CN111776197A - Propeller stable speed regulation unmanned aerial vehicle and control method thereof - Google Patents
Propeller stable speed regulation unmanned aerial vehicle and control method thereof Download PDFInfo
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Abstract
The invention adopts the technical scheme that the propeller stable speed regulation unmanned aerial vehicle comprises an unmanned aerial vehicle body and a central flight control controller, wherein n propeller power units are arranged on the unmanned aerial vehicle body, each propeller power unit is electrically connected with the central flight control controller through a respective decoupling controller, each propeller power unit comprises q load propellers and m speed regulation propellers, and n, m and q are positive integers; the load propeller uses a large-size propeller, and the speed regulation propeller uses a small-size propeller. The load screw is responsible for providing main lift for unmanned aerial vehicle, but because the size is big, response speed is slower, and the speed governing screw provides supplementary lift for unmanned aerial vehicle, because the size is less, and response speed is very fast. The advantages of the load propeller through the large-size propeller provide sufficient lift force and extremely high efficiency for the system, and the economical efficiency of the system is guaranteed. The speed-regulating propeller compensates the deficiency of the load propeller in response speed through the characteristic of quick response of the speed-regulating propeller, and provides enough response performance for the system. The system can provide the best economy and response performance through the matched output of the two propellers.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle with a propeller capable of stably regulating speed and a control method thereof.
Background
Current rotor unmanned aerial vehicle adopts the screw speed governing to realize thrust control, and then realizes the regulation to the organism gesture. Since the propeller is affected by aerodynamic drag and self-rotational inertia while rotating, the propeller governor system cannot respond quickly to the speed/thrust control signal, which is particularly evident in high-thrust propeller governor systems using large-sized propellers.
For the unmanned aerial vehicle, the propeller speed control system with low response performance can reduce the stability of the posture of the unmanned aerial vehicle, and further influences the safe operation of the unmanned aerial vehicle. In order to solve the problem of low response of the propeller, the flight control system needs to introduce a more complex control method to realize the control of the propeller, which greatly increases the development difficulty of the flight control system. On the other hand, the response performance of the propeller speed regulating system can be partially improved by increasing the number of rotors or adopting a tandem type layout, but the system efficiency is greatly reduced. Along with the increase of load demand, the demand of the unmanned aerial vehicle system to the lift that single rotor can provide also rises thereupon, in order to solve this problem, generally include two kinds of schemes of promotion screw size and increase rotor quantity.
The method for improving the size of the propeller (the idea of a large propeller) is the most economical and effective method, the increase of the lift force can be directly brought by increasing the size of the propeller, meanwhile, the effect of the large-size propeller is better, and the economy of the whole system is stronger.
In addition, the overall lift of the system can be increased by increasing the number of the rotors (the idea of small propellers), and the size of the propellers is ensured to be unchanged while the equivalent lift is obtained, so that the response performance of the speed regulating system is kept unchanged.
In the aspect of improving the performance of the propeller speed regulating system, two methods of optimizing a propeller and optimizing a motor controller are adopted.
First, the propeller is optimized to have lower aerodynamic drag and better moment of inertia when operating by using lighter materials and better aerodynamic profile.
Second, the motor controller is optimized
In the existing unmanned aerial vehicle power system (only taking an electric propeller speed regulating system as an example), two motor control modes exist,
(1) the direct current Brushless control (BLDC-Brush-less DC) has the advantages of fast speed response, strong output capacity, large noise, low efficiency, poor adaptation to the external sudden change (open-loop control), and the output capacity reduced in the same proportion with the reduction of the battery voltage
(2) The magnetic Field directional Control/(FoC-Field ordered Control) has the advantages of low noise, high efficiency, strong single body anti-interference capability (closed rotation speed Control), almost no change of performance along with the reduction of battery voltage, and relatively weak dynamic speed change capability.
The two control methods can improve the performance of the propeller speed regulating system to a certain extent after optimization. Aiming at the dynamic response performance of the unmanned aerial vehicle, more optimization sets comprise the response speed of a motor controller (also called electric regulation) for the dead, the weight reduction of a propeller and the setting of flight control PID parameters.
