CN113485445A - Unmanned aerial vehicle deceleration hovering control method and device, electronic equipment and storage medium - Google Patents
Unmanned aerial vehicle deceleration hovering control method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The application provides a method and a device for controlling deceleration and hovering of an unmanned aerial vehicle, electronic equipment and a storage medium, wherein the method for controlling deceleration and hovering of the unmanned aerial vehicle comprises the following steps: acquiring the current flying speed of the unmanned aerial vehicle; judging whether the current flying speed is smaller than a preset flying speed or not; if yes, controlling the unmanned aerial vehicle to slow down and hover through a position control mode; if not, controlling the unmanned aerial vehicle to slow down and hover through the speed control mode and the position control mode. The method, the device, the electronic equipment and the storage medium for controlling the deceleration hovering of the unmanned aerial vehicle can reduce phenomena such as overshoot and flutter generated during fixed-point switching of the unmanned aerial vehicle as much as possible, so that the control effect on the fixed-point switching of the unmanned aerial vehicle is more ideal.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to a method and a device for controlling deceleration and hovering of an unmanned aerial vehicle, electronic equipment and a storage medium.
Background
The deceleration control of the drone is mainly used for the process of fixed point switching, such as switching from one hover fixed point location to another hover fixed point location, which needs to be decelerated and then hovered when reaching the other hover fixed point location.
At present, the deceleration control of the unmanned aerial vehicle is mainly realized by a position control mode or a speed control mode, and the like, and in the fixed-point switching process of the unmanned aerial vehicle, the deceleration control mode usually adopted is the position control mode or the speed control mode, however, the position control mode is adopted, so that the phenomenon of overshoot is easily generated, namely the unmanned aerial vehicle retreats after flying beyond the planned hovering fixed-point position; by adopting the speed control mode, although the speed can be controlled to be reduced to zero, the problem of overshoot is solved, the speed control mode does not specify a fixed suspension point, the situation of fluttering can be generated, and the control effect of fixed-point switching of the unmanned aerial vehicle is not ideal.
Disclosure of Invention
An object of the embodiments of the present application is to provide a method, an apparatus, an electronic device, and a storage medium for controlling deceleration and hovering of an unmanned aerial vehicle, which can reduce phenomena such as overshoot and fluttering generated during fixed-point switching of the unmanned aerial vehicle as much as possible, so that a control effect of the fixed-point switching of the unmanned aerial vehicle is more ideal.
In a first aspect, an embodiment of the present application provides an unmanned aerial vehicle deceleration hovering control method, including:
acquiring the current flying speed of the unmanned aerial vehicle;
judging whether the current flying speed is smaller than a preset flying speed or not;
if yes, controlling the unmanned aerial vehicle to slow down and hover through a position control mode;
if not, controlling the unmanned aerial vehicle to slow down and hover through the speed control mode and the position control mode.
In the implementation process, the unmanned aerial vehicle deceleration hovering control method is applicable to the unmanned aerial vehicle fixed-point switching process, when the obtained current flight speed of the unmanned aerial vehicle is lower than the preset flight speed, the unmanned aerial vehicle is controlled to decelerate and hover through the position control mode, and the phenomenon of overshoot generated during the unmanned aerial vehicle fixed-point switching can be reduced as much as possible; when the current flying speed of the unmanned aerial vehicle obtained is greater than or equal to the preset flying speed, the unmanned aerial vehicle is controlled to decelerate and hover through the speed control mode and the position control mode because the current flying speed of the unmanned aerial vehicle is larger, the phenomenon of fluttering generated when the unmanned aerial vehicle is switched at a fixed point can be reduced as much as possible, and therefore the control effect of the fixed point switching of the unmanned aerial vehicle is more ideal.
Further, the controlling the unmanned aerial vehicle to hover at a reduced speed through the speed control mode and the position control mode includes:
controlling the unmanned aerial vehicle to hover at a reduced speed through a speed control mode;
and when the current flying speed is less than the preset flying speed, controlling the unmanned aerial vehicle to decelerate and hover through the position control mode.
In the implementation process, when the current flying speed of the unmanned aerial vehicle is greater than or equal to the preset flying speed, the method firstly controls the unmanned aerial vehicle to decelerate and hover through the speed control mode so as to decelerate the unmanned aerial vehicle, and then controls the unmanned aerial vehicle to decelerate and hover through the position control mode when the current flying speed of the unmanned aerial vehicle is decelerated to be less than the preset flying speed.
