CN113625763A - Unmanned aerial vehicle control method and device, medium, electronic device and unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle control method and device, medium, electronic device and unmanned aerial vehicle Download PDFInfo
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Abstract
The disclosure relates to a control method, a control device, a control medium, electronic equipment and an unmanned aerial vehicle, wherein the method comprises the following steps: under the condition that a first rotor of the multi-rotor unmanned aerial vehicle breaks down, acquiring a process description matrix corresponding to the first rotor; performing pseudo-inverse solution on a process description matrix corresponding to the first rotor wing to obtain a target control matrix; determining expected performance parameters of the second rotor which is not in fault according to the target control matrix and the expected control quantity; and under the condition that the performance parameters of the second rotor meet the expected performance parameters, controlling the multi-rotor unmanned aerial vehicle to fly according to the target control matrix. So, after first rotor trouble, if the performance parameter of second rotor satisfies expectation performance parameter, needn't reduce passively and fly the accuse degree of freedom, can improve the controllability of many rotor unmanned aerial vehicle behind first rotor trouble.
Description
Technical Field
The present disclosure relates to the field of unmanned aerial vehicle technologies, and in particular, to an unmanned aerial vehicle control method, apparatus, medium, electronic device, and unmanned aerial vehicle.
Background
In the prior art, under the condition that a certain power system of a six-rotor unmanned aerial vehicle breaks down, a power system can be selected to be actively shut down according to the existing fault-tolerant control method, the six-rotor unmanned aerial vehicle is converted into an oblique cross-shaped four-rotor unmanned aerial vehicle, but the method can only ensure that the converted oblique cross-shaped four-rotor unmanned aerial vehicle keeps stable in posture under the condition of no external disturbance, and the controllability of the unmanned aerial vehicle is poor.
Disclosure of Invention
The invention aims to provide a control method and device of an unmanned aerial vehicle, a medium, electronic equipment and the unmanned aerial vehicle, so that controllability is improved when a power system of the unmanned aerial vehicle breaks down.
In order to achieve the above object, a first aspect of the present disclosure provides a control method for a multi-rotor drone, including:
under the condition that a first rotor of a multi-rotor unmanned aerial vehicle breaks down, acquiring a process description matrix corresponding to the first rotor;
performing pseudo-inverse solution on a process description matrix corresponding to the first rotor wing to obtain a target control matrix;
determining expected performance parameters of the second rotor which is not in fault according to the target control matrix and the expected control quantity;
and under the condition that the performance parameters of the second rotor meet the expected performance parameters, controlling the multi-rotor unmanned aerial vehicle to fly according to the target control matrix.
Alternatively, the desired control amount is obtained by:
and determining the expected control quantity according to the process description matrix when the multi-rotor unmanned aerial vehicle is not in fault and the performance parameters of all rotors of the multi-rotor unmanned aerial vehicle.
Optionally, the desired performance parameters include:
a desired thrust direction and a desired thrust-to-weight ratio.
Optionally, the obtaining a process description matrix corresponding to the first rotor includes:
acquiring a dynamic matrix corresponding to the multi-rotor unmanned aerial vehicle;
and setting elements corresponding to the first rotor in the dynamics matrix as fault coefficients to obtain the process description matrix.
Optionally, said controlling said multi-rotor drone to fly according to said target control matrix comprises:
determining control parameters corresponding to the second rotor wing which is not in fault according to the real-time control quantity of the multi-rotor unmanned aerial vehicle and the target control matrix;
and controlling the multi-rotor unmanned aerial vehicle to fly according to the control parameters.
Optionally, the real-time control quantity of the multi-rotor unmanned aerial vehicle is obtained by:
acquiring real-time flight state parameters of the multi-rotor unmanned aerial vehicle;
and determining the real-time control quantity according to the expected flight state parameters of the multi-rotor unmanned aerial vehicle and the real-time flight state parameters.
