CN112987601B - Unmanned aerial vehicle electromagnetic brake control system and method - Google Patents
Unmanned aerial vehicle electromagnetic brake control system and method Download PDFInfo
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- CN112987601B CN112987601B CN202110464402.7A CN202110464402A CN112987601B CN 112987601 B CN112987601 B CN 112987601B CN 202110464402 A CN202110464402 A CN 202110464402A CN 112987601 B CN112987601 B CN 112987601B
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Abstract
The application discloses an unmanned aerial vehicle electromagnetic brake control system and method, wherein the system comprises a ground controller, a flight controller and an electromagnetic brake mechanism; the flight controller is provided with a GPS module; the electromagnetic brake mechanism comprises a left electromagnetic brake, a right electromagnetic brake, a left rotating speed sensor, a right rotating speed sensor and a brake controller; the method of operation of the wheel detection mode of the method includes the steps of: after the unmanned aerial vehicle takes off, the brake controller sends a wheel detection mode command; the brake controller brakes the left electromagnetic brake and the right electromagnetic brake; acquiring the rotating speed of a left airplane wheel and the rotating speed of a right airplane wheel; if the rotating speed of the left airplane wheel and the rotating speed of the right airplane wheel are both zero, the unmanned aerial vehicle still flies in the air; if left wheel rotational speed and right wheel rotational speed increase to V from zero, and V reduces gradually along with time, then unmanned aerial vehicle has fallen to the ground. This application sets up rationally, easily realizes, can improve unmanned aerial vehicle's the performance of controlling, reliability and security, convenient to popularize and use.
Description
Technical Field
The application belongs to the technical field of unmanned aerial vehicles, and particularly relates to an electromagnetic brake control system and method for an unmanned aerial vehicle.
Background
The fixed wing unmanned aerial vehicle needs to slide on a runway through wheels on a landing gear during taking off and landing. The brake device is required to be arranged on the airplane wheel of the large-sized fixed wing unmanned aerial vehicle, so that the airplane can be rapidly braked through the airplane wheel when required. The good brake device can shorten the sliding distance of the airplane during landing and ensure the safety of the airplane. In the prior art, a hydraulic braking mode is generally adopted, and an actuating piston is pushed to move by the pressure of hydraulic oil in an oil cylinder, so that a brake caliper is pushed to move, a brake pad is locked, and braking is realized. However, the following problems generally exist with hydraulic braking: 1. the whole system is heavy and comprises a brake disc, a brake caliper, an actuating piston, an oil way, an oil cylinder, an oil pump and other structures, so that the brake device is heavy and low in efficiency; 2. the braking force generated by the braking devices of the left wheel and the right wheel of the airplane is difficult to adjust and difficult to balance; 3. the brake device is difficult to realize accurate control, such as differential motion of a left wheel and a right wheel; 4. the locomotive state feedback is not a closed loop system, and the adjusted braking force can change along with the changes of time, temperature and air pressure. The prior art also adopts a pneumatic mode to drive the actuating piston to move, and other modes are similar to a hydraulic mode. The pressure of the gas in the cylinder pushes the actuating piston to move, and then the brake caliper is pushed to move, so that the brake pad is locked, and the brake is realized. The elasticity of the pneumatic brake system is better than that of a hydraulic system, and the brake device can accurately keep proper pressure, so that the pneumatic brake system has certain self-adaptive capacity. However, the pneumatic brake system has the following problems: 1. the whole system is also heavy and comprises a brake disc, a brake caliper, an actuating piston, an air passage, an air cylinder, an air pump, an electromagnetic valve and other structures, so that the brake device is heavy in weight and low in efficiency; 2. the control method of the brake system is single, and accurate control is difficult to realize, such as left and right wheel differential motion, so that the unmanned aerial vehicle has poor control performance and low reliability.
Disclosure of Invention
The embodiment of the application provides an unmanned aerial vehicle electromagnetic brake control system and method, and solves the problems that in the prior art, the brake system is difficult to realize accurate control, so that the unmanned aerial vehicle has poor control performance and low reliability.