Further, the controlling the unmanned aerial vehicle to hover at a reduced speed through the speed control mode and the position control mode includes:
and according to the current flight speed, a speed control mode and the position control mode are fused to control the unmanned aerial vehicle to decelerate and hover.
In the implementation process, when the current flying speed of the unmanned aerial vehicle is greater than or equal to the preset flying speed, the method controls the unmanned aerial vehicle to hover at a reduced speed by combining the speed control mode and the position control mode according to the current flying speed of the unmanned aerial vehicle, so that the phenomena of fluttering and overshoot generated during fixed-point switching of the unmanned aerial vehicle can be well reduced, and the control effect on the fixed-point switching of the unmanned aerial vehicle is more ideal.
Further, the control of the unmanned aerial vehicle to hover at a reduced speed according to the current flight speed by combining a speed control mode and the position control mode includes:
determining the weight corresponding to a speed control mode and the position control mode according to the current flight speed;
and controlling the unmanned aerial vehicle to decelerate and hover by fusing the speed control mode and the position control mode according to the weight corresponding to the speed control mode and the position control mode.
In the implementation process, the method controls the unmanned aerial vehicle to decelerate and hover by combining the speed control mode and the position control mode through the weight corresponding to the speed control mode and the position control mode, can accurately realize the control of decelerating and hovering of the unmanned aerial vehicle, and further can better reduce the phenomena of fluttering and overshoot generated when the unmanned aerial vehicle is switched at a fixed point, so that the control effect of the fixed point switching of the unmanned aerial vehicle is more ideal.
Further, the position control mode adopts nested PID control, and the speed control mode adopts PID control.
In the implementation process, the position control mode adopts nested PID control, the speed control mode adopts PID control, the unmanned aerial vehicle can be controlled to decelerate and hover better, and the control effect on the fixed-point switching of the unmanned aerial vehicle is more ideal.
In a second aspect, an embodiment of the present application provides an unmanned aerial vehicle deceleration hovering control device, including:
the acquisition module is used for acquiring the current flying speed of the unmanned aerial vehicle;
the judging module is used for judging whether the current flying speed is smaller than a preset flying speed or not;
the control module is used for controlling the unmanned aerial vehicle to slow down and hover through a position control mode when the current flying speed is smaller than a preset flying speed;
and when the current flying speed is greater than or equal to the preset flying speed, the unmanned aerial vehicle is controlled to slow down and hover through a speed control mode and the position control mode.
In the implementation process, the unmanned aerial vehicle deceleration and hovering control device is suitable for the fixed-point switching process of the unmanned aerial vehicle, when the obtained current flight speed of the unmanned aerial vehicle is smaller than the preset flight speed, the unmanned aerial vehicle is controlled to decelerate and hover through the position control mode, and the phenomenon of overshoot generated during fixed-point switching of the unmanned aerial vehicle can be reduced as much as possible; when the current flying speed of the unmanned aerial vehicle obtained is greater than or equal to the preset flying speed, the unmanned aerial vehicle is controlled to decelerate and hover through the speed control mode and the position control mode because the current flying speed of the unmanned aerial vehicle is larger, the phenomenon of fluttering generated when the unmanned aerial vehicle is switched at a fixed point can be reduced as much as possible, and therefore the control effect of the fixed point switching of the unmanned aerial vehicle is more ideal.
Further, the control module is specifically configured to, when controlling the unmanned aerial vehicle to decelerate and suspend in the speed control mode and the position control mode:
controlling the unmanned aerial vehicle to hover at a reduced speed through a speed control mode;
and when the current flying speed is less than the preset flying speed, controlling the unmanned aerial vehicle to decelerate and hover through the position control mode.
In the implementation process, the device is when unmanned aerial vehicle's current flying speed is greater than or equal to and predetermines flying speed, earlier through speed control mode control unmanned aerial vehicle speed reduction hover, make unmanned aerial vehicle slow down, when unmanned aerial vehicle's current flying speed slows down to being less than and predetermine flying speed, rethread position control mode control unmanned aerial vehicle slows down hover, this kind of mode can reduce the unmanned aerial vehicle fixed point better and produce the phenomenon of waving and overshoot when switching, make the control effect to unmanned aerial vehicle's fixed point switch more ideal.
