CN112799419A - Control method and device for dual-rotor unmanned aerial vehicle, unmanned aerial vehicle and storage medium - Google Patents
Control method and device for dual-rotor unmanned aerial vehicle, unmanned aerial vehicle and storage medium Download PDFInfo
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- 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 embodiment of the invention provides a control method and device for a dual-rotor unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium, and belongs to the technical field of unmanned aerial vehicles. The method comprises the following steps: acquiring an actual paddle plane angle of the double-rotor unmanned aerial vehicle in a flight process, wherein the paddle plane angle is an included angle between a paddle plane and a horizontal plane; determining a deviation between the paddle plane angle and a target paddle plane angle; correcting the current rudder included angle according to the deviation to obtain a target rudder included angle, wherein the target rudder included angle is the target included angle between the paddle plane and the machine body; and controlling the dual-rotor unmanned aerial vehicle to fly according to the target rudder included angle. This scheme of adoption can improve two rotor unmanned aerial vehicle's control effect.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a control method and device for a dual-rotor unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium.
Background
The existing dual-rotor unmanned aerial vehicle generally adopts the same control mode as the multi-rotor unmanned aerial vehicle, namely, the attitude angle of the aircraft is used as a control target to control the motion of the aircraft, and operations such as hovering and translation of the aircraft are realized by controlling the attitude angle of the aircraft. However, many rotor unmanned aerial vehicle can regard as a rigid body, and the attitude angle change of rotor must represent that oar plane angle changes, changes the atress direction of rotor through the oar plane angle that changes the rotor, can realize the manipulation control of many rotors, and the oar plane and the organism of bispin are not rigid connection, and the control method who adopts many rotor unmanned aerial vehicle controls bispin unmanned aerial vehicle then has the not good problem of control effect.
Disclosure of Invention
The invention aims to provide a control method and device for a dual-rotor unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium, and the control method and device can solve the problem that the existing control method for the unmanned aerial vehicle is poor in control effect.
In order to achieve the above object, a first aspect of the present invention provides a control method for a dual rotor drone, comprising:
acquiring an actual paddle plane angle of the double-rotor unmanned aerial vehicle in a flight process, wherein the paddle plane angle is an included angle between a paddle plane and a horizontal plane;
determining a deviation between the paddle plane angle and a target paddle plane angle;
correcting the current rudder included angle according to the deviation to obtain a target rudder included angle, wherein the target rudder included angle is the target included angle between the paddle plane and the machine body;
and controlling the dual-rotor unmanned aerial vehicle to fly according to the target rudder included angle.
In the embodiment of the invention, the obtaining of the actual paddle plane angle of the twin-rotor unmanned aerial vehicle in the flight process comprises the following steps: acquiring a current rudder included angle and a current body attitude angle of the dual-rotor unmanned aerial vehicle, wherein the current body attitude angle is a current included angle between a body and a horizontal plane; and determining the actual paddle plane angle of the dual-rotor unmanned aerial vehicle in the current flight process according to the current rudder included angle and the current body attitude angle.
In the embodiment of the invention, the determining the actual paddle plane angle of the dual-rotor unmanned aerial vehicle in the flight process according to the current rudder included angle and the current body attitude angle comprises the following steps: and determining the actual paddle plane angle of the dual-rotor unmanned aerial vehicle in the flying process according to the sum of the current rudder included angle and the current body attitude angle.
In an embodiment of the invention, determining the deviation between the paddle plane angle and the target paddle plane angle comprises: and determining the difference between the plane angle of the paddle and the plane angle of the target paddle as the deviation or determining the product of the difference and a preset coefficient as the deviation.
In the embodiment of the present invention, correcting the current rudder included angle according to the deviation to obtain the target rudder included angle includes: and obtaining a target rudder included angle based on the current rudder included angle and the deviation through a PID control algorithm.
In the embodiment of the present invention, correcting the current rudder included angle according to the deviation to obtain the target rudder included angle includes: and taking the sum of the deviation between the plane angle of the paddle and the plane angle of the target paddle and the current rudder included angle as a target rudder included angle.
