CN111976974A - Flight control method, unmanned aerial vehicle and storage medium - Google Patents
Flight control method, unmanned aerial vehicle and storage medium Download PDFInfo
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- CN111976974A CN111976974A CN202010910432.1A CN202010910432A CN111976974A CN 111976974 A CN111976974 A CN 111976974A CN 202010910432 A CN202010910432 A CN 202010910432A CN 111976974 A CN111976974 A CN 111976974A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
Abstract
The invention relates to the technical field of unmanned aerial vehicles, and discloses a flight control method, an unmanned aerial vehicle and a storage medium, wherein the flight control method, the unmanned aerial vehicle and the storage medium are applied to the unmanned aerial vehicle.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the field of unmanned aerial vehicles, in particular to a flight control method, an unmanned aerial vehicle and a storage medium.
[ background of the invention ]
In recent years, due to the gradual maturity of the technology, the unmanned aerial vehicle is widely applied to a plurality of industrial fields such as surveying and mapping, routing inspection and the like. The unmanned aerial vehicle mainly comprises three types, namely a fixed-wing unmanned aerial vehicle, a rotor unmanned aerial vehicle and a vertical take-off and landing fixed-wing unmanned aerial vehicle, wherein the fixed-wing unmanned aerial vehicle has long endurance and high flying speed, but is inconvenient to take off and land; the rotor unmanned aerial vehicle has the capability of vertical take-off and landing, but the flight time is too short, so that the requirements of most large-area surveying and mapping are not met; rotor unmanned aerial vehicle verts then combines fixed wing aircraft and rotor unmanned aerial vehicle, reaches and to satisfy VTOL, can satisfy the demand that the fixed wing flies again.
However, the unmanned aerial vehicle is easy to receive the influence of the wind field environment when performing the flight mission due to the light weight of the unmanned aerial vehicle, and especially when meeting the strong wind environment, the strong wind forms huge flight resistance on the body of the unmanned aerial vehicle, thereby seriously influencing the flight safety and stability of the unmanned aerial vehicle.
[ summary of the invention ]
An object of the embodiments of the present invention is to provide a flight control method, an unmanned aerial vehicle, and a storage medium, which can improve flight safety and stability of the unmanned aerial vehicle.
In order to solve the technical problems, the invention provides the following technical scheme:
in a first aspect, an embodiment of the present invention provides a flight control method, which is applied to an unmanned aerial vehicle, and the method includes:
determining the wind direction of the environment where the unmanned aerial vehicle is located, wherein the unmanned aerial vehicle comprises a fuselage, wings, a main rotor and tilt rotors, the fuselage comprises a nose and a tail, the wings and the main rotor are both mounted on the fuselage, the tilt rotors are mounted at the end parts of the wings, the tilt rotors can rotate relative to the wings, and the tilt rotors rotate between the plane where the wings are located and the vertical plane of the wings;
if the wind direction is opposite to the head direction of the unmanned aerial vehicle, adjusting the rotation angle of the tilt rotor so that the tilt rotor generates a horizontal vector force, wherein the horizontal vector force is opposite to the wind force, and the horizontal vector force is the same as the wind force in size;
if there is the angle between wind-force wind direction with unmanned aerial vehicle's the aircraft nose direction, the angle is greater than 0 and is less than 180, adjusts unmanned aerial vehicle's aircraft nose direction, makes unmanned aerial vehicle's aircraft nose direction with wind-force direction is relative.
Optionally, the determining the wind direction of the environment in which the drone is located comprises:
acquiring sensor data of the unmanned aerial vehicle during flying;
fusing the sensor data by using a Kalman filter to obtain each axial wind power component of wind power in the unmanned aerial vehicle coordinate system;
and determining the wind direction of the environment where the unmanned aerial vehicle is located according to the axial wind components.
Optionally, the sensor data comprises position data and speed data of the drone.
Optionally, if wind-force direction with unmanned aerial vehicle's aircraft nose direction is relative, adjust tilt rotor's turned angle, so that tilt rotor produces horizontal vector force, horizontal vector force is relative with wind-force, just horizontal vector force's size with wind-force size is the same, include:
controlling the tilt rotor to rotate relative to the wing to a plane where the wing is located;
and adjusting the tilt rotor to generate a horizontal vector force with the same size as the wind power.
