CN111319759B - Space six-degree-of-freedom independently controllable multi-rotor unmanned aerial vehicle control method - Google Patents
Space six-degree-of-freedom independently controllable multi-rotor unmanned aerial vehicle control method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
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- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
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- 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
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a control technology of a space six-degree-of-freedom independently controllable multi-rotor unmanned aerial vehicle, and specifically belongs to the technical field of unmanned aerial vehicle flight mechanics and control.
Background
The multi-rotor unmanned aerial vehicle utilizes a plurality of rotors, can fly and hover in the air in any direction, has higher maneuverability, and can complete various tasks. If the multi-rotor unmanned aerial vehicle is used for carrying cameras, distance meters or various special devices, the tasks of aerial photography, positioning, topography scanning, cargo handling and the like are completed. Nowadays, unmanned aerial vehicles are widely applied in multiple fields of agriculture, weather, disaster early warning, logistics transportation, rescue and the like.
Currently, most multi-rotor unmanned aerial vehicles use the thrust and thrust combination generated by rotor rotation to provide lift and torque, and because the thrust generated by rotor rotation of most unmanned rotary unmanned aerial vehicles is in the same direction, the resultant thrust force generated by the rotor is in a single fixed direction relative to the fuselage, so that the direction of the resultant thrust force must be changed, namely, the attitude of the fuselage must be changed, in order to realize forward, backward, leftward and rightward linear motion. When the linear motion body needs to be continuously inclined, the flying stability is affected, instruments and equipment carried on the body can be affected by shaking, and especially the instruments and equipment directly fixed on the body are difficult to achieve the optimal effect. In order to eliminate the influence of the shaking of the machine body, instruments and equipment are generally carried on the stability augmentation cradle head, and then the stability augmentation cradle head is fixed on the machine body, so that the complexity of the structure is increased, the requirement on a control system is higher, and the complexity of the aircraft is increased. In addition, because the control of the force required by the linear motion of the machine body cannot be directly carried out, the accuracy and timeliness of the linear motion of the multi-rotor unmanned aerial vehicle are reduced, and the use of the multi-rotor unmanned aerial vehicle in a narrow space is affected.
Disclosure of Invention
The invention provides a space six-degree-of-freedom independently controllable multi-rotor unmanned aerial vehicle and a control method thereof, aiming at realizing the problem of multi-dimensional independent control in a narrow space.
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 aircraft space six-degree-of-freedom input signal is converted into a plurality of rotating speed instructions of the motors, and the rotating speed motions of the rotors are combined, so that the aircraft tracks the space six-degree-of-freedom input signal.
Further, the method comprises the following steps:
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 i (ω i ) Rotor with number i has a rotational speed of ω i Thrust force f generated during the process il Is f i (ω i ) Component in arm direction, f iv Is f i (ω i ) A component perpendicular to the plane of the fuselage;
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.
Further, the rotation directions of two adjacent pairs of motors are opposite.
Further, the driving motor tilting manner is classified into inward tilting and outward tilting.
Further, the lift generated by the rotor can be split into a lift perpendicular to the plane of the fuselage and a thrust parallel to the horn.
Further, the lift generated by all the rotors can generate thrust for forward, backward, leftward, rightward and upward movement of the airframe through combination.
Compared with the prior art, the technical scheme provided by the invention has the following technical effects:
(1) The arrangement of 8 rotor wing arrangement is adopted, and the motor and the machine body form a certain inclination angle to form an inward inclination arrangement 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;
(2) All motors are fixed on the horn, and an additional device for mechanically changing the posture of the motors is not needed, so that the complexity is reduced;
(3) The carrying device does not need to additionally use a cradle head, is a stable platform, and has the function of carrying various devices and completing various tasks.
Drawings
FIG. 1 is a front view of a spatially six-degree-of-freedom independently controllable multi-rotor unmanned aerial vehicle;
FIG. 2 is a top view of a spatially six-degree-of-freedom independently controllable multi-rotor unmanned aerial vehicle;
FIG. 3 illustrates a driving motor and a horn tilting mode divided into outward tilting;
FIG. 4 illustrates a driving motor and a horn tilting mode divided into inward tilting;
FIG. 5 is a graph of a multi-rotor unmanned aircraft flying from coordinates (0, 0) to coordinates (15, 15);
fig. 6 is a graph of position (x, y, z) and attitude (phi, theta, phi) information for a multi-rotor unmanned aircraft.
Detailed Description
The following description of the embodiments of the present invention will be made more apparent and fully by reference to the accompanying drawings, in which embodiments of the invention are shown, and in which it is evident that the embodiments shown are only some, but not all embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without any inventive effort, are intended to be within the scope of the present invention.
Examples of the present invention will be described in further detail below with reference to the accompanying drawings.
Example 1
As shown in fig. 1-2, the space six-degree-of-freedom independently controllable multi-rotor unmanned aerial vehicle provided by the invention comprises a machine body 4, machine arms 3, motors 2 and landing gear 5, wherein the machine arms 3 are distributed on the machine body 4 at intervals of 45 degrees, the tail end of each machine arm 3 is fixedly provided with a driving motor 2, and a rotor wing 1 is connected with the driving motor 2; the method is characterized in that: the rotation axis of the driving motor 2 is at a certain angle theta k Is fixed in an inclined manner relative to the plane of the body 4.
