CN113173244B - Four-axis tilting wing structure and control method thereof - Google Patents
Four-axis tilting wing structure and control method thereof Download PDFInfo
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- CN113173244B CN113173244B CN202110382938.4A CN202110382938A CN113173244B CN 113173244 B CN113173244 B CN 113173244B CN 202110382938 A CN202110382938 A CN 202110382938A CN 113173244 B CN113173244 B CN 113173244B
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/06—Rigid airships; Semi-rigid airships
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/06—Rigid airships; Semi-rigid airships
- B64B1/12—Movable control surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
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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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Abstract
The invention discloses a four-axis tilt wing structure and a control method thereof. The four-axis tilt wing of adopting big dipper orientation module can the position of accurate location fuselage, realizes the function of fixing a point. Meanwhile, the four-axis tilting wings are provided with IMU sensors (including an accelerometer, a gyroscope and a magnetometer), and the postures of the body can be obtained by processing data acquired by the IMU sensors. After the posture of the body is adjusted, the current position of the four-axis tilting wing is calculated through data obtained by a position sensor (barometer and ultrasonic waves), and the function of fixing height and fixing point is realized. The invention controls the rotation angle of the aircraft steering engine and the rotation speed of the motor to enable the aircraft steering engine to be in different postures and positions. The structure can be installed on the periphery of the hull of the large airship, and the posture of the large airship can be rapidly adjusted.
Description
Technical Field
The invention particularly relates to a four-axis tilting wing structure and a control method thereof, and belongs to the technical field of agricultural machinery automation and flight control.
Background
The traditional low-altitude airship has the characteristic of long-time flight, and is widely applied to the fields of shooting, advertisement putting and terrain surveying, however, the traditional airship is driven by nitrogen, the speed of moving back and forth is guaranteed, but when the airship wants to move up and down, the airship can slowly move up and down by inflating and deflating, and the airship is not flexible enough to use due to the problem and has certain limitation. Aiming at the inflexible use condition of a low-altitude airship, a four-axis tilting rotor structure and a control method thereof are designed, and the structure can be applied to the airship to overcome the defect of inflexibility. Meanwhile, the method for controlling the four-axis tilting wing has extremely high research value.
Disclosure of Invention
Based on the defects of the prior art, the invention discloses a convenient and flexible four-axis tilting wing structure and a control method thereof. The invention controls the rotation angle of the aircraft steering engine and the rotation speed of the motor to enable the aircraft steering engine and the motor to be in different postures and positions. The structure can be installed on the periphery of the body of the large airship, so that the posture of the large airship can be rapidly adjusted, and the large airship can be applied to agricultural scenes.
The technical scheme of the invention comprises the following steps: a four-axis tilting wing structure comprises an upper machine body plate (6) and a lower machine body plate (9); a flight controller (13) is fixed on the lower body plate (9), 4 identical steering engine fixing supports (12) are arranged at four corners of the lower body plate (9), a steering engine (8) and an upper bearing plate (7) are fixed on the steering engine fixing supports (12), a flange (11) is fixed on the steering engine (8), and the steering engine (8) drives the flange (11) to rotate, so that an upper motor (2) and a lower motor (4) on the motor fixing support (3) rotate to achieve the purpose of tilting;
the aircraft is characterized in that a motor fixing support (3) is fixed on the flange (11), an upper motor (2) and a lower motor (4) are fixed on the motor fixing support (3), an upper paddle (1) is fixed on the upper motor (2), a lower paddle (5) is fixed on the lower motor (4), the upper motor (2) and the lower motor (4) drive the upper paddle (1) and the lower paddle (5) to rotate to form an upward lifting force, four groups of motor sets are formed on the whole aircraft on the basis of the motor fixing support (3), and the lifting force is provided for four-axis tilting wing flight; meanwhile, the rotation directions of the upper motor (2) and the lower motor (4) are opposite, so that the reaction torque generated by the upper motor (2) and the lower motor (4) are mutually offset, and the steering engine (8) can normally rotate without being influenced by the reaction torque generated by the upper motor (2) and the lower motor (4); because the rotating directions of the upper motor (2) and the lower motor (4) are opposite, the upper blade (1) and the lower blade (5) need to be installed in different directions, and the lifting force generated by the motors is upward.