In the embodiment of the present invention, obtaining the current rudder included angle and the current body attitude angle of the dual rotor unmanned aerial vehicle includes: acquiring a current rudder included angle through a first sensor on the dual-rotor unmanned aerial vehicle; obtain current organism attitude angle through the last second sensor of two rotor unmanned aerial vehicle.
A second aspect of the present invention provides a control apparatus for a twin rotor unmanned aerial vehicle, comprising: the acquisition module is used for acquiring the actual paddle plane angle of the double-rotor unmanned aerial vehicle in the flight process, wherein the paddle plane angle is the included angle between a paddle plane and a horizontal plane; a first determination module for determining a deviation between the paddle plane angle and a target paddle plane angle; the second determining module is used for correcting the current rudder included angle according to the deviation so as to obtain a target rudder included angle, wherein the target rudder included angle is the target included angle between the paddle plane and the machine body; and the control module is used for controlling the dual-rotor unmanned aerial vehicle to fly according to the target rudder included angle.
The invention provides a dual-rotor unmanned aerial vehicle, which comprises an unmanned aerial vehicle body, a first sensor, a second sensor and a controller, wherein the first sensor, the second sensor and the controller are installed on the unmanned aerial vehicle body; the first sensor and the second sensor are respectively connected with the controller; the first sensor is used for detecting a rudder included angle, and the rudder included angle is an included angle between a propeller plane and a fuselage of the double-rotor unmanned aerial vehicle; the second sensor is used for detecting an organism attitude angle, and the organism attitude angle is an included angle between an organism of the double-rotor unmanned aerial vehicle and a horizontal plane; and the controller is used for controlling the first sensor and the second sensor to work when executing a program, and realizing any one of the control methods for the double-rotor unmanned aerial vehicle.
A fourth aspect of the invention provides a machine-readable storage medium having instructions stored thereon, which when executed by a processor, cause the processor to perform a control method for a twin rotor drone according to any one of the above.
Above-mentioned technical scheme, through the oar plane angle that acquires the reality of two rotor unmanned aerial vehicle at the flight in-process, confirm the deviation between oar plane angle and the target oar plane angle, obtain the target rudder contained angle according to the deviation to according to the flight of target rudder contained angle control two rotor unmanned aerial vehicle. According to the method, the influence of the rudder included angle on the flight process of the double-rotor unmanned aerial vehicle is considered, the double-rotor unmanned aerial vehicle is not controlled based on the attitude angle of the control body any more, the control quantity is replaced by the rudder included angle, the plane angle of the propeller is controlled through the included angle between the plane of the propeller and the plane of the fuselage, so that the external interference is counteracted, the effect of stably following the given angle is achieved, the control effect of the double-rotor unmanned aerial vehicle is improved, the double-rotor unmanned aerial vehicle can stably fly, and the safety of the double-rotor unmanned.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
fig. 1 schematically illustrates a flow diagram of a control method for a dual rotor drone according to an embodiment of the invention;
fig. 2 schematically illustrates a flow diagram of a control method for a dual rotor drone according to another embodiment of the invention;
fig. 3 schematically shows a block diagram of a control apparatus for a twin-rotor drone according to an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
The attitude angle of the aircraft is taken as a control target to control the motion of the aircraft, which is very common on a multi-rotor aircraft with a conventional layout, because the multi-rotor can be taken as a rigid body, the change of the attitude angle of the rotor inevitably represents the change of the plane angle of the propeller, and the control of the multi-rotor can be realized by changing the plane angle of the propeller of the rotor to change the stress direction of the rotor. However, the paddle plane of the double rotors is not rigidly connected with the airframe, the paddle plane is controlled by the two steering engines to rotate, the angle of the paddle plane and the angle of the airframe can be changed when the aircraft moves, and if the attitude angle of the airframe is controlled, the stability of the airframe cannot be effectively guaranteed. Two examples are given here:
in one example, the center of gravity of the airframe is forward, the operator wants the aircraft not to move laterally without hitting the stick, the flight control is set to 0 degree, the flight control controls the plane of the propeller to rotate backwards in order to make the attitude angle of the airframe return to 0 degree, the attitude angle is stabilized at 0 degree, but the horizontal backward component force is generated by the propeller, and the aircraft flies backwards all the time, which is opposite to the steering logic.
