CN111699451A - Flight control method and device for vertical take-off and landing unmanned aerial vehicle and vertical take-off and landing unmanned aerial vehicle - Google Patents
Flight control method and device for vertical take-off and landing unmanned aerial vehicle and vertical take-off and landing unmanned aerial vehicle Download PDFInfo
- Publication number
- CN111699451A CN111699451A CN201980008003.0A CN201980008003A CN111699451A CN 111699451 A CN111699451 A CN 111699451A CN 201980008003 A CN201980008003 A CN 201980008003A CN 111699451 A CN111699451 A CN 111699451A
- Authority
- CN
- China
- Prior art keywords
- aerial vehicle
- unmanned aerial
- flight mode
- vtol
- rotor
- 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
Links
- 238000000034 method Methods 0.000 title claims abstract description 82
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims abstract description 77
- 230000015654 memory Effects 0.000 claims description 16
- 238000005457 optimization Methods 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 14
- 238000004891 communication Methods 0.000 description 4
- 230000007704 transition Effects 0.000 description 3
- 150000001875 compounds Chemical class 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
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
- G05D1/08—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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the invention provides a flight control method and equipment of a vertical take-off and landing unmanned aerial vehicle and the vertical take-off and landing unmanned aerial vehicle, wherein the method comprises the following steps: acquiring a lateral speed error or a lateral offset error in the process of switching the vertical take-off and landing unmanned aerial vehicle from a rotor flight mode to a fixed wing flight mode; determining a target attitude angle of the vertical take-off and landing unmanned aerial vehicle according to the lateral speed error or the lateral offset error; and controlling the attitude of the VTOL UAV in the process of switching from a rotor flight mode to a fixed wing flight mode according to the target attitude angle. Through this kind of mode, can improve VTOL unmanned aerial vehicle and switch over reliability and the control performance to fixed wing flight mode in-process from rotor flight mode.
Description
Technical Field
The invention relates to the technical field of control, in particular to a flight control method and equipment of a vertical take-off and landing unmanned aerial vehicle and the vertical take-off and landing unmanned aerial vehicle.
Background
A Vertical Take-Off and Landing (VTOL) unmanned aerial vehicle is a novel aircraft which develops rapidly in recent years, and has the capabilities of taking Off and Landing vertically of a rotor aircraft, hovering in the air and flying at a low speed, and the capability of flying at a high speed with low energy consumption of a fixed wing aircraft, so that the VTOL unmanned aerial vehicle has a very strong industrial application value.
The VTOL unmanned aerial vehicle's flight in-process needs switch between rotor flight mode and fixed wing flight mode, thereby can produce great lateral velocity error often when present VTOL unmanned aerial vehicle carries out the flight mode under the crosswind environment and switches and produce great side margin. Therefore, how to more effectively control the VTOL UAV to switch the flight modes has very important significance.
Disclosure of Invention
The embodiment of the invention provides a flight control method and equipment of a vertical take-off and landing unmanned aerial vehicle and the vertical take-off and landing unmanned aerial vehicle, and improves the reliability and the control performance of switching from a rotor flight mode to a fixed wing flight mode of the vertical take-off and landing unmanned aerial vehicle in the flight process.
In a first aspect, an embodiment of the present invention provides a flight control method for a vertical take-off and landing unmanned aerial vehicle, including:
acquiring a lateral speed error or a lateral offset error of the VTOL UAV in the process of switching from a rotor flight mode to a fixed wing flight mode;
determining a target attitude angle of the vertical take-off and landing unmanned aerial vehicle according to the lateral speed error or the lateral offset error;
and controlling the attitude of the VTOL UAV in the process of switching from a rotor flight mode to a fixed wing flight mode according to the target attitude angle.
In a second aspect, an embodiment of the present invention provides a flight control device, including a memory and a processor;
the memory to store program instructions;
the processor, configured to invoke the program instructions, and when the program instructions are executed, configured to:
acquiring a lateral speed error or a lateral offset error of the VTOL UAV in the process of switching from a rotor flight mode to a fixed wing flight mode;
determining a target attitude angle of the vertical take-off and landing unmanned aerial vehicle according to the lateral speed error or the lateral offset error;
and controlling the attitude of the VTOL UAV in the process of switching from a rotor flight mode to a fixed wing flight mode according to the target attitude angle.
In a third aspect, an embodiment of the present invention provides a vertical take-off and landing unmanned aerial vehicle, including:
a body;
the power system is configured on the airframe and used for providing moving power for the vertical take-off and landing unmanned aerial vehicle;
a flight control apparatus as claimed in the second aspect above.
In a fourth aspect, the present invention provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the method according to the first aspect.
In the embodiment of the invention, the flight control equipment can determine the target attitude angle of the VTOL UAV according to the acquired lateral speed error or lateral offset error of the VTOL UAV in the process of switching from the rotor flight mode to the fixed wing flight mode, and control the attitude of the VTOL UAV in the process of switching from the rotor flight mode to the fixed wing flight mode according to the target attitude angle, so that the reliability and the control performance of the VTOL UAV in the process of switching to the fixed wing flight mode are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a configuration diagram of a vertical take-off and landing unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic diagram of lateral speed control of a vertical take-off and landing drone provided by an embodiment of the present invention;
fig. 3 is a schematic diagram of a lateral offset control of a vertical take-off and landing drone provided by an embodiment of the present invention;
fig. 4 is a schematic diagram of an attitude control of a vertical take-off and landing drone provided by an embodiment of the present invention;
fig. 5 is a schematic diagram of an attitude control of another vertical take-off and landing drone provided by an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a flight control system of a vertical take-off and landing unmanned aerial vehicle according to an embodiment of the present invention;
fig. 7 is a schematic flow chart of a flight control method of a vertical take-off and landing unmanned aerial vehicle according to an embodiment of the present invention;
fig. 8 is a schematic flow chart of another method for controlling a vertical take-off and landing unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 9 is a schematic structural diagram of a flight control apparatus provided in an embodiment of the present invention;
FIG. 10 is a schematic illustration of a flight path during a switch flight mode provided by an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
The flight control method of the VTOL UAV provided by the embodiment of the invention can be executed by a flight control system of the VTOL UAV. Wherein, the control system of VTOL unmanned aerial vehicle's flight includes flight control equipment and VTOL unmanned aerial vehicle, and in some embodiments, the flight control equipment can install on VTOL unmanned aerial vehicle, and in some embodiments, the flight control equipment can be independent of VTOL unmanned aerial vehicle in space, and in some embodiments, the flight control equipment can be the part of VTOL unmanned aerial vehicle, promptly the VTOL unmanned aerial vehicle includes flight control equipment.
