CN111752291A - Height control method and device, unmanned aerial vehicle and storage medium - Google Patents

Height control method and device, unmanned aerial vehicle and storage medium Download PDF

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Publication number
CN111752291A
CN111752291A CN201910520815.5A CN201910520815A CN111752291A CN 111752291 A CN111752291 A CN 111752291A CN 201910520815 A CN201910520815 A CN 201910520815A CN 111752291 A CN111752291 A CN 111752291A
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actual
target
instruction
height
unmanned aerial
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钟欣辰
吴斌
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Guangzhou Xaircraft Technology Co Ltd
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Guangzhou Xaircraft Technology Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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

Abstract

The application relates to the technical field of unmanned aerial vehicles, and provides a height control method, a device, an unmanned aerial vehicle and a storage medium, wherein the method comprises the following steps: responding to the target height instruction, and acquiring actual flight parameters of the unmanned aerial vehicle; inputting a target height instruction and actual flight parameters into a pre-established height control model to obtain the elevator control quantity of the unmanned aerial vehicle; according to the pitching motion of the unmanned aerial vehicle controlled by the elevator, the height control of the unmanned aerial vehicle in the process of transition from a rotor wing mode to a fixed wing mode is realized. This application is according to target altitude instruction and unmanned aerial vehicle's actual flight parameter control unmanned aerial vehicle's pitching motion to eliminate the altitude error between unmanned aerial vehicle's actual altitude and the target altitude instruction, realize that unmanned aerial vehicle passes through the accurate height of deciding of fixed wing mode in-process from the rotor mode.

Description

Height control method and device, unmanned aerial vehicle and storage medium
Technical Field
The embodiment of the application relates to the technical field of unmanned aerial vehicles, in particular to a height control method and device, an unmanned aerial vehicle and a storage medium.
Background
Traditional unmanned aerial vehicle divide into fixed wing unmanned aerial vehicle and rotor unmanned aerial vehicle according to the wing type, and generally, fixed wing unmanned aerial vehicle has higher requirement to the place of taking off and land, and rotor unmanned aerial vehicle's large tracts of land operating efficiency is lower.
In order to overcome the difficulties, researchers provide a vertical take-off and landing fixed-wing unmanned aerial vehicle, which has the advantages of vertical take-off and landing of a rotor unmanned aerial vehicle, has the advantages of long duration and high speed of the fixed-wing unmanned aerial vehicle, and is a great research hot door in the field of aviation in recent years. However, when the flight mode of the vertical take-off and landing fixed-wing unmanned aerial vehicle is transited from the rotor mode to the fixed-wing mode, the phenomenon of climbing or falling high easily occurs, how to realize the transition of the vertical take-off and landing fixed-wing unmanned aerial vehicle at the time of the transition from the rotor mode to the fixed-wing mode is high, and the technical problem to be solved by researchers is urgently needed.
Disclosure of Invention
The application aims to provide a height control method and device, an unmanned aerial vehicle and a storage medium, which are used for realizing height control of the unmanned aerial vehicle in the process of transition from a rotor mode to a fixed wing mode.
In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:
in a first aspect, the present application provides a height control method for a vertical take-off and landing fixed wing drone, the method comprising: responding to the target height instruction, and acquiring actual flight parameters of the unmanned aerial vehicle; inputting the target altitude instruction and the actual flight parameters into a pre-established altitude control model to obtain the elevator control quantity of the unmanned aerial vehicle; and controlling the pitching motion of the unmanned aerial vehicle according to the elevator control quantity, and realizing the height control of the unmanned aerial vehicle in the process of transition from a rotor wing mode to a fixed wing mode.
Optionally, the actual flight parameters include actual altitude, actual speed, actual pitch angle, and actual angular speed, and the altitude control model includes an altitude controller, an angle controller, and an angular speed controller; the step of inputting the target altitude instruction and the actual flight parameter into a pre-established altitude control model to obtain the elevator control quantity of the unmanned aerial vehicle comprises: inputting the target height instruction and the actual height into the height controller to obtain a vertical speed instruction; converting the vertical speed instruction into a target pitch angle instruction according to the actual speed; inputting the target pitch angle instruction and the actual pitch angle into the angle controller to obtain a target angular velocity instruction; and inputting the target angular velocity instruction and the actual angular velocity into the angular velocity controller to obtain the elevator control quantity.
Optionally, the step of inputting the target height command and the actual height into the height controller to obtain a vertical speed command includes: obtaining a first difference between the target height instruction and the actual height; and inputting the first difference value into the height controller, wherein the height controller obtains the vertical speed instruction by adopting a proportional-differential algorithm or a proportional-integral-differential algorithm.
Optionally, the step of converting the vertical speed command into a target pitch angle command according to the actual speed includes: acquiring a ratio between the vertical speed instruction and the actual speed; and performing arcsine calculation on the ratio to obtain the target pitch angle instruction.
Optionally, the step of inputting the target pitch angle command and the actual pitch angle into the angle controller to obtain a target angular velocity command includes: acquiring a second difference value between the target pitch angle instruction and the actual pitch angle; and inputting the second difference value into the angle controller, wherein the angle controller adopts a proportional algorithm or a proportional-derivative algorithm or a proportional-integral-derivative algorithm to obtain the target angular velocity instruction.
Optionally, the step of inputting the target angular velocity command and the actual angular velocity into the angular velocity controller to obtain the elevator control amount includes: acquiring a third difference value between the target angular velocity instruction and the actual angular velocity; and inputting the third difference value into the angular speed controller, wherein the angular speed controller obtains the elevator control quantity by adopting a proportional-integral-derivative algorithm or a proportional-derivative algorithm.
Optionally, the method further comprises: when detecting when unmanned aerial vehicle's actual speed reaches preset target transition speed, control unmanned aerial vehicle flies with the fixed wing mode.
In a second aspect, the application further provides a height control device applied to the VTOL fixed wing UAVs, the device comprises a parameter acquisition module, a control quantity acquisition module and a height control module. The parameter acquisition module is used for responding to a target height instruction and acquiring actual flight parameters of the unmanned aerial vehicle; the control quantity obtaining module is used for inputting the target altitude instruction and the actual flight parameters into a pre-established altitude control model to obtain the elevator control quantity of the unmanned aerial vehicle; the height control module is used for controlling the pitching motion of the unmanned aerial vehicle according to the elevator control quantity, and realizing the height control of the unmanned aerial vehicle in the process of transition from a rotor wing mode to a fixed wing mode.
