CN113741549B - Multi-rotor unmanned aerial vehicle control quantity distribution method - Google Patents
Multi-rotor unmanned aerial vehicle control quantity distribution method Download PDFInfo
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Abstract
The invention relates to a control quantity distribution method for a multi-rotor unmanned aerial vehicle, which comprises the steps of obtaining the minimum value and the maximum value of the allowable rotating speed of each motor under the normal working state of the unmanned aerial vehicle, and distributing the minimum value and the maximum value to each motoriEstablishing rotational speed and control variablesThe relationship of (1); constructing a control matrix based on an included angle between a motor driving direction and an unmanned aerial vehicle head direction; establishing a control quantity vector based on the height control quantity, the roll angle control quantity and the pitch angle control quantity of the unmanned aerial vehicle, and obtaining control variables of n motors by the product of a control matrix and the control quantity vectorForming a control variable vector; and optimizing the control variable vector through the control variable of the unmanned aerial vehicle, and controlling the flight state of the multi-rotor unmanned aerial vehicle based on the optimized control variable vector. According to the invention, after the control quantities of all the channels are superposed, the control quantities are effectively redistributed, so that the saturation burden of the motor is reduced, and the capability of the unsaturated motor is fully utilized, thereby ensuring the performance and safety of multi-rotor flight under some limit conditions.
Description
Technical Field
The invention relates to the technical field of multi-rotor unmanned aerial vehicles, in particular to a control quantity distribution method of a multi-rotor unmanned aerial vehicle.
Background
At present, most of multi-rotor unmanned aerial vehicles superpose the control quantities of all channels (pitching, rolling, course and height) of multiple rotors through a power distribution matrix, and then input the final control quantities to all motors to realize stable flight. For example, the invention patent application with publication number CN107368091A discloses a stable flight control method of a multi-rotor unmanned aerial vehicle based on finite time neurodynamics, which determines the control quantity of each motor through the real-time orientation and attitude data of the vehicle and based on the differential thought decomposition control process. Although the method can realize the control quantity distribution of the multi-rotor unmanned aerial vehicle, in the actual flight process, the control quantity input to the power system has certain upper limit and lower limit in consideration of the limitations of flight performance and power, so that the control quantity to a certain motor or motors is too large or too small to exceed the amplitude limit under certain conditions, and a better control effect cannot be achieved and even the control is out of control.
Disclosure of Invention
The invention aims to solve the technical problem of providing a control quantity distribution method for limiting the limit value of each motor control quantity for a multi-rotor unmanned aerial vehicle aiming at the defects in the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows: a method for distributing the control amount of multi-rotor unmanned aerial vehicle comprises
Obtaining the minimum value and the maximum value of the allowable rotating speed of each motor under the normal working state of the unmanned aerial vehicle, and setting the minimum value and the maximum value as each motoriEstablishing rotational speed and control variablesIn which nThe total number of the motors is,in time, the motoriIn order to be the minimum rotational speed of the motor,in time, the motoriIs the maximum rotation speed;
constructing a control matrix based on an included angle between a motor driving direction and an unmanned aerial vehicle head direction;
height control quantity and horizontal direction based on unmanned aerial vehicleThe roll angle control quantity and the pitch angle control quantity establish control quantity vectors, and the control variables of the n motors are obtained by multiplying the control matrix and the control quantity vectorsForming a control variable vector;
and optimizing the control variable vector through the control variable of the unmanned aerial vehicle, and controlling the flight state of the multi-rotor unmanned aerial vehicle based on the optimized control variable vector.
Preferably, the motoriRotational speed ofAnd a control variableIn a linear relationship, the expression is,
according toIn time, the motoriAt a minimum rotation speed,In time, the motoriAt the maximum rotation speed;
To obtain
To obtain
Preferably, the control matrix constructed based on the included angle between the motor driving direction and the unmanned aerial vehicle head direction is as follows,
wherein the content of the first and second substances,representing the included angle between the output direction of the motor i and the direction of the machine head;,、、、and respectively allocating vectors for the control quantities of the height, the roll, the pitch and the heading.
