CN113359802A - Control method under unmanned aerial vehicle wall surface adsorption state and unmanned aerial vehicle - Google Patents
Control method under unmanned aerial vehicle wall surface adsorption state and unmanned aerial vehicle Download PDFInfo
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- CN113359802A CN113359802A CN202110759905.7A CN202110759905A CN113359802A CN 113359802 A CN113359802 A CN 113359802A CN 202110759905 A CN202110759905 A CN 202110759905A CN 113359802 A CN113359802 A CN 113359802A
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- aerial vehicle
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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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- 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
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
Abstract
The invention provides a control method of an unmanned aerial vehicle in a wall adsorption state and the unmanned aerial vehicle, comprising the steps of calculating a horizontal deviation angle between the unmanned aerial vehicle and a wall through an ultrasonic module, and calculating a vertical deviation angle between the unmanned aerial vehicle and the wall through a pitch angle measured by an airborne gyroscope; respectively placing the horizontal deviation angle and the vertical deviation angle into two groups of PID controllers for calculation; the PID controller resolving value corresponding to the horizontal deviation angle is used as a yaw moment control quantity, and the PID controller resolving value corresponding to the vertical deviation angle is used as a tension control quantity; its unmanned aerial vehicle includes organism, sucking disc, and the symmetry is installed at the ultrasonic wave module of organism both sides and is installed the sensor that is used for measuring the angle of pitch on the organism. The invention can effectively control the unmanned aerial vehicle in an adsorption state, and the controller only needs angle information and does not need position/speed information, thereby overcoming the problem that the airborne GPS can not accurately obtain the position and speed information of the unmanned aerial vehicle in the environment which is close to buildings and the like and is shielded.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles with adsorption functions, in particular to a control method of an unmanned aerial vehicle in a wall adsorption state.
Background
In recent years, unmanned aerial vehicles have more and more functions, and some unmanned aerial vehicles have an adsorption function in addition to performing applications such as traditional monitoring, photography, line patrol and the like. The adsorption can improve unmanned aerial vehicle's interference killing feature and increase unmanned aerial vehicle's duration to a certain extent on planes such as wall, glass, and the adsorption state also can be as carrying out the first step such as applications such as glass washing, contact detection simultaneously. Unmanned aerial vehicle can adsorb to the wall through the sucking disc that the front end stretches out on, under the adsorbed state, unmanned aerial vehicle's position has received the restraint of sucking disc, and unmanned aerial vehicle's kinetic model has changed, and under this state, it is necessary to redesign unmanned aerial vehicle control method.
The unmanned aerial vehicle has six degrees of freedom, namely three-dimensional position and angle, in an unadsorbed state. The controller adopts a conventional cascade control frame, an outer ring controller is designed according to a position/speed target quantity and a position/speed state quantity, the output of the outer ring controller is used as an angle target quantity, an inner ring controller is designed according to the angle target quantity and the angle state quantity, the inner ring controller outputs control quantities, namely pulling force, pitching moment, rolling moment and yawing moment, the control quantities are distributed into the target rotating speed of each motor of the unmanned aerial vehicle through control distribution, and the motors change the rotating speed to change the angle and the position of the unmanned aerial vehicle. However, in the suction state, the drone has only two degrees of angular freedom. The existing unmanned aerial vehicle still adopts the controller to control the unmanned aerial vehicle in the adsorption state, and the control is redundant, namely four control quantities (tension, pitching moment, rolling moment and yawing moment) control two degrees of freedom in angle. Therefore, in the adsorption state, the controller and the control method of the unmanned aerial vehicle can be designed in a simplified mode, namely only two control quantities are needed to control two angle degrees of freedom. In addition, the original controller needs the position and the speed information of the unmanned aerial vehicle, and under the adsorption environment of the general unmanned aerial vehicle, such as the glass/wall surface of a building, the GPS on the vehicle can not accurately obtain the position and the speed information of the unmanned aerial vehicle, so that the traditional controller can not work normally. Therefore, in the unmanned aerial vehicle adsorption state, redesigning of the control method is necessary.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a control method of an unmanned aerial vehicle in a wall surface adsorption state.
The invention provides a control method of an unmanned aerial vehicle in a wall adsorption state, which comprises the following steps:
the method comprises the following steps: calculating a horizontal deviation angle between the unmanned aerial vehicle and the wall surface through an ultrasonic module, and calculating a vertical deviation angle between the unmanned aerial vehicle and the wall surface through a pitch angle measured by an airborne gyroscope;
step two: respectively placing the horizontal deviation angle and the vertical deviation angle into two groups of PID controllers for calculation;
step three: the PID controller resolving value corresponding to the horizontal deviation angle is used as a yaw moment control quantity, and the PID controller resolving value corresponding to the vertical deviation angle is used as a tension control quantity;
step four: and controlling and distributing the two yaw moment control quantities and the two tension control quantities to obtain the target rotating speed quantity of each motor, and inputting the target rotating speed quantity to the motors.
