rotors peculiar thereto
    • B64C27/04Helicopters
    • B64C27/08Helicopters with two or more rotors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C27/00Rotorcraft; Rotors peculiar thereto
    • B64C27/04Helicopters
    • B64C27/12Rotor drives
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02Aircraft characterised by the type or position of power plants
    • B64D27/24Aircraft characterised by the type or position of power plants using steam or spring force
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64UUNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00Type of UAV
    • B64U10/10Rotorcrafts
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64UUNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00Propulsion; Power supply
    • B64U50/10Propulsion
    • B64U50/19Propulsion using electrically powered motors
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10Simultaneous control of position or course in three dimensions
    • G05D1/101Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64UUNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00UAVs characterised by their flight controls

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

Abstract

The invention discloses a space six-degree-of-freedom independently controllable multi-rotor unmanned aerial vehicle control method, which comprises a machine body, a horn, a motor and a landing gear; the horn is equally spaced on the fuselage in a horizontal plane; the tail end of each horn is fixed with a driving motor, and the rotor wing is positioned at the other end of the driving motor; the rotation axis of the driving motor is at an angle theta k Is fixed in an inclined way relative to the plane of the machine body; the six-degree-of-freedom kinetic equation of the multi-rotor unmanned aerial vehicle is generated through the unmanned aerial vehicle linear motion kinetic equation and the angular motion kinetic equation, the six-degree-of-freedom input signals of the space of the unmanned aerial vehicle are converted into rotating speed instructions of a corresponding number of motors, and the rotating speed motions of the rotors are combined, so that the aircraft tracks the six-degree-of-freedom input signals of the space. The invention adopts the layout of multi-rotor arrangement, and the motor and the machine body form a certain inclination angle to form an inward inclination and an outward inclination arrangement, so that the linear movement and the angular movement of the multi-rotor unmanned aerial vehicle are independently controllable, and the control performance of the multi-rotor unmanned aerial vehicle is improved.

Description

一种空间六自由度独立可控多旋翼无人飞行控制方法A method for independently controllable multi-rotor unmanned flight control with six degrees of freedom in space

技术领域Technical field

本发明设计无人机技术领域,特别涉及一种空间六自由度独立可控多旋翼无人飞行器控制技术,具体属于无人机飞行力学与控制技术领域。The invention is designed in the technical field of unmanned aerial vehicles, and in particular relates to a control technology for an independently controllable multi-rotor unmanned aerial vehicle with six degrees of freedom in space, specifically belonging to the technical field of unmanned aerial vehicle flight mechanics and control.

背景技术Background technique

多旋翼无人飞行器利用多个旋翼,可以实现向任意方向飞行和空中悬停,具有比较高的机动性,能够完成多种任务。如利用多旋翼无人机搭载相机,测距仪,或者各种特殊装置,完成航拍、定位、地形扫描、货物搬运等任务。如今,无人飞行器已经在农业、气象、灾害预警、物流运输和救援等多领域得到广泛应用。Multi-rotor unmanned aerial vehicles use multiple rotors to fly in any direction and hover in the air. They have relatively high maneuverability and can complete a variety of tasks. For example, multi-rotor drones are equipped with cameras, rangefinders, or various special devices to complete tasks such as aerial photography, positioning, terrain scanning, and cargo handling. Today, unmanned aerial vehicles have been widely used in many fields such as agriculture, meteorology, disaster warning, logistics, transportation and rescue.