The second aspect of the present disclosure provides a many rotor unmanned aerial vehicle's controlling means, includes:
the control distribution module is configured to obtain a control distribution matrix corresponding to a first rotor of the multi-rotor unmanned aerial vehicle when the first rotor fails;
the first determination module is configured to perform pseudo-inverse solution on a process description matrix corresponding to the first rotor wing to obtain a target control matrix;
a second determination module configured to determine desired performance parameters of a second rotor that is not malfunctioning based on the target control matrix;
a control module configured to control the multi-rotor drone to fly according to the target control matrix if the performance parameter of the second rotor meets the desired performance parameter.
Optionally, the second determination module is configured to determine the desired performance parameters of the second non-malfunctioning rotor from the target control matrix by:
and determining the expected performance parameters according to the target control matrix and the expected control quantity.
Optionally, the second determining module is further configured to:
and determining the expected control quantity according to the process description matrix when the multi-rotor unmanned aerial vehicle is not in fault and the performance parameters of all rotors of the multi-rotor unmanned aerial vehicle.
Optionally, the obtaining module is configured to obtain a process description matrix corresponding to the first rotor by:
acquiring a dynamic matrix corresponding to the multi-rotor unmanned aerial vehicle;
and setting elements corresponding to the first rotor in the dynamics matrix as fault coefficients to obtain a process description matrix corresponding to the first rotor.
Optionally, the control module is configured to control the multi-rotor drone to fly according to the target control matrix by:
determining control parameters corresponding to the second rotor wing which is not in fault according to the real-time control quantity of the multi-rotor unmanned aerial vehicle and the target control matrix;
and controlling the multi-rotor unmanned aerial vehicle to fly according to the control parameters.
Optionally, the control module is further configured to:
acquiring real-time flight state parameters of the multi-rotor unmanned aerial vehicle;
and determining the real-time control quantity according to the expected flight state parameters of the multi-rotor unmanned aerial vehicle and the real-time flight state parameters.
A third aspect of the present disclosure provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, is able to carry out the steps of the method provided by the first aspect of the present disclosure.
A fourth aspect of the present disclosure provides an electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the method provided by the first aspect of the present disclosure.
The fifth aspect of the present disclosure provides a multi-rotor unmanned aerial vehicle, including:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the method provided by the first aspect of the present disclosure.
Through above-mentioned technical scheme, can improve many rotor unmanned aerial vehicle's controllability under the condition of first rotor trouble.
Specifically, under the condition that a first rotor of the multi-rotor unmanned aerial vehicle breaks down, a process description matrix corresponding to the first rotor is obtained, and pseudo-inverse solution is carried out on the process description matrix to obtain a target control matrix. Subsequently, the target control matrix may be verified, i.e. the desired performance parameters of the second rotor are determined based on the target control matrix and the desired control quantities, and the feasibility of the target control matrix may be verified based on whether the performance parameters of the second rotor meet the desired performance parameters. Under the condition that the performance parameter at the second rotor satisfies expectation performance parameter, many rotor unmanned aerial vehicle's second rotor can realize expectation controlled variable, and control unmanned aerial vehicle flies according to the target control matrix this moment. So, under the condition that the performance parameter at the second rotor satisfies expectation performance parameter, many rotor unmanned aerial vehicle still can realize expectation controlled variable, needn't reduce the flight control degree of freedom passively to improve the controllability of many rotor unmanned aerial vehicle when first rotor trouble.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 is a flow chart of a method of controlling a multi-rotor drone provided by an exemplary embodiment of the present disclosure;
fig. 2 is a schematic view of a coordinate system of a multi-rotor drone provided in an exemplary embodiment of the present disclosure;
fig. 3 is a block diagram of a control device of a multi-rotor drone provided in an exemplary embodiment of the present disclosure;
fig. 4 is a block diagram of an electronic device provided by an exemplary embodiment of the present disclosure.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
A possible application scenario of the present disclosure is first explained.