Furthermore, a part of the whole structure of the four-axis tilting wing structure is fixed in a buckling mode, a steering engine (8) is clamped in a steering engine fixing support (12) and is tightly fixed through screws, clamping teeth are arranged on the upper portion and the lower portion of the steering engine fixing support (12) and can be clamped into an upper body plate (6) and a lower body plate (9), an opening is reserved in the steering engine fixing support (12), and an upper bearing plate (7) can be clamped into the opening for fixing; the whole structure of the four-axis tilting wing structure further comprises a T-shaped fixing piece (16), wherein the T-shaped fixing piece (16) is provided with an upper opening, a lower opening and a round hole, the upper opening is used for fixing an upper bearing plate (7), the lower opening is used for fixing a lower bearing plate (10), and the round hole is used for fixing a motor fixing support (3); other all adopt the screw to closely fix, upper portion paddle (1) uses the screw to fix with upper portion motor (2), and lower part paddle (5) uses the screw to fix with lower part motor (4), and upper portion motor (2), lower part motor (4) are fixed with being connected of motor fixed bolster (3) using the screw, and flange (11) use screw and motor fixed bolster (3) to fix.
Further, the flight controller (13) comprises a Beidou positioning module, a gyroscope, an accelerometer, a barometer, an ultrasonic sensor, a remote control receiver, a magnetometer and a microprocessor; big dipper orientation module is used for the flight phase to provide accurate position data for the controller, gyroscope, accelerometer, magnetometer obtain the attitude information of aircraft through data fusion, the barometer is used for resolving the real-time height of four-axis tilt wing with ultrasonic sensor together, microprocessor is connected with above-mentioned big dipper orientation module, gyroscope, accelerometer, barometer, ultrasonic sensor, magnetometer, handles the data of multiple sensor, flight controller still with the electricity tune simultaneously, steering wheel (8) link to each other, be responsible for assigning steering wheel rotation angle and motor rotation speed's instruction, reach the effect that the four-axis tilt wing stabilized flight.
Further, the upper body plate (6), the lower body plate (9), the upper bearing plate (7), the lower bearing plate (10), the steering engine fixing support (12) and the T-shaped fixing piece (16) are made of carbon fibers, the flange (11), the motor connecting support (3) and the lower bearing plate fixing piece (14) are made of aluminum materials, and the upper blade (1) and the lower blade (5) are made of plastic materials.
Further, still include battery (15), battery (15) are located fuselage board (9) below down, battery (15) are upper portion motor (2), lower part motor (4), steering wheel (8) and flight controller (13) provide electric power.
The invention discloses a control method of a four-axis tilting wing structure, which comprises the following steps:
the method comprises the steps of carrying out initialization operation after a system is powered on, firstly calibrating a remote controller, calibrating according to specific calibration modes of different remote controllers, completing remote control operation on an unmanned aerial vehicle after calibration, then preheating a Beidou positioning module until the Beidou positioning module can read specific position information of four-axis tilting wings in a working area, calibrating an accelerometer, placing the four-axis tilting wings on six surfaces to be static, placing each surface to be static for 5 seconds, completing calibration of data acquisition, and finally calibrating a magnetometer, and rotating the four-axis tilting wings in a three-dimensional space as much as possible until calibration is completed;
after the initialization operation is completed, the unmanned aerial vehicle flyer uses a remote controller to remotely control the four-axis tilt wing to take off, and before the four-axis tilt wing receives a take-off instruction and lands, the cascade PID controller controls the posture and the position of the four-axis tilt wing to enable the four-axis tilt wing to fly according to the instruction given by the unmanned aerial vehicle flyer through the remote controller;
after the four-axis tilting wing takes off, the whole aircraft is controlled by a flight controller (13), and the whole aircraft mainly comprises two characteristics in the flight process, firstly, a structure for installing a steering engine (8) is adopted, when the steering engine (8) rotates, a motor fixing support (3) is driven to rotate, then lifting forces generated by an upper blade (1) and a lower blade (5) on an upper motor (2) and a lower motor (4) can be decomposed into two directions of a direction horizontal to the aircraft body and a direction vertical to the aircraft body, so that the purpose that the aircraft body can still keep horizontal in the process of changing the flight height of the four-axis tilting wing is achieved, the aircraft body can tilt in the process of changing the flight height of a conventional four-rotor wing, then in order to ensure the normal rotation of the steering engine (8), the rotating directions of the upper motor (2) and the lower motor (4) of the four-axis tilting wing are opposite, the purpose of mutually offsetting the reverse torque generated by the two motors is adopted, and the rotation of the steering engine (8) is not influenced by other factors brought by the rotation of the upper motor (2) and the lower motor (4).