目前,大多数多旋翼无人机采用旋翼转动产生的推力和推力组合来提供升力和扭矩,由于大多数旋翼无人机的旋翼转动产生的推力是同向的,所以旋翼产生的推力合力相对于机身是单一固定方向的,因此为了实现向前、向后、向左和向右的线运动必须要求改变所述推力合力的方向,即要求机身姿态的改变。在进行线运动机身需要不断倾斜时,飞行的稳定性受到影响,机身上搭载的仪器设备也会受到晃动的影响,尤其是直接固定在机身上仪器设备将难以达到最佳效果。为了消除机身晃动的影响,一般将仪器设备搭载在增稳云台上,再将增稳云台固定于机身上,因此增加了结构的复杂性,而且对控制系统的要求比较高,增加了飞行器的复杂程度。另外,由于不能直接进行机身线运动所需力的控制,因此降低了此类多旋翼无人机线运动的准确性和及时性,影响了多旋翼无人机在狭小空间内的使用。Currently, most multi-rotor UAVs use a combination of thrust and thrust generated by rotor rotation to provide lift and torque. Since the thrust generated by the rotor rotation of most rotor UAVs is in the same direction, the resultant thrust generated by the rotors is relative to The fuselage has a single fixed direction, so in order to achieve linear motion forward, backward, left and right, it is necessary to change the direction of the thrust resultant force, that is, to change the attitude of the fuselage. When the fuselage needs to be continuously tilted during linear motion, the stability of the flight will be affected, and the instruments and equipment carried on the fuselage will also be affected by shaking. In particular, it will be difficult for the instruments and equipment directly fixed to the fuselage to achieve optimal results. In order to eliminate the influence of fuselage shaking, instruments and equipment are generally mounted on a stabilizing gimbal, and then the stabilizing gimbal is fixed on the fuselage. This increases the complexity of the structure, and the requirements for the control system are relatively high. the complexity of the aircraft. In addition, since the force required for linear motion of the fuselage cannot be directly controlled, the accuracy and timeliness of linear motion of such multi-rotor UAVs are reduced, affecting the use of multi-rotor UAVs in small spaces.

发明内容Contents of the invention

本发明为了实现狭小空间多维度独立控制的问题,而提供了一种空间六自由度独立可控的多旋翼无人飞行器及其控制方法。In order to realize the problem of multi-dimensional independent control in a small space, the present invention provides a multi-rotor unmanned aerial vehicle with six degrees of freedom in space that is independently controllable and a control method thereof.

本发明公开了一种空间六自由度独立可控多旋翼无人飞行控制方法,包括机身、机臂、电机、起落架;The invention discloses a six-degree-of-freedom independent controllable multi-rotor unmanned flight control method in space, including a fuselage, an arm, a motor, and a landing gear;

所述机臂在一个水平面等间隔分布在所述机身上;每个机臂的末端固定有驱动电机,旋翼位于驱动电机的另一端;The arms are distributed on the fuselage at equal intervals on a horizontal plane; a drive motor is fixed at the end of each arm, and the rotor is located at the other end of the drive motor;

驱动电机的转轴按角度θk相对于机身平面呈倾斜固定;通过将无人机线运动动力学方程和角运动动力学方程生成多旋翼无人飞行器六自由度动力学方程,将飞行器空间六自由度输入信号变换为多个所述电机的转速指令,并通过旋翼的转速运动进行组合,使飞行器跟踪空间六自由度输入信号。The rotation axis of the drive motor is tilted and fixed relative to the plane of the fuselage at an angle θ k ; by combining the linear motion dynamics equation and the angular motion dynamics equation of the UAV to generate the six-degree-of-freedom dynamics equation of the multi-rotor UAV, the six-degree-of-freedom dynamics equation of the aircraft space is The degree-of-freedom input signal is converted into multiple rotational speed commands of the motors and combined through the rotational speed motion of the rotor, allowing the aircraft to track the six-degree-of-freedom input signal in space.

更进一步,按照如下步骤进行:To go one step further, follow these steps:

步骤1、建立单个旋翼转动运动所产生的推力模型:Step 1. Establish the thrust model generated by the rotational motion of a single rotor:

式中,i为旋翼的编号,θk为电机相对机身的倾斜角度,fii)为编号i的旋翼在转速为ωi时产生的推力,fil为fii)沿机臂方向的分量,fiv为fii)垂直机身平面的分量;In the formula, i is the number of the rotor, θ k is the inclination angle of the motor relative to the fuselage, f ii ) is the thrust generated by the rotor number i when the rotation speed is ω i , f il is f ii ) The component along the arm direction, f iv is the component of f ii ) perpendicular to the plane of the fuselage;

步骤2、建立空间六自由度独立可控多旋翼无人飞行器的线运动动力学方程、角运动动力学方程、全驱动动力学方程Step 2. Establish the linear motion dynamics equation, angular motion dynamics equation, and full drive dynamics equation of the independently controllable multi-rotor unmanned aerial vehicle with six degrees of freedom in space.