The embodiment of the invention provides an electromagnetic brake control method for an unmanned aerial vehicle, which adopts an electromagnetic brake control system for the unmanned aerial vehicle, wherein the system comprises a ground controller, a flight controller and an electromagnetic brake mechanism, wherein the flight controller and the electromagnetic brake mechanism are arranged on the unmanned aerial vehicle;
the ground controller is connected with the flight controller through a wireless network; the flight controller is provided with a GPS module;
the electromagnetic brake mechanism comprises a left electromagnetic brake, a right electromagnetic brake, a left rotating speed sensor for detecting the rotating speed of the left airplane wheel, a right rotating speed sensor for detecting the rotating speed of the right airplane wheel and a brake controller; the brake controller is electrically connected with the flight controller;
the left electromagnetic brake is arranged on a wheel shaft of the left airplane wheel, and the left rotating speed sensor is arranged on the left undercarriage;
the right electromagnetic brake is arranged on an axle of a right airplane wheel, and the right rotating speed sensor is arranged on a right undercarriage;
the left electromagnetic brake, the right electromagnetic brake, the left rotating speed sensor and the right rotating speed sensor are all electrically connected with the brake controller;
the method comprises an operation method of an anti-lock braking mode and an operation method of a wheel detection mode;
the operating method of the anti-lock brake mode includes the steps of:
adjusting the electromagnetic brake according to a preset deceleration value: after the unmanned aerial vehicle lands and is grounded, the flight controller sends a preset deceleration value A0 to the brake controller, the brake controller supplies power to the left electromagnetic brake and the right electromagnetic brake with first set power according to the preset deceleration value A0, and the left electromagnetic brake and the right electromagnetic brake with the first set power;
acquiring the ground speed of the unmanned aerial vehicle: the brake controller acquires a first ground speed Vg0 of the unmanned aerial vehicle through a GPS module on the flight controller;
carrying out linear brake calibration and wheel skid judgment on the unmanned aerial vehicle in sequence;
calibrating the braking force: the brake controller acquires a second ground speed Vg1 of the unmanned aerial vehicle through a GPS module on the flight controller, and the brake controller calculates an actual deceleration value Ac of the unmanned aerial vehicle according to the first ground speed Vg0 and the second ground speed Vg 1;
if Ac is less than A0, increasing the power supply power of the brake controller to the left electromagnetic brake and the right electromagnetic brake so as to improve the braking force of the left electromagnetic brake and the right electromagnetic brake; then, the step of acquiring the ground speed of the unmanned aerial vehicle is executed again;
if Ac is larger than A0, reducing the power supply power of the brake controller to the left electromagnetic brake and the right electromagnetic brake so as to reduce the braking force of the left electromagnetic brake and the right electromagnetic brake, and then executing the step of obtaining the ground speed of the unmanned aerial vehicle again;
the method of operation in the wheel detection mode includes the steps of:
after the unmanned aerial vehicle takes off, the flight controller sends a wheel detection mode command to the brake controller;
the brake controller supplies power to the left electromagnetic brake and the right electromagnetic brake with second set power, and the left electromagnetic brake and the right electromagnetic brake are braked with the second set power, so that the left airplane wheel and the right airplane wheel have set rotating resistance;
the brake controller acquires the rotating speed of the left airplane wheel and the rotating speed of the right airplane wheel through the left rotating speed sensor and the right rotating speed sensor;
if the rotating speed of the left airplane wheel and the rotating speed of the right airplane wheel are both zero, the unmanned aerial vehicle still flies in the air;
if left wheel rotational speed and right wheel rotational speed increase to V from zero, and V reduces gradually along with time, then unmanned aerial vehicle has fallen to the ground to calculate unmanned aerial vehicle's speed through left wheel rotational speed and right wheel rotational speed.