Although the unmanned aerial vehicle adopting the idea of the large propeller has high power efficiency and economy on a single rotor wing, the whole aerodynamic resistance and the rotary inertia can be increased along with the increase of the size of the propeller, and the speed regulation response performance is reduced. Although the influence of a large-size propeller can be compensated by optimizing the motor driving algorithm, the parameter optimization adjustment at the motor controller end has very limited improvement of the response speed due to the limitation of physical properties. Secondly, the weight reduction of the propeller is also limited by the size and the material of the propeller, and the effect is not obvious; the aerodynamic profile optimization requires a lot of calculations and experiments, and is costly.
Although the unmanned aerial vehicle adopting the idea of small propellers changes higher response performance by increasing the number of the propellers, keeping the size of the propellers unchanged or reducing the size of the propellers, the power efficiency of the small propellers is far lower than that of the large propellers, and the increased propellers can bring more dead weight and cause the cruising and economic decline of the unmanned aerial vehicle system.
The two driving methods mentioned above are both directed at a single propeller speed regulating system, and the essence of the driving method is that the driving motor in the propeller speed regulating system is controlled, and only the driving motor is used as an actuating mechanism to output the rotating speed required by flight control, and the driving method does not participate in the control of thrust and attitude. On the unmanned aerial vehicle, the control logic of flight control is to control and calculate the relative speed of each propeller, and output a rotating speed demand signal to each controller so as to achieve the purpose of steady-state flight. Therefore, the whole set of power units is calibrated by taking the relative rotating speed as a core. However, in principle of drone flight, besides rotation (YAW), the drone has three other motion postures: the forward, up-down and rolling are realized by distributing different vertical pulling forces (lifting forces) on each propeller. Therefore, in order to realize the correspondence from the tension to the rotating speed, the flight control system needs to perform additional calculation, and the complexity and the development cost of the algorithm are greatly increased.
Disclosure of Invention
The invention aims to solve the technical problem of providing a propeller stable speed regulation unmanned aerial vehicle with good response performance and maximized system efficiency and a control method thereof.
The technical scheme adopted by the invention is that the propeller-stabilized speed-regulating unmanned aerial vehicle comprises an unmanned aerial vehicle body and a central flight control controller, wherein n power units are arranged on the unmanned aerial vehicle body, each power unit is electrically connected with the central flight control controller through a respective decoupling controller, each power unit comprises q load propellers and m speed-regulating propellers, and n, m and q are positive integers.
The invention has the beneficial effects that: the load propeller is responsible for providing main lift for the unmanned aerial vehicle, but because the size is big, response speed is slower, through increasing the governing screw that has the characteristic of quick response, compensates the load propeller not enough in response speed, provides sufficient response performance oar for the system. And meanwhile, the load propeller provides sufficient lift force and extremely high efficiency for the system through the advantages of a large-size propeller, and the economical efficiency of the system is ensured. The system can provide the best economy and response performance through the matched output of the two propellers.
Preferably, the propeller power unit comprises a load propeller and a speed regulation propeller, the size of the load propeller is larger than that of the speed regulation propeller, the number of the load propeller is set to better meet the use requirement, the cost is low, the efficiency is high, and the size of the speed regulation propeller is smaller than that of the load propeller, so that the response capability of the speed regulation propeller is better than that of the load propeller.
Preferably, the propellers of the load propellers face upwards, the speed regulation propellers face downwards in an inverted mode and are located under the load propellers and fixedly connected with the load propellers, so that the speed regulation propellers can better serve the load propellers in the same power unit, and auxiliary work is completed.
Preferably, in the same power unit, the speed regulation propeller and the load propeller are electrically connected with the decoupling controller through respective rotating motors, namely the speed regulation motor and the load motor, so that the rotating speed control of the two propellers is independent, and the operating speeds of the two propellers are independently changed according to the working conditions.
The invention also discloses a control method for the stable speed regulation of the propeller of the unmanned aerial vehicle, which comprises the following steps:
s1, the flight control system in the central flight control controller respectively sends out flight control instructions to the decoupling controller corresponding to each power unit;
s2, after receiving the signal instruction of the flight control system, the decoupling controller decouples the signal and respectively outputs a speed regulation propeller control instruction and a load propeller control instruction;
s3, the speed regulating motor receives a control instruction of the speed regulating propeller, and then the speed regulating propeller is regulated by the speed regulating motor; and the load motor receives the control instruction of the load propeller and then adjusts the load propeller through the load motor.
Preferably, the S1 includes:
and the flight control instruction sent by the flight control system to the decoupling controller of the power unit is a rotating speed instruction of the load propeller in the previous period and a rotating speed instruction of the load propeller in the current period.