步骤2.1所述的线运动动力学方程为:The linear motion dynamics equation described in step 2.1 is:

式中,X=[u,v,w]T,其中u,v,w为飞行器体轴系下的线速度分量,F(fi)为所有旋翼推力fi构成,A为所述空间六自由度独立可控多旋翼无人飞行器的结构特征而定,且A为行满秩矩阵; In the formula , The degree of freedom is determined by the structural characteristics of the independently controllable multi-rotor unmanned aerial vehicle, and A is a row full rank matrix;

步骤2.2所述的角运动动力学方程为:The angular motion dynamics equation described in step 2.2 is:

式中,Y=[p,q,r]T,其中p,q,r为飞行器体轴系下的角速度分量,B为所述空间六自由度独立可控多旋翼无人飞行器的结构特征而定,且B为行满秩矩阵;In the formula, Y = [p, q, r] T , where p, q, r are the angular velocity components under the aircraft body axis system, and B is the structural characteristics of the six-degree-of-freedom independent controllable multi-rotor unmanned aircraft in space. Definite, and B is a row full rank matrix;

步骤2.3所述的全驱动动力学方程为:The full drive dynamics equation described in step 2.3 is:

式中Z=[XT,YT]T,其中Z为飞行器体轴系下的线速度和角速度分量,C=[AT,BT]T,且C为行满秩矩阵;In the formula, Z = [X T , Y T ] T , where Z is the linear velocity and angular velocity components under the aircraft body axis system, C = [A T , B T ] T , and C is a row full rank matrix;

步骤3、所述多旋翼无人飞行器的六自由度速度与旋翼转速的关系方程为:Step 3. The relationship equation between the six-degree-of-freedom speed of the multi-rotor unmanned aerial vehicle and the rotor speed is:

式中,C-为C的广义逆矩阵,且为行满秩矩阵。In the formula, C - is the generalized inverse matrix of C and is a full rank matrix.

更进一步,相邻两对电机的旋向相反。Furthermore, two adjacent pairs of motors rotate in opposite directions.

更进一步,驱动电机倾斜方式分为向内倾斜和向外倾斜。Furthermore, the driving motor tilting methods are divided into inward tilting and outward tilting.

更进一步,旋翼所产生的升力可以分解为垂直于机身平面的升力和平行于机臂的推力。Furthermore, the lift generated by the rotor can be decomposed into lift perpendicular to the plane of the fuselage and thrust parallel to the arm.

更进一步,所有旋翼所产生的升力经过组合可以生成机身前进、后退、左移、右移、向上运动的推力。Furthermore, the lift generated by all the rotors can be combined to generate thrust for the fuselage to move forward, backward, left, right, and upward.

本发明采用以上技术方案与现有技术相比,具有以下技术效果:Compared with the existing technology, the present invention adopts the above technical solution and has the following technical effects:

(1)、采用8旋翼排列的布局,且电机与机身成一定倾斜角成内倾和外倾排列,实现多旋翼无人飞行器线运动和角运动独立可控,提高了多旋翼无人飞行器的操控性能;(1) An 8-rotor layout is adopted, and the motors and the fuselage are arranged at a certain inclination angle and arranged inward and outward, achieving independent controllable linear motion and angular motion of the multi-rotor unmanned aerial vehicle, which improves the performance of the multi-rotor unmanned aerial vehicle. control performance;

(2)、所有电机固定于机臂上,不需要额外的机动改变电机姿态的装置,降低复杂程度;(2) All motors are fixed on the machine arm, and no additional device is required to maneuver the attitude of the motor, reducing complexity;

(3)、搭载设备不需要额外使用云台,本身就是一个稳定平台,具有能够搭载多种设备,完成多种任务的功能。(3). There is no need to use an additional gimbal to carry equipment. It is a stable platform in itself and has the function of being able to carry a variety of equipment and complete a variety of tasks.

附图说明Description of the drawings

图1为空间六自由度独立可控多旋翼无人飞行器正视图;Figure 1 is a front view of an independently controllable multi-rotor unmanned aerial vehicle with six degrees of freedom in space;

图2为空间六自由度独立可控多旋翼无人飞行器俯视图;Figure 2 is a top view of an independently controllable multi-rotor unmanned aerial vehicle with six degrees of freedom in space;

图3为驱动电机与机臂倾斜方式分为向外倾斜;Figure 3 shows the tilting modes of the drive motor and the machine arm, which are divided into outward tilting;

图4为驱动电机与机臂倾斜方式分为向内倾斜;Figure 4 shows the tilting modes of the drive motor and the machine arm, which are divided into inward tilting;

图5为多旋翼无人飞行器从坐标(0,0,0)处飞到(15,15,15)坐标图;Figure 5 is a coordinate diagram of a multi-rotor unmanned aerial vehicle flying from coordinates (0,0,0) to (15,15,15);

图6为多旋翼无人飞行器的位置(x,y,z)和姿态(φ,θ,ψ)信息图。Figure 6 is an information diagram of the position (x, y, z) and attitude (φ, θ, ψ) of the multi-rotor unmanned aerial vehicle.