Further, the attitude and the position of the four-axis tilting wing are controlled by a cascade PID controller, and the specific process is as follows:
the control system utilizes two groups of cascade PID to control, wherein the first group of cascade PID takes angular velocity as an inner ring, and the angular velocity is measured by a gyroscope; then, the angle control is used as an outer ring, and the angle is obtained by data fusion of a gyroscope and a magnetometer sensor; the second group of cascade PID takes a speed control ring as an inner ring, and utilizes IMU data to carry out fusion to obtain a current speed value; the outer ring is used for position control, data obtained by a barometer and a Beidou positioning module sensor can be fused to obtain position information, and the position and the attitude of the aircraft are controlled through the two cascade PID controllers;
the four-axis tilting wings adopt a one-key landing mode, a WeChat processor in a flight controller (13) before takeoff records the specific position of the four-axis tilting wings obtained by a Beidou positioning module, the height of the four-axis tilting wings during landing is calculated by sensors such as a barometer and ultrasonic waves in the descending process, and the flight controller (13) issues specific instructions to control a steering engine (8), an upper motor (2) and a lower motor (4) to enable a machine body to slowly descend to the takeoff position to complete the whole flight task.
The invention has the following technical effects:
this design still possesses the characteristics that conventional four rotor unmanned aerial vehicle did not possess under taking into account characteristics such as four rotor flexibility, quick, with low costs:
1. the design of the paddles is adopted, the upper motor 2 and the lower motor 4 are symmetrically designed, so that larger lift force can be obtained in a smaller space, the lift force of the two motors with smaller volumes can reach the lift force of one motor with larger volume, and meanwhile, the plane volume of the four-axis tilting wing can be saved. The symmetrical design of the upper motor 2 and the lower motor 4 can also offset the reaction torque generated by the two motors, so that the combined design of the steering engine and the motors can fully exert the advantages of the steering engine and the motors.
2. By adopting the structural design that the steering engine 8 is combined with the upper motor 2 and the lower motor 4, the lifting force generated by the upper paddle 1 and the lower paddle 5 on the upper motor 2 and the lower motor 4 can be decomposed into two directions which are horizontal to the body direction and vertical to the body direction, and the four-axis tilting wing can be ensured to keep the body horizontal in the process of changing the height. Under the condition of keeping the horizontal flight of the airplane body, the windward area of the airplane body can be reduced, and therefore the resistance is reduced.
3. The main material of four-axis tilt wing adopts carbon fiber material, and the material of part spare part uses the aluminium material. The quality of the whole machine can be effectively reduced, and meanwhile, the strength of the whole machine cannot be lost. Under the condition that the mass of the whole machine is reduced, a larger battery can be adopted, and a better cruising effect is obtained.
4. The buckle design is adopted at multiple positions in the design, and not only is a simple and rapid installation mode provided by the buckle design, but also a low-cost and reliable connection mode is provided. The buckle design makes to install and remove simply when the wing is verted to the equipment four-axis, generally only needs an male action, need not to do the positioning work of rotary motion or installation preceding part, and is swift succinct. Meanwhile, the buckling positions and the parts are formed together, so that the advantages of design are fully exerted. And in the installation process, screw fasteners or adhesives do not need to be matched, so that the cost is effectively reduced.
5. The steering engine is applied to the unmanned airship in a proportional amplification mode in combination with the design of the motor, and can be matched with the characteristics of the unmanned airship to move back and forth under the condition that the airship body is kept horizontal. And further, the small airship has use value in agriculture such as pesticide spraying, crop sowing, field detection and the like.