Optionally, said adjusting said tiltrotor generates a horizontal vector force of the same magnitude as said wind force, comprising:
acquiring a paddle force provided by the main rotor;
according to the oar power reaches each axial wind-force component, adjust unmanned aerial vehicle's tilt rotor provides horizontal vector power, wherein, horizontal vector power with the size of wind-force is the same.
Optionally, the horizontal vector force that unmanned aerial vehicle's tilt rotor provided is adjusted according to the oar power reaches each axial wind-force component, includes:
adjusting the horizontal vector force provided by the tilt rotor of the drone according to the following equation:
wherein, Fx,b、Fy,bAnd Fz,bIs the resultant force, ma, of the X axis, the Y axis and the Z axis of the coordinate system of the unmanned aerial vehiclex、mayAnd mazFor the gravity of the unmanned aerial vehicle is respectively the gravity component in the X axis, the Y axis and the Z axis of the coordinate system of the unmanned aerial vehicle, Fxl、Fxr、FzlAnd FzrDo respectively unmanned aerial vehicle's the rotor that verts does unmanned aerial vehicle provides vector force is respectively at the component of X axle and Z axle, TfAnd TbThe paddle force provided to the main rotor,
and
the wind power components of the wind power on the X axis, the Y axis and the Z axis of the unmanned aerial vehicle coordinate system are respectively.
In a second aspect, embodiments of the present invention provide a non-transitory computer-readable storage medium having stored thereon computer-executable instructions for causing a drone to perform a flight control method as described in any one of the above.
In a third aspect, an embodiment of the present invention provides an unmanned aerial vehicle, including
A body; a wing mounted to the fuselage; a main rotor mounted to the fuselage; a tiltrotor wing mounted to the wing; the power device is arranged in the machine body and used for providing power for the unmanned aerial vehicle;
wherein, the power device includes:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a flight control method as claimed in any one of the preceding claims.
Optionally, the main rotor includes a first vertical take-off and landing rotor and a second vertical take-off and landing rotor, and the first vertical take-off and landing rotor and the second vertical take-off and landing rotor are respectively installed on two opposite sides of the fuselage.
Optionally, the tilt rotor includes a first rotor and a second rotor, the first rotor and the second rotor are respectively mounted to opposite sides of the wing.
Compared with the prior art, the embodiment of the invention provides a flight control method, an unmanned aerial vehicle and a storage medium, which are applied to the unmanned aerial vehicle.
[ description of the drawings ]
One or more embodiments are illustrated in drawings corresponding to, and not limiting to, the embodiments, in which elements having the same reference number designation may be represented as similar elements, unless specifically noted, the drawings in the figures are not to scale.
Fig. 1a is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 1b is a schematic structural diagram of another unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a method for controlling flight of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a schematic stress diagram of an unmanned aerial vehicle coordinate system according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of a method for controlling flight of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 5 is a schematic force diagram of an unmanned aerial vehicle tiltrotor rotor according to an embodiment of the present invention;
fig. 6 is a schematic flow chart of a method for controlling flight of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 7 is a schematic flow chart of a method for measuring wind power of an unmanned aerial vehicle according to an embodiment of the present invention.
[ detailed description ] embodiments
In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and detailed description. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "vertical," "horizontal," "left," "right," "inner," "outer," and the like as used herein are for descriptive purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Rotor unmanned aerial vehicle verts had both had the rotor unmanned aerial vehicle's of VTOL ability, had characteristics such as fixed wing unmanned aerial vehicle flight time is long and flying speed is fast again to obtain extensive application. It can be understood that when tilting rotor unmanned aerial vehicle is in when hovering or low-speed flight, need control unmanned aerial vehicle is the slope gesture, and then is according to this slope gesture for unmanned aerial vehicle provides required acceleration when hovering or low-speed flight. However, if tilt rotor unmanned aerial vehicle meets the environment of strong wind when hovering or flying at a low speed, the tilt rotor unmanned aerial vehicle can be made due to the tilt attitude, so that the wind area of the tilt rotor becomes large, and then huge wind resistance is brought. Especially when this strong wind is the crosswind, because tilt rotor unmanned aerial vehicle's slope gesture for this crosswind is in unmanned aerial vehicle's airfoil forms huge resistance and decurrent pressure, and this decurrent pressure increase by a wide margin unmanned aerial vehicle's flight dead weight. Simultaneously, this crosswind is still in produce decurrent pressure on rotor unmanned aerial vehicle's the tailplane, this pressure makes unmanned aerial vehicle produces a new line moment, then, unmanned aerial vehicle need provide huge motor control power just can resist resistance, the holding down force that this crosswind formed and the new line moment, so, unmanned aerial vehicle is long when having reduced load capacity and flight owing to having consumed a large amount of control force to resist the windage, and serious influence unmanned aerial vehicle's flight safety and stability.