Preferably, the S2 includes:
s21, after receiving two rotating speed instructions of the flight control system, the decoupling controller calculates the pulling force variation according to the rotating speeds of two different load propellers;
s22, judging an input requirement according to the tension variation, judging that the current posture is maintained when the tension variation is less than or equal to K, and turning to S23; when the tension variation is larger than K, judging that the current power is changed, and switching to S24;
s23, executing an attitude maintaining scheme, wherein the decoupling controller sends a constant instruction for keeping the current rotating speed to the load motor and sends a dynamic speed regulating instruction to the speed regulating motor;
and S24, executing a lifting power scheme, and dynamically distributing the actual tension of the load propeller and the speed regulating propeller according to the tension variation of the S21.
Preferably, the S24 includes:
s241, detecting the load propeller, detecting whether the tension output value reaches the tension variable quantity calculated by the decoupling controller, and if so, executing S242; if not, go to S243;
s242, detecting whether the tension distribution reaches a maximum efficiency configuration point, and if so, maintaining the current posture; if not, calling a differential speed allocation control scheme, and then detecting whether the distribution of the pulling-lifting force reaches the maximum efficiency configuration point again.
And S243, invoking a fastest response control scheme.
By the method, the load propeller and the speed regulation propeller can be well matched to realize a high response speed, and a control strategy under different application scenes is matched to realize a reward mechanism of reinforcement learning.
Drawings
FIG. 1 is a schematic view of a power unit according to the present invention;
FIG. 2 is a schematic diagram of control command routing according to the present invention;
FIG. 3 is a schematic flow chart of the method of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings in combination with specific embodiments so that those skilled in the art can practice the invention with reference to the description, and the scope of the invention is not limited to the specific embodiments.
The technical scheme adopted by the invention is that the propeller-stabilized speed-regulating unmanned aerial vehicle comprises an unmanned aerial vehicle body and a central flight control controller, wherein n power units are arranged on the unmanned aerial vehicle body, each power unit is electrically connected with the central flight control controller through a respective decoupling controller, each power unit comprises q load propellers and m speed-regulating propellers, and n, m and q are positive integers. The load propeller is responsible for providing main lift for the unmanned aerial vehicle, but because the size is big, response speed is slower, through increasing the governing screw that has the characteristic of quick response, compensates the load propeller not enough in response speed, provides sufficient response performance oar for the system. And meanwhile, the load propeller provides sufficient lift force and extremely high efficiency for the system through the advantages of a large-size propeller, and the economical efficiency of the system is ensured. The system can provide the best economy and response performance through the matched output of the two propellers.
The propeller power unit comprises a load propeller and a speed regulation propeller, the size of the load propeller is larger than that of the speed regulation propeller, the number of the load propeller is set to well meet the use requirement, the cost is low, the efficiency is high, and the size of the speed regulation propeller is smaller than that of the load propeller so that the response capability of the speed regulation propeller is better than that of the load propeller. The propeller of the load propeller faces upwards, the speed regulation propeller is inverted downwards and is located under the load propeller and fixedly connected with the load propeller, so that the speed regulation propeller can better serve the load propeller in the same power unit, and the auxiliary work is completed. In the same power unit, the speed regulation propeller and the load propeller are electrically connected with the decoupling controller through respective rotating motors, namely the speed regulation motor and the load motor, so that the rotating speed control of the two propellers is independent, and the operating speeds of the two propellers are independently changed according to the working conditions.
The invention also discloses a control method for the stable speed regulation of the propeller of the unmanned aerial vehicle, which comprises the following steps:
s1, the flight control system in the central flight control controller respectively sends out flight control instructions to the decoupling controller corresponding to each power unit;
s2, after receiving the signal instruction of the flight control system, the decoupling controller decouples the signal and respectively outputs a speed regulation propeller control instruction and a load propeller control instruction;
s3, the speed regulating motor receives a control instruction of the speed regulating propeller, and then the speed regulating propeller is regulated by the speed regulating motor; and the load motor receives the control instruction of the load propeller and then adjusts the load propeller through the load motor.
The S1 includes: and the flight control instruction sent by the flight control system to the decoupling controller of the power unit is a rotating speed instruction of the load propeller in the previous period and a rotating speed instruction of the load propeller in the current period.