具体实施方式Detailed ways

下面结合本发明实例中的附图,对本发明实例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明的实施例,本领域技术人员在没有做创造性劳动前提下所获得的所有其他实施例,都属于本发明的保护范围。The technical solutions in the examples of the present invention are clearly and completely described below with reference to the accompanying drawings in the examples of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without any creative work fall within the protection scope of the present invention.

下面将结合附图对本发明实例作进一步地详细描述。Examples of the present invention will be described in further detail below with reference to the accompanying drawings.

实施例1Example 1

如图1-2所示,本发明提供的一种空间六自由度独立可控多旋翼无人飞行器,包括机身4、机臂3、电机2、起落架5,所述机臂3间隔45度分布在所述机身4上,每条机臂3的末端固定有驱动电机2,旋翼1与驱动电机2相连;其特征在于:驱动电机2的转轴按某角度θk相对于机身4平面呈倾斜固定。As shown in Figure 1-2, the invention provides a space six-degree-of-freedom independently controllable multi-rotor unmanned aerial vehicle, including a fuselage 4, an arm 3, a motor 2, and a landing gear 5. The arms 3 are spaced 45 are distributed on the fuselage 4, and a drive motor 2 is fixed at the end of each arm 3, and the rotor 1 is connected to the drive motor 2; it is characterized in that: the rotation axis of the drive motor 2 is at a certain angle θ k relative to the fuselage 4 The plane is tilted and fixed.

如图3-4所示,驱动电机倾斜方式分为向内倾斜和向外倾斜。As shown in Figure 3-4, the driving motor tilting methods are divided into inward tilting and outward tilting.

旋翼所产生的升力可以分解为垂直于机身平面的升力和平行于机臂的推力。The lift generated by the rotor can be decomposed into lift perpendicular to the plane of the fuselage and thrust parallel to the arm.

所有旋翼所产生的升力经过组合可以生成机身前进、后退、左移、右移、向上运动的推力。相邻两对电机的旋向相反。The lift generated by all the rotors can be combined to generate thrust for the fuselage to move forward, backward, left, right, and upward. Two adjacent pairs of motors have opposite directions of rotation.

本发明的控制方法,将无人机线运动动力学方程和角运动动力学方程进行并列组合,生成多旋翼无人飞行器六自由度动力学方程,将飞行器空间六自由度输入信号变换为8个所述电机的转速指令,并通过旋翼的转速运动进行组合,使飞行器能完全跟踪空间六自由度输入信号。The control method of the present invention combines the linear motion dynamics equation and the angular motion dynamics equation of the unmanned aerial vehicle in parallel to generate a six-degree-of-freedom dynamic equation for the multi-rotor unmanned aerial vehicle, and transforms the six-degree-of-freedom input signal of the aircraft space into eight The rotation speed command of the motor is combined with the rotation speed movement of the rotor, allowing the aircraft to completely track the six-degree-of-freedom input signal in space.

所述空间六自由度独立控制算法的具体步骤为:The specific steps of the spatial six-degree-of-freedom independent control algorithm are:

步骤1:建立单个旋翼转动运动所产生的推力模型:Step 1: Establish the thrust model generated by the rotational motion of a single rotor:

式中,i为旋翼的编号,θk为电机相对机身的倾斜角度,fii)为编号i的旋翼在转速为ωi时产生的推力,fil为fii)沿机臂3方向的分量,fiv为fii)垂直机身4平面的分量。In the formula, i is the number of the rotor, θ k is the inclination angle of the motor relative to the fuselage, f ii ) is the thrust generated by the rotor number i when the rotation speed is ω i , f il is f ii ) The component along the arm 3 direction, f iv is the component of f ii ) perpendicular to the fuselage 4 plane.

