CN114355986B - Unmanned aerial vehicle self-adaptation anti-interference control system - Google Patents
Unmanned aerial vehicle self-adaptation anti-interference control system Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle self-adaptive anti-interference control system which comprises a loading balance unit and a ground receiving station, wherein the ground receiving station is used for sending control signals to a four-wing unmanned aerial vehicle and receiving feedback signals of the four-wing unmanned aerial vehicle, the ground receiving station comprises a test unit, a modeling sample unit and a template control unit, and the invention relates to the technical field of unmanned aerial vehicle control. This unmanned aerial vehicle self-adaptation anti-interference control system, through the equipment load balancing unit on four-wing unmanned aerial vehicle, adjust four-wing unmanned aerial vehicle's focus, the cooperation is to the simulation test of wind-force variation of size, guarantee to realize controlling four-wing unmanned aerial vehicle with the drive energy consumption under the no wind-force interference state through the centrobaric mode of adjustment four-wing unmanned aerial vehicle and reach the angle of pitch of settlement, thereby reduce four-wing unmanned aerial vehicle's the control degree of difficulty, guarantee that four-wing unmanned aerial vehicle realizes self-adaptation anti-interference effect when aerial vehicle flies in the air, further improve the stability when four-wing unmanned aerial vehicle makes different flight gestures.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle self-adaptive anti-interference control system.
Background
The unmanned aerial vehicle is controlled by wireless remote control equipment or a self program, depends on self power, can carry various equipment, can execute various tasks and can be repeatedly used, has the advantages of low cost, low loss, zero casualty, reusability and high maneuverability, and can be increasingly widely applied to various industrial and consumption fields, because the four-rotor unmanned aerial vehicle essentially distributes power by four brushless direct current motors to achieve the aim of regulating and controlling the attitude of the unmanned aerial vehicle, the conventional four-wing unmanned aerial vehicle has smaller attitude and is easy to be interfered by wind power, and the corresponding pitching angle can not be conveniently and conveniently achieved during operation and control, therefore, the unmanned aerial vehicle self-adaptive anti-interference control system is provided, the center of gravity of the four-wing unmanned aerial vehicle can be adjusted by assembling a loading balance unit on the four-wing unmanned aerial vehicle, and the simulation test of the change of the wind power size is matched, the four-wing unmanned aerial vehicle is guaranteed to be controlled to reach the set pitching angle by adjusting the gravity center mode of the four-wing unmanned aerial vehicle, so that the control difficulty of the four-wing unmanned aerial vehicle is reduced, the self-adaptive anti-interference effect of the four-wing unmanned aerial vehicle during air flight is guaranteed, and the stability of the four-wing unmanned aerial vehicle during different flight postures is further improved.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an unmanned aerial vehicle self-adaptive anti-interference control system, which solves the problem that the corresponding pitching angle cannot be conveniently reached during operation and control due to the fact that the conventional four-wing unmanned aerial vehicle is small in posture and is easily interfered by wind power.