In another example, the operator controls the airplane to fly forward, if a target pitch angle of the airplane is given according to the original control logic of multiple rotors to make the airplane fly forward, so that the propellers generate a forward component force to control the airplane to fly forward, but the airplane does not generate a head lowering motion due to factors such as the anti-torque of a steering engine when the two rotors fly forward, namely, an actual attitude angle of the airplane and an error directly and always exist with the given attitude angle, which is contrary to our control logic, and if an integral is included in the control algorithm, integral saturation can occur, and the body oscillation is very easily caused to cause a machine explosion.
Fig. 1 schematically shows a flow diagram of a control method for a dual rotor drone according to an embodiment of the invention. As shown in fig. 1, in an embodiment of the present invention, a control method for a dual-rotor drone is provided, which is exemplified by applying the method to a processor, and the method may include the following steps:
step S110, obtaining an actual paddle plane angle of the double-rotor unmanned aerial vehicle in the flight process, wherein the paddle plane angle is an included angle between a paddle plane and a horizontal plane.
It can be understood that because dual rotor unmanned aerial vehicle's oar plane is not rigid connection with the organism, consequently at actual flight in-process, the oar plane probably has certain contained angle with the fuselage, and the actual oar plane angle of here is the contained angle of oar plane and horizontal plane.
Specifically, the treater can acquire the actual oar plane angle of two rotor unmanned aerial vehicle in flight process through the sensor, that is to say the contained angle of oar plane and horizontal plane.
In one embodiment, obtaining the actual blade plane angle of the twin rotor drone during flight includes: acquiring a current rudder included angle and a current body attitude angle of the dual-rotor unmanned aerial vehicle, wherein the current body attitude angle is a current included angle between a body and a horizontal plane; the actual paddle plane angle of the dual-rotor unmanned aerial vehicle in the current flight process is determined according to the current rudder included angle and the current body attitude angle.
It can be understood that two rotor unmanned aerial vehicle have four controllable mechanism, specifically include two steering engines and two motors, and two motors are used for providing lift, and two steering engines are used for changing the direction of motor force, and first sensor is installed on the steering engine, is used for detecting the contained angle of oar plane and fuselage, rudder contained angle promptly. The fuselage can be a nose or a wing.
In one embodiment, the processor may obtain the current rudder included angle through a first sensor on the twin-rotor unmanned aerial vehicle, the first sensor is used to detect the current rudder included angle, that is, the included angle between the oar plane and the fuselage, further obtain the current body attitude angle through a second sensor on the twin-rotor unmanned aerial vehicle, the second sensor is used to detect the current body attitude angle, that is, the included angle between the fuselage and the horizontal plane, and then determine the actual oar plane angle of the twin-rotor unmanned aerial vehicle in the flight process according to the current rudder included angle and the current body attitude angle, for example, the actual oar plane angle may be determined according to the mapping relationship between the rudder included angle and the body attitude angle.
In one embodiment, the first sensor is a magnetic encoder.
It can be understood that the magnetic encoder can detect the included angle between the plane of the paddle and the fuselage, i.e. the rudder included angle.
In one embodiment, determining an actual blade plane angle of the twin rotor drone during flight based on the current rudder angle and the current body attitude angle comprises: and determining the actual paddle plane angle of the dual-rotor unmanned aerial vehicle in the flying process according to the sum of the current rudder included angle and the current body attitude angle.
Specifically, the processor can add the current rudder included angle and the current body attitude angle to obtain the sum of the current rudder included angle and the current body attitude angle, and therefore the value is used as the actual paddle plane angle of the dual-rotor unmanned aerial vehicle in the flying process.
In this embodiment, the actual oar plane angle of twin rotor unmanned aerial vehicle in flight process is determined to be the sum of current rudder contained angle and current organism attitude angle, has considered two factors of rudder contained angle and organism attitude angle simultaneously to twin rotor unmanned aerial vehicle's flight gesture is controlled more accurately.