Optionally, the actual flight parameters include actual altitude, actual speed, actual pitch angle, and actual angular speed, and the altitude control model includes an altitude controller, an angle controller, and an angular speed controller; the control quantity obtaining module comprises a vertical speed instruction obtaining unit, a target pitch angle instruction obtaining unit, a target angular speed instruction obtaining unit and an elevator control quantity obtaining unit. The vertical speed instruction obtaining unit is used for inputting the target height instruction and the actual height into the height controller to obtain a vertical speed instruction; the target pitch angle instruction obtaining unit is used for converting the vertical speed instruction into a target pitch angle instruction according to the actual speed; the target angular velocity instruction obtaining unit is used for inputting the target pitch angle instruction and the actual pitch angle into the angle controller to obtain a target angular velocity instruction; and the elevator control quantity obtaining unit is used for inputting the target angular speed instruction and the actual angular speed into the angular speed controller to obtain the elevator control quantity.
Optionally, the vertical speed instruction obtaining unit is specifically configured to: obtaining a first difference between the target height instruction and the actual height; and inputting the first difference value into the height controller, wherein the height controller obtains the vertical speed instruction by adopting a proportional-differential algorithm or a proportional-integral-differential algorithm.
Optionally, the target pitch angle instruction obtaining unit is specifically configured to: acquiring a ratio between the vertical speed instruction and the actual speed; and performing arcsine calculation on the ratio to obtain the target pitch angle instruction.
Optionally, the target angular velocity instruction obtaining unit is specifically configured to: acquiring a second difference value between the target pitch angle instruction and the actual pitch angle; and inputting the second difference value into the angle controller, wherein the angle controller adopts a proportional algorithm or a proportional-derivative algorithm or a proportional-integral-derivative algorithm to obtain the target angular velocity instruction.
Optionally, the elevator control amount obtaining unit is specifically configured to: acquiring a third difference value between the target angular velocity instruction and the actual angular velocity; and inputting the third difference value into the angular speed controller, wherein the angular speed controller obtains the elevator control quantity by adopting a proportional-integral-derivative algorithm or a proportional-derivative algorithm.
Optionally, the apparatus further comprises a flight control module, the flight control module being configured to control the drone to fly in a fixed-wing mode when detecting that the actual speed of the drone reaches a preset target transition speed.
In a third aspect, the present application further provides a drone, the drone comprising: one or more processors; a memory for storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the height control method described above.
In a fourth aspect, the present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the height control method described above.
Compared with the prior art, the height control method, the device, the unmanned aerial vehicle and the storage medium provided by the application, after the unmanned aerial vehicle takes off in a rotor wing mode, a target height control instruction is responded, actual flight parameters of the unmanned aerial vehicle are obtained, a height control model which is established in advance is input with the target height instruction and the actual flight parameters, elevator control quantity of the unmanned aerial vehicle is obtained, pitching motion of the unmanned aerial vehicle is controlled according to the obtained elevator control quantity, height errors between the actual height and the target height instruction of the unmanned aerial vehicle are eliminated, and accurate height setting of the unmanned aerial vehicle in the process of transition from the rotor wing mode to a fixed wing mode is achieved.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 shows an example view of a vertical take-off and landing fixed wing drone.
Figure 2 shows a schematic diagram of the rotor height determination algorithm.
Fig. 3 shows a flow chart of the height control method provided by the present application.
FIG. 4 illustrates a schematic diagram of a height control model provided herein.
Fig. 5 shows another flow chart of the height control method provided by the present application.
Fig. 6 is a diagram illustrating an application example of the height control method provided in the present application.
Fig. 7 is a diagram illustrating another application example of the height control method provided in the present application.
Fig. 8 is a diagram illustrating another application example of the height control method provided in the present application.
Fig. 9 shows a block schematic diagram of a height control device as provided herein.
Fig. 10 shows a block schematic diagram of a drone provided by the present application.
Icon: 10-unmanned aerial vehicle; 11-a processor; 12-a storage medium; 13-a bus; 14-a rotor assembly; 15-a stationary wing assembly; 100-height control means; 110-a parameter acquisition module; 120-a control quantity obtaining module; 130-height control module; 140-a flight control module; 121-vertical velocity command obtaining unit; 122-target pitch angle command obtaining unit; 123-target angular velocity instruction obtaining unit; 124-elevator control amount obtaining unit.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
With the development of electronic technology, unmanned aerial vehicles are applied to various fields, for example, agriculture, geology, weather, electricity, and the like. Traditional unmanned aerial vehicle can divide into fixed wing unmanned aerial vehicle and rotor unmanned aerial vehicle according to the wing type, and rotor unmanned aerial vehicle mainly relies on the lift that a plurality of rotors produced to balance the gravity that unmanned aerial vehicle self produced to the rotational speed through changing every rotor comes control unmanned aerial vehicle's gesture. In general, a rotorcraft can take off and land vertically and hover, or fly at any speed within a preset speed interval, but large-area operations (e.g., high-voltage line patrol, highway monitoring, etc.) of the rotorcraft are inefficient.
The fixed-wing unmanned aerial vehicle mainly depends on thrust generated by a propeller or a turbine engine as power, and the lift force of the fixed-wing unmanned aerial vehicle mainly comes from relative motion of wings and air, namely, the fixed-wing unmanned aerial vehicle can fly only by generating a certain relative speed with the air. The fixed-wing unmanned aerial vehicle has the characteristics of high flying speed, high carrying capacity, long endurance and the like, is usually applied to occasions needing long-time stagnation and stay, such as cruising and mission flight, and has higher requirements on take-off and landing places.
It can be seen that both fixed wing drones and rotor drones have their own advantages and disadvantages, and based on this, researchers have proposed a vertical take-off and landing fixed wing drone, please refer to fig. 1, where fig. 1 is an example of a vertical take-off and landing fixed wing drone. The vertical take-off and landing fixed-wing drone illustrated in fig. 1 includes a rotor assembly including rotor blades and a lift motor (not shown in fig. 1) and a fixed-wing assembly that enables the vertical take-off and landing fixed-wing drone to fly in a rotor mode; the fixed-wing assembly includes wings and a thrust motor (not shown in fig. 1), which enables the vtol fixed-wing drone to fly in fixed-wing mode. VTOL fixed wing unmanned aerial vehicle had both had rotor unmanned aerial vehicle VTOL's advantage, had the advantage that fixed wing unmanned aerial vehicle was long, fast again during the flight, can be used to carry out the voyage far away, longer, the more flight task of lift requirement during the flight, for the convenience of description, the unmanned aerial vehicle that this following embodiment of application said all indicates VTOL fixed wing unmanned aerial vehicle.
At present, in order to realize the fixed-height stable flight of the unmanned aerial vehicle, when the flight mode of the unmanned aerial vehicle is a rotor wing mode, a rotor wing fixed-height algorithm is adopted to carry out height control on the unmanned aerial vehicle; when the flight mode of the unmanned aerial vehicle is a rotor wing mode, the height of the unmanned aerial vehicle is controlled by adopting a fixed wing height-fixing algorithm.
The fixed wing height-fixing algorithm is introduced below, and the fixed wing height-fixing algorithm mostly adopts a total energy control algorithm, that is, the total energy of the unmanned aerial vehicle is the sum of the potential energy of the unmanned aerial vehicle and the kinetic energy of the unmanned aerial vehicle, that is,
Figure BDA0002096614340000071
wherein E iseRepresentation of unmanned plane assemblyEnergy, G represents unmanned aerial vehicle gravity, and G represents acceleration of gravity, and h represents unmanned aerial vehicle actual altitude, and V represents unmanned aerial vehicle actual speed.