Drawings
Fig. 1 is a four-axis tilt wing overall structure view a;
fig. 2 is an overall structure view b of a four-axis tilt wing;
FIG. 3 is a view of the overall structure of a four-axis tilt-swivel wing;
FIG. 4 is a tilt configuration view;
FIG. 5 is a diagram of the control system hardware architecture;
FIG. 6 is two sets of cascade PID control charts;
FIG. 7 is a diagram of a four-axis tilt wing simple kinematics model
FIG. 8 is a system control logic diagram;
in the figures, 1-upper blade; 2-an upper motor; 3-motor fixing support; 4-a lower motor; 5-lower paddle; 6-upper body plate; 7-upper bearing plate; 8-a steering engine; 9-lower body panel; 10-lower bearing plate; 11-a flange; 12-a steering engine fixing support; 13-a flight controller; 14-lower bearing plate fixing part; 15-a battery; a 16-T shaped fastener;
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
As an embodiment of the present invention, the four-axis tilt wing overall structure diagrams a, b, and c shown in fig. 1, 2, and 3 are combined to present the overall structure of the four-axis tilt wing. It mainly comprises the following parts: 1-an upper paddle; 2-an upper motor; 3-motor fixing support; 4-a lower motor; 5-lower paddle; 6-upper plate; 7-upper bearing plate; 8-a steering engine; 9-lower body panel; 10-lower bearing plate; 11-a flange; 12-a steering engine fixing support; 13-a flight controller; 14-lower bearing plate fixing part; 15-a battery; 16-T type fixed bolster
In the whole structure, four steering engines which are the same as the steering engines 8, 8 motors which are the same as the upper motor 2 and the lower motor 4, 8 blades which are the same as the upper blade 1 and the lower blade 5, and four groups of connecting pieces which are the same as the flange 11, the steering engine fixing support 12, the motor fixing support 3 and the T-shaped fixing support 16 are arranged on the four directions of the four-axis tilting wings, namely the front left direction, the front right direction, the rear left direction and the rear right direction. And the front upper bearing plate 10 and the rear upper bearing plate 14 comprise other single components and jointly form the whole four-axis tilting wing.
As shown in fig. 4, the enlarged view of the tilting structure is shown, the four-axis tilting wings mainly tilt by using the structure, the steering engine 8 drives the rudder disk and the flange 11 to rotate, and then the motor fixing support 3 can be driven to rotate, in order to avoid that the weight of the body is greater than the lift force provided by the motor in the tilting process, the rotating angle of the steering engine 8 relative to the horizontal plane is controlled between-30 degrees and 30 degrees. Therefore, the normal flight of the aircraft body can be ensured, and the effective utilization of the structure can be ensured.
The flight controller 13 is adhered between the lower machine body plate 9 and the upper machine body plate 6 by 3M glue and further fixed by a binding belt, so that various sensors in the flight controller are kept stable and do not vibrate. The connection between the paddle and the motor and the connection between the motor and the motor connecting support are all tightly fixed by bolts, so that the connecting pieces between the paddle and the motor and between the motor and the motor are sufficiently stable, and no danger is generated in the flight process. The battery 15 is fixed by a battery belt and fixed below the lower body plate 9, and a battery wire penetrates through a hole in the lower body plate 9 to supply power to the flight controller 13, the motor and the steering engine. The rest parts adopt a buckle fixing mode, the steering engine 8 is clamped in the steering engine fixing support 12 and is tightly fixed through screws, the steering engine fixing support 12 is provided with clamping teeth up and down which can be clamped in the upper body plate 6 and the lower body plate 9, the steering engine fixing support is provided with an opening, and the upper bearing plate 7 can be clamped in the upper bearing plate for fixing. The T-shaped fixing piece 16 is provided with an upper opening, a lower opening and a round hole, wherein the upper opening is used for fixing the upper bearing plate 7, the lower opening is used for fixing the lower bearing plate 10, and the round hole is used for fixing the motor connecting bracket 3.
Fig. 5 is a structural diagram of the overall control system, which includes a sensor, a micro-control unit, a motor driver, a remote control receiver, and an actuator. The sensor comprises a Beidou positioning module, a gyroscope, an accelerometer, a barometer, ultrasonic waves, a magnetometer and various sensors, and the attitude and the position of the four-axis tilting wing can be accurately obtained through the cooperation of the sensors, so that better data are provided for a control algorithm, and the stability and the reliability of the system are kept. The motor driver comprises an electric regulator, and the micro processor can control the motor of the actuating mechanism by using the electric regulator. The actuating mechanism comprises a motor and a steering engine. The remote control receiver is a receiver matched with the remote controller and is connected with the microprocessor. The micro control unit is controlled by the whole machine, and a good control effect can be obtained by utilizing the operating system.