In some embodiments, the vtol drone includes compound, tilt rotor, rotary wing, tail seat, and the like, wherein a typical configuration of the compound vtol fixed wing drone is shown in fig. 1, and fig. 1 is a configuration diagram of a vtol drone provided by an embodiment of the present invention. As shown in fig. 1, this configuration includes a set of multi-rotor power systems 11 and a set of fixed-wing power systems 12. Only rotor power system 11 is active when hovering; when the mode needs to be converted into the fixed-wing flight mode, the fixed-wing power system 12 is started, and the vertical take-off and landing unmanned aerial vehicle flies forward in an accelerated manner; when the forward flying speed reaches the preset speed range, the fixed wing power system 12 takes over the VTOL unmanned aerial vehicle, and the rotor power system 11 is closed.
In one embodiment, the vtol drone switches from a rotor flight mode to a fixed-wing flight mode primarily to achieve sufficient flight speed for the vtol drone, during which the vtol drone flies a distance generally in the direction of the nose to smoothly switch to the fixed-wing flight mode.
In one embodiment, when the vtol drone accelerates to a preset speed range and the flying height error of the vtol drone is less than a preset error value, it may be determined that the vtol drone successfully switches to the fixed-wing flight mode.
For example, assuming that the preset speed range is 7m/s-8m/s, the current speed of the VTOL UAV is 3m/s, if the VTOL UAV accelerates to a range of 7m/s-8m/s during the switching to the fixed-wing flight mode, and the flying height error of the VTOL UAV is less than the preset error value of 0.5m, it can be determined that the VTOL UAV is successfully switched from the rotor-wing flight mode to the fixed-wing flight mode.
In one embodiment, when the thrust of the rotor motor of the vtol drone is less than a preset thrust value within a preset time range and the flight height error of the vtol drone is less than a preset error value, it may be determined that the vtol drone successfully switches to the fixed-wing flight mode.
For example, assuming a preset thrust value of 5 newtons, if the vtol drone is smaller than the preset thrust value of 5 newtons within 1 minute of the preset time range, and the flight height error of the vtol drone is smaller than the preset error value of 0.5m, it may be determined that the vtol drone is successfully switched from the rotor flight mode to the fixed-wing flight mode.
The flight control device in the flight control system of the VTOL UAV provided by the embodiment of the invention can acquire the lateral speed error or the lateral offset error of the VTOL UAV in the process of switching from the rotor flight mode to the fixed wing flight mode, and determine the target attitude angle of the VTOL UAV according to the lateral speed error or the lateral offset error, so as to control the attitude of the VTOL UAV in the process of switching from the rotor flight mode to the fixed wing flight mode according to the target attitude angle. In some embodiments, the target attitude angle may include, but is not limited to, one or more of a target roll angle, a target yaw angle. For example, the target attitude angle is a target roll angle. Through the embodiment, the error of the lateral margin or the lateral speed of the VTOL UAV in the process of switching from the rotor flight mode to the fixed-wing flight mode can be reduced, the error between the target air route and the actual air route of the VTOL UAV is reduced, and the reliability and the control performance of switching the VTOL UAV from the rotor flight mode to the fixed-wing flight mode are improved.
In one embodiment, during the process of switching the vtol drone from the rotor flight mode to the fixed-wing flight mode, the flight control device may calculate a target attitude angle of the vtol drone according to a lateral speed error of the vtol drone, and control an attitude of the vtol drone during the process of switching the vtol drone from the rotor flight mode to the fixed-wing flight mode according to the target attitude angle. In some embodiments, the lateral velocity error may be a difference between a desired lateral velocity and an actual lateral velocity of the VTOL drone. In certain embodiments, a lateral velocity of 0 is desired.
In one embodiment, the flight control device may determine an attitude angle error of the vtol drone according to the target attitude angle and the actual attitude angle, and control the attitude of the vtol drone according to the attitude angle error during the transition of the vtol drone from the rotor flight mode to the fixed-wing flight mode.
Specifically, as shown in fig. 2, the fig. 2 is a schematic diagram of lateral speed control of the vtol unmanned aerial vehicle provided in the embodiment of the present invention, and as shown in fig. 2, the flight control device may obtain an actual lateral speed of the vtol unmanned aerial vehicle 23, calculate a lateral speed error according to the actual lateral speed and an expected lateral speed, and send the lateral speed error to the lateral controller 21, so that the lateral controller 21 calculates a target roll angle of the vtol unmanned aerial vehicle. The flight control equipment can obtain the actual roll angle of the VTOL unmanned aerial vehicle, and according to target roll angle and actual roll angle, determine the roll angle error. And sending the roll angle error to an attitude controller 22, so that the attitude controller 22 controls the attitude of the VTOL unmanned aerial vehicle 23 according to the roll angle error.
Through right this kind of embodiment that VTOL unmanned aerial vehicle switches over the gesture to fixed wing flight mode in-process from rotor flight mode and controls, can reduce the error between actual lateral velocity and the expectation lateral velocity, improved lateral velocity control accuracy when VTOL unmanned aerial vehicle switches over to fixed wing flight mode under the crosswind environment.
In one embodiment, during the process of switching the vtol drone from the rotor flight mode to the fixed-wing flight mode, the flight control device may calculate a target attitude angle of the vtol drone according to a lateral offset error of the vtol drone, and control an attitude of the vtol drone during the process of switching the vtol drone from the rotor flight mode to the fixed-wing flight mode according to the target attitude angle. In some embodiments, the sideslip error may be a distance between a target course and an actual course of the VTOL UAV.
In one embodiment, the flight control device may determine an attitude angle error of the vtol drone according to the target attitude angle and the actual attitude angle, and control the attitude of the vtol drone according to the attitude angle error during the transition of the vtol drone from the rotor flight mode to the fixed-wing flight mode.
Specifically, as shown in fig. 3, the flight control device may obtain an actual flight path of the vtol unmanned aerial vehicle 33, calculate a lateral offset error according to the actual flight path and a target flight path, and send the lateral offset error to the lateral controller 31, so that the lateral controller 31 calculates a target roll angle of the vtol unmanned aerial vehicle, as shown in fig. 3. The method for calculating and obtaining the side offset error according to the actual route and the target route comprises the following steps: and calculating to obtain a side offset error according to the position of the unmanned aerial vehicle in the actual air route at the current moment and the target air route. The flight control equipment can obtain the actual roll angle of the VTOL unmanned aerial vehicle, and according to target roll angle and actual roll angle, determine the roll angle error. And sending the roll angle error to an attitude controller 32, so that the attitude controller 32 controls the attitude of the VTOL unmanned aerial vehicle 33 according to the roll angle error.
Through right this kind of embodiment that VTOL unmanned aerial vehicle switches to the gesture of fixed wing flight mode in-process from rotor flight mode and controls, can improve the lateral position precision when VTOL unmanned aerial vehicle switches to fixed wing flight mode under the crosswind environment has reduced the error of VTOL unmanned aerial vehicle switching to fixed wing flight mode in-process actual course and target course.