To this end, referring to fig. 1a and 1b together, an embodiment of the present invention provides an unmanned aerial vehicle, which is capable of better resisting wind disturbance due to high wind when the unmanned aerial vehicle encounters a high wind environment during hovering or low-speed flight, as shown in fig. 1, the unmanned aerial vehicle 100 includes a main body 10, a main rotor 20, wings 30, a tilt rotor 40, and a power device (not shown in the figure).
Wherein, the fuselage 10 is whole to be the fusiformis, power device install in the fuselage 10, can understand, power device includes the control circuit subassembly that comprises electronic components such as MCU, and this control circuit subassembly includes a plurality of control module, for example, is used for controlling the flight control module that unmanned aerial vehicle 100 flies, is used for navigating unmanned aerial vehicle 100's big dipper module and the data processing module that is used for handling the environmental information that relevant airborne equipment obtained etc..
The main rotor 20 install in fuselage 10, main rotor 20 produces the vertical lift through its rotor, so that unmanned aerial vehicle 100 produces the airspeed in the vertical direction, for example, unmanned aerial vehicle 100 when VTOL, through main rotor 20 produces the vertical lift, so that unmanned aerial vehicle 100 takes off and land in the accurate take off and land in predetermined position. It will be appreciated that the main rotor 20 also balances the weight of the drone 100 with the vertical lift generated by its rotor, so that the drone 100 adjusts its attitude of flight by controlling the speed of rotation of the main rotor 20, for example, by adjusting the speed of rotation of the main rotor 20, so that the drone 100 hovers at a preset height.
In some embodiments, the main rotor 20 includes a first vertical lift rotor 21 and a second vertical lift rotor 22, and the first vertical lift rotor 21 and the second vertical lift rotor 22 are respectively installed at two opposite sides of the fuselage 10. For example, the first vertical take-off and landing rotor 21 is installed in the unmanned aerial vehicle 100 at a position close to the nose, and the second vertical take-off and landing rotor 22 is installed in the unmanned aerial vehicle 100 at a position close to the tail, so that the take-off and landing flight of the unmanned aerial vehicle can be stably controlled.
The wings 30 are mounted to the fuselage 10, and preferably, the wings 30 are transversely disposed at the center of gravity of the fuselage 10. Meanwhile, due to the configuration of the wings 20, during the flight of the drone 100, the wings 30 pass over the air, creating a pressure differential between the upper and lower airfoil surfaces of the wings 30, thereby generating a vertical lift that levitates the drone 100.
The tilt rotors 40 are installed at two ends of the wing 30, the tilt rotors 40 can rotate relative to the wing 30, and the tilt rotors 40 rotate between the plane of the wing 30 and the vertical plane of the wing 30. Specifically, tilt rotor 40 includes the rotor that the mechanism of verting reaches and is connected with the mechanism of verting, the mechanism of verting drives the rotor for wing 30 takes place to vert to rotate different angles of verting according to the flight status that unmanned aerial vehicle is different.
With continued reference to fig. 1a, when the drone 100 is cruising at high speed, the tiltrotors 40 rotate to the plane of the wings 30 to provide horizontal drag to the drone 100. Specifically, the rotation of the tilt rotor 40 to the plane of the wing 30 means that the rotation axis of the rotor in the tilt rotor 40 is parallel or parallel to the plane of the wing 30.