Step S120, determining a deviation between the paddle plane angle and the target paddle plane angle.
It will be appreciated that the target paddle plane angle is a given paddle plane angle desired by the user.
In one embodiment, after obtaining the actual paddle plane angle of the twin-rotor unmanned aerial vehicle during flight, the processor performs a difference operation on the paddle plane angle and the target paddle plane angle to obtain a difference value therebetween, and the difference value is used as a deviation between the paddle plane angle and the target paddle plane angle.
In another embodiment, the processor, after obtaining the difference between the paddle plane angle and the target paddle plane angle, may take the product of the difference and a preset coefficient as the deviation between the paddle plane angle and the target paddle plane angle. Wherein, the preset coefficient can be set according to the actual situation.
And S130, correcting the current rudder included angle according to the deviation to obtain a target rudder included angle, wherein the target rudder included angle is the target included angle between the paddle plane and the fuselage.
In one embodiment, the processor obtains the target rudder angle based on the current rudder angle and the deviation via a PID control algorithm. Specifically, the processor may input the deviation between the paddle plane angle and the target paddle plane angle and the current rudder included angle to the PID controller, to obtain the target rudder included angle output by the PID controller.
In another embodiment, the processor takes the sum of the deviation between the paddle plane angle and the target paddle plane angle and the current rudder angle as the target rudder angle.
In this embodiment, the calculated and determined deviation and the current rudder included angle are directly added, and the target rudder included angle does not need to be acquired by the controller, so that the calculation mode of the target rudder included angle can be simplified, and the calculation efficiency can be improved.
And S140, controlling the dual-rotor unmanned aerial vehicle to fly according to the target rudder included angle.
Specifically, after the controller obtains the target rudder included angle, the motor of the unmanned aerial vehicle is controlled to work based on the target rudder included angle.
According to the control method for the double-rotor unmanned aerial vehicle, the actual propeller plane angle of the double-rotor unmanned aerial vehicle in the flying process is obtained, the deviation between the propeller plane angle and the target propeller plane angle is determined, and the target rudder included angle is obtained according to the deviation so as to control the double-rotor unmanned aerial vehicle to fly according to the target rudder included angle. According to the method, the influence of the rudder included angle on the flight process of the double-rotor unmanned aerial vehicle is considered, the double-rotor unmanned aerial vehicle is not controlled based on the attitude angle of the control body any more, the control quantity is replaced by the rudder included angle, the plane angle of the propeller is controlled through the included angle between the plane of the propeller and the plane of the fuselage, so that the external interference is counteracted, the effect of stably following the given angle is achieved, the control effect of the double-rotor unmanned aerial vehicle is improved, the double-rotor unmanned aerial vehicle can stably fly, and the safety of the double-rotor unmanned.
Fig. 2 schematically shows a flow diagram of a control method for a twin rotor drone according to another embodiment of the invention. As shown in fig. 2, in an embodiment of the present invention, a control method for a dual-rotor drone is provided, which is described by taking the method as an example applied to a processor, and the method may include the following steps:
in step S210, the processor obtains the current rudder angle detected by the first sensor.
It will be appreciated that the rudder angle is the angle between the plane of the oar and the fuselage. The first sensor may be, for example, a magnetic encoder.
In step S220, the processor obtains the current body attitude angle detected by the second sensor.
It can be understood that the attitude angle of the body is an included angle between the body and the horizontal plane.
And step S230, the processor determines the actual paddle plane angle of the dual-rotor unmanned aerial vehicle in the flying process according to the sum of the current rudder included angle and the current body attitude angle.
It will be appreciated that the paddle plane angle is the angle of the paddle plane with the horizontal plane.
In step S240, the processor determines that the difference between the paddle plane angle and the target paddle plane angle is a deviation.
And step S250, the processor obtains a target rudder angle based on the current rudder angle and the deviation through a PID control algorithm.
And step S260, the processor controls the dual-rotor unmanned aerial vehicle to fly according to the target rudder included angle.