In one embodiment, the flight control device may determine a preset pitch angle optimization rule according to a lift coefficient and a drag coefficient of the vtol drone and a dynamic pressure distribution strategy of a rotor motor of the vtol drone. When VTOL unmanned aerial vehicle switches to the fixed wing flight mode from rotor flight mode, flight control equipment can utilize predetermined pitch angle optimization rule, according to VTOL unmanned aerial vehicle's flying speed, fixed wing driving system's throttle value and rotor driving system's throttle value determine the target pitch angle. The flight control equipment can determine a pitch angle error according to the target pitch angle and the actual pitch angle of the VTOL UAV, and controls the attitude of the VTOL UAV when switching from a rotor flight mode to a fixed wing flight mode according to the pitch angle error.
Specifically, fig. 4 is an example for illustration, fig. 4 is a schematic diagram of attitude control of a vertical take-off and landing drone provided by an embodiment of the present invention, as shown in fig. 4, the flight control device can acquire the flight speed of the vtol drone 43, the throttle value of the fixed-wing power system and the throttle value of the rotor power system, and according to the flying speed, the throttle value of the fixed wing power system and the throttle value of the rotor wing power system, the target pitch angle is determined according to the pitch angle optimization rule preset in the pitch angle offline optimization module 41, and calculates the pitch angle error according to the target pitch angle and the actual pitch angle of the vertical take-off and landing unmanned aerial vehicle 43, and sends the pitch angle error to the attitude controller 42, so that the attitude controller 42 controls the attitude of the VTOL UAV 33 according to the pitch angle error.
The resistance that unmanned aerial vehicle received when accelerating under different pitch angles is different, for example, when unmanned aerial vehicle's wing flattens, the resistance received is minimum, accelerates fastly. The embodiment of controlling the attitude of the VTOL UAV through the error between the target pitch angle and the actual pitch angle can control the UAV to fly at the target pitch angle so as to accelerate to a preset speed range in the shortest time, and realize the switching from a rotor flight mode to a fixed wing flight mode.
In one embodiment, during the process of switching the vtol drone from the rotor flight mode to the fixed-wing flight mode, due to the installation error of the fixed-wing pull-forward motor, additional head-up (i.e., elevation angle) or head-down (depression angle) moment is brought to the vtol drone, thereby affecting the control accuracy of the pitch angle of the vtol drone. During the transition from rotor flight mode to fixed-wing flight mode, the rotating prop-rotor (i.e., the rotor power system) generates additional pitching moments under the influence of the airflow, which also affect the accuracy of pitch control of the VTOL drone.
In order to solve the above problem, in the embodiment of the present invention, when controlling the attitude of the vtol drone when switching from the rotor flight mode to the fixed-wing flight mode according to the actual pitch angle and the target pitch angle of the vtol drone, the compensation torque of the vtol drone may be determined according to the flight speed of the vtol drone, the throttle value of the fixed-wing power system, and the throttle value of the rotor power system, and the attitude of the vtol drone when switching from the rotor flight mode to the fixed-wing flight mode may be controlled according to the pitch torque and the compensation torque. In some embodiments, the pitch moment is determined from the pitch angle error.
Specifically, the method can be illustrated by taking fig. 5 as an example, and fig. 5 is a schematic diagram of attitude control of another vertical take-off and landing drone provided in an embodiment of the present invention, as shown in fig. 5, a flight control device can obtain a flight speed of the vertical take-off and landing drone 53, a throttle value of a fixed-wing power system, and a throttle value of a rotor power system, and obtain the compensation torque by looking up a control table in a pitch angle feedforward compensation module 51 according to the flight speed, the throttle value of the fixed-wing power system, and the throttle value of the rotor power system; in some embodiments, the control table contains a correspondence between the airspeed, the throttle value information, and the compensation torque. The flight control device may calculate a pitch angle error according to the target pitch angle and the actual pitch angle of the VTOL UAV 53, and send the pitch angle error to the attitude controller 52, so that the attitude controller 52 generates a pitch moment according to the pitch angle error, thereby controlling the attitude of the VTOL UAV 53 according to the pitch moment and the compensation moment.
With this embodiment, motor installation errors and the additional torque generated by the rotating rotor are calculated and compensated in the pitch angle feed-forward compensation algorithm for switching from rotor flight mode to fixed-wing flight mode, thereby improving the accuracy of the control of the pitch angle during the switching of the VTOL UAV from rotor flight mode to fixed-wing flight mode and improving the performance of the VTOL UAV from rotor flight mode to fixed-wing flight mode.
The following describes schematically a flight control system of a vertical take-off and landing unmanned aerial vehicle according to an embodiment of the present invention with reference to fig. 6.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a flight control system of a vertical take-off and landing unmanned aerial vehicle according to an embodiment of the present invention, and fig. 6 is a schematic structural diagram in a front view direction. The VTOL unmanned aerial vehicle's flight control system includes: flight control 61, VTOL drone 62. The VTOL UAV 62 includes a power system 621, the power system 621 is used for providing the power of movement for the VTOL UAV 62. In some embodiments, the flight control device 61 is disposed in the VTOL drone 62 and may establish a communication link with other devices in the VTOL drone (e.g., the power system 621) via a wired communication link. In other embodiments, the vertical take-off and landing drone 62 and the flight control device 61 are independent of each other, for example, the flight control device 61 is disposed in a cloud server, and the communication connection with the vertical take-off and landing drone 62 is established through a wireless communication connection. In certain embodiments, the flight control device 61 may be a flight controller. The VTOL drones 62 have a rotor flight mode and a fixed-wing flight mode.
In the embodiment of the present invention, the flight control device 61 obtains a lateral speed error or a lateral offset error of the vtol drone 62 during the process of switching from the rotor flight mode to the fixed-wing flight mode, determines a target attitude angle of the vtol drone 62 according to the lateral speed error or the lateral offset error, and controls the attitude of the vtol drone 62 during the process of switching from the rotor flight mode to the fixed-wing flight mode according to the target attitude angle.
The following describes schematically a flight control method of a vertical take-off and landing unmanned aerial vehicle according to an embodiment of the present invention with reference to fig. 7 to 10.
Referring to fig. 7 specifically, fig. 7 is a schematic flowchart of a flight control method of a vertical take-off and landing unmanned aerial vehicle according to an embodiment of the present invention, where the method may be executed by a flight control device, and a specific explanation of the flight control device is as described above. Specifically, the method of the embodiment of the present invention includes the following steps.
S701: and acquiring a lateral speed error or a lateral offset error in the process of switching the vertical take-off and landing unmanned aerial vehicle from a rotor flight mode to a fixed wing flight mode.
In the embodiment of the invention, the flight control equipment can acquire the lateral speed error or the lateral offset error of the VTOL UAV in the process of switching from the rotor flight mode to the fixed wing flight mode.
In some embodiments, when the wind direction of the ambient wind has a large angle with the head direction of the VTOL UAV, the course direction of the VTOL UAV may not be consistent with the target course direction when switching flight modes. In order to enable the unmanned aerial vehicle to fly along the target air route when the flight mode is switched, the target attitude angle of the unmanned aerial vehicle can be calculated and controlled according to a lateral speed error (namely a difference value between a desired lateral speed and an actual lateral speed) or a lateral offset error (a distance between the target air route and the actual air route), so that the real-time control of the attitude of the unmanned aerial vehicle is realized. Through this kind of embodiment, can be under the side wind environment, the wind direction of ambient wind promptly with when unmanned aerial vehicle's aircraft nose direction has great contained angle, reduce unmanned aerial vehicle's lateral velocity or lateral offset error, control unmanned aerial vehicle flies according to the target course. In some embodiments, the target course direction coincides with a nose direction of the VTOL drone at a start time of the switch flight mode.