Referring to fig. 1b, when the drone 100 is vertically lifted, the tilt rotors 40 rotate to the vertical plane of the wing 30 to provide vertical lift to the drone 100. Specifically, the rotation of the tiltrotor 40 to a vertical plane of the wing 30 means that a rotation axis of the rotor in the tiltrotor 40 is perpendicular to or close to perpendicular to a plane in which the wing 30 is located.
In some embodiments, tiltrotor rotor 40 includes a first rotor 41 and a second rotor 42, and first rotor 41 and second rotor 42 are respectively mounted on opposite sides of wing 30. It can be understood that first rotor 41 and/or second rotor 42 are each constituted by a tilt mechanism and a rotor, the rotor is installed in the tilt mechanism and follows the tilt mechanism is relative to wing 30 tilts, and is unmanned aerial vehicle 100 provides endurance power.
It can be understood that when the unmanned aerial vehicle hovers or flies at a low speed, the unmanned aerial vehicle is easy to encounter a strong wind environment, and the strong wind environment can form wind disturbance on the body of the unmanned aerial vehicle to further influence the flight stability of the unmanned aerial vehicle. In an embodiment of the present invention, please refer to fig. 2, an embodiment of the present invention provides a flight control method, which is applied to an unmanned aerial vehicle having the above structure, and the method includes:
s21, determining the wind direction of the environment where the unmanned aerial vehicle is located;
unmanned aerial vehicle includes fuselage, wing, main rotor and the rotor that verts, the fuselage includes aircraft nose and tail, the wing reaches main rotor all install in the fuselage, the rotor that verts install in the tip of wing, the rotor that verts can for the wing rotates, the rotor that verts is in wing place plane with rotate between the perpendicular of wing.
The wind direction of the environment refers to the flow direction of the airflow encountered by the unmanned aerial vehicle during the flight process, wherein the wind direction may be opposite to the flight direction of the unmanned aerial vehicle or have a certain included angle with the flight direction of the unmanned aerial vehicle. When the wind direction is opposite to the flight direction of the unmanned aerial vehicle, at the moment, the wind direction is opposite to the head direction of the unmanned aerial vehicle, and then, the airflow forms head wind of the unmanned aerial vehicle. When the wind direction is at an angle to the unmanned aerial vehicle, the airflow flows transversely through the unmanned aerial vehicle, and then the airflow constitutes the crosswind of the unmanned aerial vehicle. As can be appreciated, the air flow creates a wind force in the fuselage of the drone, which may be represented by the magnitude and direction of the wind.
In some embodiments, the drone detects the wind force in real time when hovering or flying at a low speed, for example, an anemometer is provided in the drone, and the wind force is obtained by calculating a pressure difference between a dynamic pressure and a static pressure on the anemometer. During specific operation, the unmanned aerial vehicle also presets a wind disturbance threshold, if the wind power is smaller than the wind disturbance threshold, the current wind power is smaller, and then the unmanned aerial vehicle resists the wind power by outputting control power adaptive to the wind power. If the wind power is larger than or equal to the wind disturbance threshold, the current wind power affects the flying stability and safety of the unmanned aerial vehicle, and then the unmanned aerial vehicle continues to acquire the wind power direction of the wind power.
S22, if the wind direction is opposite to the nose direction of the unmanned aerial vehicle, adjusting the rotation angle of the tilt rotor so that the tilt rotor generates a horizontal vector force, wherein the horizontal vector force is opposite to the wind force, and the horizontal vector force is the same as the wind force in size;
when the unmanned aerial vehicle encounters a wind environment when hovering or flying at a low speed, at this time, the airflow forms wind force on the unmanned aerial vehicle, please refer to the stressed model of the unmanned aerial vehicle in the wind environment shown in fig. 3, it should be noted that the stressed model is based on the coordinate system of the unmanned aerial vehicle, specifically, the coordinate system of the unmanned aerial vehicle takes the gravity center position point of the unmanned aerial vehicle as the coordinate origin O, the head direction of the unmanned aerial vehicle is taken as the X axis, the Y axis of the coordinate system of the unmanned aerial vehicle is determined according to the right-hand principle, and the coordinate system of the unmanned aerial vehicle is constructed by taking the direction perpendicular to the XOY coordinate plane and toward the center of the earth as the Z axis.