Further, the step of calibrating the linear brake comprises:
the brake controller acquires a left wheel rotating speed Wl and a right wheel rotating speed Wr through a left rotating speed sensor and a right rotating speed sensor, and judges:
if Wl is less than Wr, reducing the power supply power of the brake controller to the right electromagnetic brake so as to reduce the braking force of the right electromagnetic brake, and then executing the step of linear brake calibration again;
if Wl is larger than Wr, reducing the power supply power of the brake controller to the left electromagnetic brake so as to reduce the braking force of the left electromagnetic brake, and then executing the step of linear braking calibration again;
and if Wl = Wr, executing a wheel skid judgment step.
Further, the wheel skid determination step includes:
calculating a wheel speed Vl, wheel speed Vl = Wr × C, where C is the perimeter of the right wheel;
if the Vl is not equal to Vg0, reducing the power supply power of the brake controller to the left electromagnetic brake and the right electromagnetic brake so as to reduce the braking force of the left electromagnetic brake and the right electromagnetic brake, and then executing the step of linear brake calibration again;
and if Vl = Vg0, executing the step of calibrating the braking force.
Further, the method also includes a method of operation in a wheel locking mode, the method of operation in a wheel locking mode including the steps of:
the flight controller sends a wheel locking mode command to the brake controller;
the brake controller supplies power to the left electromagnetic brake and the right electromagnetic brake by 100% of rated power, and the left electromagnetic brake and the right electromagnetic brake by 100% of maximum braking force;
the brake controller acquires the rotating speed of the left airplane wheel and the rotating speed of the right airplane wheel through the left rotating speed sensor and the right rotating speed sensor;
if the rotating speed of the left airplane wheel and the rotating speed of the right airplane wheel are both zero, the electromagnetic brake mechanism realizes a locking mode;
and if the rotating speed of the left wheel and the rotating speed of the right wheel are not zero, the brake controller sends wheel locking failure information to the flight controller.
Further, the method also includes a method of operation in a wheel free mode, the method of operation in a wheel free mode including the steps of:
the flight controller sends an airplane wheel free mode command to the brake controller;
the brake controller supplies power to the left electromagnetic brake and the right electromagnetic brake by 0% of rated power, and the left electromagnetic brake and the right electromagnetic brake by 0% of maximum braking force, so that the left airplane wheel and the right airplane wheel can freely rotate;
the brake controller obtains the rotating speed of the left wheel and the rotating speed of the right wheel through the left rotating speed sensor and the right rotating speed sensor, and sends the rotating speed of the left wheel and the rotating speed of the right wheel to the flight controller.
Further, the method also includes a steering mode operation method, the steering mode operation method including the steps of:
the flight controller sends an airplane wheel steering mode command to the brake controller; the steering mode command comprises a turning direction and a turning angle;
and the brake controller supplies power to the left electromagnetic brake with third set power according to the steering mode command so that the left electromagnetic brake brakes with the third set power, and/or supplies power to the right electromagnetic brake with fourth set power so that the right electromagnetic brake brakes with the fourth set power, so as to realize steering of the unmanned aerial vehicle, wherein the third set power is not equal to the fourth set power.
One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:
the embodiment of the invention provides an electromagnetic brake control system of an unmanned aerial vehicle, which has the advantages of simple structure, portability, easiness in adjustment, capability of realizing accurate control of wheels, such as differential control of left and right wheels, good brake effect and high efficiency.