Under the condition that a certain power system of the six-rotor unmanned aerial vehicle breaks down, one power system can be actively closed according to the existing fault-tolerant control method, and the flight control of the six-rotor unmanned aerial vehicle is converted into the oblique cross four-rotor control.
However, the existing fault-tolerant control method can only passively reduce the flight control freedom of the unmanned aerial vehicle, and realize the under-freedom control of the unmanned aerial vehicle, such as height control, and the controllability of the unmanned aerial vehicle is poor.
In view of this, the present disclosure provides a control method, apparatus, medium, electronic device and unmanned aerial vehicle for a multi-rotor unmanned aerial vehicle, so as to improve the controllability of the unmanned aerial vehicle when the power system of the multi-rotor unmanned aerial vehicle fails.
Fig. 1 is a flowchart of a control method for a multi-rotor drone according to an exemplary embodiment of the present disclosure. Referring to fig. 1, an embodiment of the present disclosure provides a method of controlling a multi-rotor drone, which may include steps 11 to S14.
In step S11, in the event of a failure of a first rotor of the multi-rotor drone, a process description matrix corresponding to the first rotor is obtained.
Wherein, the process description matrix can characterize the mapping relation of the rotor rotational speed of many rotor unmanned aerial vehicle to many rotor unmanned aerial vehicle's controlled variable.
In step S12, a pseudo-inverse solution is performed on the process description matrix corresponding to the first rotor to obtain a target control matrix.
Because the target control matrix is obtained by pseudo-inverse solution of the process description matrix corresponding to the first rotor, the target control matrix can represent the mapping relation from the control quantity of the multi-rotor unmanned aerial vehicle to the rotor rotating speed of the multi-rotor unmanned aerial vehicle.
In step S13, the desired performance parameters of the second rotor that is not malfunctioning are determined based on the target control matrix and the desired control quantities.
Based on the target control matrix and the desired control quantity, a desired speed of the second rotor can be determined without failure, and thus a desired performance parameter can be determined based on the desired speed. Because the expected performance parameters of the second rotor are obtained according to the target control matrix and the expected control quantity, if the performance parameters of the second rotor meet the expected performance parameters, the second rotor which is not in fault of the multi-rotor unmanned aerial vehicle can be controlled to work according to the target control matrix so as to achieve the expected control quantity.
Therefore, in step S14, the multi-rotor drone is controlled to fly according to the target control matrix in the case where the performance parameter of the second rotor meets the desired performance parameter.
So, under the condition that the performance parameter at the second rotor satisfies expectation performance parameter, even the first rotor of trouble can not normally work, many rotor unmanned aerial vehicle still can realize expectation controlled variable, needn't reduce passively and fly the accuse degree of freedom to improve the controllability of many rotor unmanned aerial vehicle when first rotor trouble.
For example, many rotor unmanned aerial vehicle's flight control degree of freedom can include roll, every single move, driftage and height, and under the circumstances that the expected controlled variable includes above four degrees of freedom, if the performance parameter of second rotor satisfies expectation performance parameter, can realize many rotor unmanned aerial vehicle's full degree of freedom control through many rotor unmanned aerial vehicle's second rotor this moment, reduce first rotor trouble and to many rotor unmanned aerial vehicle's influence.
Illustratively, the desired control amount may be obtained by: and determining the expected control quantity according to the process description matrix when the multi-rotor unmanned aerial vehicle is not in fault and the performance parameters of all rotors of the multi-rotor unmanned aerial vehicle.
In this scheme, the expected controlled variable is obtained according to the performance parameter of the process description matrix when many rotor unmanned aerial vehicle do not break down and all rotors thereof, promptly, the expected controlled variable is the controlled variable that can realize when many rotor unmanned aerial vehicle do not have the trouble. So, under the condition of first rotor trouble, if the performance parameter of second rotor satisfies expectation performance parameter, many rotor unmanned aerial vehicle can still realize that full degree of freedom is controllable this moment, can reduce first rotor trouble to many rotor unmanned aerial vehicle's influence.