Further, the control module is specifically configured to, when controlling the unmanned aerial vehicle to decelerate and suspend in the speed control mode and the position control mode:
and according to the current flight speed, a speed control mode and the position control mode are fused to control the unmanned aerial vehicle to decelerate and hover.
In the implementation process, the device is greater than or equal to when predetermineeing airspeed at unmanned aerial vehicle's current airspeed, through unmanned aerial vehicle's current airspeed, fuses speed control mode and position control mode control unmanned aerial vehicle speed reduction and hover, produces the phenomenon of waving and overshoot when can reduce unmanned aerial vehicle fixed point and switch betterly for the control effect to unmanned aerial vehicle's fixed point switch is more ideal.
In a third aspect, an embodiment of the present application provides an electronic device, including a memory and a processor, where the memory is used to store a computer program, and the processor runs the computer program to make the electronic device execute the above-mentioned unmanned aerial vehicle deceleration and hover control method.
In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the method for controlling deceleration and hovering of an unmanned aerial vehicle is implemented.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic flow chart of a method for controlling deceleration and hovering of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 2 is a schematic flowchart of step S140 according to a first embodiment of the present disclosure;
fig. 3 is a schematic diagram of a fusion speed control mode and a position control mode according to an embodiment of the present disclosure;
FIG. 4 is a diagram illustrating a correlation between weight and velocity according to an embodiment of the present disclosure;
fig. 5 is a structural block diagram of the unmanned aerial vehicle deceleration and hover control device provided in the second embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
In the process of fixed-point switching of the unmanned aerial vehicle, a speed reduction control mode is usually adopted as a position control mode or a speed control mode, however, the adoption of the position control mode easily causes an overshoot phenomenon, that is, the unmanned aerial vehicle retreats after flying beyond a planned hovering fixed-point position; by adopting the speed control mode, although the speed can be controlled to be reduced to zero, the problem of overshoot is solved, the speed control mode does not specify a fixed suspension point, the situation of fluttering can be generated, and the control effect of fixed-point switching of the unmanned aerial vehicle is not ideal.
In view of the above problems in the prior art, the present application provides a method, an apparatus, an electronic device and a storage medium for controlling deceleration and hovering of an unmanned aerial vehicle, which can minimize phenomena such as overshoot and flutter generated during fixed-point switching of the unmanned aerial vehicle, so that the control effect on the fixed-point switching of the unmanned aerial vehicle is more ideal.
Example one
Referring to fig. 1, fig. 1 is a schematic flow chart of a method for controlling deceleration and hovering of an unmanned aerial vehicle according to an embodiment of the present application. The unmanned aerial vehicle deceleration hovering control method described below in the embodiment of the application can be applied to a controller of an unmanned aerial vehicle.
The unmanned aerial vehicle deceleration and hovering control method in the embodiment of the application is suitable for the fixed-point switching process of the unmanned aerial vehicle, and in the embodiment of the application, the unmanned aerial vehicle deceleration and hovering control method in the embodiment of the application is applied to the fixed-point switching process of the unmanned aerial vehicle to perform relevant example description.
The unmanned aerial vehicle deceleration hovering control method comprises the following steps:
and step S110, acquiring the current flying speed of the unmanned aerial vehicle.
In this embodiment, the current flying speed of the unmanned aerial vehicle is the flying speed of the unmanned aerial vehicle at the current moment.
Optionally, when the current flying speed of the drone is obtained, the current flying speed of the drone may be obtained through a speed sensor.
And step S120, judging whether the current flying speed is less than the preset flying speed.
In this embodiment, if the current flying speed of the unmanned aerial vehicle is less than the preset flying speed, step S130 is executed; if the current flying speed of the unmanned aerial vehicle is greater than or equal to the preset flying speed, step S140 is executed.
The preset flying speed is the preset flying speed of the unmanned aerial vehicle.
And step S130, controlling the unmanned aerial vehicle to slow down and hover through the position control mode.
In this embodiment, it can be understood that the unmanned aerial vehicle is controlled to hover at a reduced speed by the position control mode, that is, the unmanned aerial vehicle is controlled to hover at a fixed point to be hovered at a reduced speed by the position control mode.