Carry out the decoupling zero with altitude control and speed control, adopt thrust throttle to eliminate unmanned aerial vehicle's total energy error, the thrust throttle is generally installed at unmanned aerial vehicle's afterbody or head, and the thrust throttle can provide the power that moves ahead under the fixed wing mode for unmanned aerial vehicle according to given target throttle, and specific control process can be represented by the following formula:
Figure BDA0002096614340000072
wherein, TdesIndicating unmanned aerial vehicle target throttle, TEeRepresenting the total energy error, TE doteRepresenting the total energy differential error, KTPProportional coefficient, K, representing the total energy errorTIIntegral coefficient, K, representing the total energy errorTDThe differential coefficients representing the total energy error, the total energy error and the total energy differential error may be represented by the following equations, respectively:
Figure BDA0002096614340000073
TE_dote＝(vz_des-vz)*g+(Vdes*ades-V*a) (3)
wherein h isdesIndicating a target height instruction, VdesRepresenting target speed, vz_desIndicating a vertical velocity command, vzDenotes the vertical velocity, adesIndicates the target acceleration and a indicates the acceleration.
Meanwhile, the elevator is adopted to realize the conversion and distribution between the potential energy of the unmanned aerial vehicle and the unmanned maneuvering energy, namely, the energy balance error between the potential energy of the unmanned aerial vehicle and the unmanned maneuvering energy is eliminated, the elevator refers to a steerable airfoil part in a fixed wing horizontal tail wing, the elevator can control the pitching motion of the unmanned aerial vehicle according to a given target pitch angle, and the specific control process can be represented by the following formula:
Figure BDA0002096614340000081
wherein, thetadesRepresenting target pitch angle command, EBeIndicating an energy balance error, EB _ doteRepresenting the energy balance differential error, KEPProportional coefficient, K, representing energy balance errorEIIntegral coefficient, K, representing energy balance errorEDThe differential coefficients representing the energy balance error, the energy balance error and the energy balance differential error may be represented by the following equations, respectively:
Figure BDA0002096614340000082
EB_dote＝(vz_des-vz)*g*wp-(Vdes*ades-V*a)*wk(6)
wherein, wpRepresents the potential energy weight, wkRepresenting the kinetic energy weight.
In the following, a rotor height setting algorithm is described, which mostly adopts a cascaded closed-loop controller, please refer to fig. 2, where the cascaded closed-loop controller includes an outer-loop height controller and an inner-loop vertical speed controller, and a specific process of the rotor height setting algorithm may include:
firstly, a target height instruction hdesAnd a target height h is input into the height controller, and the height controller is based on the target height instruction hdesAnd outputting a vertical speed instruction v by adopting a proportional algorithm (P) according to the height error between the target height h and the target heightz_desThe specific control process can be represented by the following formula:
vz_des＝(hdes-h)*Khp(7)
wherein, KhpIndicating the scaling factor that introduces the height error.
Then, a vertical velocity command v is givenz_desAnd a vertical velocity vzInputting the vertical speed controller, the vertical speed controller is based on the vertical speed command vz_desAnd a vertical velocity vzVertical velocity ofAnd resolving the throttle set value throttle deviation by adopting a proportional-integral-derivative (PID) algorithmcorrectThe specific control process can be represented by the following formula:
Figure BDA0002096614340000091
wherein, azIndicating the vertical acceleration of the drone, i.e. the vertical velocity command vz_desAnd a vertical velocity vzDifference (v) betweenz_des-vz) Differentiation of (1); kvpScale factor, K, representing introduced vertical velocity errorviIntegral coefficient, K, representing introduced vertical velocity errorvdRepresenting the differential coefficient that introduces the vertical velocity error.
However, when the flight mode of the drone is transitioned from the rotor mode to the fixed-wing mode, both the fixed-wing set-height algorithm and the rotor set-height algorithm cannot be enabled, for the following reasons:
first, unmanned aerial vehicle's motor includes thrust motor and lift motor, and thrust motor can be for unmanned aerial vehicle provides the motor of the power that moves ahead, and lift motor can be for unmanned aerial vehicle provides the motor of power that rises. When the flight mode of the unmanned aerial vehicle is transited from the rotor mode to the fixed wing mode, both the thrust motor and the lift motor are in an open state, wherein the aerodynamic disturbance caused by the lift motor to the wings and the fuselage is greatly influenced by the flight speed of the unmanned aerial vehicle and the jet flow speed of the lift motor, correspondingly, the front incoming flow of the unmanned aerial vehicle during flight can be blocked, the flight resistance of the unmanned aerial vehicle is increased, and the stability of the unmanned aerial vehicle can be greatly and adversely influenced, therefore, when the flight mode of the unmanned aerial vehicle is transited from the rotor mode to the fixed wing mode, the control weight of the lift motor needs to be gradually weakened along with the increase of the flight speed of the unmanned aerial vehicle, and thus, the rotor wing height setting algorithm cannot be started;
secondly, during the transition process of the flight mode of the unmanned aerial vehicle from the rotor mode to the fixed wing mode, the transition is required to be smooth enough and the time consumption is as short as possible, so that the thrust motor is required to be arranged atPromote to great rotational speed in the short time to provide sufficient power and flying speed for unmanned aerial vehicle, but can see out by equation (1), when flying speed V grow, the output of thrust throttle is unmanned aerial vehicle target throttle T promptlydesThe momentum becomes smaller, which results in that the fixed wing algorithm cannot be started.
Therefore, during the mode transition process of the flight mode of the unmanned aerial vehicle from the rotor mode to the fixed-wing mode, a common control strategy is to perform an actual flight test on the unmanned aerial vehicle during the mode transition process, and give a zero offset of a pitch angle according to a test result, for example, if the unmanned aerial vehicle is found to have a climbing phenomenon at a certain moment, a negative pitch angle command is given at the moment, so that the unmanned aerial vehicle is lowered to inhibit the unmanned aerial vehicle from climbing at the height at the moment; if the phenomenon that the unmanned aerial vehicle falls to the height at a certain moment is found, a positive pitch angle instruction is given at the moment, so that the unmanned aerial vehicle is raised to restrain the unmanned aerial vehicle from falling to the height at the moment. However, the control strategy cannot adapt to various types of machines, and multiple actual flight tests are required for debugging, so that the debugging difficulty is increased; simultaneously, owing to do not have feedback control, just also can't play the interference killing feature to external disturbance, for example, the zero offset of a pitch angle has been transferred, but wind interference has appeared in certain flight frame, and the phenomenon of climbing or falling high appears once more to unmanned aerial vehicle like this, can't really realize that unmanned aerial vehicle passes through from the rotor mode to the accurate height of deciding of fixed wing mode in-process.