The control algorithm of the whole machine adopts a cascade PID control algorithm based on a PID algorithm, and the PID algorithm has the advantages of simple structure, good stability, reliable work and convenient adjustment, and is still the main control method adopted by the industrial control at the present stage. The PID controller calculates the control quantity by using proportion, integral and differential (PID) according to the error of the system to control, and in the practical application process, the data of P, I and D are set facing different controlled objects to achieve the optimal control purpose. The cascade PID is a control algorithm formed by combining multiple levels of PID, can better track input quantity, reduce interference of external factors to the system, and improve the robustness of the system
As shown in fig. 6, the first set of cascaded PIDs has angular velocity as an inner loop, the angular velocity being measured by a gyroscope; then, the angle control is used as an outer ring, and the angle is obtained by fusing data obtained by a gyroscope and a magnetometer sensor; the second group of cascade PID takes a speed control ring as an inner ring, and can use IMU data to carry out fusion to obtain a current speed value; the outer ring is used for position control, and data obtained by sensors such as barometers and GPS can be used for fusion to obtain position information. Through the two cascade PID controllers, the position and the attitude of the aircraft can be better controlled.
If fig. 7 is a simple kinematic model of a four-axis tilting wing, we define that the lower part of the No. 1 contra-propeller is the No. 5 propeller, the lower part of the No. 2 contra-propeller is the No. 6 propeller, the contra-propeller steering directions are opposite, the inclination angles of the steering engines are consistent with each other 1,3, and the inclination angles of the steering engines are consistent with each other 2,4, and when viewed from the positive direction of the Y axis, the tilting angles are respectively
Based on the method, four-axis tilting rotor dynamics are modeled.
Firstly, a linear motion equation is established: there is air resistance, gravity, lift of the rotor in the vertical direction.
Air resistance D i ：
C in formula (1) f In order to control the coefficient of resistance,
is the square of the rotational speed of the blade, D i Is the air resistance.
Gravity G i ：
In the formula (2), m is the mass of the organism, G is the gravity acceleration, G i Is gravity.
Aircraft stress: rotor thrust
In the formula (3)
As a rotation matrix, w i Is the angular velocity vector, α 1 ,α 2 ,β 1 ,β 2 For the tilting angle viewed from the positive direction of the Y-axis of the four-axis tilting wing, C T Is the lift coefficient, T, of the rotor b Is rotor thrust under a coordinate system of a body, T i The rotor thrust under the inertial coordinate system.
Then, a linear motion equation is obtained:
in the formula (4)
Linear acceleration, F i The sum of the forces in the vertical direction, and m is the mass of the whole machine.
Then considering the differential torque of the rotor, the reaction torque of the rotor to establish an angular motion equation,
rotor differential torque
/>
In the formula (5), d is the distance from the center of mass to the center of the motor. C T Is the lift coefficient of the rotor, w i Is the angular velocity vector, α 1 ,α 2 ,β 1 ,β 2 The tilting angle is seen from the positive direction of the Y axis of the four-axis tilting wing.
Rotor wing reaction torque
W in formula (6) i Is the angular velocity vector, C R Is a rotation matrix, α 1 ,α 2 ,β 1 ,β 2 The tilting angle is seen from the positive direction of the Y axis of the four-axis tilting wing.
And at the moment, the added paddle has the same rotating speed, the tilting angle of the No. 1 steering engine is consistent with that of the No. 3 steering engine, and the tilting angle of the No. 2 steering engine is consistent with that of the No. 4 steering engine. After the addition is restrained:
equation (7) is an angular equation of motion, where M b Is the sum of moments.
And finishing the establishment of the kinematics equation of the four-axis tilting wing.