Specifically, fig. 10 is an exemplary illustration, where fig. 10 is a schematic view of a flight path during switching a flight mode according to an embodiment of the present invention, and fig. 10 is a schematic view of a flight path during switching the unmanned aerial vehicle from a rotor flight mode to a fixed-wing flight mode. Suppose that the unmanned aerial vehicle starts to switch from the rotor flight mode to the fixed-wing flight mode from the point A, the target flight line of the unmanned aerial vehicle switched from the rotor flight mode to the fixed-wing flight mode is an AB flight line, the direction of the nose of the unmanned aerial vehicle at the point A is the direction from A to B, and the included angle between the wind direction of the environmental wind V1 and the AB flight line (namely the direction of the nose) is 90 degrees, so that a larger included angle is met. The course direction of the drone when switching from the rotor flight mode to the fixed-wing flight mode starting from point a is actually the direction from a to C, the actual course being the AC course, due to the influence of the ambient wind V1. Therefore, the unmanned aerial vehicle has deviation on the flight path when the unmanned aerial vehicle is switched from the rotor flight mode to the fixed wing flight mode, and the distance between the AB flight path and the AC flight path can be determined as a side offset error, for example, when the unmanned aerial vehicle flies to a point D, the side offset error is a distance D between a point E on the AB flight path and a point D on the AC flight path; and determining the difference between the expected lateral speed and the actual lateral speed as a lateral speed error, and if the expected lateral speed is 0 and the actual lateral speed is V2, determining the lateral speed error as V2. Therefore, in order to make the unmanned aerial vehicle fly along the AB route as much as possible when switching from the rotor flight mode to the fixed-wing flight mode, a target attitude angle (e.g., roll angle) of the unmanned aerial vehicle can be calculated and controlled according to the lateral speed error V2 or the lateral offset error (e.g., d) so that the unmanned aerial vehicle flies as close to the AB route as possible, the lateral offset error between the AB route and the AC route is reduced, and the unmanned aerial vehicle is controlled to fly according to the target route.
Therefore, the situation that the vertical take-off and landing unmanned aerial vehicle cannot execute tasks such as image acquisition at a specified position point due to deviation of the air line in the process of switching from the rotor flight mode to the fixed wing flight mode can be avoided through the implementation mode, and therefore the effectiveness of the vertical take-off and landing unmanned aerial vehicle in executing the tasks can be improved.
It should be noted that the target route may be a line segment as shown in fig. 10, or may be a ray starting from point a. That is, the location of the ending point of the target route may not be limited.
In certain embodiments, the lateral speed error is a difference between a desired lateral speed and an actual lateral speed of the VTOL UAV, and the lateral offset error is a distance between a target course and an actual course of the VTOL UAV. In some embodiments, the target route is a route preset for the VTOL UAV, and is used for controlling the VTOL UAV to fly according to the target route; in some embodiments, the actual flight path is a flight path of the VTOL UAV actually flying under the influence of an external environment and the like.
In one embodiment, the flight control device may obtain a flight mode switching command before obtaining a lateral speed error or a lateral offset error during the vertical take-off and landing drone switching from a rotor flight mode to a fixed wing flight mode; in some embodiments, the flight mode switching instructions are operable to instruct the vtol drone to switch flight mode from a rotor flight mode to a fixed-wing flight mode. In some embodiments, the flight mode switching instruction may be sent by a control terminal (such as a remote controller, a ground station device, and the like) to a flight control device; in other embodiments, the flight mode switching instruction may also be that the VTOL UAV automatically generates according to an automatic flight route planning strategy, which is not specifically limited in the embodiments of the present invention.
S702: and determining a target attitude angle of the VTOL unmanned aerial vehicle according to the lateral speed error or the lateral offset error.
In the embodiment of the invention, the flight control equipment can determine the target attitude angle of the VTOL unmanned aerial vehicle according to the lateral speed error or the lateral offset error.
In one embodiment, a corresponding relationship between the attitude angle of the vtol drone and the lateral velocity error or the lateral offset error may be established in advance, so that the flight control device may determine the target attitude angle of the vtol drone according to the lateral velocity error or the lateral offset error. And adjusting the attitude of the VTOL unmanned aerial vehicle by determining a target attitude angle, so that the lateral speed error or the lateral offset error of the VTOL unmanned aerial vehicle is reduced, and the control precision of the lateral speed error or the lateral offset error is improved.
S703: and controlling the attitude of the VTOL UAV in the process of switching from a rotor flight mode to a fixed wing flight mode according to the target attitude angle.
In the embodiment of the invention, the flight control equipment can control the attitude of the VTOL UAV in the process of switching from the rotor flight mode to the fixed wing flight mode according to the target attitude angle.
In one embodiment, the flight control device may determine an attitude angle error of the vtol drone according to the target attitude angle when controlling the attitude of the vtol drone during the switching from the rotor flight mode to the fixed-wing flight mode according to the target attitude angle, and control the attitude of the vtol drone according to the attitude angle error during the switching of the vtol drone from the rotor flight mode to the fixed-wing flight mode. Through this kind of embodiment, help reducing the lateral velocity error of VTOL unmanned aerial vehicle or the side offset error, improve the control accuracy to lateral velocity error or the side offset error.
In one embodiment, the flight control device may obtain the flight speed of the vtol drone and obtain throttle information of the vtol drone, the throttle information including a throttle value of a fixed-wing power system and a throttle value of a rotor power system, and control the vtol drone to switch from a rotor flight mode to a fixed-wing flight mode according to the flight speed and the throttle information. Can be right through airspeed and throttle information VTOL unmanned aerial vehicle's angle of pitch is controlled, thereby has improved VTOL unmanned aerial vehicle switches to the control accuracy to the angle of pitch from rotor flight mode in-process to fixed wing flight mode, has reduced the time of switching to fixed wing flight mode from rotor flight mode.
In the embodiment of the invention, the flight control equipment determines the target attitude angle of the VTOL UAV according to the acquired lateral speed error or lateral offset error in the process of switching the VTOL UAV from the rotor flight mode to the fixed wing flight mode, and controls the attitude of the VTOL UAV in the process of switching the rotor flight mode to the fixed wing flight mode according to the target attitude angle, so that the reliability and the control performance of the VTOL UAV in the process of switching the VTOL UAV to the fixed wing flight mode are improved.
Referring to fig. 8 in detail, fig. 8 is a schematic flowchart of a flight control method of a vertical take-off and landing drone according to an embodiment of the present invention, where the method may be executed by a flight control device, and a detailed explanation of the flight control device is as described above. Specifically, the method of the embodiment of the present invention includes the following steps.