For solving this problem, this application is after unmanned aerial vehicle takes off with the rotor mode, respond target altitude control command and acquire unmanned aerial vehicle's actual flight parameter, and obtain the elevator control volume of unmanned aerial vehicle elevating control surface with the altitude control model that target altitude command and actual flight parameter input were established in advance, according to the elevating control volume control unmanned aerial vehicle's that obtains luffing motion again, control unmanned aerial vehicle's low head or new head, with under the prerequisite that does not influence unmanned aerial vehicle transition efficiency and stability, realize that unmanned aerial vehicle passes through the accurate height-fixing of fixed wing mode in-process from the rotor mode, introduce in detail below.
Referring to fig. 3, fig. 3 is a flow chart illustrating a height control method provided in the present application. The height control method is applied to the unmanned aerial vehicle, and comprises the following steps:
and S101, responding to the target height instruction, and acquiring the actual flight parameters of the unmanned aerial vehicle.
In this embodiment, after planning the airline and triggering the instruction of taking off to unmanned aerial vehicle, unmanned aerial vehicle takes off from ground is perpendicular, and at this moment, unmanned aerial vehicle utilizes the rotor subassembly to provide lift and flies with rotor mode, can adopt rotor to decide high algorithm and carry out altitude control to unmanned aerial vehicle.
As an implementation mode, in the process of taking off the unmanned aerial vehicle in the rotor wing mode, the current height of the unmanned aerial vehicle from the ground can be obtained in real time through a height sensor or a barometer, the current height is compared with the set height, and if the current height does not reach the set height, the unmanned aerial vehicle is controlled to continuously climb in the rotor wing mode; and if the current height reaches the set height, triggering a target height instruction, and acquiring the actual flight parameters of the unmanned aerial vehicle.
As another embodiment, in the process that the unmanned aerial vehicle takes off in a rotor wing mode and climbs to the height, when a mode conversion command sent by a user is received, a target height instruction is triggered to acquire actual flight parameters of the unmanned aerial vehicle. The mode transition command is used to switch the flight mode of the drone from a rotor mode to a fixed-wing mode, and may be sent to the drone through a terminal (e.g., remote control, smartphone, computer, etc.) in communication with the drone. That is to say, when the user carries out remote control operation to unmanned aerial vehicle through the terminal, if the user wants to carry out mode conversion to unmanned aerial vehicle, then send the mode conversion command to unmanned aerial vehicle through the terminal, when unmanned aerial vehicle received the mode conversion command, then triggered the target altitude instruction, obtained unmanned aerial vehicle's actual flight parameter.
The actual flight parameters of the unmanned aerial vehicle can be actual flight state parameters of the unmanned aerial vehicle at the current moment, the actual flight state parameters may change along with the lapse of time, and the actual flight parameters may include actual altitude h, actual speed v, actual pitch angle θ and actual angular velocity q. Optionally, the actual height h may be obtained by a height sensor or a barometer disposed on the unmanned aerial vehicle, the actual speed v may be obtained by a speed sensor disposed on the unmanned aerial vehicle, the actual pitch angle θ may be obtained by an attitude sensor disposed on the unmanned aerial vehicle, and the actual angular speed q may be obtained by an angular velocity sensor disposed on the unmanned aerial vehicle.
And S102, inputting the target altitude instruction and the actual flight parameters into a pre-established altitude control model to obtain the elevator control quantity of the unmanned aerial vehicle.
In this embodiment, the target height instruction may be triggered when the processor of the drone detects that the drone takes off in a rotor mode and climbs to a set height, or when the processor of the drone receives a mode switching command sent by a user through a terminal (e.g., a remote controller, a smart phone, a computer, etc.) in communication with the drone, and the target height instruction may be triggered by hdesAnd (4) showing. The target altitude command may be a flying altitude that the drone needs to maintain during flight in the fixed wing mode, and the set altitude may be equal to the target altitude command.
After triggering the target altitude instruction and obtaining unmanned aerial vehicle's actual flight parameter, with the altitude control model that target altitude instruction and actual flight parameter input were established in advance, altitude control model is according to the altitude error between target altitude instruction and the actual altitude, an elevator control volume is exported, this elevator control volume can control unmanned aerial vehicle's elevator surface is in order to change unmanned aerial vehicle's pitching moment, and then make the aircraft raise the head or lower the head, thereby realize that unmanned aerial vehicle passes through the altitude control of fixed wing mode in-process by the rotor mode, below carry out detailed introduction to control process.
Referring to fig. 4, the height control model may include a height controller, an angle controller and an angular velocity controller, which are sequentially cascaded, and the input of the height control model includes a target height command hdesAnd actual flight parameters, i.e. the input to the altitude control model may comprise a target altitude command hdesActual height h, actual speed v, actual pitch angle theta and actual angular speed q, and output of height control modelThe output may be an elevator control quantitye。
Referring to fig. 5, the method for obtaining the elevator control quantity of the unmanned aerial vehicle by inputting the target altitude command and the actual flight parameter into the pre-established altitude control model in step S102 may include the following sub-steps:
and a substep S1021, inputting the target height command and the actual height into the height controller to obtain a vertical speed command.
In this embodiment, the input to the height controller may be a target height command hdesAnd an actual height h, the output of the height controller may be a vertical velocity command vz_des. The height controller may be, but is not limited to, a PD (proportional differential) controller, a PID (proportional integral differential) controller, or the like. Therefore, the step of inputting the target height command and the actual height into the height controller to obtain the vertical speed command may include:
firstly, acquiring a first difference value between a target height instruction and an actual height;
in this embodiment, the first difference may be the target height instruction hdesAnd the actual height h, and the purpose of the height control is to eliminate the target height command h in the process of transition of the flight mode of the unmanned aerial vehicle from the rotor mode to the fixed wing modedesAnd the actual height h, so that the height controller needs to command h according to the target heightdesHeight error (h) from actual height hdes-h) calculating a vertical velocity command v for the dronez_des。
Then, the first difference is input into a height controller, and the height controller obtains a vertical speed instruction by adopting a proportional-differential algorithm or a proportional-integral-differential algorithm.
In the present embodiment, the target height command h is obtaineddesAnd the actual height h, inputting the first difference value into the height controller, and outputting a vertical speed command v by the height controller by adopting a PD algorithm or a PID algorithmz_des。
The specific control process of the height controller is described below by taking the PD algorithm as an example, and when the PD algorithm is adopted by the height controller, the control process can be represented by the following formula:
vz_des＝Kph*(hdes-h)-Kdh*vz(9)
wherein v iszIndicating the vertical speed of the drone, i.e. the target altitude command hdesAnd the actual height h (h)des-a differential of h); kphIndicating a scaling factor, K, introducing a height errordhRepresenting the differential coefficient that introduces the height error.