Optionally, the horizontal deviation angle may be calculated from a distance and a geometric relationship measured by two left and right ultrasonic modules symmetrically installed on two sides of the perpendicular bisector of the body, and the calculation method is as follows:
optionally, the vertical deviation angle is calculated by:
and the vertical deviation angle is equal to the pitch angle target quantity-pitch angle state quantity.
Optionally, the calculation formula of the yaw moment control amount is:
Optionally, the calculation formula of the tension control amount is as follows:
Optionally, the scale factor magnitude is 0.1-1.0, and plays a main role in a controller; the integral is in the order of magnitude of 0.01, eliminate the static error; the differential coefficient magnitude is 0.001-0.0001, so that the stability is improved; the specific numerical value of each coefficient is adjusted according to the power system capacity of the unmanned aerial vehicle.
The utility model provides an unmanned aerial vehicle, includes organism, sucking disc, the symmetry is installed the ultrasonic wave module of the perpendicular bisector both sides of organism and is used for measuring the gyroscope of angle of pitch with setting up on the organism, adopts the aforesaid unmanned aerial vehicle wall adsorption state under the control method.
Optionally, the ultrasonic module is connected to the body through a connecting rod.
Compared with the prior art, the invention has the following beneficial effects:
the control method of the unmanned aerial vehicle in the wall surface adsorption state and the unmanned aerial vehicle can effectively control the unmanned aerial vehicle in the adsorption state, and the controller only needs two channels because only a horizontal deviation angle and a vertical deviation angle are needed, so the structure is simple; the controller only needs angle information and does not need position/speed information, so that the problem that the airborne GPS cannot accurately obtain the position and speed information of the unmanned aerial vehicle is solved.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic view of an unmanned aerial vehicle provided by the present invention in an adsorption state;
FIG. 2 is a schematic view of an ultrasonic module for measuring horizontal deviation angle according to the present invention;
FIG. 3 is a structural diagram of the unmanned aerial vehicle controller in an adsorption state provided by the present invention;
fig. 4 is a control effect diagram provided by the present invention, in which a vertical deviation angle control effect diagram and a horizontal deviation angle control effect diagram are respectively shown from top to bottom.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1 to 4, the control method of the present invention may include the steps of:
the method comprises the following steps: calculating a horizontal deviation angle between the unmanned aerial vehicle and the wall surface through an ultrasonic module, and calculating a vertical deviation angle between the unmanned aerial vehicle and the wall surface through a pitch angle measured by an airborne gyroscope;
step two: as shown in fig. 3, the horizontal deviation angle and the vertical deviation angle are respectively put into two sets of PID (proportional-derivative-integral) controllers for calculation;
step three: the PID controller resolving value corresponding to the horizontal deviation angle is used as a yaw moment control quantity, and the PID controller resolving value corresponding to the vertical deviation angle is used as a tension control quantity;
step four: and controlling and distributing the two yaw moment control quantities and the two tension control quantities to obtain the target rotating speed quantity of each motor, and inputting the target rotating speed quantity to the motors.
In this embodiment, the control amount is distributed by four rotors, and the control distribution is as follows:
in the formula of omega1～ω4Is the motor speed, ctIs the coefficient of tension of the motor, cmThe motor torque coefficient is obtained, and d is the horizontal distance between the installation position of the motor and the gravity center of the unmanned aerial vehicle;
in an alternative embodiment, as shown in fig. 2, the horizontal deviation angle can be calculated from the distance and geometric relationship measured by two left and right ultrasonic modules symmetrically installed on both sides of the perpendicular bisector of the body by:
in this embodiment, the left and right ultrasonic modules are a left ultrasonic module and a right ultrasonic module;
in this embodiment, the wall of considering is the wall of putting perpendicularly, namely, the wall is perpendicular to the horizontal plane, the horizontal deviation angle is the contained angle of unmanned aerial vehicle x axle and x axle projection on the normal plane, two ultrasonic wave installation distances are the linear distance between two ultrasonic waves, left side ultrasonic wave module measurement distance and right side ultrasonic wave module measurement distance are specifically as shown in fig. 2, left side ultrasonic wave module measurement distance is the linear distance of left side ultrasonic wave module to the wall, and this linear perpendicular to two ultrasonic wave module installation distances, right side ultrasonic wave module measurement distance is the linear distance of right side ultrasonic wave module apart from the wall, and this linear perpendicular to two ultrasonic wave module installation distances, two ultrasonic wave module installation distances are the linear distance of left side ultrasonic wave module and right side ultrasonic wave module promptly.