S801: and acquiring the flight speed of the vertical take-off and landing unmanned aerial vehicle.
In the embodiment of the invention, the flight control equipment can acquire the flight speed of the vertical take-off and landing unmanned aerial vehicle. The airspeed may be the speed of the VTOL drone relative to the air, i.e., the airspeed. The airspeed of the VTOL UAV may be obtained by an airspeed meter mounted on the UAV.
S802: acquire VTOL unmanned aerial vehicle's throttle information, throttle information includes fixed wing driving system's throttle value and rotor driving system's throttle value.
In the embodiment of the invention, the flight control equipment can acquire the throttle information of the VTOL UAV, and the throttle information comprises the throttle value of the fixed wing power system and the throttle value of the rotor wing power system. The throttle information can be expressed by percentage, or decimal, fractional or integer, and the embodiment of the invention is not particularly limited, for example, when the throttle value of the rotor power system is 100%, the throttle information represents that the power of the rotor motor reaches the maximum; for another example, when the throttle value of the rotor power system is 10, it means that the power of the rotor motor reaches the maximum; for another example, a throttle value of the rotor power system is 0, which means that the power of the rotor motor is minimized.
S803: and controlling the VTOL unmanned aerial vehicle to switch from a rotor flight mode to a fixed wing flight mode according to the flight speed and the accelerator information.
In the embodiment of the invention, the flight control equipment can control the VTOL UAV to switch from a rotor flight mode to a fixed wing flight mode according to the flight speed and the accelerator information.
In one embodiment, the flight control device may determine a target pitch angle of the vtol drone according to the flight speed and the throttle value information when controlling the vtol drone to switch from the rotor flight mode to the fixed-wing flight mode according to the flight speed and the throttle value information, and control an attitude of the vtol drone when switching from the rotor flight mode to the fixed-wing flight mode according to an actual pitch angle of the drone and the target pitch angle.
In some embodiments, the target pitch angle is determined from the airspeed, a throttle value of the fixed-wing power system, and a throttle value of the rotor power system using a preset pitch angle optimization rule. In some embodiments, the predetermined pitch angle optimization rule is determined according to a lift coefficient and a drag coefficient of the vtol drone and a dynamic pressure distribution strategy of a rotor motor of the vtol drone.
In one embodiment, the flight control device may determine that a difference between the actual pitch angle and the target pitch angle is a pitch angle error of the vtol drone when controlling the attitude of the vtol drone when switching from the rotor flight mode to the fixed-wing flight mode based on the actual pitch angle and the target pitch angle, and determine the pitch moment of the vtol drone based on the pitch angle error, thereby controlling the attitude of the vtol drone when switching from the rotor flight mode to the fixed-wing flight mode based on the pitch moment. Through this kind of embodiment, can control unmanned aerial vehicle with target pitch angle flight to accelerate to preset speed range in the shortest time, realize the switching from rotor flight mode to fixed wing flight mode.
In one embodiment, the flight control device may determine, according to the flight speed and the throttle value information, a compensation moment of the vtol drone, where the compensation moment is used to compensate for an additional pitching moment generated by an installation error of a fixed-wing power system and an additional pitching moment generated by a rotor-wing power system under the influence of airflow; and controlling the attitude of the VTOL UAV when the rotor flight mode is switched to the fixed wing flight mode according to the pitching moment and the compensation moment. In some embodiments, the pitching moment includes a fixed wing power system provided pitching moment and a rotor power system provided pitching moment.
In an embodiment, when determining the compensation torque of the VTOL UAV according to the flying speed and the throttle value information, the flight control device may obtain the compensation torque by looking up a control table according to the flying speed and the throttle value information, where the control table includes a correspondence relationship between the flying speed, the throttle value information, and the compensation torque. Through this kind of embodiment, can improve the control accuracy to VTOL unmanned aerial vehicle's pitching moment to reduce the error of VTOL unmanned aerial vehicle in the direction of height.
In the embodiment of the invention, the flight control equipment can acquire the flight speed of the VTOL UAV and acquire the accelerator information of the VTOL UAV, so that the VTOL UAV is controlled to be switched from a rotor flight mode to a fixed wing flight mode according to the flight speed and the accelerator information. Through this kind of embodiment, can reduce the switching time who switches to the fixed wing flight mode from rotor flight mode, improved the attitude control precision to VTOL unmanned aerial vehicle.
Referring to fig. 9, fig. 9 is a schematic structural diagram of a flight control device according to an embodiment of the present invention. Specifically, the flight control device includes: memory 901, processor 902.
In one embodiment, the flight control device further comprises a data interface 903, wherein the data interface 903 is used for transmitting data information between the flight control device and other devices.
The memory 901 may include a volatile memory (volatile memory); memory 901 may also include non-volatile memory (non-volatile memory); the memory 901 may also comprise a combination of the above-mentioned kinds of memories. The processor 902 may be a Central Processing Unit (CPU). The processor 902 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.
The memory 901 is used for storing program instructions, and the processor 902 can call the program instructions stored in the memory 901 for executing the following steps:
acquiring a lateral speed error or a lateral offset error in the process of switching the vertical take-off and landing unmanned aerial vehicle from a rotor flight mode to a fixed wing flight mode;
determining a target attitude angle of the vertical take-off and landing unmanned aerial vehicle according to the lateral speed error or the lateral offset error;
and controlling the attitude of the VTOL UAV in the process of switching from a rotor flight mode to a fixed wing flight mode according to the target attitude angle.
Further, the lateral speed error is a difference value between an expected lateral speed and an actual lateral speed of the VTOL UAV, and the lateral offset error is a distance between a target route and an actual route of the VTOL UAV.
Further, when the processor 902 switches the vertical take-off and landing drone from the rotor flight mode to the attitude in the fixed-wing flight mode according to the target attitude angle, it is specifically configured to:
determining an attitude angle error of the vertical take-off and landing unmanned aerial vehicle according to the target attitude angle and the actual attitude angle;
and in the process that the vertical take-off and landing unmanned aerial vehicle is switched from a rotor flight mode to a fixed wing flight mode, controlling the attitude of the vertical take-off and landing unmanned aerial vehicle according to the attitude angle error.
Further, the processor 902 is further configured to:
acquiring the flight speed of the vertical take-off and landing unmanned aerial vehicle;
acquiring throttle information of the VTOL unmanned aerial vehicle, wherein the throttle information comprises a throttle value of a fixed wing power system and a throttle value of a rotor wing power system;
and controlling the VTOL unmanned aerial vehicle to switch from a rotor flight mode to a fixed wing flight mode according to the flight speed and the accelerator information.
Further, the processor 902 controls the vtol drone to switch from the rotor flight mode to the fixed-wing flight mode according to the flight speed and the throttle information, and is specifically configured to:
determining a target pitch angle of the vertical take-off and landing unmanned aerial vehicle according to the flight speed and the throttle value information;
and controlling the attitude of the VTOL unmanned aerial vehicle when the rotor flight mode is switched to the fixed wing flight mode according to the actual pitch angle of the unmanned aerial vehicle and the target pitch angle.