(II) technical scheme
In order to achieve the purpose, the invention provides the following technical scheme: an unmanned aerial vehicle self-adaptive anti-interference control system comprises a loading balance unit and a ground receiving station, wherein the ground receiving station is used for sending control signals to a four-wing unmanned aerial vehicle and receiving feedback signals of the four-wing unmanned aerial vehicle;
the loading balancing unit is used for loading a hollow ring taking the gravity center of the four-wing unmanned aerial vehicle as the center of a circle on the four-wing unmanned aerial vehicle, four groups of storage bins are uniformly arranged at the bottom of the hollow ring at intervals, piston assemblies are arranged in the storage bins, bubble-free anti-freezing solution is filled in the hollow ring, the piston assemblies are used for controlling the flow of the anti-freezing solution, and the piston assemblies are in signal connection with a ground receiving station;
the real-time simulation unit is used for receiving four-wing coordinate feedback information of the four-wing unmanned aerial vehicle, integrating the fed-back four-wing coordinate information, calculating the pitching angle of the four-wing unmanned aerial vehicle, and simulating and demonstrating the flight state of the four-wing unmanned aerial vehicle;
the testing unit is used for recording the energy consumption required when the four-wing unmanned aerial vehicle reaches the set pitch angle in an interference-free state, applying wind power with different sizes to the four-wing unmanned aerial vehicle, judging the energy consumption required when the four-wing unmanned aerial vehicle reaches the set pitch angle under the corresponding wind power with different sizes, calculating the difference value of the energy consumption required when the four-wing unmanned aerial vehicle reaches the same set pitch angle under the corresponding wind power with different sizes, judging the energy consumption difference between the same pitch angles, and recording the deviation between the pitch angles under the same energy consumption;
the test unit is used for butt joint of the modeling sample unit, wherein the modeling sample unit is used for controlling a piston assembly in the loading balance unit to move, pushing the anti-freezing solution in the hollow circular ring, adjusting the gravity center of the loading balance unit, correcting the deviation between the pitching angles under the same energy consumption, generating a gravity center adjusting mode of the loading balance unit corresponding to the pitching angles under the corresponding wind power condition, testing the limit adjusting data of the loading balance unit under different wind power conditions, and generating pitching adjusting sample data;
the modeling sample unit is in butt joint with the template control unit, wherein the template control unit is used for receiving pitching adjustment sample data in the modeling sample unit, receiving synchronous wind speed data of the four-wing unmanned aerial vehicle, outputting output power of a set pitching angle in an interference-free state according to the wind speed data, adjusting the gravity center of the loading balance unit according to the pitching adjustment sample data, and controlling the four-wing unmanned aerial vehicle to reach the set pitching angle.
Through adopting above-mentioned technical scheme, equipment load balancing unit on four-wing unmanned aerial vehicle, adjust four-wing unmanned aerial vehicle's focus, the cooperation is to the simulation test of wind-force variation of size, guarantee to realize controlling four-wing unmanned aerial vehicle with the drive energy consumption under the no wind-force interference state and reach the every single move angle of settlement through adjusting four-wing unmanned aerial vehicle centrobaric mode, thereby reduce four-wing unmanned aerial vehicle's the control degree of difficulty, guarantee that four-wing unmanned aerial vehicle realizes self-adaptation anti-interference effect when aerial vehicle flies, further improve the stability when four-wing unmanned aerial vehicle makes different flight gestures.
The invention is further configured to: the real-time simulation unit comprises a four-wing coordinate synchronization module, a data integration module, a space synchronization simulation module and a wind speed detection module;
the four-wing coordinate synchronization module is used for receiving four-wing coordinate feedback information of the four-wing unmanned aerial vehicle;
the data integration module is used for integrating the four-wing coordinate information fed back by the four-wing unmanned aerial vehicle and calculating the pitching angle of the four-wing unmanned aerial vehicle;
the space synchronization simulation module is used for simulating and demonstrating the flight state of the four-wing unmanned aerial vehicle according to the pitching angle of the four-wing unmanned aerial vehicle;
the wind speed detection module is used for detecting the wind power received by the four-wing unmanned aerial vehicle.
Through adopting above-mentioned technical scheme, the position to four wings of four-wing unmanned aerial vehicle is synchronized for calculate four-wing unmanned aerial vehicle's every single move angle, realize the effective simulation to four-wing unmanned aerial vehicle flight state, and carry out real time monitoring to the wind-force size that four-wing unmanned aerial vehicle received, guarantee to the wind-force interference judgement that receives in the four-wing unmanned aerial vehicle flight process, thereby provide the interference intensity data for subsequent self-adaptation regulation.
The invention is further configured to: the loading balance unit comprises a drainage adjusting module, a driving control module and a balance adjusting module, wherein the driving control module is respectively butted with the drainage adjusting module and the balance adjusting module.
The invention is further configured to: the drainage adjusting module is used for controlling the piston assembly to control the flow of the anti-freezing liquid;
the drive control module is used for carrying out signal connection with the ground receiving station and controlling the drainage adjusting module to drive the piston assembly to control the flow of the antifreeze;
the balance adjustment module is used for loading the hollow ring taking the gravity center of the four-wing unmanned aerial vehicle as the circle center on the four-wing unmanned aerial vehicle, and four groups of storage bins are uniformly arranged at the bottom of the hollow ring at intervals, wherein piston assemblies are arranged in the storage bins, and the hollow ring is filled with bubble-free antifreeze.