Specifically, two first sensors (for example, magnetic encoders) are arranged at positions of two steering engine output shafts of a control propeller plane, an included angle (namely, a rudder included angle) between the propeller plane and a machine body is obtained through the magnetic encoders, the included angle and a machine body attitude angle are added to obtain an included angle between the propeller plane and a horizontal plane, and the propeller plane angle is a control target of flight control. In the control process, no matter how the attitude angle of the aircraft body changes, the flight control ensures that the plane angle of the propeller follows a given angle by adjusting the included angle of the rudder of the aircraft.
In one example, assuming that a coordinate system of a northeast region is adopted for flight control, the forward direction of a control plane angle is negative and the backward direction is positive, if the plane is controlled to accelerate forward, the given paddle plane angle is negative, the given angle is-10 degrees, ideally, the angle of a machine body is kept at 0 degree, the steering engine only needs to advance by 10 degrees to enable the paddle plane angle to reach the given angle, but in reality, the machine body is subject to vibration of a propeller, reverse torque of a rotor of the steering engine, wind resistance and other factors to cause oscillation, the paddle plane cannot stably follow the given angle under the condition of an open-loop system, and therefore a closed-loop control system needs to be constructed, and correction control is performed according to output feedback of a control object. In actual conditions, the swinging of the airplane body can cause an error between the plane angle of the propeller and a given angle, a control algorithm in flight control sends out a new control quantity according to the error, and the control quantity directly acts on the included angle of the rudder to offset external interference and achieve the effect of stably following the given angle. Assuming that the plane executes a braking instruction in the process of forward uniform-speed flight, the given paddle plane angle is 10 degrees, the steering engine rotates backwards by 10 degrees, the plane body can be greatly raised due to the pendulum effect and can reach as much as 40 degrees in an actual test, the real paddle plane angle feedback is 50 degrees at the moment, and the rudder which is involved in a closed-loop control system can continuously rotate forwards to correct the angle error.
In this embodiment, two rotor unmanned aerial vehicle can not exert an influence to the flight effect because of centrobaric change, and two rotor unmanned aerial vehicle also can effectively follow given target when dynamic response simultaneously.
Fig. 3 schematically shows a block diagram of a control apparatus for a twin-rotor drone according to an embodiment of the present invention. As shown in fig. 3, in an embodiment of the present invention, there is provided a control apparatus 300 for a twin-rotor drone, including: an obtaining module 310, a first determining module 320, a second determining module 330, and a control module 340, wherein:
an obtaining module 310 configured to obtain an actual paddle plane angle of the dual-rotor unmanned aerial vehicle in a flight process, where the paddle plane angle is an included angle between a paddle plane and a horizontal plane.
A first determination module 320 for determining a deviation between the paddle plane angle and a target paddle plane angle.
The second determining module 330 is configured to correct the current rudder included angle according to the deviation to obtain a target rudder included angle, where the target rudder included angle is a target included angle between the paddle plane and the fuselage.
And the control module 340 is used for controlling the dual-rotor unmanned aerial vehicle to fly according to the target rudder included angle.
It can be understood that because dual rotor unmanned aerial vehicle's oar plane is not rigid connection with the organism, consequently at actual flight in-process, the oar plane probably has certain contained angle with the fuselage, and the actual oar plane angle of here is the contained angle of oar plane and horizontal plane. Two rotor unmanned aerial vehicle have four controllable mechanism, specifically include two steering engines and two motors, and two motors are used for providing lift, and two steering engines are used for changing the direction of motor force, and first sensor is installed on the steering engine, is used for detecting the contained angle of oar plane and fuselage, rudder contained angle promptly. The target paddle plane angle is a given paddle plane angle desired by the user.
Specifically, the processor acquires the current rudder included angle of the twin-rotor unmanned aerial vehicle detected by the first sensor in the flight process, acquires the current body attitude angle detected by the second sensor, and then determines the actual paddle plane angle of the twin-rotor unmanned aerial vehicle in the flight process according to the current rudder included angle and the current body attitude angle, for example, the actual paddle plane angle can be determined according to the mapping relationship between the rudder included angle and the body attitude angle. After the processor obtains the actual plane angle of the double-rotor unmanned aerial vehicle in the flying process, the difference operation is carried out on the plane angle of the propeller and the plane angle of the target propeller, and the deviation between the plane angle of the propeller and the plane angle of the target propeller is obtained. The processor can input the deviation between the paddle plane angle and the target paddle plane angle into the controller, and the target rudder included angle output by the controller is obtained to control the dual-rotor unmanned aerial vehicle to fly through the target rudder included angle. The controller (not shown) may be, for example, a PID controller, and after outputting the rudder angle control amount, the controller controls the motor of the drone to operate based on the rudder angle control amount.