The mode transition process, which is the transition of the flight mode of the drone from the rotor mode to the fixed-wing mode, needs to be smooth enough and take as little time as possible. Therefore, in order to make the time consumed by the mode transition process as short as possible, a proportional control K is introduced into the height controllerph*(hdesH) proportional control of the vertical speed command v which can be output by the height controllerz_desAnd target height instruction hdesProportional to the height error between the actual heights h, i.e. faster output of the vertical speed command v based on the height errorz_desThe simple proportional control can generate residual difference, so integral control can be introduced for eliminating the residual difference; at the same time, in order to make the mode transition sufficiently smooth, i.e. to reduce oscillations of the drone during control, a differential control-K is introduced in the altitude controllerdh*vzDifferential control can ensure the stable flight of the unmanned aerial vehicle in the mode transition process.
After the height controller is determined, extensive experimentation and experience is required to determine the coefficients in the height controller, i.e., if the height controller employs a PD controller, the appropriate K is determinedphAnd Kdh(ii) a If the height controller employs a PID controller, the appropriate K needs to be determinedphIntegral coefficient and Kdh. The more the coefficient is, the higher the debugging difficulty is, therefore, in practical application, the user can use the method to debug the cable according to the user's ownThe specific structure of the height controller needs to be flexibly arranged, and is not limited herein.
And a substep S1022, converting the vertical velocity command into a target pitch angle command according to the actual velocity.
In the embodiment, the height controller is based on the target height command hdesGenerating a vertical velocity command v by a height error between the actual height h and the heightz_desAfterwards, the vertical speed instruction needs to be converted into a target pitch angle instruction according to the actual speed of the unmanned aerial vehicle. The target pitch angle command may be a target angle of a head-down or head-up of the drone, and the target pitch angle command may be used to eliminate the target altitude command hdesAnd the actual height h. Therefore, the step of converting the vertical velocity command into the target pitch angle command according to the actual velocity may include:
firstly, acquiring a ratio between a vertical speed instruction and an actual speed;
in this embodiment, the vertical speed command may be to eliminate the target height command hdesAnd the height error between the actual height h and the actual speed h, wherein the flight speed which the unmanned aerial vehicle should reach in the vertical direction refers to the acquired actual flight speed of the unmanned aerial vehicle in the current flight direction, and the ratio of the vertical speed instruction to the actual speed can be used
Figure BDA0002096614340000141
And (4) showing.
And then performing arcsine calculation on the ratio of the obtained vertical speed instruction to the actual speed to obtain a target pitch angle instruction.
In this embodiment, since the vertical speed command is the flying speed that the unmanned aerial vehicle should reach in the vertical direction, and the actual speed is the actual flying speed in the current flying direction of the unmanned aerial vehicle, that is, the direction of the vertical speed command is vertically upward, and the direction of the actual speed is obliquely upward, the included angle between the vertical speed command and the actual speed is the target pitch angle command. Therefore, the target pitch angle command can be obtained by performing arcsine calculation on the ratio between the vertical speed command and the actual speed, and the specific process can be represented by the following formula:
Figure BDA0002096614340000151
wherein, thetadesRepresenting the target pitch angle command.
And a substep S1023, inputting the target pitch angle instruction and the actual pitch angle into the angle controller to obtain a target angular velocity instruction.
In the present embodiment, the target pitch angle command θ is obtaineddesThen, the target pitch angle command theta is requireddesFurther calculating a target angular velocity command q of the unmanned aerial vehicle according to the actual pitch angle thetades. The input to the angle controller may be a target pitch angle command θdesAnd an actual pitch angle theta, the output of the angle controller may be a target angular velocity command qdes. The angle controller may be, but is not limited to, a P controller, a PD controller, a PID controller, etc. Therefore, the step of inputting the target pitch angle command and the actual pitch angle into the angle controller to obtain the target angular velocity command may include:
firstly, acquiring a second difference value between a target pitch angle instruction and an actual pitch angle;
in this embodiment, the second difference may be the target pitch angle command θdesAnd an actual pitch angle theta, and during the transition of the flight mode of the unmanned aerial vehicle from a rotor mode to a fixed wing mode, the angle is controlled to eliminate a target pitch angle command thetadesAnd the actual pitch angle theta, so the angle controller needs to follow the target pitch angle command thetadesAnd the angle error between the actual pitch angle theta (theta)des- θ), calculating a target angular velocity command q for the dronedes。
And then, inputting the second difference value into an angle controller, and obtaining a target angular velocity instruction by the angle controller by adopting a proportional algorithm or a proportional-derivative algorithm or a proportional-integral-derivative algorithm.
In this example, the purpose is to obtainPitch angle command θdesAnd after a second difference value between the actual pitch angle theta, inputting the second difference value into an angle controller, wherein the angle controller can adopt a P algorithm or a PD algorithm or a PID algorithm to output a target angular speed instruction qdes。
The following describes a specific control process of the angle controller by taking the angle controller adopting the P algorithm as an example, and when the angle controller adopts the P algorithm, the control process can be represented by the following formula:
qdes＝Kpθ*(θdes-θ) (11)
wherein, KpθIndicating the scaling factor that introduces the angular error.
During the mode transition of the flight mode of the drone from the rotor mode to the fixed-wing mode, it is necessary that the transition be smooth enough and take as little time as possible. Therefore, in order to make the time consumed by the mode transition process as short as possible, a proportional control K is introduced into the angle controllerpθ*(θdesθ) proportional control may make the angle controller faster based on the target pitch angle command θdesAnd the angle error between the actual pitch angle theta (theta)des- θ) outputting a target angular velocity command qdesThe simple proportional control can generate residual difference, so integral control can be introduced for eliminating the residual difference; simultaneously, for making mode transition process transition enough level and smooth, also be in order to reduce the shock of unmanned aerial vehicle among the control process, can introduce differential control in angle controller, differential control can guarantee the smooth flight of unmanned aerial vehicle in mode transition process.
However, after the angle controller is determined, a great deal of experimentation and experience is required to determine the coefficients in the angle controller, i.e., if the angle controller employs a P controller, the appropriate K needs to be determinedpθ(ii) a If the angle controller is a PD controller, it is necessary to determine the appropriate KpθAnd a differential coefficient; if the angle controller is a PID controller, the appropriate K needs to be determinedpθIntegral coefficient and differential coefficient. The more the coefficients, the higher the debugging difficulty and the proportional control resultsThe residual difference of the angle controller does not cause great influence on the height control in the mode transition process, and the angle controller aims to quickly follow a target pitch angle instruction thetadesCalculating a target angular velocity instruction q of the unmanned aerial vehicle according to the actual pitch angle thetadesTherefore, the angle controller in the present embodiment may be preferably a P controller.
And a substep S1024 of inputting the target angular velocity command and the actual angular velocity into the angular velocity controller to obtain the elevator control quantity.