Through adopting above-mentioned technical scheme, utilize hollow ring as the carrier, cooperation collecting storage and piston assembly's setting, through piston assembly's regulation and control, realize the adjustment to antifreeze solution holding volume in the collecting storage, and then realize controlling the change of four wing unmanned aerial vehicle focus position to realize under the condition of wind-force interference, guarantee to reach under the wind-force interference condition with the energy consumption of non-interference state and set for the every single move angle.
The invention is further configured to: the testing unit comprises a wind speed setting module, an angle comparison module and a deviation recording module, wherein the wind speed setting module is in butt joint with the angle comparison module, and the angle comparison module is in butt joint with the deviation recording module.
The invention is further configured to: the wind speed setting module is used for recording energy consumption required when the four-wing unmanned aerial vehicle reaches a set pitching angle in an interference-free state and applying wind power with different sizes to the four-wing unmanned aerial vehicle;
the angle comparison module is used for judging the energy consumption required by the four-wing unmanned aerial vehicle when the four-wing unmanned aerial vehicle reaches the set pitching angle under the corresponding wind power, calculating the difference value of the energy consumption required by the four-wing unmanned aerial vehicle when the four-wing unmanned aerial vehicle reaches the same set pitching angle under the corresponding wind power condition, and judging the energy consumption difference between the same pitching angles;
and the deviation recording module is used for recording the deviation between the pitching angles under the same energy consumption.
Through adopting above-mentioned technical scheme, through the test to four wing unmanned aerial vehicle under the not equidimension wind-force interference condition, carry out environmental simulation to the interference that four wing unmanned aerial vehicle probably received, the cooperation loads the judgement that the balanced unit realized the anti-interference effect of four wing unmanned aerial vehicle, and the record of energy consumption gap provides the condition for saving of energy consumption, provide the research data for four wing unmanned aerial vehicle's long-time continuation of the journey, wherein pitch angle's deviation calculates, the adjustment that changes for follow-up focus provides the target value, provide the research interval for piston assembly's removal, reduce the research degree of difficulty.
The invention is further configured to: the modeling sample unit comprises a driving test module and an adjusting data recording module;
the drive test module is used for controlling the piston assembly in the loading balance unit to move, pushing the anti-freezing solution in the hollow circular ring, adjusting the gravity center of the loading balance unit and correcting the deviation between the pitching angles under the same energy consumption;
the adjusting data recording module is used for generating a gravity center adjusting mode of the loading balance unit corresponding to the pitching angle under the corresponding wind power condition according to the test data of the driving test module, testing limit adjusting data of the loading balance unit under different wind power conditions, and generating pitching adjusting sample data.
Through adopting above-mentioned technical scheme to load the focus of balancing unit to four wing unmanned aerial vehicle and change the adjustment, thereby realize the correction of corresponding every single move angular deviation under the wind-force interference condition, effectively reduce four wing unmanned aerial vehicle and go up brushless motor's energy consumption, and cooperate the every single move regulation sample data that the regulation data recording module generated, realize four wing unmanned aerial vehicle when meetting the self-adaptation interference-resistant of test wind-force interference, effectively reduce four wing unmanned aerial vehicle's the degree of difficulty of controlling.
The invention is further configured to: the template control unit comprises a monitoring loading module, a variable analysis module and a control selection module;
the monitoring loading module is used for receiving pitch adjustment sample data in the modeling sample unit;
the variable analysis module is used for receiving synchronous wind speed data of the four-wing unmanned aerial vehicle, outputting output power of a set pitching angle in an interference-free state according to the wind speed data, adjusting the gravity center of the loading balance unit according to pitching adjustment sample data, and controlling the four-wing unmanned aerial vehicle to reach the set pitching angle;
the control selection module is used for selecting to cooperate with the loading balance unit to adjust and control the pitching angle of the four-wing unmanned aerial vehicle or selecting not to cooperate with the loading balance unit to adjust and control the pitching angle of the four-wing unmanned aerial vehicle.