Illustratively, the desired performance parameters may include: a desired thrust direction and a desired thrust-to-weight ratio.
In many rotor unmanned aerial vehicle's flight control, through the rotational speed of controlling each rotor of many rotor unmanned aerial vehicle, can adjust the thrust that each rotor provided to can realize many rotor unmanned aerial vehicle's controlled variable. Thus, the desired performance parameters may include a desired thrust direction of the second rotor and a desired thrust-to-weight ratio of the second rotor. The desired thrust direction of the second rotor may be, for example, up or down relative to the body of the multi-rotor drone. If the expected rotating direction of the second rotor wing is determined to be the same as the original rotating direction of the second rotor wing according to the target control matrix and the expected control quantity, the expected thrust direction of the second rotor wing can be determined to be upward relative to the body of the multi-rotor unmanned aerial vehicle; if it is determined from the target control matrix and the desired control quantity that the desired direction of rotation of the second rotor is opposite to the original direction of rotation of the second rotor, it can be determined that the desired thrust direction of the second rotor is downward relative to the body of the multi-rotor drone.
After the expected rotating speed of the second rotor is determined according to the target control matrix and the expected control quantity, the expected thrust of the second rotor can be determined according to the expected rotating speed and the tension coefficient of the second rotor, and then the expected thrust-weight ratio of the second rotor can be determined according to the expected thrust and the mass of the multi-rotor unmanned aerial vehicle. It can be seen that the desired thrust to weight ratio reflects the amount of thrust that needs to be provided to achieve the desired control of the second rotor.
In this manner, in the case where the desired performance parameters include a desired thrust direction and a desired thrust-to-weight ratio, if the performance parameters of the second rotor satisfy the desired performance parameters, the thrust direction that the second rotor can provide coincides with the desired thrust direction, and the thrust-to-weight ratio of the second rotor is not less than the desired thrust-to-weight ratio.
Illustratively, obtaining a process description matrix corresponding to the first rotor may include: acquiring a dynamic matrix corresponding to the multi-rotor unmanned aerial vehicle; and setting elements corresponding to the first rotor in the dynamics matrix as fault coefficients to obtain a process description matrix.
In this scheme, through setting the element that first rotor corresponds in the dynamics matrix as the fault coefficient, can update the dynamics matrix to obtain the process description matrix that first rotor corresponds.
It will be appreciated that the fault factor may be indicative of a fault condition of the first rotor. According to the fault condition of the different degrees of first rotor, can confirm different fault coefficients to improve the controllability of many rotor unmanned aerial vehicle when first rotor trouble.
For example, in the dynamics matrix that many rotor unmanned aerial vehicle correspond, if the corresponding element of the second rotor that does not break down is 1, the fault coefficient can take 0, also can take the value between 0 to 1. If the first rotor wing fails, namely the first rotor wing cannot work at all, the failure coefficient can be 0; if the first rotor wing has soft faults such as power system aging, performance reduction and the like, the first rotor wing still can provide certain power, and the fault coefficient can be taken as a value between 0 and 1.
Illustratively, controlling the flight of the multi-rotor drone according to a target control matrix may include: determining control parameters corresponding to the second rotor wing which is not in fault according to the real-time control quantity of the multi-rotor unmanned aerial vehicle and a target control matrix; and controlling the multi-rotor unmanned aerial vehicle to fly according to the control parameters.
In this scheme, under the condition that the performance parameter of second rotor satisfies expectation performance parameter, according to many rotor unmanned aerial vehicle's real-time control volume and target control matrix, can confirm the control parameter that the second rotor corresponds. According to the work of this control parameter control second rotor, can realize above-mentioned real time control volume to can control many rotor unmanned aerial vehicle flight.
For example, the second rotor may include a motor and a propeller fixed to an output shaft of the motor, and the control parameter may include a rotational speed of the motor of the second rotor. Through the rotational speed of control second rotor motor, can control the thrust that the second rotor screw provided, and then realize this real-time control volume.