Above-mentioned a controlling means for two rotor unmanned aerial vehicle, acquire two rotor unmanned aerial vehicle's current rudder contained angle through first sensor, acquire two rotor unmanned aerial vehicle's current organism attitude angle through the second sensor, confirm the oar plane angle of two rotor unmanned aerial vehicle at the actual of flight in-process according to current rudder contained angle and current organism attitude angle, and then confirm the deviation between oar plane angle and the target oar plane angle, obtain the target rudder contained angle according to the deviation, with according to the flight of target rudder contained angle control two rotor unmanned aerial vehicle. According to the method, the influence of the rudder included angle on the flight process of the double-rotor unmanned aerial vehicle is considered, the double-rotor unmanned aerial vehicle is not controlled based on the attitude angle of the control body any more, the control quantity is replaced by the rudder included angle, the plane angle of the propeller is controlled through the included angle between the plane of the propeller and the plane of the fuselage, so that the external interference is counteracted, the effect of stably following the given angle is achieved, the control effect of the double-rotor unmanned aerial vehicle is improved, the double-rotor unmanned aerial vehicle can stably fly, and the safety of the double-rotor unmanned.
In one embodiment, the obtaining module 310 is further configured to obtain a current rudder angle and a current body attitude angle of the dual-rotor unmanned aerial vehicle, where the current body attitude angle is a current angle between the body and the horizontal plane; and determining the actual paddle plane angle of the dual-rotor unmanned aerial vehicle in the current flight process according to the current rudder included angle and the current body attitude angle.
In one embodiment, the obtaining module 310 is further configured to determine an actual blade plane angle of the dual-rotor drone during flight according to a sum of the current rudder angle and the current body attitude angle.
In one embodiment, the first determination module 320 is further configured to determine that the difference between the paddle plane angle and the target paddle plane angle is a deviation or that the difference is a deviation multiplied by a preset coefficient.
In one embodiment, the second determination module 330 is further configured to obtain a target rudder angle based on the current rudder angle and the deviation through a PID control algorithm.
In one embodiment, the second determination module 330 is further configured to determine a sum of a deviation between the paddle plane angle and the target paddle plane angle and the current rudder angle as the target rudder angle.
In one embodiment, the obtaining module 310 is further configured to obtain the current rudder angle via a first sensor on the dual rotor drone; obtain current organism attitude angle through the last second sensor of two rotor unmanned aerial vehicle.
The embodiment of the invention provides a dual-rotor unmanned aerial vehicle, which comprises an unmanned aerial vehicle body, a first sensor, a second sensor and a controller, wherein the first sensor, the second sensor and the controller are arranged on the unmanned aerial vehicle body; the first sensor and the second sensor are respectively connected with the controller; the first sensor is used for detecting a rudder included angle, and the rudder included angle is an included angle between a propeller plane and a fuselage of the double-rotor unmanned aerial vehicle; the second sensor is used for detecting an organism attitude angle, and the organism attitude angle is an included angle between an organism of the double-rotor unmanned aerial vehicle and a horizontal plane; and the controller is used for controlling the first sensor and the second sensor to work when executing a program, and realizing the control method for the double-rotor unmanned aerial vehicle in the embodiment.
An embodiment of the present invention provides a machine-readable storage medium having stored thereon instructions that, when executed by a processor, cause the processor to execute a control method for a dual-rotor drone according to the above-described embodiments.