And step S140, controlling the unmanned aerial vehicle to slow down and hover through the speed control mode and the position control mode.
In this embodiment, it can be understood that the unmanned aerial vehicle is controlled to hover at a reduced speed through the speed control mode and the position control mode, that is, the unmanned aerial vehicle is controlled to hover at a fixed point to be hovered at a reduced speed through the speed control mode and the position control mode.
The unmanned aerial vehicle deceleration hovering control method is suitable for the fixed-point switching process of the unmanned aerial vehicle, when the obtained current flight speed of the unmanned aerial vehicle is smaller than the preset flight speed, due to the fact that the current flight speed of the unmanned aerial vehicle is smaller, the unmanned aerial vehicle is controlled to decelerate and hover through the position control mode, and the phenomenon of overshoot generated when the unmanned aerial vehicle is switched at the fixed point can be reduced as much as possible; when the current flying speed of the unmanned aerial vehicle obtained is greater than or equal to the preset flying speed, the unmanned aerial vehicle is controlled to decelerate and hover through the speed control mode and the position control mode because the current flying speed of the unmanned aerial vehicle is larger, the phenomenon of fluttering generated when the unmanned aerial vehicle is switched at a fixed point can be reduced as much as possible, and therefore the control effect of the fixed point switching of the unmanned aerial vehicle is more ideal.
Referring to fig. 2, fig. 2 is a schematic flowchart of step S140 provided in the embodiment of the present application.
In some embodiments of the present application, the step S140 of controlling the unmanned aerial vehicle to hover at a reduced speed through the speed control mode and the position control mode may include the following steps:
step S141, controlling the unmanned aerial vehicle to hover at a reduced speed through a speed control mode;
and S142, when the current flying speed is less than the preset flying speed, controlling the unmanned aerial vehicle to decelerate and hover through a position control mode.
In the process, when the current flying speed of the unmanned aerial vehicle is greater than or equal to the preset flying speed, the method firstly controls the unmanned aerial vehicle to decelerate and hover through the speed control mode so as to decelerate the unmanned aerial vehicle, and when the current flying speed of the unmanned aerial vehicle is decelerated to be less than the preset flying speed, the unmanned aerial vehicle is controlled to decelerate and hover through the position control mode so as to wait for hovering fixed point position.
In other embodiments of the present application, the step S140 of controlling the unmanned aerial vehicle to hover at a reduced speed through the speed control mode and the position control mode may include the following steps:
and according to the current flight speed, a speed control mode and a position control mode are fused to control the unmanned aerial vehicle to decelerate and hover.
The unmanned aerial vehicle is controlled to decelerate and hover by fusing the speed control mode and the position control mode, namely, the speed control mode and the position control mode are fused, and then the speed control mode and the position control mode are controlled to act on the unmanned aerial vehicle to control the unmanned aerial vehicle to decelerate and hover.
In the process, when the current flying speed of the unmanned aerial vehicle is greater than or equal to the preset flying speed, the method controls the unmanned aerial vehicle to hover at a reduced speed by combining the speed control mode and the position control mode according to the current flying speed of the unmanned aerial vehicle, so that the phenomena of fluttering and overshoot generated when the unmanned aerial vehicle is switched at a fixed point can be well reduced, and the control effect on the fixed point switching of the unmanned aerial vehicle is more ideal.
Optionally, according to the current flying speed, the unmanned aerial vehicle is controlled to hover at a reduced speed by fusing the speed control mode and the position control mode, which may include:
determining the weight corresponding to the speed control mode and the position control mode according to the current flight speed;
and controlling the unmanned aerial vehicle to decelerate and hover by combining the speed control mode and the position control mode according to the weight corresponding to the speed control mode and the position control mode.
For the above process, refer to the schematic diagram of fig. 3, fig. 3 is a schematic diagram of a fusion speed control mode and a position control mode provided in the embodiment of the present application, where in fig. 3, the speed is the current flight speed of the unmanned aerial vehicle.