Illustratively, the real-time control quantity of the multi-rotor unmanned aerial vehicle can be obtained by the following modes: acquiring real-time flight state parameters of the multi-rotor unmanned aerial vehicle; and determining the real-time control quantity according to the expected flight state parameters and the real-time flight state parameters of the multi-rotor unmanned aerial vehicle.
Fig. 2 is a schematic body coordinate system diagram of a multi-rotor drone according to an exemplary embodiment of the present disclosure. Taking a PPNNPN configuration hexa-rotor drone as an example, for example, taking an NED coordinate system as a body coordinate system, referring to fig. 2, an x-axis of the body coordinate system is defined as being parallel to a body plane of the hexa-rotor drone and pointing right ahead of the hexa-rotor drone; the y-axis of the body coordinate system is defined as being parallel to the plane of the six-rotor unmanned aerial vehicle body and pointing to the right of the six-rotor unmanned aerial vehicle; the z-axis of the body coordinate system is defined as being perpendicular to the body of the six-rotor unmanned aerial vehicle and pointing to the lower part of the six-rotor unmanned aerial vehicle.
Referring to fig. 2, six rotors of the six-rotor drone are rotor 1, rotor 2, rotor 3, rotor 4, rotor 5, and rotor 6, respectively. On the plane that x-axis and y-axis were injectd, along clockwise, rotor 1, rotor 4, rotor 6, rotor 2, rotor 3 and rotor 5 set gradually, and the direction of rotation of rotor 1, rotor 4 and rotor 3 is clockwise, and the direction of rotation of rotor 2, rotor 5 and rotor 6 is anticlockwise.
The roll moment is defined as the rotation moment around the x-axis direction of the body coordinate system, the pitch moment is defined as the rotation moment around the y-axis direction of the body coordinate system, and the yaw moment is defined as the rotation moment around the z-axis direction of the body coordinate system. Then, the force and moment of the six-rotor unmanned aerial vehicle are analyzed according to the Newton-Euler equation under the coordinate system of the body, and the following formula can be obtained:
in the above formula, L is roll moment, M is pitch moment, N is yaw moment, T is lift force, ArotorFor the process description matrix, u is the vector of the square of the desired speed of each rotor, cTIs the coefficient of drag of the rotor wing, phiiIs the angle between the rotor and the x-axis of the coordinate system of the airframe (taking counterclockwise as positive in this example), riLength of arm of force relative to center of gravity of body for generating force to rotor wing, cMIs the coefficient of reaction torque, alpha, of the rotoriFor the direction of rotation of each rotor, the following is defined:
that is, when the rotation direction of the rotor is clockwise, the corresponding alpha of the rotoriTaking-1, otherwise, the corresponding alpha of the rotor wing i1 is taken. For a six-rotor drone, the process description matrix a that causes the power system to generate liftrotorIt is a non-square matrix, and thus the target control matrix cannot be realized simply by solving the matrix inverse. Therefore, the generalized inverse matrix existence of the non-square matrix in mathematical definition is introduced to locate the target control matrix BrotorIs ArotorAnd the performance parameter of the second rotor satisfies the general inverse matrix according to BrotorDetermining a desired performance parameter (i.e. B) of the second rotorrotorSatisfying physical constraints).