Preferably, the calculation formula of the control variable vector is as follows:
wherein the content of the first and second substances,in order to be a high degree of control,is a control quantity of the roll angle,is the control quantity of the pitch angle, in the above formula, the control quantity of the course angleNot participating in the calculation, and therefore removing the vector of heading control quantity allocation in the control matrix。
Preferably, the method for optimizing the control variable vector by the control variable of the drone includes:
for control variable vectorHas a median value ofThe control variable outside the range is optimized by using the height control quantity, and the height control quantity correction coefficient is obtained by calculationCorrection of coefficient by height control amountUpdating a control variable vectorObtaining a highly optimized control variable vector;
Control variable vector for altitude optimizationHas a median value ofThe control variable outside the range is optimized through the roll angle control quantity, and the roll angle control quantity correction coefficient is obtained through calculationCorrection coefficient by roll angle control amountUpdating highly optimized control variable vectorsObtaining a roll optimization control variable vector;
Control variable vector for roll optimizationHas a median value ofThe control variable outside the range is optimized through the pitch angle control variable, and the correction coefficient of the pitch angle control variable is obtained through calculationCorrection coefficient by pitch angle control amountUpdating roll optimization control variable vectorObtaining a pitch optimization control variable vector;
Controlling the courseIs added to the correctionRear pitch optimization control variable vectorIn the method, a course control variable vector is obtained;
For course control variable vectorHas a median value ofThe control variable outside the range is optimized through the course angle control quantity, and the course angle control quantity correction coefficient is obtained through calculationBy correction factor of course angle control quantityUpdating course control variable vectorObtaining a course optimization control variable vector;
Controlling variable vectors by course optimizationAnd the rotating speed of each motor is calculated, and the control of the multi-rotor unmanned aerial vehicle is realized.
Preferably, for control variable vectorHas a median value ofOut of rangeControlled variableCorrection of height thereofIs composed of
Wherein the content of the first and second substances,representing allocation vectorsTo (1) aiThe number of the data is one, ;
preferably, the control variable vector is optimized for heightHas a median value ofOut-of-range controlled variablesCoefficient of roll correction thereofIs composed of
Wherein the content of the first and second substances,representing allocation vectorsTo (1) aiData, i.e.;
preferably, the control variable vector is optimized for rollHas a median value ofOut-of-range controlled variablesIts pitch correction coefficientIs composed of
Wherein the content of the first and second substances,representing allocation vectorsTo (1) aiData, i.e.;
preferably, the heading control amountAdding to modified pitch-optimized control variable vectorIn the method, a course control variable vector is obtainedThe method comprises the following steps:
preferably, the vector of the heading control variableHas a median value ofOut-of-range controlled variablesIts course correction coefficientIs composed of
Wherein the content of the first and second substances,representing allocation vectorsTo (1) aiData, i.e.;
the invention has the beneficial effects that: through the rotational speed relation of establishing controlled variable and motor, convert unmanned aerial vehicle controlled variable distribution problem into controlled variable's optimization problem, then obtain controlled variable optimization controlled variable through unmanned aerial vehicle, ensure that controlled variable's numerical value is in between 0~1, thereby make the motor can be at the rotational speed within range internal rotation of safety, realize the effective distribution of many rotor unmanned aerial vehicle controlled variable, improve controlled variable distribution calculated speed, ensure many rotor unmanned aerial vehicle's safe flight. After the control quantities of all the channels are superposed, the control quantities are effectively redistributed, the saturation burden of the motor is reduced, and the capacity of the unsaturated motor is fully utilized, so that the performance and safety of multi-rotor flight can be ensured under some limit conditions.
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The invention will be further explained with reference to the drawings and examples.
Fig. 1 is a flow chart of a multi-rotor drone control distribution method provided by an embodiment of the present invention;
fig. 2 is a flowchart of a control variable optimization method of a multi-rotor drone control assignment method provided by an embodiment of the present invention.