In the present embodiment, the target angular velocity command q is obtaineddesThen, it is necessary to finally follow the target angular velocity command qdesAnd the actual angular velocity q generates an elevator control quantity for controlling the elevator surface. The input to the angular velocity controller may be a target angular velocity command qdesAnd an actual angular velocity q, the output of the angular velocity controller may be an elevator control amounte. The angular velocity controller may be, but is not limited to, a PD controller, a PID controller, or the like. Therefore, the step of inputting the target angular velocity command and the actual angular velocity into the angular velocity controller to obtain the elevator control amount may include:
firstly, acquiring a third difference value between a target angular velocity instruction and an actual angular velocity;
in the present embodiment, the third difference value may be the target angular velocity command qdesAnd an actual angular velocity q, the angular velocity control aims to eliminate a target angular velocity command q during the mode transition of the flight mode of the unmanned aerial vehicle from the rotor mode to the fixed-wing modedesAnd the actual angular velocity q, and therefore the angular velocity controller needs to follow the target angular velocity command qdesAnd the height error (q) between the actual angular velocity qdesQ) calculating an elevator control quantitye。
And inputting the third difference value into an angular speed controller, wherein the angular speed controller adopts a proportional-integral-derivative algorithm or a proportional-derivative algorithm to obtain the elevator control quantity.
In the present embodiment, the target angular velocity command q is obtaineddesAnd the actual angular velocity qAfter the third difference, the third difference is input into the angular velocity controller, and the angular velocity controller may output the elevator control quantity by using a PD algorithm or a PID algorithme。
In the following, taking the angular velocity controller using the PID algorithm as an example, a specific control process of the angular velocity controller is described, and when the angular velocity controller uses the PID algorithm, the control process can be represented by the following formula:
Figure BDA0002096614340000171
wherein the content of the first and second substances,
Figure BDA0002096614340000172
indicating angular acceleration of the drone, i.e. target angular velocity command qdesAnd the actual angular velocity q (q)des-differentiation of q); kpProportionality coefficient, K, representing introduced angular velocity erroriIntegral coefficient, K, representing introduced angular velocity errordA differential coefficient representing the introduced angular velocity error.
The mode transition process of the flight mode of the unmanned aerial vehicle from the rotor mode to the fixed wing mode needs to be smooth enough and takes as short time as possible. Therefore, in order to make the time consumed by the mode transition process as short as possible, a proportional control K is introduced in the angular velocity controllerp*(qdesQ) and a simple proportional control would produce a residual difference, so an integral control can be introduced to eliminate the residual difference
Figure BDA0002096614340000181
At the same time, in order to make the mode transition sufficiently smooth, i.e. to reduce oscillations of the drone during control, differential control is introduced
Figure BDA0002096614340000182
Differential control can ensure the stable flight of the unmanned aerial vehicle in the mode transition process.
However, the angular speed controller adopts different controllers and needs to be debuggedThe coefficients will differ, i.e. if the height controller employs a PD controller, the appropriate K will need to be determinedpAnd Kd(ii) a If the height controller employs a PID controller, the appropriate K needs to be determinedp、KiAnd KdAnd the more the coefficients are, the higher the debugging difficulty is, so that in practical application, a user can flexibly set a specific structure of the angle controller according to the needs of the user, and the method is not limited herein.
And S103, controlling the pitching motion of the unmanned aerial vehicle according to the elevator control quantity, and realizing height control of the unmanned aerial vehicle in the process of transition from the rotor wing mode to the fixed wing mode.
In the present embodiment, the amount of elevator control of the elevator surface is calculated by the method described in step S102eThen, based on the obtained elevator control amounteThe pitching motion of the unmanned aerial vehicle is controlled, namely the head raising or the head lowering of the unmanned aerial vehicle is controlled, and the height control of the unmanned aerial vehicle in the process of transition from a rotor wing mode to a fixed wing mode is realized.
When the unmanned aerial vehicle is in the process of transition from the rotor mode to the fixed wing mode, the actual height h of the unmanned aerial vehicle deviates from the target height instruction hdesThe height control model can be based on the target height command hdesHeight error (h) from actual height hdes-h) generating a target pitch angle command θdesAnd according to the target pitch angle command thetadesFinally outputting an elevator control quantityeAccording to the amount of elevator controleThe vertical plane motion of the drone can be controlled, i.e. climbing up or diving down. Therefore, in the mode transition process, the actual height of the unmanned aerial vehicle is controlled by controlling the pitching motion of the unmanned aerial vehicle, and the height control of the unmanned aerial vehicle in the mode transition process is realized.
Specifically, if the actual height h of the drone is less than the target height command hdesThen the target height instruction hdesHeight error (h) from actual height hdes-h) a positive value, the target pitch angle command θ being calculated by the height control modeldesCorrespondingly, a positive pitch angle instruction, and finallyThe obtained elevator control amounteThe control quantity is also a positive control quantity, and at the moment, the unmanned aerial vehicle is controlled to raise the head so that the unmanned aerial vehicle climbs upwards; if the actual height h of the unmanned aerial vehicle is greater than the target height instruction hdesThen the target height instruction hdesHeight error (h) from actual height hdes-h) is a negative value, and the target pitch angle command θ is calculated by the height control modeldesCorrespondingly, the control quantity of the elevator is finally obtained by a negative pitch angle instructioneAlso be a negative control volume, this moment, will control unmanned aerial vehicle low head so that unmanned aerial vehicle dives downwards.
It should be noted that, in the process of transitioning the drone from the rotor mode to the fixed wing mode, the altitude control is continuously performed, that is, the processes of steps S102 to S103 are executed in a loop, until it is detected that the actual speed of the drone reaches the preset target transition speed, it indicates that the drone has successfully transitioned to the fixed wing mode, and at this time, the fixed wing altitude algorithm is used to perform the altitude control on the drone, so the altitude control method provided by the present application may further include step S104.
And step S104, controlling the unmanned aerial vehicle to fly in a fixed wing mode when the fact that the actual speed of the unmanned aerial vehicle reaches the preset target transition speed is detected.
In the embodiment, when the unmanned aerial vehicle takes off in a rotor wing mode and climbs to a set height, or when the unmanned aerial vehicle receives a mode conversion command sent by a user through a terminal in communication connection with the unmanned aerial vehicle, a target height command is triggered to execute transition flight, in the transition flight process, a control authority is opened on a control surface of a fixed wing, and the height control of the unmanned aerial vehicle is switched from a rotor wing height setting algorithm to the method introduced in steps S102-S103; in the mode transition process, a processor of the unmanned aerial vehicle sends a power starting instruction to a thrust motor of the fixed wing assembly, and the thrust motor accelerates to a target rotating speed within a period of time to drive the unmanned aerial vehicle to accelerate; along with the increase of the flight speed of the unmanned aerial vehicle, the control weight of the lift motor is gradually and linearly reduced until the control weight is reduced to 0, and at the moment, the rotor wing assembly is completely closed; meanwhile, in the mode transition process, a processor of the unmanned aerial vehicle can detect the actual speed of the unmanned aerial vehicle in real time, if the actual speed of the unmanned aerial vehicle reaches a preset target transition speed, the mode is successfully transitioned to a fixed wing mode, and at the moment, the height control of the unmanned aerial vehicle is switched to a fixed wing height setting algorithm by the method introduced in the steps S102-S103; and if the actual speed of the unmanned aerial vehicle does not reach the preset target transition speed, the transition fails, and the height control of the unmanned aerial vehicle is switched back to the rotor wing height setting algorithm by the method introduced in the steps S102 to S103.