As shown in fig. 8, which is a flowchart of system operation, after the system is powered on, initialization operations, including remote controller calibration, magnetometer calibration, accelerometer calibration, and GPS preheating, are performed first, and after it is confirmed that initialization is successful, the next operation is performed through a certain prompt message. Then the flyer of the four-axis tilt wing starts to be remotely controlled by using a remote controller, in the flying process, the flying controller can check whether the internal sensor normally operates according to a certain frequency, and an instruction is given to the actuator motor and the steering engine to complete the instruction given by the flyer. If potential safety hazards occur in the flying process, such as the situation that the battery power is too low, the flying height is larger than the preset height, any sensor fails, the throttle is too low and the like, the four-axis tilting wings enter an automatic landing mode, and the safety in the flying process is guaranteed. Meanwhile, whether the aircraft receives instructions such as one-key landing and the like can be judged according to a certain frequency in the flight process, and once the one-key return flight instruction is received, the flight controller can also send the instruction of one-key descending. Thus, the whole flight task is completed.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (6)
1. A control method of a four-axis tilting wing structure is characterized in that the four-axis tilting wing structure comprises an upper body plate (6) and a lower body plate (9); a flight controller (13) is fixed on the lower body plate (9), 4 identical steering engine fixing supports (12) are arranged at four corners of the lower body plate (9), a steering engine (8) and an upper bearing plate (7) are fixed on the steering engine fixing supports (12), a flange (11) is fixed on the steering engine (8), and the steering engine (8) drives the flange (11) to rotate, so that an upper motor (2) and a lower motor (4) on the motor fixing support (3) rotate to achieve the purpose of tilting;
the aircraft is characterized in that a motor fixing support (3) is fixed on the flange (11), an upper motor (2) and a lower motor (4) are fixed on the motor fixing support (3), an upper paddle (1) is fixed on the upper motor (2), a lower paddle (5) is fixed on the lower motor (4), the upper motor (2) and the lower motor (4) drive the upper paddle (1) and the lower paddle (5) to rotate to form an upward lifting force, four groups of motor sets are formed on the whole aircraft on the basis of the motor fixing support (3), and the lifting force is provided for four-axis tilting wing flight; meanwhile, the rotation directions of the upper motor (2) and the lower motor (4) are opposite, so that the reaction torque generated by the upper motor (2) and the lower motor (4) are mutually offset, and the steering engine (8) can normally rotate without being influenced by the reaction torque generated by the upper motor (2) and the lower motor (4); because the rotating directions of the upper motor (2) and the lower motor (4) are opposite, the upper paddle (1) and the lower paddle (5) need to be installed in different directions, and the lifting force generated by the motors is upward;
the control method comprises the following steps:
the method comprises the steps of performing initialization operation after a system is powered on, firstly calibrating remote controllers, calibrating according to specific calibration modes of different remote controllers, completing remote control operation on the unmanned aerial vehicle after calibration, then preheating a Beidou positioning module until the Beidou positioning module can read specific position information of four-axis tilting wings in a working area, calibrating accelerometers, placing the four-axis tilting wings on six surfaces to be static, placing each surface to be static for 5 seconds, completing calibration of data acquisition, finally calibrating magnetometers, and rotating the four-axis tilting wings in a three-dimensional space as much as possible until calibration is completed;
after the initialization operation is completed, the unmanned aerial vehicle flyer uses a remote controller to remotely control the four-axis tilt wing to take off, and before the four-axis tilt wing receives a take-off instruction and lands, the cascade PID controller controls the posture and the position of the four-axis tilt wing to enable the four-axis tilt wing to fly according to the instruction given by the unmanned aerial vehicle flyer through the remote controller;
after the four-axis tilting wing takes off, the whole aircraft is controlled by a flight controller (13), and the aircraft mainly comprises two characteristics in the flight process, firstly, a structure for installing a steering engine (8) is adopted, when the steering engine (8) rotates, a motor fixing support (3) is driven to rotate, then lift force generated by an upper paddle (1) and a lower paddle (5) on an upper motor (2) and a lower motor (4) can be decomposed into two directions which are horizontal to an aircraft body direction and vertical to the aircraft body direction, so that the aim of keeping the aircraft body horizontal in the process of changing the flight height of the four-axis tilting wing is fulfilled, the aircraft body can be tilted in the process of changing the flight height of a conventional four-rotor wing, then, in order to ensure normal rotation of the steering engine (8), the rotating directions of the upper motor (2) and the lower motor (4) of the four-axis tilting wing are opposite, the purpose of adopting the mode is to mutually counteract the reactive torque generated by the two motors, and the rotation of the steering engine (8) is not influenced by other factors brought by the rotation of the upper motor (2) and the lower motor (4).