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 variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Example 1:
as shown in fig. 1, the present embodiment provides a multi-rotor unmanned aerial vehicle control amount distribution method, including the steps of:
obtaining the minimum value and the maximum value of the allowable rotating speed of each motor under the normal working state of the unmanned aerial vehicle, and setting the minimum value and the maximum value as each motoriEstablishing rotational speed and control variablesIn which nThe total number of the motors is,in time, the motoriIn order to be the minimum rotational speed of the motor,in time, the motoriIs the maximum rotation speed;
constructing a control matrix based on an included angle between a motor driving direction and an unmanned aerial vehicle head direction;
establishing a control quantity vector based on the height control quantity, the roll angle control quantity and the pitch angle control quantity of the unmanned aerial vehicle, and obtaining control variables of n motors by the product of a control matrix and the control quantity vectorForming a control variable vector;
and optimizing the control variable vector through the control variable of the unmanned aerial vehicle, and controlling the flight state of the multi-rotor unmanned aerial vehicle based on the optimized control variable vector.
This embodiment is through the rotational speed relation of establishing controlled variable and motor, convert unmanned aerial vehicle controlled variable distribution problem into controlled variable's optimization problem, then obtain controlled variable optimization controlled variable through unmanned aerial vehicle, ensure that controlled variable's numerical value is between 0~1, thereby make the motor can be at the rotational speed within range internal rotation of safety, realize the effective distribution of many rotor unmanned aerial vehicle controlled variable, improve controlled variable distribution calculated speed, ensure many rotor unmanned aerial vehicle's safe flight.
The method for distributing the control quantity of the multi-rotor unmanned aerial vehicle provided by the embodiment specifically comprises the following steps:
obtaining the minimum value and the maximum value of the allowable rotating speed of each motor under the normal working state of the unmanned aerial vehicle, and setting the minimum value and the maximum value as each motoriEstablishing rotational speed and control variablesIn which nThe total number of the motors is,in time, the motoriIn order to be the minimum rotational speed of the motor,in time, the motoriIs the maximum rotation speed;
in particular establishing the speed and the controlled variableThe relationship (c) can be obtained by fitting the relationship type through prior experience, and the common relationship is linear relationship, quadratic function relationship and the like. The present embodiment is described by taking a linear relationship as an example, and assuming that the motor is a motoriRotational speed ofAnd a control variableIn a linear relationship, the expression is,
according toIn time, the motoriAt a minimum rotation speed,In time, the motoriAt the maximum rotation speed;
To obtain
To obtain
Constructing a control matrix based on an included angle between a motor driving direction and an unmanned aerial vehicle head direction;
the control matrix constructed in this embodiment is as follows:
wherein the content of the first and second substances,representing the included angle between the output direction of the motor i and the direction of the machine head;,、、、and respectively allocating vectors for the control quantities of the height, the roll, the pitch and the heading.