Under the circumstances that the first rotor of six rotor unmanned aerial vehicle became invalid trouble, can acquire the process description matrix that first rotor corresponds. Specifically, A isrotorThe corresponding element of the first rotor is set as a fault coefficient (in the case of failure of the first rotor, for example, A can be setrotorThe element corresponding to the middle first rotor is set to zero) to obtain the process description matrix corresponding to the first rotor. For example, in the event of a failure of rotor 1, the corresponding process description matrix for rotor 1
Can be expressed as:
similarly, when the rotor 2 fails, the corresponding process description matrix of the rotor 2 can be expressed as:
similarly, when rotor 4 fails, the corresponding process description matrix of rotor 4 can be expressed as:
similarly, when rotor 6 fails, the corresponding process description matrix for rotor 6 can be expressed as:
similarly, when rotor 1 and rotor 2 are out of order, the process description matrix corresponding to rotor 1 and rotor 2 can be expressed as:
similarly, when rotor 1 and rotor 6 fail, the corresponding process description matrix for rotor 1 and rotor 6 can be expressed as:
similarly, when rotor 2 and rotor 4 fail, the corresponding process description matrix for rotor 2 and rotor 4 can be expressed as:
the following is still exemplified by a rotor 1 failure:
obtaining a corresponding process description matrix for rotor 1
Then, pseudo-inverse solving is carried out on the obtained solution to obtain
Corresponding target control matrix
For example, can be passed through Moore-Penrose method
According to equation (1), a control quantity τ of the six-rotor drone is defined:
according to the formula (1):
Arotor·u＝τ (11)
simultaneously, under the circumstances that six rotor unmanned aerial vehicle do not break down, the vector u of each rotor expectation rotational speed square satisfies:
umin≤u≤umax (12)
due to the fact that
Is
The generalized inverse matrix, and therefore,
satisfies the following conditions:
in the formula (13), τ*Characterizing the desired control quantity, u*A vector representing the square of the desired speed of rotation of the second rotor without fault.
E.g. u*Can be obtained by the following method: the square of the rotational speed of the first rotor (rotor 1 in this example) in u with failure is set to zero to obtain u*。
In order to reduce the influence of first rotor trouble to six rotor unmanned aerial vehicle, can regard the control volume when six rotor unmanned aerial vehicle does not have the rotor trouble as the expectation control volume, promptly:
τ＝τ* (14)
from equations (11) to (14) in parallel, a vector u of the square of the desired speed of rotation of the second rotor can be determined*And may then be based on a vector u of the square of the desired speed of rotation of the second rotor*A desired performance parameter of the second rotor is determined, for example the desired performance parameter may comprise a desired thrust direction of the second rotor and a desired thrust-to-weight ratio of the second rotor.
For example, the desired direction of rotation and the desired speed of rotation of the second rotor may be determined from a vector of the square of the desired speed of rotation of the second rotor. If the desired direction of rotation of the second rotor is opposite to the original direction of rotation of the second rotor, the desired thrust direction of the second rotor can be determined to be downward. However, since the second rotor does not provide downward thrust by changing its direction of rotation, the second rotor does not meet the desired performance parameters if the desired thrust direction of the second rotor is downward. After determining the desired speed of the second rotor, a desired thrust-to-weight ratio for the second rotor can be determined based on the desired speed of the second rotor, the pull coefficient, and the mass of the hexarotor drone.
If the performance parameter of the second rotor meets the desired performance parameter, then
Satisfy physical constraints, i.e.
Has physical realizability. Thus can be based on
And real-time control volume control second rotor work to the realization is controlled six rotor unmanned aerial vehicle's full degree of freedom, even six rotor unmanned aerial vehicle's first rotor trouble like this, six rotor unmanned aerial vehicle still can realize full degree of freedom control.
In a similar way, when other rotors are in fault, the corresponding target control matrix can be determined according to the process, and under the condition that the performance parameters of the second rotor meet the expected performance parameters, the full-freedom-degree control of the six-rotor unmanned aerial vehicle can be realized according to the target control matrix.
In another possible embodiment, the difference from the above-described embodiment is that the first rotor has a soft fault. Therefore, the fault coefficient can be determined between 0 and 1 according to the soft fault of the first rotor, the element corresponding to the first rotor in the formula (1) is set as the fault coefficient, the corresponding target control matrix is determined according to the process, and under the condition that the performance parameter of the second rotor meets the expected performance parameter, the full-freedom-degree control of the six-rotor unmanned aerial vehicle can be realized according to the target control matrix.