The S2 includes:
s21, after receiving two rotating speed instructions of the flight control system, the decoupling controller calculates the pulling force variation according to the rotating speeds of two different load propellers;
s22, judging an input requirement according to the tension variation, judging that the current posture is maintained when the tension variation is less than or equal to K, and turning to S23; when the tension variation is larger than K, judging that the current power is changed, and switching to S24;
s23, executing an attitude maintaining scheme, wherein the decoupling controller sends a constant instruction for keeping the current rotating speed to the load motor and sends a dynamic speed regulating instruction to the speed regulating motor;
and S24, executing a lifting power scheme, and dynamically distributing the actual tension of the load propeller and the speed regulating propeller according to the tension variation of the S21.
The S24 includes:
s241, detecting the load propeller, detecting whether the tension output value reaches the tension variable quantity calculated by the decoupling controller, and if so, executing S242; if not, go to S243;
s242, detecting whether the tension distribution reaches a maximum efficiency configuration point, and if so, maintaining the current posture; if not, calling a differential speed allocation control scheme, and then detecting whether the distribution of the pulling-lifting force reaches the maximum efficiency configuration point again.
And S243, invoking a fastest response control scheme.
By the method, the load propeller and the speed regulation propeller can be well matched to realize a high response speed, and a control strategy under different application scenes is matched to realize a reward mechanism of reinforcement learning.
The first embodiment is as follows:
in this embodiment, the drone has four power units, each of which has a load propeller and a speed regulation propeller. The load propeller size is 38 feet and the governor propeller size is 6 feet. The decoupling controller comprises a rotating speed-lifting force converter, a total lifting force decoupling controller and two lifting force-rotating speed converters. When the lift force and the rotating speed of the load propeller need to be adjusted, a flight control system firstly sends a rotating speed instruction for each power unit according to the current posture calculation, then a rotating speed-lift force converter in a decoupling controller of each power unit converts the rotating speed instruction into a total lift force instruction, then according to the mechanics principle, the total lift force decoupling controller converts the total lift force instruction into the real-time lift force of the load propeller and the real-time lift force of the speed regulation propeller, and uses reinforcement learning to correct the two real-time lift forces, so that the distribution of the lift force is more consistent with the current external environment, and finally converts the respective lift force into rotating speed instructions through the lift force-rotating speed converter and sends the rotating speed instructions to rotating motors of the two propellers to control the rotating speeds of the load propeller and.
The specific control strategy is as follows:
1. for steady working condition
Most flight operating modes of unmanned aerial vehicle flight are steady operating modes, and rotating speed or lift instruction fluctuate in an interval, do not have great change promptly. The decoupling processor determines that the load propeller is in the working condition through long-time sampling, then the rotating speed of the load propeller is adjusted to be a fixed speed to provide main lift force, and meanwhile the speed-adjusting propeller is used for responding to the fluctuation of rotating speed or lift force instructions.
2. Aiming at unstable working conditions
Jerky conditions refer to a wide range of variations in the spin rate or lift commands occurring in a short period of time. After the decoupling processor detects the instruction changes in a large range in a short time, the instruction is increased or decreased according to the instruction:
(1) the instruction being an increase
The decoupling processor will control the governor propeller to increase speed rapidly to respond as quickly as possible to the suddenly increased speed/thrust demand of the flight control; meanwhile, the rotating speed of the load propeller is also increased, and the rotating speed of the speed-regulating propeller is correspondingly reduced according to the rotating speed condition of the load propeller; eventually, when the loaded propeller reaches a specified speed/thrust, the main lift will be provided by the loaded propeller, while the speed-regulating propeller is relied upon to respond to fluctuations in speed or lift commands.
(2) The instruction being a reduction
The decoupling processor simultaneously controls the collective deceleration of both sets of propellers to respond as quickly as possible to the suddenly reduced speed/thrust demand of the flight control. Eventually, when the loaded propeller reaches a specified speed/thrust, the main lift will be provided by the loaded propeller, while the speed-regulating propeller is relied upon to respond to fluctuations in speed or lift commands.
The invention provides a propeller stable speed regulating system which adopts a multi-propeller structure, realizes quick response to a flight control system through the cooperation of a large propeller and a small propeller, ensures the efficiency of the system, and effectively solves the problems of low response speed, poor performance and low efficiency when a large-size propeller is adopted in the traditional propeller speed regulating system. Meanwhile, the decoupling motor controller and the decoupling control strategy provided by the invention can automatically perform decoupling control on the propellers according to the flight control input instruction, so that the propellers can be mutually matched, the whole propeller speed regulating system can realize high-speed stable response while ensuring high efficiency, and the control strategy is transparent to flight control, does not need the flight control to participate in operation, and reduces the difficulty of flight control development and parameter setting.