Establishing a control quantity vector based on the height control quantity, the roll angle control quantity and the pitch angle control quantity of the unmanned aerial vehicle, and obtaining control variables of n motors by the product of a control matrix and the control quantity vectorForming a control variable vector;
the calculation formula of the control variable vector is as follows:
wherein the content of the first and second substances,in order to be a high degree of control,is a control quantity of the roll angle,is the control quantity of the pitch angle, in the above formula, the control quantity of the course angleNot participating in the calculation, and therefore removing the vector of heading control quantity allocation in the control matrix。
Optimizing a control variable vector through the control quantity of the unmanned aerial vehicle, and controlling the flight state of the multi-rotor unmanned aerial vehicle based on the optimized control variable vector;
referring to fig. 2, after the controlled variable matrix is obtained by superimposing the controlled variable vector and the control matrix, the method for optimizing the controlled variable vector by the controlled variable of the unmanned aerial vehicle includes:
for control variable vectorHas a median value ofThe control variable outside the range is optimized by using the height control quantity, and the height control quantity correction coefficient is obtained by calculationBy means of a height control amount correction systemNumber ofUpdating a control variable vectorObtaining a highly optimized control variable vector;
For control variable vectorHas a median value ofOut-of-range controlled variablesHeight correction factor ofIs composed of
Wherein the content of the first and second substances,representing allocation vectorsTo (1) aiData, i.e.;
control variable vector for altitude optimizationHas a median value ofThe control variable outside the range is optimized through the roll angle control quantity, and the roll angle control quantity correction coefficient is obtained through calculationCorrection coefficient by roll angle control amountUpdating highly optimized control variable vectorsObtaining a roll optimization control variable vector;
Control variable vector for altitude optimizationHas a median value ofOut-of-range controlled variablesCoefficient of roll correction thereofIs composed of
Wherein the content of the first and second substances,representing allocation vectorsTo (1) aiData, i.e.;
control variable vector for roll optimizationHas a median value ofAnd (4) calculating out the control variable outside the range to obtain the pitch angle control quantity correction through the pitch angle control quantity optimizationCorrection coefficient by pitch angle control amountUpdating roll optimization control variable vectorObtaining a pitch optimization control variable vector;
Control variable vector for roll optimizationHas a median value ofOut-of-range controlled variablesIts pitch correction coefficientIs composed of
Wherein the content of the first and second substances,representing allocation vectorsTo (1) aiData, i.e.;
controlling the courseAdding to modified pitch-optimized control variablesIn the method, a course control variable vector is obtainedThe formula is as follows:
for course control variable vectorHas a median value ofThe control variable outside the range is optimized through the course angle control quantity, and the course angle control quantity correction coefficient is obtained through calculationBy correction factor of course angle control quantityUpdating course control variable vectorObtaining a course optimization control variable vector;
To the course control variableHas a median value ofOut-of-range controlled variablesIts course correction coefficientIs composed of
Wherein the content of the first and second substances,representing allocation vectorsTo (1) aiThe number of the data is one, ;
calculating to obtain the final course optimization control variable vectorAnd then, based on the relation between the control variable and the motor rotating speed, the rotating speed of each motor can be calculated, and the control of the multi-rotor unmanned aerial vehicle is realized.
In conclusion, the unmanned aerial vehicle control quantity distribution problem is converted into the control variable optimization problem by establishing the rotating speed relation between the control variable and the motor, and then the control quantity optimization control variable is obtained through the unmanned aerial vehicle, so that the motor can rotate in a safe rotating speed range, the control quantity of the multi-rotor unmanned aerial vehicle is effectively distributed, the control quantity distribution calculation speed is improved, and the safe flight of the multi-rotor unmanned aerial vehicle is ensured. Meanwhile, the control quantity of each channel is redistributed after being superposed, so that the saturation burden of the motor is reduced, and the capacity of the unsaturated motor is fully utilized.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus (system) or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
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 and 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.
Claims (10)
1. A control quantity distribution method for a multi-rotor unmanned aerial vehicle is characterized by comprising the following steps: comprises that
Obtaining the minimum value and the maximum value of the allowable rotating speed of each motor under the normal working state of the unmanned aerial vehicle, and setting the minimum value and the maximum value as each motoriEstablishing rotational speed and control variablesIn which nThe total number of the motors is,in time, the motoriIn order to be the minimum rotational speed of the motor,in time, the motoriAt the maximum rotation speed;
Constructing a control matrix based on an included angle between a motor driving direction and an unmanned aerial vehicle head direction;
establishing a control quantity vector based on the height control quantity, the roll angle control quantity and the pitch angle control quantity of the unmanned aerial vehicle, and obtaining control variables of n motors by the product of a control matrix and the control quantity vectorForming a control variable vector;
and optimizing the control variable vector through the control variable of the unmanned aerial vehicle, and controlling the flight state of the multi-rotor unmanned aerial vehicle based on the optimized control variable vector.