For example, soft faults of the first rotor may be classified, the fault coefficient having a preset value corresponding to each fault class. Under the condition that first rotor broke down, can confirm the fault class according to the trouble that first rotor took place, and then can confirm the value of failure coefficient according to the fault class.
In another possible embodiment, the multi-rotor drone may also be an eight-rotor drone.
Fig. 3 is a block diagram of a control device of a multi-rotor drone according to an exemplary embodiment of the present disclosure. Referring to fig. 3, based on the same inventive concept, the present disclosure also provides a control apparatus 400 of a multi-rotor drone, and the apparatus 400 may include an obtaining module 401, a first determining module 402, a second determining module 403, and a control module 404.
The obtaining module 401 may be configured to obtain, in the event of a failure of a first rotor of the multi-rotor drone, a control distribution matrix corresponding to the first rotor;
the first determination module 402 may be configured to perform a pseudo-inverse solution on a process description matrix corresponding to the first rotor to obtain a target control matrix;
the second determination module 403 may be configured to determine desired performance parameters of the second rotor that is not malfunctioning according to the target control matrix;
So, can improve many rotor unmanned aerial vehicle's controllability under the condition of first rotor trouble.
Specifically, under the condition that a first rotor of the multi-rotor unmanned aerial vehicle breaks down, a process description matrix corresponding to the first rotor is obtained, and pseudo-inverse solution is carried out on the process description matrix to obtain a target control matrix. Subsequently, the target control matrix may be verified, i.e. the desired performance parameters of the second rotor are determined based on the target control matrix and the desired control quantities, and the feasibility of the target control matrix may be verified based on whether the performance parameters of the second rotor meet the desired performance parameters. Under the condition that the performance parameter at the second rotor satisfies expectation performance parameter, many rotor unmanned aerial vehicle's second rotor can realize expectation controlled variable, and the many rotor unmanned aerial vehicle of control flies according to the target control matrix this moment. So, under the condition that the performance parameter at the second rotor satisfies expectation performance parameter, many rotor unmanned aerial vehicle still can realize expectation controlled variable, needn't reduce the flight control degree of freedom passively to improve the controllability of many rotor unmanned aerial vehicle when first rotor trouble.
For example, the second determination module 403 may be configured to determine the desired performance parameters of the second rotor that is not malfunctioning according to the target control matrix by: and determining the expected performance parameters according to the target control matrix and the expected control quantity.
Illustratively, the second determining module 403 may be further configured to: and determining the expected control quantity according to the process description matrix when the multi-rotor unmanned aerial vehicle is not in fault and the performance parameters of all rotors of the multi-rotor unmanned aerial vehicle.
For example, the acquisition module 401 may be configured to acquire a process description matrix corresponding to the first rotor by the following formula: acquiring a dynamic matrix corresponding to the multi-rotor unmanned aerial vehicle; and setting elements corresponding to the first rotor in the dynamic matrix as fault coefficients to obtain a process description matrix corresponding to the first rotor.
Illustratively, control module 404 may be configured to control the flight of the multi-rotor drone according to a target control matrix by: determining control parameters corresponding to the second rotor wing which is not in fault according to the real-time control quantity of the multi-rotor unmanned aerial vehicle and a target control matrix; and controlling the multi-rotor unmanned aerial vehicle to fly according to the control parameters.
Illustratively, the control module 404 may be further configured to: acquiring real-time flight state parameters of the multi-rotor unmanned aerial vehicle; and determining the real-time control quantity according to the expected flight state parameters and the real-time flight state parameters of the multi-rotor unmanned aerial vehicle.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
The present disclosure also provides a multi-rotor unmanned aerial vehicle, including: a memory having a computer program stored thereon; a processor for executing the computer program in the memory to implement the steps of the control method of the multi-rotor drone.
Fig. 4 is a block diagram illustrating an electronic device 800 in accordance with an example embodiment. As shown in fig. 4, the electronic device 800 may include: a processor 801, a memory 802. The electronic device 800 may also include one or more of a multimedia component 803, an input/output (I/O) interface 804, and a communications component 805.