Further, the target pitch angle is determined according to the flying speed, the throttle value of the fixed wing power system and the throttle value of the rotor wing power system by using a preset pitch angle optimization rule.
Further, the preset pitch angle optimization rule is determined according to a lift coefficient and a drag coefficient of the VTOL UAV and a dynamic pressure distribution strategy of a rotor motor of the VTOL UAV.
Further, the processor 902 is specifically configured to, when controlling the attitude of the vtol drone when switching from the rotor flight mode to the fixed-wing flight mode according to the actual pitch angle and the target pitch angle:
determining the difference between the actual pitch angle and the target pitch angle as the pitch angle error of the vertical take-off and landing unmanned aerial vehicle;
determining the pitching moment of the vertical take-off and landing unmanned aerial vehicle according to the pitching angle error;
and controlling the posture of the VTOL unmanned aerial vehicle when the VTOL unmanned aerial vehicle is switched from the rotor flight mode to the fixed wing flight mode according to the pitching moment.
Further, the processor 902 is further configured to:
determining a compensation moment of the VTOL unmanned aerial vehicle according to the flight speed and the throttle value information, wherein the compensation moment is used for compensating an extra pitching moment generated by an installation error of a fixed wing power system and an extra pitching moment generated by a rotor wing power system under the influence of airflow;
and controlling the attitude of the VTOL UAV when the rotor flight mode is switched to the fixed wing flight mode according to the pitching moment and the compensation moment.
Further, the pitching moment includes a pitching moment provided by a fixed wing power system and a pitching moment provided by a rotor power system.
Further, when determining the compensation torque of the vtol drone according to the flight speed and the throttle value information, the processor 902 is specifically configured to:
and obtaining the compensation torque by searching a control table according to the flight speed and the throttle value information, wherein the control table comprises the corresponding relation among the flight speed, the throttle value information and the compensation torque.
In the embodiment of the invention, the flight control equipment determines the target attitude angle of the VTOL UAV according to the acquired lateral speed error or lateral offset error in the process of switching the VTOL UAV from the rotor flight mode to the fixed wing flight mode, and controls the attitude of the VTOL UAV in the process of switching the rotor flight mode to the fixed wing flight mode according to the target attitude angle, so that the reliability and the control performance of the VTOL UAV in the process of switching the VTOL UAV to the fixed wing flight mode are improved.
The embodiment of the invention also provides a vertical take-off and landing unmanned aerial vehicle, which has a rotor flight mode and a fixed wing flight mode, and comprises: a body; the power system is configured on the airframe and used for providing moving power for the vertical take-off and landing unmanned aerial vehicle; and the flight control device described above.
In the embodiment of the invention, the vertical take-off and landing unmanned aerial vehicle determines the target attitude angle of the vertical take-off and landing unmanned aerial vehicle according to the acquired lateral speed error or lateral offset error in the process of switching the vertical take-off and landing unmanned aerial vehicle from the rotor wing flight mode to the fixed wing flight mode, and controls the attitude of the vertical take-off and landing unmanned aerial vehicle in the process of switching the vertical take-off and landing unmanned aerial vehicle from the rotor wing flight mode to the fixed wing flight mode according to the target attitude angle, so that the reliability and the control performance of the vertical take-off and landing unmanned aerial vehicle in the process of switching the vertical take-off and.
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the method described in the embodiment corresponding to fig. 7 or fig. 8 of the present invention, and may also implement the apparatus in the embodiment corresponding to the present invention described in fig. 9, which is not described herein again.
The computer readable storage medium may be an internal storage unit of the device according to any of the foregoing embodiments, for example, a hard disk or a memory of the device. The computer readable storage medium may also be an external storage device of the device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the device. Further, the computer-readable storage medium may also include both an internal storage unit and an external storage device of the apparatus. The computer-readable storage medium is used for storing the computer program and other programs and data required by the terminal. The computer readable storage medium may also be used to temporarily store data that has been output or is to be output.
The above disclosure is intended to be illustrative of only some embodiments of the invention, and is not intended to limit the scope of the invention.
Claims (24)
1. A flight control method of a vertical take-off and landing unmanned aerial vehicle is characterized by comprising the following steps:
acquiring a lateral speed error or a lateral offset error in the process of switching the vertical take-off and landing unmanned aerial vehicle from a rotor flight mode to a fixed wing flight mode;
determining a target attitude angle of the vertical take-off and landing unmanned aerial vehicle according to the lateral speed error or the lateral offset error;
and controlling the attitude of the VTOL UAV in the process of switching from a rotor flight mode to a fixed wing flight mode according to the target attitude angle.
2. The method of claim 1,
the lateral speed error is a difference value between an expected lateral speed and an actual lateral speed of the VTOL UAV, and the lateral offset error is a distance between a target air route and an actual air route of the VTOL UAV.
3. The method of claim 1, wherein controlling the attitude of the VTOL drone during the switch from rotor flight mode to fixed-wing flight mode according to the target attitude angle comprises:
determining an attitude angle error of the vertical take-off and landing unmanned aerial vehicle according to the target attitude angle and the actual attitude angle;
and in the process that the vertical take-off and landing unmanned aerial vehicle is switched from a rotor flight mode to a fixed wing flight mode, controlling the attitude of the vertical take-off and landing unmanned aerial vehicle according to the attitude angle error.
4. The method of claim 1, further comprising:
acquiring the flight speed of the vertical take-off and landing unmanned aerial vehicle;
acquiring throttle information of the VTOL unmanned aerial vehicle, wherein the throttle information comprises a throttle value of a fixed wing power system and a throttle value of a rotor wing power system;
and controlling the VTOL unmanned aerial vehicle to switch from a rotor flight mode to a fixed wing flight mode according to the flight speed and the accelerator information.
5. The method of claim 4, wherein controlling the VTOL drone to switch from a rotor flight mode to a fixed-wing flight mode based on the airspeed and the throttle information comprises:
determining a target pitch angle of the vertical take-off and landing unmanned aerial vehicle according to the flight speed and the throttle value information;
and controlling the attitude of the VTOL unmanned aerial vehicle when the rotor flight mode is switched to the fixed wing flight mode according to the actual pitch angle of the unmanned aerial vehicle and the target pitch angle.
6. The method of claim 5,
and the target pitch angle is determined according to the flying speed, the throttle value of the fixed wing power system and the throttle value of the rotor wing power system by utilizing a preset pitch angle optimization rule.
7. The method of claim 6,
the preset pitch angle optimization rule is determined according to the lift coefficient and the resistance coefficient of the VTOL UAV and the dynamic pressure distribution strategy of the rotor motor of the VTOL UAV.