步骤2、所述空间六自由度独立可控多旋翼无人飞行器的线运动动力学方程为:Step 2. The linear motion dynamics equation of the independently controllable multi-rotor unmanned aerial vehicle with six degrees of freedom in space is:

式中,X=[u,v,w]T,其中u,v,w为飞行器体轴系下的线速度分量,F(fi)为所有旋翼推力fi构成,A为所述空间六自由度独立可控多旋翼无人飞行器的结构特征而定,且A为行满秩矩阵。 In the formula , The degree of freedom is determined by the structural characteristics of the independently controllable multi-rotor unmanned aerial vehicle, and A is a row full rank matrix.

所述空间六自由度独立可控多旋翼无人飞行器的角运动动力学方程为:The angular motion dynamics equation of the independently controllable multi-rotor unmanned aerial vehicle with six degrees of freedom in space is:

式中,Y=[p,q,r]T,其中p,q,r为飞行器体轴系下的角速度分量,B为所述空间六自由度独立可控多旋翼无人飞行器的结构特征而定,且B为行满秩矩阵。所述空间六自由度独立可控多旋翼无人飞行器的全驱动动力学方程为:In the formula, Y = [p, q, r] T , where p, q, r are the angular velocity components under the aircraft body axis system, and B is the structural characteristics of the six-degree-of-freedom independent controllable multi-rotor unmanned aircraft in space. Definite, and B is a row full rank matrix. The full drive dynamics equation of the independently controllable multi-rotor unmanned aerial vehicle with six degrees of freedom in space is:

式中Z=[XT,YT]T,其中Z为飞行器体轴系下的线速度和角速度分量,C=[AT,BT]T,且C为行满秩矩阵。In the formula, Z = [X T , Y T ] T , where Z is the linear velocity and angular velocity components under the aircraft body axis system, C = [A T , B T ] T , and C is a row full rank matrix.

步骤3、所述多旋翼无人飞行器的六自由度速度与旋翼转速的关系方程为:Step 3. The relationship equation between the six-degree-of-freedom speed of the multi-rotor unmanned aerial vehicle and the rotor speed is:

式中,C-为C的广义逆矩阵,且为行满秩矩阵。In the formula, C - is the generalized inverse matrix of C and is a full rank matrix.

本发明设计中运用了将旋翼倾斜固定的方法,使无人飞行器上所有旋翼所产生的升力经过组合可以独立生成机身前进、后退、左移、右移、向上运动的推力以及俯仰、翻滚、偏航的扭矩。为了实现这个要求,需要无人机飞行器至少需要6个以上独立控制输入通道,比如至少需要6个以上独立可控电机和旋翼,且需要配合相应的控制算法才能够实现无人飞行器的六自由度独立可控的目的。The method of tilting and fixing the rotors is used in the design of the invention, so that the lift generated by all the rotors on the unmanned aircraft can be combined to independently generate thrust for forward, backward, left, right, upward movement of the fuselage as well as pitch, roll, and Yaw torque. In order to achieve this requirement, the UAV needs at least 6 independent control input channels, such as at least 6 independent controllable motors and rotors, and needs to be matched with the corresponding control algorithm to achieve the six degrees of freedom of the UAV. independently controllable purpose.

通过下面这个案例展示所述多旋翼无人飞行器的飞行性能。如图1-2所示,(x,y,z)是固定的惯性坐标系,多旋翼无人飞行器的俯仰、横滚和偏航角分别用(φ,θ,ψ)来表示。如图5所示,多旋翼无人飞行器从坐标(0,0,0)处飞到(15,15,15),然后定点悬停,这个期间多旋翼无人飞行器的位置(x,y,z)和姿态(φ,θ,ψ)信息显示在图6中。在0到30秒期间,无人飞行器的位置变化,但姿态不受影响;在30到60秒期间,无人飞行器的姿态变化,但位置不受影响。可以看出,所述多旋翼无人飞行器的位置和姿态控制是独立,且能够实现六自由度独立可控。The following case demonstrates the flight performance of the multi-rotor unmanned aerial vehicle. As shown in Figure 1-2, (x, y, z) is a fixed inertial coordinate system, and the pitch, roll and yaw angles of the multi-rotor unmanned aerial vehicle are represented by (φ, θ, ψ) respectively. As shown in Figure 5, the multi-rotor unmanned aerial vehicle flies from coordinates (0,0,0) to (15,15,15), and then hovers at a fixed point. During this period, the multi-rotor unmanned aerial vehicle’s position is (x, y, z) and attitude (φ, θ, ψ) information are shown in Figure 6. During the period from 0 to 30 seconds, the position of the UAV changes, but the attitude is not affected; between 30 and 60 seconds, the attitude of the UAV changes, but the position is not affected. It can be seen that the position and attitude control of the multi-rotor unmanned aerial vehicle are independent and can achieve six degrees of freedom independent control.