For the above process, see the following equation:
u＝wup+(1-w)uv
w＝f(v,p,…)
wherein u isp、uvControl signals generated respectively representing a position control mode and a speed control mode; the position control mode is realized by nested PID control, the speed control mode is realized by PID control, the position control mode and the speed control mode are controlled by a speed ring PID, and the position control mode and the speed control mode are different in parameters and are distinguished by 1 and 2; p and v represent position and velocity, respectively, and subscript c represents a set value; the final control signal u is composed of upAnd uvIs added according to the weight, w represents upThe weight of (1-w) represents uvThe weight w can be determined by a certain function according to parameters such as the current flight speed and the position of the unmanned aerial vehicle;
for example, referring to fig. 4, fig. 4 is a schematic diagram of the correlation between the weight and the speed provided by the embodiment of the present application, and as can be seen from fig. 4, the weight w is determined by some function according to the current flight speed of the drone; in the case where the current flying speed of the drone is relatively greater, the control of the drone to hover at reduced speed may be more biased toward the speed control mode, and in the case where the current flying speed of the drone is relatively less, the control of the drone to hover at reduced speed may be more biased toward the position control mode.
In the process, the method controls the unmanned aerial vehicle to decelerate and hover by combining the speed control mode and the position control mode through the weight corresponding to the speed control mode and the position control mode, can accurately realize the control of the unmanned aerial vehicle to decelerate and hover, and further can better reduce the phenomena of drifting and overshoot generated during the fixed-point switching of the unmanned aerial vehicle, so that the control effect of the fixed-point switching of the unmanned aerial vehicle is more ideal;
meanwhile, the position control mode in the method adopts nested PID control, the speed control mode adopts PID control, the unmanned aerial vehicle can be controlled to slow down and hover better, and the control effect of fixed-point switching of the unmanned aerial vehicle is more ideal.
Example two
In order to execute a corresponding method of the above embodiments to achieve corresponding functions and technical effects, the following provides an unmanned aerial vehicle deceleration and hover control device.
Referring to fig. 5, fig. 5 is a block diagram of a structure of the deceleration and hover control device of the unmanned aerial vehicle according to the embodiment of the present application.
The unmanned aerial vehicle speed reduction controlling means that hovers of embodiment of this application includes:
an obtaining module 210, configured to obtain a current flying speed of the unmanned aerial vehicle;
the judging module 220 is configured to judge whether the current flight speed is smaller than a preset flight speed;
the control module 230 is configured to control the unmanned aerial vehicle to hover at a reduced speed in the position control mode when the current flying speed is less than the preset flying speed;
and when the current flying speed is greater than or equal to the preset flying speed, the unmanned aerial vehicle is controlled to decelerate and hover through the speed control mode and the position control mode.
The unmanned aerial vehicle deceleration hovering control device is suitable for the fixed-point switching process of the unmanned aerial vehicle, when the obtained current flight speed of the unmanned aerial vehicle is smaller than the preset flight speed, due to the fact that the current flight speed of the unmanned aerial vehicle is smaller, the unmanned aerial vehicle is controlled to decelerate and hover through the position control mode, and the phenomenon of overshoot generated when the unmanned aerial vehicle is switched at the fixed point can be reduced as much as possible; when the current flying speed of the unmanned aerial vehicle obtained is greater than or equal to the preset flying speed, the unmanned aerial vehicle is controlled to decelerate and hover through the speed control mode and the position control mode because the current flying speed of the unmanned aerial vehicle is larger, the phenomenon of fluttering generated when the unmanned aerial vehicle is switched at a fixed point can be reduced as much as possible, and therefore the control effect of the fixed point switching of the unmanned aerial vehicle is more ideal.
As an optional implementation manner, when the control module 230 controls the unmanned aerial vehicle to decelerate and suspend through the speed control mode and the position control mode, it may specifically be configured to:
controlling the unmanned aerial vehicle to hover at a reduced speed through a speed control mode;
and when the current flying speed is less than the preset flying speed, controlling the unmanned aerial vehicle to decelerate and hover through the position control mode.
As an optional implementation manner, when the control module 230 controls the unmanned aerial vehicle to decelerate and suspend through the speed control mode and the position control mode, it may specifically be configured to:
and according to the current flight speed, a speed control mode and a position control mode are fused to control the unmanned aerial vehicle to decelerate and hover.
Optionally, when the control module 230 controls the unmanned aerial vehicle to decelerate and suspend according to the current flight speed and in the fusion speed control mode and the position control mode, the control module may:
determining the weight corresponding to the speed control mode and the position control mode according to the current flight speed;
and controlling the unmanned aerial vehicle to decelerate and hover by combining the speed control mode and the position control mode according to the weight corresponding to the speed control mode and the position control mode.