The embodiment of the invention also provides an electromagnetic brake control method for the unmanned aerial vehicle, and the operation method of the anti-lock brake mode in the method can ensure the linear brake of the unmanned aerial vehicle through the operation of the anti-lock brake mode, realize the maximum brake capacity of the unmanned aerial vehicle, avoid the problems that the sideslip of the aircraft is out of control due to wheel slip and the actual deceleration value cannot be accurately controlled, and improve the reliability and the safety of the unmanned aerial vehicle during the brake; the operation method of the airplane wheel locking mode in the method can be applied to the situation that the unmanned aerial vehicle waits to fly or is overhauled, and the method is simple, convenient and quick and has high efficiency. The operation method of the free mode of the airplane wheel in the method can be applied to the situations that the unmanned plane runs during takeoff and is dragged at an airport. The operation method of the airplane wheel detection mode in the method can judge whether the unmanned aerial vehicle flies in the air, landing time, speed after the unmanned aerial vehicle is grounded and the like. The steering mode operation method in the method can assist an unmanned aerial vehicle which is not provided with a steering front wheel or a steering rear wheel, realize the control of the direction of the airplane through the braking differential action of two main wheels, or can be used as an auxiliary steering mode when the steering of the front wheel or the steering rear wheel is insufficient under the condition of wet and slippery runway. The method is reasonable in arrangement, easy to realize, capable of improving the control performance, reliability and safety of the unmanned aerial vehicle and convenient to popularize and use.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an electromagnetic brake control system of an unmanned aerial vehicle according to an embodiment of the present invention.
FIG. 2 is a flowchart illustrating a method of operating an antilock braking mode according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the electromagnetic brake control system for the unmanned aerial vehicle provided by the embodiment of the invention comprises a ground controller, a flight controller arranged on the unmanned aerial vehicle and an electromagnetic brake mechanism.
The ground controller is connected with the flight controller through a wireless network; the flight controller is provided with a GPS module; the electromagnetic brake mechanism comprises a left electromagnetic brake, a right electromagnetic brake, a left rotating speed sensor for detecting the rotating speed of the left airplane wheel, a right rotating speed sensor for detecting the rotating speed of the right airplane wheel and a brake controller; the brake controller is electrically connected with the flight controller; the left electromagnetic brake is arranged on a wheel shaft of the left airplane wheel, and the left rotating speed sensor is arranged on the left undercarriage; the right electromagnetic brake is arranged on an axle of the right airplane wheel, and the right rotating speed sensor is arranged on the right undercarriage; the left electromagnetic brake, the right electromagnetic brake, the left rotating speed sensor and the right rotating speed sensor are all electrically connected with the brake controller.
The staff sends control command to unmanned aerial vehicle's flight controller through ground controller to realize unmanned aerial vehicle's remote control. The GPS module can be used for positioning the unmanned aerial vehicle and also can assist in calculating the ground speed of the unmanned aerial vehicle. The left electromagnetic brake and the right electromagnetic brake have the same structure, and the left electromagnetic brake and the right electromagnetic brake realize braking by using an electromagnetic effect, and have the advantages of compact structure, simple operation, sensitive response, long service life, reliable use, easy realization of remote control and the like. The mounting method of the left electromagnetic brake and the right electromagnetic brake is a conventional technical means, and the invention is not described in detail.
The electromagnetic brake control system of the unmanned aerial vehicle is simple in structure, relatively light and easy to adjust, can realize accurate control of the wheels, such as differential control of the left and right wheels, and is good in brake effect and high in efficiency.
The embodiment of the invention also provides an electromagnetic brake control method of the unmanned aerial vehicle, and the electromagnetic brake control system of the unmanned aerial vehicle is adopted.
As shown in fig. 2, the operating method of the antilock brake mode includes the steps of:
step one, adjusting an electromagnetic brake according to a preset deceleration value: after the unmanned aerial vehicle lands and is grounded, the flight controller sends a preset deceleration value A0 to the brake controller, the brake controller supplies power to the left electromagnetic brake and the right electromagnetic brake with first set power according to the preset deceleration value A0, and the left electromagnetic brake and the right electromagnetic brake with the first set power;
step two, acquiring the ground speed of the unmanned aerial vehicle: the brake controller acquires a first ground speed Vg0 of the unmanned aerial vehicle through a GPS module on the flight controller; and calculating the distance between the two points and the used time according to the GPS module to obtain a first ground speed Vg 0.