2. The control method of the four-axis tilting wing structure according to claim 1, characterized in that a part of the whole structure of the four-axis tilting wing structure is fixed in a buckling manner, wherein a steering engine (8) is clamped in a steering engine fixing support (12) and is tightly fixed through screws, clamping teeth which can be clamped into an upper body plate (6) and a lower body plate (9) are arranged on the upper and lower sides of the steering engine fixing support (12), an opening is reserved in the steering engine fixing support (12), and an upper bearing plate (7) can be clamped into the opening for fixing; the whole structure of the four-axis tilting wing structure further comprises a T-shaped fixing piece (16), wherein the T-shaped fixing piece (16) is provided with an upper opening, a lower opening and a round hole, the upper opening is used for fixing an upper bearing plate (7), the lower opening is used for fixing a lower bearing plate (10), and the round hole is used for fixing a motor fixing support (3); other all adopt the screw to closely fix, upper portion paddle (1) uses the screw to fix with upper portion motor (2), and lower part paddle (5) uses the screw to fix with lower part motor (4), and upper portion motor (2), lower part motor (4) are fixed with being connected of motor fixed bolster (3) using the screw, and flange (11) use screw and motor fixed bolster (3) to fix.
3. The control method of a quad tilt wing structure according to claim 1, wherein the flight controller (13) comprises a Beidou positioning module, a gyroscope, an accelerometer, a barometer, an ultrasonic sensor, a remote control receiver, a magnetometer and a microprocessor; big dipper orientation module is used for the flight phase to provide accurate position data for the controller, gyroscope, accelerometer, magnetometer obtain the attitude information of aircraft through data fusion, the barometer is used for resolving the real-time height of four-axis tilt wing with ultrasonic sensor together, microprocessor is connected with above-mentioned big dipper orientation module, gyroscope, accelerometer, barometer, ultrasonic sensor, magnetometer, handles the data of multiple sensor, flight controller still with the electricity tune simultaneously, steering wheel (8) link to each other, be responsible for assigning steering wheel rotation angle and motor rotation speed's instruction, reach the effect that the four-axis tilt wing stabilized flight.
4. The control method of the four-axis tilting wing structure according to claim 1, wherein the upper body plate (6), the lower body plate (9), the upper bearing plate (7), the lower bearing plate (10), the steering engine fixing bracket (12) and the T-shaped fixing part (16) are all made of carbon fiber, the flange (11), the motor fixing bracket (3) and the lower bearing plate fixing part (14) are made of aluminum, and the upper blade (1) and the lower blade (5) are made of plastic.
5. The control method of the four-axis tilt wing structure according to claim 1, wherein the four-axis tilt wing structure further comprises a battery (15), the battery (15) is located below the lower body plate (9), and the battery (15) provides power for the upper motor (2), the lower motor (4), the steering engine (8) and the flight controller (13).
6. The method for controlling the structure of the four-axis tilting wing according to claim 1, wherein the cascade PID controller is used for controlling the attitude and the position of the four-axis tilting wing, and the specific process comprises the following steps:
the control system utilizes two groups of cascade PID to control, wherein the first group of cascade PID takes angular velocity as an inner ring, and the angular velocity is measured by a gyroscope; then, the angle control is used as an outer ring, and the angle is obtained by data fusion of a gyroscope and a magnetometer sensor; the second group of cascade PID takes a speed control ring as an inner ring, and utilizes IMU data to carry out fusion to obtain a current speed value; the outer ring is used for position control, data obtained by a barometer and a Beidou positioning module sensor can be fused to obtain position information, and the position and the posture of the aircraft are controlled by the two cascade PID controllers;
the four-axis tilting wing adopts a one-key landing mode, a WeChat processor in a flight controller (13) before takeoff records the specific position of the four-axis tilting wing obtained by a Beidou positioning module, the height of the four-axis tilting wing during landing is calculated by a barometer and an ultrasonic sensor in the descending process, and the flight controller (13) issues specific instructions to control a steering engine (8), an upper motor (2) and a lower motor (4) to enable the aircraft body to slowly descend to the takeoff position to complete the whole flight task.
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