The unmanned aerial vehicle deceleration and hovering control device can implement the unmanned aerial vehicle deceleration and hovering control method in the first embodiment. The alternatives in the first embodiment are also applicable to the present embodiment, and are not described in detail here.
The rest of the embodiments of the present application may refer to the contents of the first embodiment, and in this embodiment, details are not repeated.
EXAMPLE III
The embodiment of the application provides an electronic device, which comprises a memory and a processor, wherein the memory is used for storing a computer program, and the processor runs the computer program to enable the electronic device to execute the unmanned aerial vehicle deceleration and hover control method.
Optionally, the electronic device may be a controller of a drone.
In addition, an embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the unmanned aerial vehicle deceleration and hover control method is implemented.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. The deceleration hovering control method for the unmanned aerial vehicle is characterized by comprising the following steps:
acquiring the current flying speed of the unmanned aerial vehicle;
judging whether the current flying speed is smaller than a preset flying speed or not;
if yes, controlling the unmanned aerial vehicle to slow down and hover through a position control mode;
if not, controlling the unmanned aerial vehicle to slow down and hover through the speed control mode and the position control mode.
2. The unmanned aerial vehicle deceleration hovering control method according to claim 1, wherein the controlling the unmanned aerial vehicle deceleration hovering in the speed control mode and the position control mode includes:
controlling the unmanned aerial vehicle to hover at a reduced speed through a speed control mode;
and when the current flying speed is less than the preset flying speed, controlling the unmanned aerial vehicle to decelerate and hover through the position control mode.
3. The unmanned aerial vehicle deceleration hovering control method according to claim 1, wherein the controlling the unmanned aerial vehicle deceleration hovering in the speed control mode and the position control mode includes:
and according to the current flight speed, a speed control mode and the position control mode are fused to control the unmanned aerial vehicle to decelerate and hover.
4. The unmanned aerial vehicle deceleration and hover control method of claim 3, wherein the controlling the unmanned aerial vehicle deceleration and hover according to the current flying speed, the fusion speed control mode and the position control mode comprises:
determining the weight corresponding to a speed control mode and the position control mode according to the current flight speed;
and controlling the unmanned aerial vehicle to decelerate and hover by fusing the speed control mode and the position control mode according to the weight corresponding to the speed control mode and the position control mode.
5. The unmanned aerial vehicle deceleration hover control method of claim 1, wherein the position control mode employs nested PID control and the speed control mode employs PID control.
6. The utility model provides an unmanned aerial vehicle control device that hovers that slows down which characterized in that includes:
the acquisition module is used for acquiring the current flying speed of the unmanned aerial vehicle;
the judging module is used for judging whether the current flying speed is smaller than a preset flying speed or not;
the control module is used for controlling the unmanned aerial vehicle to slow down and hover through a position control mode when the current flying speed is smaller than a preset flying speed;
and when the current flying speed is greater than or equal to the preset flying speed, the unmanned aerial vehicle is controlled to slow down and hover through a speed control mode and the position control mode.
7. The unmanned aerial vehicle deceleration hovering control apparatus of claim 6, wherein the control module, when controlling the unmanned aerial vehicle deceleration hovering in the speed control mode and the position control mode, is specifically configured to:
controlling the unmanned aerial vehicle to hover at a reduced speed through a speed control mode;
and when the current flying speed is less than the preset flying speed, controlling the unmanned aerial vehicle to decelerate and hover through the position control mode.
8. The unmanned aerial vehicle deceleration hovering control apparatus of claim 6, wherein the control module, when controlling the unmanned aerial vehicle deceleration hovering in the speed control mode and the position control mode, is specifically configured to:
and according to the current flight speed, a speed control mode and the position control mode are fused to control the unmanned aerial vehicle to decelerate and hover.
9. An electronic device, comprising a memory for storing a computer program and a processor for executing the computer program to cause the electronic device to perform the unmanned aerial vehicle deceleration hover control method of any of claims 1-5.
10. A computer-readable storage medium, characterized in that it stores a computer program which, when executed by a processor, implements the drone decelerating hover control method as claimed in any one of claims 1 to 5.
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