Thirdly, carrying out linear brake calibration and wheel skid judgment on the unmanned aerial vehicle in sequence;
in this embodiment, the step of straight line brake calibration includes:
step 31, the brake controller acquires the left wheel rotating speed Wl and the right wheel rotating speed Wr through the left rotating speed sensor and the right rotating speed sensor, and judges:
if Wl is less than Wr, reducing the power supply power of the brake controller to the right electromagnetic brake to reduce the braking force of the right electromagnetic brake, and then executing the step of linear brake calibration again, namely executing the step 31 again;
if Wl is larger than Wr, reducing the power supply power of the brake controller to the left electromagnetic brake so as to reduce the braking force of the left electromagnetic brake, and then executing the step of linear brake calibration again, namely executing the step 31 again;
if Wl = Wr, the wheel skid determination step, i.e., step 32, is executed.
When left wheel rotational speed and right wheel rotational speed inequality, turn when probably taking place the brake, and lead to the problem that unmanned aerial vehicle sideslips to influence the efficiency of brake, and the security is low, keeps the rectilinear motion state when the step through sharp brake calibration can make unmanned aerial vehicle brake.
The method of operation in the wheel detection mode includes the steps of:
after the unmanned aerial vehicle takes off, the flight controller sends a wheel detection mode command to the brake controller;
step two, the brake controller supplies power to the left electromagnetic brake and the right electromagnetic brake with second set power, and the left electromagnetic brake and the right electromagnetic brake with the second set power so that the left airplane wheel and the right airplane wheel have set rotating resistance; the second set power is determined according to actual conditions, such as flight environment, unmanned aerial vehicle performance and the like.
Thirdly, the brake controller acquires the rotating speed of the left airplane wheel and the rotating speed of the right airplane wheel through the left rotating speed sensor and the right rotating speed sensor;
if the rotating speed of the left airplane wheel and the rotating speed of the right airplane wheel are both zero, the unmanned aerial vehicle still flies in the air;
if left wheel rotational speed and right wheel rotational speed increase to V from zero, and V reduces gradually along with time, then unmanned aerial vehicle has fallen to the ground to calculate unmanned aerial vehicle's speed through left wheel rotational speed and right wheel rotational speed. In this embodiment, when unmanned aerial vehicle fell to the ground, left wheel rotational speed and right wheel rotational speed can be followed zero and increased to V suddenly, then V reduces gradually along with time.
Whether the unmanned aerial vehicle flies in the air or not, landing time, the speed after grounding and the like can be judged through the wheel detection mode.
In this embodiment, the wheel skid determining step includes:
step 32, calculating a wheel speed Vl, wheel speed Vl = Wr × C, where C is the perimeter of the right wheel;
if Vl is not equal to Vg0, reducing the power supply power of the brake controller to the left electromagnetic brake and the right electromagnetic brake so as to reduce the braking force of the left electromagnetic brake and the right electromagnetic brake, and then executing the step of linear brake calibration again, namely executing the step 31 again; so as to ensure that the unmanned aerial vehicle keeps a linear motion state when braking.
And if Vl = Vg0, executing a step of calibrating the braking force, namely executing a step four.
Wheel speed and unmanned aerial vehicle to when ground speed inequality, the phenomenon that skids appears in wheel and ground, also brake the dynamics too big, through reducing the brake dynamics, can guarantee that wheel and ground do not skid, make wheel and ground form static friction to improve the efficiency of brake, the security when guaranteeing unmanned aerial vehicle brake.
Step four, calibrating the braking force: the brake controller acquires a second ground speed Vg1 of the unmanned aerial vehicle through a GPS module on the flight controller, and the brake controller calculates an actual deceleration value Ac of the unmanned aerial vehicle according to the first ground speed Vg0 and the second ground speed Vg 1;
if Ac is less than A0, increasing the power supply power of the brake controller to the left electromagnetic brake and the right electromagnetic brake so as to improve the braking force of the left electromagnetic brake and the right electromagnetic brake; then, the step of obtaining the ground speed of the unmanned aerial vehicle is executed again, namely the step two is executed again;
if Ac is larger than A0, reducing the power supply power of the brake controller to the left electromagnetic brake and the right electromagnetic brake so as to reduce the braking force of the left electromagnetic brake and the right electromagnetic brake, and then executing the step of obtaining the ground speed of the unmanned aerial vehicle again, namely executing the step two again.