Example two:
taking the propeller acceleration requirement as an example, the method for controlling the stable speed regulation of the propeller of the unmanned aerial vehicle comprises the following steps:
s1, respectively sending a flight control instruction to a decoupling controller corresponding to each power unit by a flight control system in the central flight control controller, wherein the flight control instruction sent to the decoupling controller of the power unit by the flight control system is a load propeller rotating speed instruction in the previous period and a load propeller rotating speed instruction in the current period;
s2, after receiving the signal instruction of the flight control system, the decoupling controller decouples the signal and respectively outputs a speed regulation propeller control instruction and a load propeller control instruction;
s3, the speed regulating motor receives a control instruction of the speed regulating propeller, and then the speed regulating propeller is regulated by the speed regulating motor; and the load motor receives the control instruction of the load propeller and then adjusts the load propeller through the load motor.
The S2 includes:
s21, after receiving two rotating speed instructions of the flight control system, the decoupling controller calculates the pulling force variation according to the rotating speeds of two different load propellers;
s22, judging an input requirement according to the tension variation, judging that the current posture is maintained when the tension variation is equal to 0, and turning to S23; when the tension variation is larger than 0, judging that the current power is increased, and switching to S24;
s23, executing an attitude maintaining scheme, wherein the decoupling controller sends a constant instruction for keeping the current rotating speed to the load motor and sends a dynamic speed regulating instruction to the speed regulating motor;
and S24, executing a lifting power scheme, and dynamically distributing the actual tension of the load propeller and the speed regulating propeller according to the tension variation of the S21.
The S24 includes:
s241, detecting the load propeller, detecting whether the tension output value reaches the tension variable quantity calculated by the decoupling controller, and if so, executing S242; if not, go to S243;
s242, detecting whether the tension distribution reaches a maximum efficiency configuration point, and if so, maintaining the current posture; if not, calling a differential speed allocation control scheme, and then detecting whether the distribution of the pulling-lifting force reaches the maximum efficiency configuration point again.
And S243, invoking a fastest response control scheme.
In this embodiment, the differential blending control scheme is that the decoupling controller controls the load motor to send an acceleration instruction and the speed motor to send a deceleration instruction.
The fastest response control scheme is that the decoupling controller controls the load motor to send an acceleration instruction, and the speed regulation motor to send an acceleration instruction.
In this embodiment, the specific distribution manner of the rotation speed and the pulling force may be distributed by using a table lookup method, that is, the pulling force corresponding to different rotation speeds, the step response speed, the stress effect and the corresponding output instruction are prepared in advance, when the pulling force needs to be distributed, the highest force effect implementation instruction is sent according to the table lookup, and in addition to the table lookup method, the present application may also use reinforcement learning to allocate the pulling force.
Examples of dynamic pull-up force distribution schemes:
take a table lookup method as an example. After the difference value of the received data rotating speed signals of the upper layer is calculated, the required step pulling force requirement A can be obtained in the table 1. Under the "calculate dynamic pull-up force distribution scenario" logic, a "control scenario X in fastest response" and a "control scenario Y for differential leveling scenario" will be generated.
The "control scheme X in fastest response" calls as follows:
according to the requirement A, looking up a table in a table 3 to obtain a maximum step response speed instruction, and obtaining a matching instruction in a table 2:
when A is larger than or equal to the maximum value, the auxiliary drive outputs an O instruction, and the main drive outputs a corresponding instruction of response rotating speed 1-M according to A requirement in table 2.
When A is smaller than the maximum value, the auxiliary drive further has the requirement of selecting and outputting a 1-O corresponding instruction, and the main drive maintains the original output.
After the fastest speed regulation X is finished, implementing a differential leveling scheme control scheme Y:
under the instruction of a, the most effective combination points B of table 2 and table 3 are searched.
Under the B working condition, the corresponding working conditions of the main drive and the auxiliary drive are respectively shifted to Y from X, and meanwhile, the requirement A for output tension is guaranteed to be unchanged. At this time, the assumed speed control command range of the main drive is the speed increasing range of M1-M2 and the curve Mx, and the assumed speed control command range of the auxiliary drive is the speed decreasing range of O2-O1 and the curve Ox. And aiming at the speed rising and speed falling curves Mx and Ox, performing same-torque difference fitting so as to output dynamic control Y.