2. A multi-rotor drone control assignment method according to claim 1, characterized by: the motoriRotational speed ofAnd a control variableIn a linear relationship, the expression is,
according toIn time, the motoriAt a minimum rotation speed,In time, the motoriAt the maximum rotation speed;
To obtain
To obtain
3. A multi-rotor drone control assignment method according to claim 1, characterized by: the control matrix constructed based on the included angle between the motor driving direction and the unmanned aerial vehicle head direction is as follows,
wherein the content of the first and second substances,representing the included angle between the output direction of the motor i and the direction of the machine head;
4. A multi-rotor drone control assignment method according to claim 3, characterized by: the calculation formula of the control variable vector is as follows:
wherein the content of the first and second substances,in order to be a high degree of control,is a control quantity of the roll angle,is the control quantity of the pitch angle, in the above formula, the control quantity of the course angleNot participating in the calculation, and therefore removing the vector of heading control quantity allocation in the control matrix。
5. The multi-rotor unmanned aerial vehicle control amount distribution method according to claim 4, wherein: the method for optimizing the control variable vector through the control quantity of the unmanned aerial vehicle comprises the following steps:
for control variable vectorHas a median value ofOut of range control variable, use highOptimizing the control quantity, and calculating to obtain the correction coefficient of the height control quantityCorrection of coefficient by height control amountUpdating a control variable vectorObtaining a highly optimized control variable vector;
Control variable vector for altitude optimizationHas a median value ofThe control variable outside the range is optimized through the roll angle control quantity, and the roll angle control quantity correction coefficient is obtained through calculationCorrection coefficient by roll angle control amountUpdating highly optimized control variable vectorsObtaining a roll optimization control variable vector;
Control variable vector for roll optimizationHas a median value ofThe control variable outside the range is optimized through the pitch angle control variable, and the correction coefficient of the pitch angle control variable is obtained through calculationCorrection coefficient by pitch angle control amountUpdating roll optimization control variable vectorObtaining a pitch optimization control variable vector;
Controlling the courseAdding to modified pitch-optimized control variable vectorIn the method, a course control variable vector is obtained;
For course control variable vectorHas a median value ofThe control variable outside the range is optimized through the course angle control quantity, and the course angle control quantity correction coefficient is obtained through calculationBy correction factor of course angle control quantityUpdating course control variable vectorObtaining a course optimization control variable vector;
6. The multi-rotor unmanned aerial vehicle control amount distribution method according to claim 5, wherein: for control variable vectorHas a median value ofOut-of-range controlled variablesHeight correction factor ofIs composed of
Wherein the content of the first and second substances,representing allocation vectorsTo (1) aiThe number of the data is one,;
7. the multi-rotor unmanned aerial vehicle control amount distribution method according to claim 6, wherein: control variable vector for altitude optimizationHas a median value ofOut-of-range controlled variablesCoefficient of roll correction thereofIs composed of
Wherein the content of the first and second substances,representing allocation vectorsTo (1) aiThe number of the data is one,;
8. the multi-rotor unmanned aerial vehicle control amount distribution method according to claim 7, wherein: control variable vector for roll optimizationHas a median value ofOut-of-range controlled variablesIts pitch correction coefficientIs composed of
Wherein the content of the first and second substances,representing allocation vectorsTo (1) aiThe number of the data is one,;
10. the multi-rotor drone control assignment method according to claim 9, wherein: for course control variable vectorHas a median value ofOut-of-range controlled variablesIts course correction coefficientIs composed of
Wherein the content of the first and second substances,representing allocation vectorsTo (1) aiThe number of the data is one,;
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Address after: 430070 North of Floor 3, Building 2, No. 5, Huanglongshan South Road, Fozuling Street, Donghu New Technology Development Zone, Wuhan, Hubei Province (Wuhan Area of Free Trade Zone) Patentee after: Puzhou Technology Co.,Ltd. Address before: 1006, building 1, yongxinhui, No. 4078, Dongbin Road, Nanshan District, Shenzhen, Guangdong 518054 Patentee before: Puzhou Technology (Shenzhen) Co.,Ltd. |