Generally speaking, a certain deviation exists between the actual deceleration value and the preset deceleration value occasionally, the difference between the actual deceleration value and the preset deceleration value can be reduced through the step of calibrating the braking force, the situation that the actual deceleration value is equal to the preset deceleration value is further achieved, and it is further ensured that the unmanned aerial vehicle can brake according to the set deceleration value, so that the controllability of the unmanned aerial vehicle is improved, the problem of misoperation caused by the difference between the actual deceleration value and the preset deceleration value is avoided, and the reliability and the safety of the unmanned aerial vehicle are improved.
Through the operation of anti-lock brake mode, can guarantee unmanned aerial vehicle sharp brake, realize unmanned aerial vehicle's maximum brake ability, avoid the wheel to skid and lead to the aircraft sideslip out of control and the unable accurate problem of control of actual deceleration value, reliability and security when having improved unmanned aerial vehicle brake.
The method of operation in the wheel locking mode comprises the steps of:
step one, a flight controller sends a wheel locking mode command to a brake controller;
step two, the brake controller supplies power to the left electromagnetic brake and the right electromagnetic brake by 100% of rated power, and the left electromagnetic brake and the right electromagnetic brake by 100% of maximum braking force;
thirdly, the brake controller acquires the rotating speed of the left airplane wheel and the rotating speed of the right airplane wheel through the left rotating speed sensor and the right rotating speed sensor;
step four, if the rotating speed of the left airplane wheel and the rotating speed of the right airplane wheel are both zero, the electromagnetic brake mechanism realizes a locking mode; and if the rotating speed of the left wheel and the rotating speed of the right wheel are not zero, the brake controller sends wheel locking failure information to the flight controller.
The locking mode can be applied to the condition that the unmanned aerial vehicle waits to fly or overhauls, and the method is simple, convenient and fast, and efficient.
The method of operation in wheel free mode comprises the steps of:
step one, a flight controller sends a wheel free mode command to a brake controller;
step two, the brake controller supplies power to the left electromagnetic brake and the right electromagnetic brake by 0% of rated power, and the left electromagnetic brake and the right electromagnetic brake by 0% of maximum braking force, so that the left airplane wheel and the right airplane wheel can rotate freely;
and step three, the brake controller acquires the rotating speed of the left wheel and the rotating speed of the right wheel through the left rotating speed sensor and the right rotating speed sensor, and sends the rotating speed of the left wheel and the rotating speed of the right wheel to the flight controller.
The airplane wheel free mode can be applied to the situations of the unmanned aerial vehicle during takeoff and running and airport dragging, and the acquired left airplane wheel rotating speed and the acquired right airplane wheel rotating speed can be used for detecting the speed of the unmanned aerial vehicle during dragging, or judging whether the unmanned aerial vehicle takes off and leaves the ground during takeoff and running.
The method of operation in the steering mode comprises the steps of:
step one, a flight controller sends a wheel steering mode command to a brake controller; the steering mode command comprises a turning direction and a turning angle;
and step two, the brake controller supplies power to the left electromagnetic brake with third set power according to a steering mode command so that the left electromagnetic brake brakes with the third set power, and/or supplies power to the right electromagnetic brake with fourth set power so that the right electromagnetic brake brakes with the fourth set power, so that the steering of the unmanned aerial vehicle is realized, wherein the third set power is not equal to the fourth set power, the differential control of the left and right wheels is realized, and the steering of the unmanned aerial vehicle is realized.
For example, the left electromagnetic brake brakes with 100% of the maximum braking force, and the right electromagnetic brake brakes with 0% of the maximum braking force, then the unmanned aerial vehicle turns left with the minimum rotation angle, and vice versa.