As shown in fig. 3 to 4, the driving motor tilting manner is divided into inward tilting and outward tilting.
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.
The lift force generated by all the rotors can generate thrust for forward, backward, leftward, rightward and upward movement of the airframe through combination. The rotation directions of two adjacent pairs of motors are opposite.
According to the control method, the unmanned aerial vehicle linear motion dynamics equation and the angular motion dynamics equation are combined in parallel, the six-degree-of-freedom dynamics equation of the multi-rotor unmanned aerial vehicle is generated, the spatial six-degree-of-freedom input signals of the aerial vehicle are converted into the rotating speed instructions of 8 motors, and the rotating speed motions of the rotors are combined, so that the aerial vehicle can completely track the spatial six-degree-of-freedom input signals.
The spatial six-degree-of-freedom independent control algorithm comprises the following specific steps:
step 1: building a thrust model generated by single rotor rotation motion:
wherein i is the number of the rotor, θ k F is the inclination angle of the motor relative to the machine body i (ω i ) Rotor with number i has a rotational speed of ω i Thrust force f generated during the process il Is f i (ω i ) Component in the direction of arm 3, f iv Is f i (ω i ) A component perpendicular to the plane of the fuselage 4.
Step 2, the linear motion dynamics equation of the space six-degree-of-freedom independently controllable multi-rotor unmanned aerial vehicle is as follows:
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 structure of the unmanned aerial vehicle is characterized in that A is the structural characteristic of the six-freedom-degree independent controllable multi-rotor unmanned aerial vehicle, and A is a full-line matrix.
The angular motion dynamics equation of the space six-degree-of-freedom independently controllable multi-rotor unmanned aerial vehicle is as follows:
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 kinetic equation of the space six-degree-of-freedom independently controllable multi-rotor unmanned aerial vehicle is as follows:
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 the full rank 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.
The design of the invention uses a method for fixing the rotor wings in an inclined way, so that the lifting force generated by all rotor wings on the unmanned aerial vehicle can independently generate the thrust force of forward movement, backward movement, leftward movement, rightward movement and upward movement of the airframe, and the torque of pitching, rolling and yawing through combination. In order to achieve the requirement, the unmanned aerial vehicle needs at least more than 6 independent control input channels, such as at least more than 6 independent controllable motors and rotors, and the purpose of six-degree-of-freedom independent control of the unmanned aerial vehicle can be achieved by matching with corresponding control algorithms.
The flight performance of the multi-rotor unmanned aircraft is demonstrated by the following case. As shown in fig. 1-2, (x, y, z) is a fixed inertial coordinate system, and the pitch, roll and yaw angles of the multi-rotor unmanned aircraft are represented by (phi, theta, phi), respectively. As shown in FIG. 5, the multi-rotor unmanned aerial vehicle flies from coordinates (0, 0) to (15, 15) and hovers at a fixed point, during which the multi-rotor unmanned aerial vehicle's position (x, y, z) and attitude (φ, θ, ψ) information is shown in FIG. 6. During 0 to 30 seconds, the position of the unmanned aerial vehicle changes, but the attitude is unaffected; during 30 to 60 seconds, the attitude of the unmanned aerial vehicle changes, but the position is not affected. It can be seen that the position and attitude control of the multi-rotor unmanned aerial vehicle is independent, and six degrees of freedom can be independently controllable.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in 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 i (ω i ) Rotor with number i has a rotational speed of ω i Thrust force f generated during the process il Is f i (ω i ) Component in the direction of the horn (3), f iv Is f i (ω i ) 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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| CN112158329B (en) * | 2020-10-16 | 2024-08-02 | 福州大学 | High fault tolerance deformable four-rotor aircraft and control method |
| CN112208759B (en) * | 2020-11-11 | 2024-09-10 | 福州大学 | Wind-disturbance-resistant eight-rotor aircraft with tiltable rotor and control method |
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| CN106647783A (en) * | 2016-11-22 | 2017-05-10 | 天津大学 | Tilting type tri-rotor unmanned aerial vehicle attitude and height adaptive robust control method |
| CN106892094A (en) * | 2017-01-22 | 2017-06-27 | 南京航空航天大学 | A kind of individually controllable four rotor unmanned aircraft of space six degree of freedom and its control method |
| CN107797567A (en) * | 2017-12-11 | 2018-03-13 | 福州大学 | A kind of intrinsic deflection formula on-plane surface six rotorcraft and control method |
| CN110371303A (en) * | 2019-08-14 | 2019-10-25 | 深圳市道通智能航空技术有限公司 | A kind of unmanned vehicle |
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| CN106647783A (en) * | 2016-11-22 | 2017-05-10 | 天津大学 | Tilting type tri-rotor unmanned aerial vehicle attitude and height adaptive robust control method |
| CN106892094A (en) * | 2017-01-22 | 2017-06-27 | 南京航空航天大学 | A kind of individually controllable four rotor unmanned aircraft of space six degree of freedom and its control method |
| CN107797567A (en) * | 2017-12-11 | 2018-03-13 | 福州大学 | A kind of intrinsic deflection formula on-plane surface six rotorcraft and control method |
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