Specifically, unmanned aerial vehicle's hover or low-speed flight in-process, do respectively through first VTOL rotor and second VTOL rotor unmanned aerial vehicle provides vertical lift TfAnd TbBuoyancy T generated by the tail wing of the unmanned aerial vehicletailWherein the vertical lift force Tf、TbAnd buoyancy TtailIs used to overcome the gravity of the drone and the wind component of the Z axis. Fxl、Fxr、FzlAnd FzrDo respectively unmanned aerial vehicle's the rotor that verts does unmanned aerial vehicle provides the vector force component at X axle and Z axle respectively.
And
the wind power components of the wind power on the X axis, the Y axis and the Z axis of the unmanned aerial vehicle coordinate system are respectively. And further obtaining stress analysis of the unmanned aerial vehicle on an X axis, a Y axis and a Z axis respectively as follows:
wherein, Fx,b、Fy,bAnd Fz,bIs the resultant force, ma, of the X-axis, the Y-axis and the Z-axis of the coordinate system of the unmanned aerial vehiclex、mayAnd mazFor the gravity of the unmanned aerial vehicle is respectively the gravity component, F, on the X-axis, Y-axis and Z-axis of the coordinate system of the unmanned aerial vehiclexl、Fxr、FzlAnd FzrDo respectively unmanned aerial vehicle's the rotor that verts does unmanned aerial vehicle provides vector force is respectively at the component of X axle and Z axle, TfAnd TbThe paddle force provided to the main rotor,
and
the wind power components of the wind power on the X axis, the Y axis and the Z axis of the unmanned aerial vehicle coordinate system are respectively. It should be noted that, when the drone is hovering or flying at a low speed, it can be considered that the drone is static at this time, that is, the resultant force of the X-axis, the Y-axis and the Z-axis of the drone in its coordinate system is approximately 0.
The wind direction is opposite to the head direction of the unmanned aerial vehicle, namely the wind direction and the flight direction of the unmanned aerial vehicle are on the same straight line and opposite in direction. Then, according to the above formula, when the wind direction is opposite to the head direction of the unmanned aerial vehicle, the wind components F of the wind in the Y axis and the Z axiswindyAnd FwindzIs 0, wind power only forms wind disturbance in the X-axis direction, so that the unmanned aerial vehicle only needs to provide power in the X-axis direction to resist the wind disturbance, and the power in the X-axis direction provided by the unmanned aerial vehicle meets the requirement of Fxl+Fxr＝Fwindx+max。
In some embodiments, the roll angle and the pitch angle of the drone are both controlled to be 0 degrees, such that the gravity components of the drone in the X-axis and Y-axis are 0, i.e., ma x0, and ma y0. Then, when the wind direction with unmanned aerial vehicle's aircraft nose direction is relative, unmanned aerial vehicle only need provide the power of X axle direction just can resist this wind and disturb, and the power size of the X axle direction that unmanned aerial vehicle provided satisfies Fxl+Fxr＝FwindxAnd then the wind resistance of the unmanned aerial vehicle is improved.
Wherein, Fxl、FxrThe vector forces provided to the first and second rotors of the drone, respectively, have a component in the X-axis, and thus, in some embodiments, referring to fig. 4, step 22 includes:
s221, controlling the tilting rotor to rotate relative to the wing to a plane where the wing is located;
wherein, the rotor that verts receives the multiple force effect at the rotation in-process, please refer to and show in fig. 5 arbitrary tilting rotor's atress schematic diagram of unmanned aerial vehicle, unmanned aerial vehicle is when hovering or low-speed flight, tilting rotor receives rotor pulling force T, aerodynamic lift L and the aerodynamic resistance D that the high-speed rotation of rotor produced, carries out rotor pulling force T, aerodynamic lift L and aerodynamic resistance D behind horizontal direction and vertical direction's the decomposition, obtains tilting rotor is at vertical direction's vertical vector power Fz and horizontal direction's horizontal vector power Fx, theta does unmanned aerial vehicle's tilting rotor's tilt angle, tilting rotor horizontal vector power Fx's differential does unmanned aerial vehicle provides the course moment, tilting rotor vertical vector power Fz's differential does unmanned aerial vehicle provides the roll moment. When unmanned aerial vehicle rolls over the back, rotor horizontal vector force Fx that verts does unmanned aerial vehicle provides flight lateral shifting's required power. Wherein, unmanned aerial vehicle's tilt rotor includes first rotor and second rotor, first rotor and second rotor do respectively unmanned aerial vehicle's flight provides horizontal vector power FxlAnd FxrAnd vertical vector force FzlAnd Fzr。
S222, adjusting the tilt rotor to generate a horizontal vector force with the same size as the wind power.