The altitude control method provided by the present application has been verified in an actual flight deck, please refer to fig. 6, where fig. 6 is a flight altitude graph captured from a flight log during mode transition, in this flight deck, a flight mission is set such that the unmanned aerial vehicle takes off in a rotor mode and climbs to a set altitude of 125m before performing mode transition, a target altitude during mode transition is 125m, in the graph, a curve 1 represents a target flight altitude, and a curve 2 represents a flight altitude, so that, as can be seen from the graph, during mode transition, the flight altitude of the unmanned aerial vehicle is kept floating up and down at 125m, and a desired flight effect is achieved.
Meanwhile, the core of the height control method provided by the application is that the flying height of the unmanned aerial vehicle is controlled by controlling the pitching motion of the unmanned aerial vehicle, and the essence of the pitching motion is the pitching angle, so that the control effects of an angle controller and an angular speed controller in the height control model are also very important; the height control model will output the vertical speed command v outputted by the height controllerz_desConversion to target pitch angle command θdesTherefore, it is necessary to evaluate the target pitch angle command θ tracked by the angle controller and the angular velocity controllerdesAnd a target angular velocity command qdesAccuracy and rapidity.
Referring to fig. 7, fig. 7 is a pitch angle graph captured from a flight log during mode transition, where a curve 1 represents a flight pitch angle and a curve 2 represents a target pitch angle, and it can be seen from the graph that an angle controller can well track a target pitch angle command θ during mode transitiondes。
Referring to fig. 8, fig. 8 is a graph of angular velocity during a mode transition taken from the flight log,wherein curve 1 represents the pitch angle velocity and curve 2 represents the target pitch angle velocity, as can be seen from the figure, the angular velocity controller can track the target angular velocity command q well in the mode transition processdes。
Referring to fig. 9, fig. 9 is a block diagram illustrating a height control apparatus 100 provided in the present application. The altitude control apparatus 100 includes a parameter obtaining module 110, a control amount obtaining module 120, an altitude control module 130, and a flight control module 140.
And the parameter obtaining module 110 is configured to respond to the target height instruction and obtain an actual flight parameter of the unmanned aerial vehicle.
And a control quantity obtaining module 120, configured to input the target altitude instruction and the actual flight parameter into a pre-established altitude control model, so as to obtain an elevator control quantity of the unmanned aerial vehicle.
In this embodiment, the actual flight parameters include an actual altitude, an actual speed, an actual pitch angle, and an actual angular speed, and the altitude control model includes an altitude controller, an angle controller, and an angular speed controller; the control amount obtaining module 120 includes a vertical speed instruction obtaining unit 121, a target pitch angle instruction obtaining unit 122, a target angular speed instruction obtaining unit 123, and an elevator control amount obtaining unit 124.
A vertical speed command obtaining unit 121, configured to input the target height command and the actual height into the height controller, so as to obtain a vertical speed command.
In the present embodiment, the vertical speed instruction obtaining unit 121 is specifically configured to obtain a first difference between the target height instruction and the actual height; and inputting the first difference value into a height controller, wherein the height controller adopts a proportional-differential algorithm or a proportional-integral-differential algorithm to obtain a vertical speed instruction.
And a target pitch angle instruction obtaining unit 122, configured to convert the vertical speed instruction into a target pitch angle instruction according to the actual speed.
In this embodiment, the target pitch angle instruction obtaining unit 122 is specifically configured to obtain a ratio between the vertical speed instruction and the actual speed; and performing arcsine calculation on the ratio to obtain a target pitch angle instruction.
And a target angular velocity instruction obtaining unit 123, configured to input the target pitch angle instruction and the actual pitch angle into the angle controller, so as to obtain a target angular velocity instruction.
In this embodiment, the target angular velocity instruction obtaining unit 123 is specifically configured to obtain a second difference between the target pitch angle instruction and the actual pitch angle; and inputting the second difference value into an angle controller, and obtaining a target angular velocity instruction by the angle controller by adopting a proportional algorithm or a proportional-derivative algorithm or a proportional-integral-derivative algorithm.
And an elevator control amount obtaining unit 124 configured to input the target angular velocity command and the actual angular velocity to the angular velocity controller to obtain an elevator control amount.
In the present embodiment, the elevator control amount obtaining unit 124 is specifically configured to obtain a third difference between the target angular velocity command and the actual angular velocity; and inputting the third difference value into an angular speed controller, wherein the angular speed controller adopts a proportional-integral-derivative algorithm or a proportional-derivative algorithm to obtain the elevator control quantity.
And the height control module 130 is used for controlling the pitching motion of the unmanned aerial vehicle according to the elevator control quantity, so that the height control of the unmanned aerial vehicle in the process of transition from the rotor mode to the fixed wing mode is realized.
And the flight control module 140 is used for controlling the unmanned aerial vehicle to fly in a fixed-wing mode when the actual speed of the unmanned aerial vehicle is detected to reach the preset target transition speed.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working process of the height control apparatus 100 described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
Referring to fig. 10, fig. 10 shows a block schematic diagram of the drone 10 provided by the present application. The drone 10 includes a processor 11, a storage medium 12, a bus 13, a rotor assembly 14, and a fixed-wing assembly 15, the processor 11, the storage medium 12, the rotor assembly 14, and the fixed-wing assembly 15 being connected by the bus 13.
The storage medium 12 is used for storing a program, such as the height control device 100 shown in fig. 9, the height control device 100 includes at least one software functional module which can be stored in the storage medium 12 in the form of software or firmware (firmware), and the processor 11 executes the program after receiving an execution instruction to implement the height control method disclosed in the above embodiment.
The storage medium 12 may include a high-speed Random Access Memory (RAM) and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. Alternatively, the storage medium 12 may be a storage device built in the processor 11, or may be a storage device independent of the processor 11.
The processor 11 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 11. The Processor 11 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components.
Optionally, the drone 10 may also include cameras, Radio Frequency (RF) circuitry, altitude sensors, speed sensors, attitude sensors, angular velocity sensors, and the like. Of course, the drone 10 may also be configured with other sensors such as gyroscopes, barometers, hygrometers, and thermometers, which are not described herein again.
Those skilled in the art will appreciate that the block schematic diagram shown in fig. 10 does not constitute a limitation of the drone 10, and that the drone 10 may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
The present application also provides a computer-readable storage medium, on which a computer program is stored, which, when executed by the processor 11, implements the height control method disclosed in the above-described embodiments.