Left electromagnetic braking ware brakes with the 80% of maximum brake dynamics, and right electromagnetic braking ware brakes with the 30% of maximum brake dynamics, and then unmanned aerial vehicle turns to the left with the angle that corresponds, and concrete angle accessible is experimental, calculation obtains, and this embodiment does not explain this further. The steering mode can assist the unmanned aerial vehicle without steering the front wheels or the rear wheels, the direction of the unmanned aerial vehicle is controlled by the braking differential action of the two main wheels, or the method can be used as a mode for assisting steering when the front wheels or the rear wheels are not steered sufficiently under the condition of wet and slippery runway.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all simple modifications, changes and equivalent structural changes made to the above embodiment according to the technical spirit of the present invention still fall within the protection scope of the technical solution of the present invention.
Claims (6)
1. An unmanned aerial vehicle electromagnetic brake control method is characterized in that: an unmanned aerial vehicle electromagnetic brake control system is adopted, and the system comprises a ground controller, a flight controller and an electromagnetic brake mechanism, wherein the flight controller and the electromagnetic brake mechanism are arranged on the unmanned aerial vehicle;
the ground controller is connected with the flight controller through a wireless network; the flight controller is provided with a GPS module;
the electromagnetic brake mechanism comprises a left electromagnetic brake, a right electromagnetic brake, a left rotating speed sensor for detecting the rotating speed of the left airplane wheel, a right rotating speed sensor for detecting the rotating speed of the right airplane wheel and a brake controller; the brake controller is electrically connected with the flight controller;
the left electromagnetic brake is arranged on a wheel shaft of the left airplane wheel, and the left rotating speed sensor is arranged on the left undercarriage;
the right electromagnetic brake is arranged on an axle of a right airplane wheel, and the right rotating speed sensor is arranged on a right undercarriage;
the left electromagnetic brake, the right electromagnetic brake, the left rotating speed sensor and the right rotating speed sensor are all electrically connected with the brake controller;
the method comprises an operation method of an anti-lock braking mode and an operation method of a wheel detection mode;
the operating method of the anti-lock brake mode includes the steps of:
adjusting the electromagnetic brake according to a preset deceleration value: after the unmanned aerial vehicle lands and is grounded, the flight controller sends a preset deceleration value A0 to the brake controller, the brake controller supplies power to the left electromagnetic brake and the right electromagnetic brake with first set power according to the preset deceleration value A0, and the left electromagnetic brake and the right electromagnetic brake with the first set power;
acquiring the ground speed of the unmanned aerial vehicle: the brake controller acquires a first ground speed Vg0 of the unmanned aerial vehicle through a GPS module on the flight controller;
carrying out linear brake calibration and wheel skid judgment on the unmanned aerial vehicle in sequence;
calibrating the braking force: the brake controller acquires a second ground speed Vg1 of the unmanned aerial vehicle through a GPS module on the flight controller, and the brake controller calculates an actual deceleration value Ac of the unmanned aerial vehicle according to the first ground speed Vg0 and the second ground speed Vg 1;
if Ac is less than A0, increasing the power supply power of the brake controller to the left electromagnetic brake and the right electromagnetic brake so as to improve the braking force of the left electromagnetic brake and the right electromagnetic brake; then, the step of acquiring the ground speed of the unmanned aerial vehicle is executed again;
if Ac is larger than A0, reducing the power supply power of the brake controller to the left electromagnetic brake and the right electromagnetic brake so as to reduce the braking force of the left electromagnetic brake and the right electromagnetic brake, and then executing the step of obtaining the ground speed of the unmanned aerial vehicle again;
the method of operation in the wheel detection mode includes the steps of:
after the unmanned aerial vehicle takes off, the flight controller sends a wheel detection mode command to the brake controller;
the brake controller supplies power to the left electromagnetic brake and the right electromagnetic brake with second set power, and the left electromagnetic brake and the right electromagnetic brake are braked with the second set power, so that the left airplane wheel and the right airplane wheel have set rotating resistance;
the brake controller acquires the rotating speed of the left airplane wheel and the rotating speed of the right airplane wheel through the left rotating speed sensor and the right rotating speed sensor;
if the rotating speed of the left airplane wheel and the rotating speed of the right airplane wheel are both zero, the unmanned aerial vehicle still flies in the air;
if left wheel rotational speed and right wheel rotational speed increase to V from zero, and V reduces gradually along with time, then unmanned aerial vehicle has fallen to the ground to calculate unmanned aerial vehicle's speed through left wheel rotational speed and right wheel rotational speed.