In this embodiment, the vertical deviation angle is the included angle of the projection of the x-axis of the unmanned aerial vehicle and the x-axis on the horizontal plane.
In an alternative embodiment, the yaw moment control amount is calculated by the formula:
In an alternative embodiment, the controlled amount of tension is calculated by the formula:
In an alternative embodiment, the controlled amount of tension is calculated by the formula:
In an optional embodiment, in the above formula, the scale factor is in the order of 0.1-1.0, and plays a main role in the controller; the integral is in the order of magnitude of 0.01, eliminate the static error; the differential coefficient magnitude is 0.001-0.0001, so that the stability is improved; the specific numerical value of each coefficient is adjusted according to the capacity of a power system (a motor and a blade) of the unmanned aerial vehicle, each coefficient in the embodiment refers to a proportionality coefficient, an integral coefficient and a differential coefficient, and the proportionality coefficient comprises k in the embodimentp_αAnd kp_βThe integral coefficient includes ki_βAnd ki_αThe differential coefficient includes kd_αAnd kd_β。
The utility model provides an unmanned aerial vehicle, includes organism, sucking disc, the symmetry is installed the ultrasonic wave module of the perpendicular bisector both sides of organism and is installed the gyroscope (all not shown in the above-mentioned structure picture) that is used for measuring the angle of pitch on the organism, adopts foretell unmanned aerial vehicle wall adsorption state's control method down, and the ultrasonic wave module passes through the connecting rod to be connected on the organism, connecting rod (not shown in the figure) welding or ligature promptly on the organism, then the ultrasonic wave module passes through the bolt or other modes to be connected on the connecting rod.
In this embodiment, the ultrasonic modules symmetrically disposed on both sides of the perpendicular bisector of the body are referred to as a left ultrasonic module and a right ultrasonic module.
In this embodiment, the control method under the unmanned aerial vehicle wall adsorption state that adopts actual unmanned aerial vehicle platform to verify to provide, unmanned aerial vehicle passes through the front end sucking disc and adsorbs on the glass wall, and the control effect is as shown in fig. 4. The vertical deviation angle in the adsorption state is stabilized within +/-1 degrees, and after disturbance is applied, the vertical deviation angle can be quickly converged into a stable range; through the measurement of the ultrasonic module and the adjustment of the PID controller, the horizontal deviation angle is stabilized within +/-3 degrees. Whole process unmanned aerial vehicle can maintain the state of adsorbing on glass steadily.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (7)
1. A control method under the wall surface adsorption state of an unmanned aerial vehicle is characterized by comprising the following steps:
the method comprises the following steps: calculating a horizontal deviation angle between the unmanned aerial vehicle and the wall surface through an ultrasonic module, and calculating a vertical deviation angle between the unmanned aerial vehicle and the wall surface through a pitch angle measured by an airborne gyroscope;
step two: respectively placing the horizontal deviation angle and the vertical deviation angle into two groups of PID controllers for calculation;
step three: the PID controller resolving value corresponding to the horizontal deviation angle is used as a yaw moment control quantity, and the PID controller resolving value corresponding to the vertical deviation angle is used as a tension control quantity;
step four: and controlling and distributing the yaw moment control quantity and the tension control quantity to obtain the target rotating speed quantity of each motor, and inputting the target rotating speed quantity to the motors.
2. The method for controlling the wall surface adsorption state of the unmanned aerial vehicle according to claim 1, wherein the horizontal deviation angle can be calculated by the distance and the geometric relationship measured by two left and right ultrasonic modules symmetrically installed on two sides of the perpendicular bisector of the body, and the calculation method is as follows:
3. the method for controlling the wall surface adsorption state of the unmanned aerial vehicle according to claim 1, wherein the formula for calculating the yaw moment control quantity is as follows:
4. The method for controlling the wall surface adsorption state of the unmanned aerial vehicle according to claim 3, wherein the tension control quantity is calculated by the following formula:
5. The control method of the unmanned aerial vehicle in the wall surface adsorption state according to claim 3 or 4, wherein the scale factor is in the order of 0.1-1.0, the integral system is in the order of 0.01, and the static error is eliminated; the differential coefficient magnitude is 0.001-0.0001, so that the stability is improved; the specific numerical value of each coefficient is adjusted according to the power system capacity of the unmanned aerial vehicle.
6. An unmanned aerial vehicle, including organism, sucking disc, the symmetry is installed in the ultrasonic module of the perpendicular bisector both sides of organism and is installed on the organism and be used for measuring the gyroscope of angle of pitch, characterized by that, adopt the control method under the wall adsorption state of unmanned aerial vehicle of any claim 1-5.
7. The method for controlling the wall surface adsorption state of the unmanned aerial vehicle according to claim 6, wherein the ultrasonic module is connected to the body through a connecting rod.
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