The processor 801 is configured to control the overall operation of the electronic device 800, so as to complete all or part of the steps in the control method of the multi-rotor drone. The memory 802 is used to store various types of data to support operation at the electronic device 800, such as instructions for any application or method operating on the electronic device 800 and application-related data, such as contact data, transmitted and received messages, pictures, audio, video, and so forth. The Memory 802 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk or optical disk. The multimedia components 803 may include screen and audio components. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may further be stored in the memory 802 or transmitted through the communication component 805. The audio assembly also includes at least one speaker for outputting audio signals. The I/O interface 804 provides an interface between the processor 801 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 805 is used for wired or wireless communication between the electronic device 800 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, which is not limited herein. The corresponding communication component 805 may therefore include: Wi-Fi module, Bluetooth module, NFC module, etc.
In an exemplary embodiment, the electronic Device 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components, for executing the above-mentioned control method of the multi-rotor drone.
In another exemplary embodiment, there is also provided a computer readable storage medium comprising program instructions which, when executed by a processor, implement the steps of the control method of a multi-rotor drone described above. For example, the computer readable storage medium may be the memory 802 described above that includes program instructions executable by the processor 801 of the electronic device 800 to perform the method of controlling a multi-rotor drone described above.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. A method of controlling a multi-rotor drone, comprising:
under the condition that a first rotor of a multi-rotor unmanned aerial vehicle breaks down, acquiring a process description matrix corresponding to the first rotor;
performing pseudo-inverse solution on a process description matrix corresponding to the first rotor wing to obtain a target control matrix;
determining expected performance parameters of the second rotor which is not in fault according to the target control matrix and the expected control quantity;
and under the condition that the performance parameters of the second rotor meet the expected performance parameters, controlling the multi-rotor unmanned aerial vehicle to fly according to the target control matrix.
2. The method of claim 1, wherein the desired control amount is obtained by:
and determining the expected control quantity according to the process description matrix when the multi-rotor unmanned aerial vehicle is not in fault and the performance parameters of all rotors of the multi-rotor unmanned aerial vehicle.
3. The method of claim 1, wherein the desired performance parameters comprise:
a desired thrust direction and a desired thrust-to-weight ratio.
4. The method according to any one of claims 1 to 3, wherein said obtaining a process description matrix corresponding to said first rotor comprises:
acquiring a dynamic matrix corresponding to the multi-rotor unmanned aerial vehicle;
and setting elements corresponding to the first rotor in the dynamics matrix as fault coefficients to obtain a process description matrix corresponding to the first rotor.
5. The method of any of claims 1-3, wherein said controlling the flight of the multi-rotor drone according to the target control matrix comprises:
determining control parameters corresponding to the second rotor wing which is not in fault according to the real-time control quantity of the multi-rotor unmanned aerial vehicle and the target control matrix;
and controlling the multi-rotor unmanned aerial vehicle to fly according to the control parameters.
6. The method of claim 5, wherein the real-time control of the multi-rotor drone is obtained by:
acquiring real-time flight state parameters of the multi-rotor unmanned aerial vehicle;
and determining the real-time control quantity according to the expected flight state parameters of the multi-rotor unmanned aerial vehicle and the real-time flight state parameters.
7. A multi-rotor unmanned aerial vehicle's controlling means, includes:
the control distribution module is configured to obtain a control distribution matrix corresponding to a first rotor of the multi-rotor unmanned aerial vehicle when the first rotor fails;
the first determination module is configured to perform pseudo-inverse solution on a process description matrix corresponding to the first rotor wing to obtain a target control matrix;
a second determination module configured to determine desired performance parameters of a second rotor that is not malfunctioning based on the target control matrix;
a control module configured to control the multi-rotor drone to fly according to the target control matrix if the performance parameter of the second rotor meets the desired performance parameter.
8. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.
9. An electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 6.
10. A multi-rotor unmanned aerial vehicle, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 6.
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