To sum up, the application provides a height control method, device, unmanned aerial vehicle and storage medium, the method includes: responding to the target height instruction, and acquiring actual flight parameters of the unmanned aerial vehicle; inputting a target height instruction and actual flight parameters into a pre-established height control model to obtain the elevator control quantity of the unmanned aerial vehicle; according to the pitching motion of the unmanned aerial vehicle controlled by the elevator, the height control of the unmanned aerial vehicle in the process of transition from a rotor wing mode to a fixed wing mode is realized. This application is according to target altitude instruction and unmanned aerial vehicle's actual flight parameter control unmanned aerial vehicle's pitching motion to eliminate the altitude error between unmanned aerial vehicle's actual altitude and the target altitude instruction, realize that unmanned aerial vehicle passes through the accurate height of deciding of fixed wing mode in-process from the rotor mode.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

Claims (16)

1. A height control method for a vertical take-off and landing fixed wing drone, the method comprising:
responding to the target height instruction, and acquiring actual flight parameters of the unmanned aerial vehicle;
inputting the target altitude instruction and the actual flight parameters into a pre-established altitude control model to obtain the elevator control quantity of the unmanned aerial vehicle;
and controlling the pitching motion of the unmanned aerial vehicle according to the elevator control quantity, and realizing the height control of the unmanned aerial vehicle in the process of transition from a rotor wing mode to a fixed wing mode.
2. The method of claim 1, wherein the actual flight parameters include actual altitude, actual velocity, actual pitch angle, and actual angular velocity, and the altitude control model includes an altitude controller, an angle controller, and an angular velocity controller;
the step of inputting the target altitude instruction and the actual flight parameter into a pre-established altitude control model to obtain the elevator control quantity of the unmanned aerial vehicle comprises:
inputting the target height instruction and the actual height into the height controller to obtain a vertical speed instruction;
converting the vertical speed instruction into a target pitch angle instruction according to the actual speed;
inputting the target pitch angle instruction and the actual pitch angle into the angle controller to obtain a target angular velocity instruction;
and inputting the target angular velocity instruction and the actual angular velocity into the angular velocity controller to obtain the elevator control quantity.
3. The method of claim 2, wherein said step of inputting said target height command and said actual height into said height controller to obtain a vertical velocity command comprises:
obtaining a first difference between the target height instruction and the actual height;
and inputting the first difference value into the height controller, wherein the height controller obtains the vertical speed instruction by adopting a proportional-differential algorithm or a proportional-integral-differential algorithm.
4. The method of claim 2, wherein said step of converting said vertical velocity command to a target pitch angle command based on said actual velocity comprises:
acquiring a ratio between the vertical speed instruction and the actual speed;
and performing arcsine calculation on the ratio to obtain the target pitch angle instruction.
5. The method of claim 2, wherein said step of inputting said target pitch angle command and said actual pitch angle to said angle controller to obtain a target angular velocity command comprises:
acquiring a second difference value between the target pitch angle instruction and the actual pitch angle;
and inputting the second difference value into the angle controller, wherein the angle controller adopts a proportional algorithm or a proportional-derivative algorithm or a proportional-integral-derivative algorithm to obtain the target angular velocity instruction.
6. The method according to claim 2, wherein the step of inputting the target angular velocity command and the actual angular velocity into the angular velocity controller to obtain the elevator control amount comprises:
acquiring a third difference value between the target angular velocity instruction and the actual angular velocity;
and inputting the third difference value into the angular speed controller, wherein the angular speed controller obtains the elevator control quantity by adopting a proportional-integral-derivative algorithm or a proportional-derivative algorithm.
7. The method of claim 1, wherein the method further comprises:
when detecting when unmanned aerial vehicle's actual speed reaches preset target transition speed, control unmanned aerial vehicle flies with the fixed wing mode.
8. A height control device, for use with a VTOL fixed wing drone, the device comprising:
the parameter acquisition module is used for responding to the target height instruction and acquiring the actual flight parameters of the unmanned aerial vehicle;
the control quantity obtaining module is used for inputting the target altitude instruction and the actual flight parameters into a pre-established altitude control model to obtain the elevator control quantity of the unmanned aerial vehicle;
and the height control module is used for controlling the pitching motion of the unmanned aerial vehicle according to the elevator control quantity so as to realize the height control of the unmanned aerial vehicle in the process of transition from the rotor mode to the fixed wing mode.
9. The apparatus of claim 8, wherein the actual flight parameters include actual altitude, actual velocity, actual pitch angle, and actual angular velocity, and the altitude control model includes an altitude controller, an angle controller, and an angular velocity controller;
the control amount obtaining module includes:
a vertical speed instruction obtaining unit, configured to input the target height instruction and the actual height into the height controller, so as to obtain a vertical speed instruction;
a target pitch angle instruction obtaining unit, configured to convert the vertical speed instruction into a target pitch angle instruction according to the actual speed;
a target angular velocity instruction obtaining unit, configured to input the target pitch angle instruction and the actual pitch angle to the angle controller, so as to obtain a target angular velocity instruction;
and the elevator control quantity obtaining unit is used for inputting the target angular speed instruction and the actual angular speed into the angular speed controller to obtain the elevator control quantity.
10. The apparatus according to claim 9, wherein the vertical velocity command obtaining unit is specifically configured to:
obtaining a first difference between the target height instruction and the actual height;
and inputting the first difference value into the height controller, wherein the height controller obtains the vertical speed instruction by adopting a proportional-differential algorithm or a proportional-integral-differential algorithm.
11. The apparatus according to claim 9, wherein the target pitch angle command obtaining unit is specifically configured to:
acquiring a ratio between the vertical speed instruction and the actual speed;
and performing arcsine calculation on the ratio to obtain the target pitch angle instruction.
12. The apparatus according to claim 9, wherein the target angular velocity instruction obtaining unit is specifically configured to:
acquiring a second difference value between the target pitch angle instruction and the actual pitch angle;
and inputting the second difference value into the angle controller, wherein the angle controller adopts a proportional algorithm or a proportional-derivative algorithm or a proportional-integral-derivative algorithm to obtain the target angular velocity instruction.
13. The apparatus according to claim 9, wherein the elevator control amount obtaining unit is specifically configured to:
acquiring a third difference value between the target angular velocity instruction and the actual angular velocity;
and inputting the third difference value into the angular speed controller, wherein the angular speed controller obtains the elevator control quantity by adopting a proportional-integral-derivative algorithm or a proportional-derivative algorithm.
14. The apparatus of claim 8, wherein the apparatus further comprises:
and the flight control module is used for controlling the unmanned aerial vehicle to fly in a fixed wing mode when the actual speed of the unmanned aerial vehicle reaches a preset target transition speed.
15. A drone, characterized in that it comprises:
one or more processors;
memory storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-7.
16. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-7.
CN201910520815.5A 2019-06-17 2019-06-17 Height control method and device, unmanned aerial vehicle and storage medium Pending CN111752291A (en)

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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
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