2. The unmanned aerial vehicle electromagnetic brake control method of claim 1, characterized in that: the step of calibrating the linear brake comprises the following steps:
the brake controller acquires a left wheel rotating speed Wl and a right wheel rotating speed Wr through a left rotating speed sensor and a right rotating speed sensor, and judges:
if Wl is less than Wr, reducing the power supply power of the brake controller to the right electromagnetic brake so as to reduce the braking force of the right electromagnetic brake, and then executing the step of linear brake calibration again;
if Wl is larger than Wr, reducing the power supply power of the brake controller to the left electromagnetic brake so as to reduce the braking force of the left electromagnetic brake, and then executing the step of linear braking calibration again;
and if Wl = Wr, executing a wheel skid judgment step.
3. The unmanned aerial vehicle electromagnetic brake control method of claim 2, characterized in that: the wheel skid determination step includes:
calculating a wheel speed Vl, wheel speed Vl = Wr × C, where C is the perimeter of the right wheel;
if the Vl is not equal to Vg0, reducing the power supply power of the brake controller to the left electromagnetic brake and the right electromagnetic brake so as to reduce the braking force of the left electromagnetic brake and the right electromagnetic brake, and then executing the step of linear brake calibration again;
and if Vl = Vg0, executing the step of calibrating the braking force.
4. The unmanned aerial vehicle electromagnetic brake control method of claim 1, characterized in that: the method also includes a method of operation in a wheel locking mode, the method of operation in a wheel locking mode including the steps of:
the flight controller sends a wheel locking mode command to the brake controller;
the brake controller supplies power to the left electromagnetic brake and the right electromagnetic brake by 100% of rated power, and the left electromagnetic brake and the right electromagnetic brake by 100% of maximum braking force;
the brake controller acquires the rotating speed of the left airplane wheel and the rotating speed of the right airplane wheel through the left rotating speed sensor and the right rotating speed sensor;
if the rotating speed of the left airplane wheel and the rotating speed of the right airplane wheel are both zero, the electromagnetic brake mechanism realizes a locking mode;
and if the rotating speed of the left wheel and the rotating speed of the right wheel are not zero, the brake controller sends wheel locking failure information to the flight controller.
5. The unmanned aerial vehicle electromagnetic brake control method of claim 1, characterized in that: the method also includes a method of operation in a wheel free mode, the method of operation in a wheel free mode including the steps of:
the flight controller sends an airplane wheel free mode command to the brake controller;
the brake controller supplies power to the left electromagnetic brake and the right electromagnetic brake by 0% of rated power, and the left electromagnetic brake and the right electromagnetic brake by 0% of maximum braking force, so that the left airplane wheel and the right airplane wheel can freely rotate;
the brake controller obtains the rotating speed of the left wheel and the rotating speed of the right wheel through the left rotating speed sensor and the right rotating speed sensor, and sends the rotating speed of the left wheel and the rotating speed of the right wheel to the flight controller.
6. The unmanned aerial vehicle electromagnetic brake control method of claim 1, characterized in that: the method further comprises a method of operation in a steering mode comprising the steps of:
the flight controller sends an airplane wheel steering mode command to the brake controller; the steering mode command comprises a turning direction and a turning angle;
and the brake controller supplies power to the left electromagnetic brake with third set power according to the steering mode command so that the left electromagnetic brake brakes with the third set power, and/or supplies power to the right electromagnetic brake with fourth set power so that the right electromagnetic brake brakes with the fourth set power, so as to realize steering of the unmanned aerial vehicle, wherein the third set power is not equal to the fourth set power.
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