8. The method of claim 5, wherein controlling the attitude of the VTOL drone when switched from rotor flight mode to fixed-wing flight mode based on the actual pitch angle and the target pitch angle comprises:
determining the difference between the actual pitch angle and the target pitch angle as the pitch angle error of the vertical take-off and landing unmanned aerial vehicle;
determining the pitching moment of the vertical take-off and landing unmanned aerial vehicle according to the pitching angle error;
and controlling the posture of the VTOL unmanned aerial vehicle when the VTOL unmanned aerial vehicle is switched from the rotor flight mode to the fixed wing flight mode according to the pitching moment.
9. The method of claim 8, further comprising:
determining a compensation moment of the VTOL UAV according to the flight speed and the throttle value information, wherein the compensation moment is used for compensating an extra pitching moment generated by an installation error of a fixed wing power system and an extra pitching moment generated by a rotor wing power system under the influence of airflow;
and controlling the attitude of the VTOL UAV when the rotor flight mode is switched to the fixed wing flight mode according to the pitching moment and the compensation moment.
10. The method of claim 9,
the pitching moment comprises a pitching moment provided by a fixed wing power system and a pitching moment provided by a rotor wing power system.
11. The method of claim 9, wherein determining the compensation moment of the VTOL UAV based on the airspeed and throttle value information comprises:
and obtaining the compensation torque by searching a control table according to the flight speed and the throttle value information, wherein the control table comprises the corresponding relation among the flight speed, the throttle value information and the compensation torque.
12. A flight control device comprising a memory and a processor;
the memory to store program instructions;
the processor, configured to invoke the program instructions, and when the program instructions are executed, configured to:
acquiring a lateral speed error or a lateral offset error in the process of switching the vertical take-off and landing unmanned aerial vehicle from a rotor flight mode to a fixed wing flight mode;
determining a target attitude angle of the vertical take-off and landing unmanned aerial vehicle according to the lateral speed error or the lateral offset error;
and controlling the attitude of the VTOL UAV in the process of switching from a rotor flight mode to a fixed wing flight mode according to the target attitude angle.
13. The apparatus of claim 12,
the lateral speed error is a difference value between an expected lateral speed and an actual lateral speed of the VTOL UAV, and the lateral offset error is a distance between a target air route and an actual air route of the VTOL UAV.
14. The apparatus of claim 12, wherein the processor, when controlling the attitude of the VTOL drone during the switch from rotor flight mode to fixed-wing flight mode according to the target attitude angle, is configured to:
determining an attitude angle error of the vertical take-off and landing unmanned aerial vehicle according to the target attitude angle and the actual attitude angle;
and in the process that the vertical take-off and landing unmanned aerial vehicle is switched from a rotor flight mode to a fixed wing flight mode, controlling the attitude of the vertical take-off and landing unmanned aerial vehicle according to the attitude angle error.
15. The device of claim 12, wherein the processor is further configured to:
acquiring the flight speed of the vertical take-off and landing unmanned aerial vehicle;
acquiring throttle information of the VTOL unmanned aerial vehicle, wherein the throttle information comprises a throttle value of a fixed wing power system and a throttle value of a rotor wing power system;
and controlling the VTOL unmanned aerial vehicle to switch from a rotor flight mode to a fixed wing flight mode according to the flight speed and the accelerator information.
16. The apparatus of claim 15, wherein the processor is configured to control the VTOL UAV to switch from a rotor flight mode to a fixed-wing flight mode based on the airspeed and the throttle information, and is configured to:
determining a target pitch angle of the vertical take-off and landing unmanned aerial vehicle according to the flight speed and the throttle value information;
and controlling the attitude of the VTOL unmanned aerial vehicle when the rotor flight mode is switched to the fixed wing flight mode according to the actual pitch angle of the unmanned aerial vehicle and the target pitch angle.
17. The apparatus of claim 16,
and the target pitch angle is determined according to the flying speed, the throttle value of the fixed wing power system and the throttle value of the rotor wing power system by utilizing a preset pitch angle optimization rule.
18. The device of claim 17, wherein the processor is further configured to:
the preset pitch angle optimization rule is determined according to the lift coefficient and the resistance coefficient of the VTOL UAV and the dynamic pressure distribution strategy of the rotor motor of the VTOL UAV.
19. The apparatus of claim 16, wherein the processor, when controlling the attitude of the VTOL drone when switching from rotor-flight mode to fixed-wing flight mode based on the actual pitch angle and the target pitch angle, is configured to:
determining the difference between the actual pitch angle and the target pitch angle as the pitch angle error of the vertical take-off and landing unmanned aerial vehicle;
determining the pitching moment of the vertical take-off and landing unmanned aerial vehicle according to the pitching angle error;
and controlling the posture of the VTOL unmanned aerial vehicle when the VTOL unmanned aerial vehicle is switched from the rotor flight mode to the fixed wing flight mode according to the pitching moment.
20. The device of claim 19, wherein the processor is further configured to:
determining a compensation moment of the VTOL unmanned aerial vehicle according to the flight speed and the throttle value information, wherein the compensation moment is used for compensating an extra pitching moment generated by an installation error of a fixed wing power system and an extra pitching moment generated by a rotor wing power system under the influence of airflow;
and controlling the attitude of the VTOL UAV when the rotor flight mode is switched to the fixed wing flight mode according to the pitching moment and the compensation moment.
21. The apparatus of claim 20,
the pitching moment comprises a pitching moment provided by a fixed wing power system and a pitching moment provided by a rotor wing power system.
22. The apparatus of claim 20, wherein the processor, when determining the compensation moment of the vtol drone according to the flight speed and the throttle value information, is specifically configured to:
and obtaining the compensation torque by searching a control table according to the flight speed and the throttle value information, wherein the control table comprises the corresponding relation among the flight speed, the throttle value information and the compensation torque.
23. The utility model provides a VTOL unmanned aerial vehicle, its characterized in that, VTOL unmanned aerial vehicle has rotor flight mode and fixed wing flight mode, VTOL unmanned aerial vehicle includes:
a body;
the power system is configured on the airframe and used for providing moving power for the vertical take-off and landing unmanned aerial vehicle;
a flight control apparatus as claimed in any one of claims 12 to 22.
24. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 11.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/089006 WO2020237528A1 (en) | 2019-05-29 | 2019-05-29 | Flight control method and device for vertical take-off and landing unmanned aerial vehicle, and vertical take-off and landing unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111699451A true CN111699451A (en) | 2020-09-22 |
Family
ID=72476387
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201980008003.0A Pending CN111699451A (en) | 2019-05-29 | 2019-05-29 | Flight control method and device for vertical take-off and landing unmanned aerial vehicle and vertical take-off and landing unmanned aerial vehicle |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111699451A (en) |
| WO (1) | WO2020237528A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112357060A (en) * | 2020-10-29 | 2021-02-12 | 天津腾云智航科技有限公司 | Fixed wing unmanned aerial vehicle wing flap elevation convergence control method |
| CN113240881A (en) * | 2021-07-12 | 2021-08-10 | 环球数科集团有限公司 | Fire identification system based on multi-feature fusion |
| CN113282095A (en) * | 2021-04-08 | 2021-08-20 | 南京航空航天大学苏州研究院 | Course control method for take-off and landing stage of composite wing unmanned aerial vehicle |
| CN114313252A (en) * | 2021-12-16 | 2022-04-12 | 广州极飞科技股份有限公司 | Unmanned equipment control method and device |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112896491B (en) * | 2021-03-10 | 2022-11-11 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | Vertical take-off and landing aircraft side lever control device and control method |
| US11827376B2 (en) | 2022-04-19 | 2023-11-28 | Honeywell International Inc. | Enhanced ground proximity warning system that selectively operates in both a helicopter mode and a fixed-wing mode |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104590557A (en) * | 2015-02-05 | 2015-05-06 | 中电科（德阳广汉）特种飞机系统工程有限公司 | Flight control method and device of multi-rotor and fixed wing composite aircraft |
| US20170320570A1 (en) * | 2016-05-06 | 2017-11-09 | SKyX Limited | Unmanned aerial vehicle (uav) having vertical takeoff and landing (vtol) capability |
| CN108803643A (en) * | 2018-06-19 | 2018-11-13 | 成都纵横自动化技术有限公司 | Flight control method, device, flight controller and compound rotor aircraft |
| CN108845581A (en) * | 2018-06-12 | 2018-11-20 | 中国科学院工程热物理研究所 | The compound multi-modal flight control method of quadrotor drone |
| CN108885462A (en) * | 2017-09-19 | 2018-11-23 | 深圳市大疆创新科技有限公司 | Flight control method, unmanned plane and the machine readable storage medium of unmanned plane |
| CN109720553A (en) * | 2019-02-13 | 2019-05-07 | 深圳创壹通航科技有限公司 | A kind of fixed-wing unmanned plane, control method and medium with VTOL function |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108594839B (en) * | 2018-05-22 | 2019-06-28 | 深圳智航无人机有限公司 | Control method, aircraft and storage medium based on more vectoring technologies |
| CN108639332B (en) * | 2018-06-12 | 2022-06-10 | 中国科学院工程热物理研究所 | Multi-mode flight control method for composite three-rotor unmanned aerial vehicle |
-
2019
- 2019-05-29 WO PCT/CN2019/089006 patent/WO2020237528A1/en active Application Filing
- 2019-05-29 CN CN201980008003.0A patent/CN111699451A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104590557A (en) * | 2015-02-05 | 2015-05-06 | 中电科（德阳广汉）特种飞机系统工程有限公司 | Flight control method and device of multi-rotor and fixed wing composite aircraft |
| US20170320570A1 (en) * | 2016-05-06 | 2017-11-09 | SKyX Limited | Unmanned aerial vehicle (uav) having vertical takeoff and landing (vtol) capability |
| CN108885462A (en) * | 2017-09-19 | 2018-11-23 | 深圳市大疆创新科技有限公司 | Flight control method, unmanned plane and the machine readable storage medium of unmanned plane |
| CN108845581A (en) * | 2018-06-12 | 2018-11-20 | 中国科学院工程热物理研究所 | The compound multi-modal flight control method of quadrotor drone |
| CN108803643A (en) * | 2018-06-19 | 2018-11-13 | 成都纵横自动化技术有限公司 | Flight control method, device, flight controller and compound rotor aircraft |
| CN109720553A (en) * | 2019-02-13 | 2019-05-07 | 深圳创壹通航科技有限公司 | A kind of fixed-wing unmanned plane, control method and medium with VTOL function |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112357060A (en) * | 2020-10-29 | 2021-02-12 | 天津腾云智航科技有限公司 | Fixed wing unmanned aerial vehicle wing flap elevation convergence control method |
| CN113282095A (en) * | 2021-04-08 | 2021-08-20 | 南京航空航天大学苏州研究院 | Course control method for take-off and landing stage of composite wing unmanned aerial vehicle |
| CN113282095B (en) * | 2021-04-08 | 2022-11-22 | 南京航空航天大学苏州研究院 | Course control method for take-off and landing stage of composite wing unmanned aerial vehicle |
| CN113240881A (en) * | 2021-07-12 | 2021-08-10 | 环球数科集团有限公司 | Fire identification system based on multi-feature fusion |
| CN114313252A (en) * | 2021-12-16 | 2022-04-12 | 广州极飞科技股份有限公司 | Unmanned equipment control method and device |
| CN114313252B (en) * | 2021-12-16 | 2023-02-14 | 广州极飞科技股份有限公司 | Unmanned equipment control method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020237528A1 (en) | 2020-12-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111699451A (en) | Flight control method and device for vertical take-off and landing unmanned aerial vehicle and vertical take-off and landing unmanned aerial vehicle | |
| US11181932B2 (en) | Combined pitch and forward thrust control for unmanned aircraft systems | |
| US10317914B2 (en) | Wind finding and compensation for unmanned aircraft systems | |
| EP3521158B1 (en) | Flight control device, unmanned aerial vehicle, flight control method, and computer program | |
| US20220214703A1 (en) | Flight method and apparatus for unmanned aerial vehicle and unmanned aerial vehicle | |
| CN108394565B (en) | Power demand prediction system for rotorcraft | |
| US6474603B1 (en) | Flight control system for a hybrid aircraft in the pitch axis | |
| US8561937B2 (en) | Unmanned aerial vehicle | |
| WO2020191647A1 (en) | Landing control method and flight control device for unmanned aerial vehicle, and unmanned aerial vehicle | |
| US20230182898A1 (en) | Methods and Systems for Energy-Efficient Take-Offs and Landings for Vertical Take-Off and Landing (VTOL) Aerial Vehicles | |
| WO2020037602A1 (en) | Return control method and device for unmanned aerial vehicle, and unmanned aerial vehicle | |
| CN111240348A (en) | Unmanned aerial vehicle landing control method based on motion base, computer readable storage medium and control equipment | |
| WO2020237529A1 (en) | Flight control method and apparatus for unmanned aerial vehicle, and unmanned aerial vehicle | |
| AU2020364319B2 (en) | Contingent use of commanded speed in lieu of sensed airspeed to inform flight control decisions | |
| CN113885565A (en) | Control method for arc turning of multi-rotor unmanned aerial vehicle | |
| WO2021035623A1 (en) | Flight control method and device and aircraft | |
| EP3471847B1 (en) | Self-adjusting system for aircraft control | |
| CN111742276A (en) | Unmanned aerial vehicle return method and equipment, unmanned aerial vehicle and storage medium | |
| Liang et al. | Tailsitter VTOL flying wing aircraft attitude control | |
| Ke et al. | Model based robust forward transition control for tail-sitter hybrid unmanned aerial vehicles | |
| WO2003027789A1 (en) | Flight control system for a hybrid aircraft in a transition region | |
| CN112166393A (en) | Unmanned aerial vehicle control method, control device and computer-readable storage medium | |
| US11975817B2 (en) | Turn into wind method and system | |
| WO2022215266A1 (en) | Flight vehicle landing method, flight vehicle, information processing device, and program | |
| CN205983224U (en) | Unmanned aerial vehicle's control system |
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 | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20200922 |