Fit to the torque difference example: assume that the total differential tension is 1000 g. For a step, Mx raises 10g of pulling force, and needs to raise 40rpm, and at the same time, find the difference between the 10g of pulling force drop in Ox and the corresponding rotation speed, for example, 500rpm, so as to realize the same torque difference fitting for a 10g step. Then 100 points need to be chosen to achieve a 1000g difference fit. And obtaining smooth Mx and Ox curves aiming at the 100 points, thereby realizing stable leveling. The difference step can be set differently according to the response requirements of the system, and indexes such as smoothness.
Table 1
Table 2
Table 3
Claims (8)
1. The utility model provides a speed governing unmanned aerial vehicle is stabilized to screw, includes the unmanned aerial vehicle body, central authorities fly the accuse controller, its characterized in that: be provided with n power pack on the unmanned aerial vehicle body, every power pack flies the accuse controller electricity through respective decoupling controller and central authorities respectively and is connected, every power pack all includes q load screw and m speed governing screw, and wherein, n, m and q are positive integer.
2. The propeller-stabilized speed-regulation unmanned aerial vehicle of claim 1, characterized in that: the power unit comprises a load propeller and a speed regulation propeller, and the size of the load propeller is larger than that of the speed regulation propeller.
3. The propeller-stabilized speed-regulation unmanned aerial vehicle of claim 2, characterized in that: the propeller of the load propeller faces upwards, and the speed regulation propeller is inverted downwards and is positioned right below the load propeller and fixedly connected with the load propeller.
4. The propeller-stabilized speed-regulation unmanned aerial vehicle of claim 1, characterized in that: in the same power unit, the speed regulation propeller and the load propeller are electrically connected with the decoupling controller through respective rotating motors, namely the speed regulation motor and the load motor.
5. A method for controlling the stable speed regulation of an unmanned aerial vehicle propeller comprises the following steps:
s1, the flight control system in the central flight control controller respectively sends out flight control instructions to the decoupling controller corresponding to each power unit;
s2, after receiving the signal instruction of the flight control system, the decoupling controller decouples the signal and respectively outputs a speed regulation propeller control instruction and a load propeller control instruction;
s3, the speed regulating motor receives a control instruction of the speed regulating propeller, and then the speed regulating propeller is regulated by the speed regulating motor; and the load motor receives the control instruction of the load propeller and then adjusts the load propeller through the load motor.
6. The method for controlling the stable speed regulation of the propeller of the unmanned aerial vehicle according to claim 5, wherein the method comprises the following steps: the S1 includes:
and the flight control instruction sent by the flight control system to the decoupling controller of the power unit is a rotating speed instruction of the load propeller in the previous period and a rotating speed instruction of the load propeller in the current period.
7. The method for controlling the stable speed regulation of the propeller of the unmanned aerial vehicle according to claim 6, wherein the method comprises the following steps: the S2 includes:
s21, after receiving two rotating speed instructions of the flight control system, the decoupling controller calculates the pulling force variation according to the rotating speeds of two different load propellers;
s22, judging an input requirement according to the tension variation, judging that the current posture is maintained when the tension variation is less than or equal to K, and turning to S23; when the tension variation is larger than K, judging that the current power is changed, and switching to S24;
s23, executing an attitude maintaining scheme, wherein the decoupling controller sends a constant instruction for keeping the current rotating speed to the load motor and sends a dynamic speed regulating instruction to the speed regulating motor;
and S24, executing a power change scheme, and dynamically distributing the actual tension of the load propeller and the speed regulating propeller according to the tension change quantity of S21.
8. The method for controlling the stable speed regulation of the propeller of the unmanned aerial vehicle according to claim 7, wherein the method comprises the following steps: the S24 includes:
s241, detecting the load propeller, detecting whether the tension output value reaches the tension variable quantity calculated by the decoupling controller, and if so, executing S242; if not, go to S243;
s242, detecting whether the tension distribution reaches a maximum efficiency configuration point, and if so, maintaining the current posture; if not, calling a differential speed allocation control scheme, and then detecting whether the tension distribution reaches the highest efficiency allocation point again;
and S243, invoking a fastest response control scheme.
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| CN202010510954.2A Pending CN111776197A (en) | 2020-06-08 | 2020-06-08 | Propeller stable speed regulation unmanned aerial vehicle and control method thereof |
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