As described above, when the wind direction is opposite to the head direction of the unmanned aerial vehicle, the wind components F of the wind in the Y axis and the Z axiswindyAnd FwindzIs 0, and wind-force has only formed wind in the X axle direction and has disturbed, then, unmanned aerial vehicle only need provide the power of X axle direction in order to resist this wind and disturb, just the size of the horizontal vector power that the rotor that verts produced with wind-force size is the same, satisfies F promptlyxl+Fxr＝FwindxThe equivalence relation of (a).
In this embodiment, through control tilt rotor produce with wind-force size the same, opposite direction's horizontal vector force is in order to resist wind-force, thereby has realized unmanned aerial vehicle is in order to resist with less controllability wind-force has promoted unmanned aerial vehicle's wind resistance ability.
In some further embodiments, during hovering or low-speed flying, the drone needs to provide power for hovering or low-speed flying in addition to power required for resisting wind disturbance, please refer to fig. 6, and the method further includes:
s222a, acquiring the paddle force provided by the main rotor;
wherein, the oar power that main rotor provided means unmanned aerial vehicle's lift, mainly used overcomes unmanned aerial vehicle's dead weight self.
S222b, adjusting the tilt rotor of the unmanned aerial vehicle to provide horizontal vector force according to the paddle force and each axial wind force component, wherein the horizontal vector force is the same as the wind force in size.
It can be understood that the direction of the propeller force is always towards the negative direction of the Z axis in the coordinate system of the drone. The method for adjusting the tilt rotor of the unmanned aerial vehicle to provide the horizontal vector force according to the paddle force and each axial wind force component may refer to the description of the embodiment of the force-bearing schematic diagram shown in fig. 3, and is not described in detail here.
S23, if an angle exists between the wind direction and the nose direction of the unmanned aerial vehicle, the angle is larger than 0 degree and smaller than 180 degrees, the nose direction of the unmanned aerial vehicle is adjusted, and the nose direction of the unmanned aerial vehicle is opposite to the wind direction.
Work as wind-force wind direction with there is the angle between unmanned aerial vehicle's the aircraft nose direction, because rotor unmanned aerial vehicle's slope gesture verts for this crosswind is in unmanned aerial vehicle's airfoil forms huge resistance and decurrent pressure, and this increase by a wide margin of decurrent pressure unmanned aerial vehicle's flight dead weight. Then, in this embodiment, the head direction of the unmanned aerial vehicle is adjusted to be opposite to the wind direction, so that the wind is changed from head wind to side wind. After the unmanned aerial vehicle detects the head wind, the tilt rotor is controlled to generate a horizontal vector force with the same magnitude and the opposite direction as the wind force to resist the wind force, that is, after the unmanned aerial vehicle detects the head wind, the processing method returns to step S22, and the description is omitted here.
In the embodiment of the invention, by determining the wind direction of the environment where the unmanned aerial vehicle is located, if the aircraft nose direction of the unmanned aerial vehicle has an angle with the wind direction, the aircraft nose direction of the unmanned aerial vehicle is adjusted to be opposite to the wind direction, so that the wind is changed from head wind to side wind, and then the tilting rotor wing is controlled to generate horizontal vector force with the same size and opposite direction as the wind force to resist the wind force, so that the unmanned aerial vehicle resists the wind force with smaller control capacity, the wind resistance of the unmanned aerial vehicle is improved, and the safety and stability of the flight of the unmanned aerial vehicle are further improved.