The present application also provides a computer program product comprising a computer program which, when executed by a processor, implements a control method for a dual rotor drone according to the above embodiments.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a device includes one or more processors (CPUs), memory, and a bus. The device may also include input/output interfaces, network interfaces, and the like.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip. The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that 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 the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A control method for a dual rotor drone, comprising:
acquiring an actual paddle plane angle of the dual-rotor unmanned aerial vehicle in a flight process, wherein the paddle plane angle is an included angle between a paddle plane and a horizontal plane;
determining a deviation between the paddle plane angle and a target paddle plane angle;
correcting the current rudder included angle according to the deviation to obtain a target rudder included angle, wherein the target rudder included angle is the target included angle between the paddle plane and the machine body;
and controlling the dual-rotor unmanned aerial vehicle to fly according to the target rudder included angle.
2. The control method for a twin rotor drone of claim 1, wherein said obtaining an actual blade plane angle of the twin rotor drone during flight includes:
acquiring a current rudder included angle and a current body attitude angle of the dual-rotor unmanned aerial vehicle, wherein the current body attitude angle is a current included angle between the body and the horizontal plane;
and determining the actual propeller plane angle of the dual-rotor unmanned aerial vehicle in the current flight process according to the current rudder included angle and the current body attitude angle.
3. A control method for a twin rotor drone according to claim 2, wherein said determining an actual blade plane angle of the twin rotor drone during flight from the current rudder angle and the current body attitude angle comprises:
and determining the actual paddle plane angle of the dual-rotor unmanned aerial vehicle in the flying process according to the sum of the current rudder included angle and the current body attitude angle.
4. The control method for a twin rotor drone of claim 1, wherein the determining the deviation between the blade plane angle and a target blade plane angle includes:
determining a difference between the paddle plane angle and a target paddle plane angle as the deviation, or a product of the difference and a preset coefficient as the deviation.
5. A control method for a twin rotor drone according to claim 1, wherein said correcting the current rudder angle according to said deviation to obtain a target rudder angle comprises:
and obtaining a target rudder included angle based on the current rudder included angle and the deviation through a PID control algorithm.
6. A control method for a twin rotor drone according to claim 1, wherein said correcting the current rudder angle according to said deviation to obtain a target rudder angle comprises:
and taking the sum of the deviation between the plane angle of the paddle and the plane angle of the target paddle and the current rudder included angle as a target rudder included angle.
7. The control method for a twin rotor drone of claim 2, wherein said obtaining a current rudder angle and a current body attitude angle of the twin rotor drone includes:
acquiring a current rudder included angle through a first sensor on the dual-rotor unmanned aerial vehicle;
through second sensor on the two rotor unmanned aerial vehicle acquires current organism attitude angle.
8. A control device for a dual rotor drone, comprising:
the acquisition module is used for acquiring the actual paddle plane angle of the double-rotor unmanned aerial vehicle in the flight process, wherein the paddle plane angle is the included angle between a paddle plane and a horizontal plane;
a first determination module to determine a deviation between the paddle plane angle and a target paddle plane angle;
the second determining module is used for correcting the current rudder included angle according to the deviation so as to obtain a target rudder included angle, wherein the target rudder included angle is the target included angle between the paddle plane and the machine body;
and the control module is used for controlling the dual-rotor unmanned aerial vehicle to fly according to the target rudder included angle.
9. A dual-rotor unmanned aerial vehicle is characterized by comprising an unmanned aerial vehicle body, a first sensor, a second sensor and a controller, wherein the first sensor, the second sensor and the controller are installed on the unmanned aerial vehicle body; the first sensor and the second sensor are respectively connected with the controller;
the first sensor is used for detecting a rudder included angle, and the rudder included angle is an included angle between a propeller plane and a fuselage of the double-rotor unmanned aerial vehicle;
the second sensor is used for detecting an organism attitude angle, and the organism attitude angle is an included angle between the body of the double-rotor unmanned aerial vehicle and a horizontal plane;
the controller is used for controlling the first sensor and the second sensor to work when executing programs and realizing the control method for the double-rotor unmanned aerial vehicle as claimed in any one of claims 1 to 7.
10. A machine-readable storage medium having instructions stored thereon, which when executed by a processor cause the processor to implement the control method for a twin rotor drone of any one of claims 1 to 7.
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