以上所述,仅为本发明较佳的具体实施方式,但本发明的保护范围并不局限于此,任何熟悉本技术领域的技术人员在本发明披露的技术范围内,可轻易想到的变化或替换,都应涵盖在本发明的保护范围之内。因此,本发明的保护范围应该以权利要求书的保护范围为准。The above are only preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person familiar with the technical field can easily think of changes or modifications within the technical scope disclosed in the present invention. All substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims (5)

1. A space six-degree-of-freedom independently controllable multi-rotor unmanned flight control method comprises a fuselage (4), a horn (3), a motor (2) and a landing gear (5);
the machine arms (3) are distributed on the machine body (4) at equal intervals on a horizontal plane; the tail end of each horn (3) is fixed with a driving motor (2), and the rotor wing (1) is positioned at the other end of the driving motor (2);
the method is characterized in that: the rotation axis of the driving motor (2) is at an angle theta k Is fixed in an inclined way relative to the plane of the machine body (4); generating a six-degree-of-freedom kinetic equation of the multi-rotor unmanned aerial vehicle by using an unmanned aerial vehicle linear motion kinetic equation and an angular motion kinetic equation, converting an aerial vehicle space six-degree-of-freedom input signal into a plurality of rotating speed instructions of the motors, and combining rotating speed motions of the rotors to enable the aerial vehicle to track the space six-degree-of-freedom input signal;
the method comprises the following steps of:
step 1, building a thrust model generated by single rotor rotation movement:
wherein i is the number of the rotor, θ k F is the inclination angle of the motor relative to the machine body ii ) Rotor with number i has a rotational speed of ω i Thrust force f generated during the process il Is f ii ) Component in the direction of the horn (3), f iv Is f ii ) A component perpendicular to the plane of the fuselage (4);
step 2, establishing a linear motion dynamics equation, an angular motion dynamics equation and a full-drive dynamics equation of the space six-degree-of-freedom independently controllable multi-rotor unmanned aerial vehicle
The linear motion dynamics equation described in the step 2.1 is:
wherein X= [ u, v, w] T Wherein u, v, w are linear velocity components under the body axis of the aircraft, F (F) i ) For all rotor thrust forces f i The system comprises a space six-degree-of-freedom independently controllable multi-rotor unmanned aerial vehicle, wherein A is determined by the structural characteristics of the space six-degree-of-freedom independently controllable multi-rotor unmanned aerial vehicle, and A is a full-line matrix;
the angular motion dynamics equation described in step 2.2 is:
wherein Y= [ p, q, r] T Wherein p, q and r are angular velocity components under the body axis of the aircraft, B is the structural characteristics of the space six-degree-of-freedom independently controllable multi-rotor unmanned aircraft, and B is a full-line order matrix;
the full driving dynamics equation described in the step 2.3 is:
wherein Z= [ X ] T ,Y T ] T Wherein Z is the linear velocity and angular velocity components under the body axis of the aircraft, C= [ A ] T ,B T ] T And C is a full-line matrix;
and 3, a relation equation of the six-degree-of-freedom speed and the rotor rotation speed of the multi-rotor unmanned aerial vehicle is as follows:
wherein C is - Is the generalized inverse of C and is the full-line matrix.
2. The spatial six degree-of-freedom independently controllable multi-rotor unmanned aerial vehicle control method of claim 1, wherein: the rotation directions of two adjacent pairs of motors are opposite.
3. The spatial six degree-of-freedom independently controllable multi-rotor unmanned aerial vehicle control method of claim 1, wherein: the driving motor tilting manner is classified into inward tilting and outward tilting.
4. The spatial six degree-of-freedom independently controllable multi-rotor unmanned aerial vehicle control method of claim 1, wherein: the lift force generated by the rotor wing can be divided into a lift force perpendicular to the plane of the fuselage and a thrust force parallel to the horn.
5. The spatial six degree-of-freedom independently controllable multi-rotor unmanned aerial vehicle control method of claim 1, wherein: the lift force generated by all the rotors can generate thrust for forward, backward, leftward, rightward and upward movement of the airframe through combination.
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