In order to accurately acquire the wind direction of the environment where the unmanned aerial vehicle is located, the unmanned aerial vehicle can adjust the direction of the aircraft nose according to the wind direction, and therefore the flying stability of the unmanned aerial vehicle is improved. In some embodiments, referring to fig. 7, a method for obtaining a wind direction according to an embodiment of the present invention includes:
s31, acquiring sensor data of the unmanned aerial vehicle during flying;
it can be understood that, in order to better control the flight of the unmanned aerial vehicle, various types of sensors are carried on the unmanned aerial vehicle, and a Flight Controller (FC) obtains corresponding sensor data through various types of sensors and performs calculation processing on the sensor data so as to control the flight of the unmanned aerial vehicle. The sensor carried on the unmanned aerial vehicle mainly comprises a GPS (global positioning system), a barometer, a compass and an I MU (inertial detection unit), wherein the GPS is used for acquiring longitude and latitude information of the unmanned aerial vehicle so as to determine the position of the unmanned aerial vehicle; the barometer is used for measuring the current atmospheric pressure so as to obtain the height information of the unmanned aerial vehicle; the compass is used for distinguishing the orientation of the airplane in a world coordinate system, namely relating the south, the east, the west and the north with the front, the back, the left and the right of the unmanned aerial vehicle; the I MU (inertia detection device) comprises a three-axis accelerometer and a three-axis gyroscope which are respectively used for measuring the acceleration and the angular velocity of the unmanned aerial vehicle in a three-dimensional space, and the attitude of the unmanned aerial vehicle is calculated according to the acceleration and the angular velocity data.
In an embodiment of the invention, the sensor data for determining the wind direction of the drone while flying comprises position data and speed data of the drone. It will be appreciated that the position data primarily refers to longitude and latitude data of the drone and the velocity data primarily refers to acceleration and angular velocity of the drone in three-dimensional space.
S32, fusing the sensor data by using a Kalman filter to obtain each axial wind power component of the wind power in the unmanned aerial vehicle coordinate system;
and S33, determining the wind direction of the environment where the unmanned aerial vehicle is located according to the axial wind components.
The kalman filter is described by a series of recursive mathematical formulas that provide an efficient, calculable way to estimate the state of the process, including estimating past, current, and future states of the signal. In the embodiment of the invention, by designing a Kalman filter, the data of each sensor currently acquired by the unmanned aerial vehicle is input into the Kalman filter to estimate each axial (X axis, Y axis and Z axis) wind power component of the wind power in the coordinate system of the unmanned aerial vehicle, and then the wind power direction is estimated according to each axial wind power component.
In the embodiment of the invention, sensor data of the unmanned aerial vehicle during flying are obtained, wind power components of wind power in all axial directions of the unmanned aerial vehicle coordinate system are estimated through a Kalman filter according to the obtained sensor data, and the wind power direction of the unmanned aerial vehicle during flying is estimated according to all the axial wind power components. And calculating each axial wind component by designing a Kalman filter, and improving the accuracy of estimating the wind direction of the unmanned aerial vehicle during flying.
Embodiments of the present invention provide a non-transitory computer-readable storage medium having stored thereon computer-executable instructions for execution by one or more processors, e.g., to perform the method steps of fig. 2, 4, 6, and 7 described above.
Embodiments of the present invention provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform a random encoding method in any of the method embodiments described above, for example, to perform the method steps of fig. 2, 4, 6 and 7 described above.
The above-described embodiments of the apparatus or device are merely illustrative, wherein the unit modules described as separate parts may or may not be physically separate, and the parts displayed as module units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network module units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A flight control method is applied to an unmanned aerial vehicle and is characterized by comprising the following steps:
determining the wind direction of the environment where the unmanned aerial vehicle is located, wherein the unmanned aerial vehicle comprises a fuselage, wings, a main rotor and tilt rotors, the fuselage comprises a nose and a tail, the wings and the main rotor are both mounted on the fuselage, the tilt rotors are mounted at the end parts of the wings, the tilt rotors can rotate relative to the wings, and the tilt rotors rotate between the plane where the wings are located and the vertical plane of the wings;
if the wind direction is opposite to the head direction of the unmanned aerial vehicle, adjusting the rotation angle of the tilt rotor so that the tilt rotor generates a horizontal vector force, wherein the horizontal vector force is opposite to the wind force, and the horizontal vector force is the same as the wind force in size;
if there is the angle between wind-force wind direction with unmanned aerial vehicle's the aircraft nose direction, the angle is greater than 0 and is less than 180, adjusts unmanned aerial vehicle's aircraft nose direction, makes unmanned aerial vehicle's aircraft nose direction with wind-force direction is relative.
2. The method of claim 1, wherein the determining the wind direction of the environment in which the drone is located comprises:
acquiring sensor data of the unmanned aerial vehicle during flying;
fusing the sensor data by using a Kalman filter to obtain each axial wind power component of wind power in an unmanned aerial vehicle coordinate system;
and determining the wind direction of the environment where the unmanned aerial vehicle is located according to the axial wind components.
3. The method of claim 2, wherein the sensor data comprises position data and velocity data of the drone.
4. The method of any one of claims 1-3, wherein said adjusting the angle of rotation of said tiltrotor to cause said tiltrotor to generate a horizontal vector force if said wind direction is opposite to the nose direction of said drone, said horizontal vector force being opposite to the wind direction and having a magnitude equal to the magnitude of said wind force, comprises:
controlling the tilt rotor to rotate relative to the wing to a plane where the wing is located;
and adjusting the tilt rotor to generate a horizontal vector force with the same size as the wind power.
5. The method of claim 4, wherein said adjusting said tiltrotor generates a horizontal vector force of the same magnitude as said wind force, comprising:
acquiring a paddle force provided by the main rotor;
according to the oar power reaches each axial wind-force component, adjust unmanned aerial vehicle's tilt rotor provides horizontal vector power, wherein, horizontal vector power with the size of wind-force is the same.
6. The method of claim 5, wherein said adjusting a horizontal vector force provided by a tilt rotor of said drone, based on said paddle force and said respective axial wind force components, comprises:
adjusting the horizontal vector force provided by the tilt rotor of the drone according to the following equation:
wherein, Fx,b、Fy,bAnd Fz,bIs the resultant force, ma, of the X axis, the Y axis and the Z axis of the coordinate system of the unmanned aerial vehiclex、mayAnd mazFor the gravity of the unmanned aerial vehicle is respectively the gravity component in the X axis, the Y axis and the Z axis of the coordinate system of the unmanned aerial vehicle, Fxl、Fxr、FzlAnd FzrDo respectively unmanned aerial vehicle's the rotor that verts does unmanned aerial vehicle provides vector force is respectively at the component of X axle and Z axle, TfAnd TbThen provided for said main rotorThe force of the paddles is increased by the force of the paddles,
and
the wind power components of the wind power on the X axis, the Y axis and the Z axis of the unmanned aerial vehicle coordinate system are respectively.
7. A non-transitory computer-readable storage medium having stored thereon computer-executable instructions for causing a drone to perform the flight control method of any one of claims 1 to 6.
8. An unmanned aerial vehicle, which is characterized by comprising
A body;
a wing mounted to the fuselage;
a main rotor mounted to the fuselage;
a tiltrotor wing mounted to the wing;
the power device is arranged in the machine body and used for providing power for the unmanned aerial vehicle;
wherein, the power device includes:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a flight control method as claimed in any one of claims 1 to 6.
9. The drone of claim 8, wherein the main rotor includes first and second vtol rotors mounted to opposite sides of the fuselage.
10. The drone of claim 8, wherein the tiltrotor rotors include a first rotor and a second rotor, the first rotor and the second rotor being mounted to opposite sides of the wing, respectively.
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| CN202010910432.1A CN111976974A (en) | 2020-09-02 | 2020-09-02 | Flight control method, unmanned aerial vehicle and storage medium |
| PCT/CN2021/115736 WO2022048543A1 (en) | 2020-09-02 | 2021-08-31 | Flight control method, unmanned aerial vehicle, and storage medium |
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| WO2022048543A1 (en) * | 2020-09-02 | 2022-03-10 | 深圳市道通智能航空技术股份有限公司 | Flight control method, unmanned aerial vehicle, and storage medium |
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