Through adopting above-mentioned technical scheme, gather the wind-force interference intensity that four wing unmanned aerial vehicle received, cooperation every single move is adjusted sample data and is adjusted piston assembly, realizes the self-adaptation anti-interference of flight in-process to under the setting of control selection module, make four wing unmanned aerial vehicle possess two kinds of control modes, thereby on guaranteeing original four wing unmanned aerial vehicle control's basis, realize a control of simplifying four wing unmanned aerial vehicle.
(III) advantageous effects
The invention provides an unmanned aerial vehicle self-adaptive anti-interference control system, which has the following beneficial effects:
(1) this unmanned aerial vehicle self-adaptation anti-interference control system, through the equipment loading balancing unit on four-wing unmanned aerial vehicle, adjust four-wing unmanned aerial vehicle's focus, the cooperation is to the simulation test of wind-force variation of size, guarantee to realize controlling four-wing unmanned aerial vehicle with the drive energy consumption under the state of no wind-force interference to reach the angle of pitch of settlement through adjusting four-wing unmanned aerial vehicle centrobaric mode, thereby reduce four-wing unmanned aerial vehicle's the control degree of difficulty, guarantee that four-wing unmanned aerial vehicle realizes self-adaptation anti-interference effect when air flight, further improve the stability when four-wing unmanned aerial vehicle makes different flight gestures.
(2) This unmanned aerial vehicle self-adaptation anti-interference control system, the position through four wings to four wing unmanned aerial vehicle is synchronous for calculate four wing unmanned aerial vehicle's every single move angle, realize the effective simulation to four wing unmanned aerial vehicle flight state, and carry out real time monitoring to the wind-force size that four wing unmanned aerial vehicle received, guarantee to the wind-force interference judgement that receives in the four wing unmanned aerial vehicle flight process, thereby provide the interference intensity data for subsequent self-adaptation regulation.
(3) This unmanned aerial vehicle self-adaptation anti-interference control system, through utilizing hollow ring as the carrier, cooperation collecting storage and piston assembly's setting, through piston assembly's regulation and control, realize the adjustment to antifreeze holding volume in the collecting storage, and then realize controlling the change of four wing unmanned aerial vehicle focus positions to under the circumstances that the realization is disturbed in wind-force, guarantee to reach under the wind-force interference circumstances with the energy consumption of non-interference state and set for the pitch angle.
(4) This unmanned aerial vehicle self-adaptation anti-interference control system, through the test to four wing unmanned aerial vehicle under the not equidimension wind-force interference condition, carry out environmental simulation to the interference that four wing unmanned aerial vehicle probably received, the cooperation loads the judgement that the balanced unit realized the anti-interference effect of four wing unmanned aerial vehicle, and the record of energy consumption gap provides the condition for saving of energy consumption, long-time continuation of journey for four wing unmanned aerial vehicle provides the research data, wherein pitch angle's deviation calculates, adjustment for follow-up focus changes provides the target value, provide the research interval for piston assembly's removal, reduce the research degree of difficulty.
(5) This unmanned aerial vehicle self-adaptation anti-interference control system changes the adjustment through the focus with loading the balanced unit to four wing unmanned aerial vehicle, thereby realize the correction of corresponding every single move angle deviation under the wind-force interference condition, effectively reduce brushless motor's on the four wing unmanned aerial vehicle energy consumption, and the every single move regulation sample data that cooperation regulation data record module generated, realize that four wing unmanned aerial vehicle is when meetting the self-adaptation of test wind-force interference anti-interference, effectively reduce four wing unmanned aerial vehicle's the degree of difficulty of controlling.
(6) This unmanned aerial vehicle self-adaptation anti-interference control system gathers through the wind-force interference intensity that receives four-wing unmanned aerial vehicle, and cooperation every single move is adjusted sample data and is adjusted piston assembly, realizes the self-adaptation anti-jamming of flight in-process to under the setting of control selection module, make four-wing unmanned aerial vehicle possess two kinds of control mode, thereby on guaranteeing original four-wing unmanned aerial vehicle control's basis, realize a control of four-wing unmanned aerial vehicle of simplification.
Drawings
FIG. 1 is a schematic block diagram of the system of the present invention;
FIG. 2 is a schematic block diagram of a system for loading a balancing unit according to the present invention;
FIG. 3 is a system schematic block diagram of a test cell of the present invention;
FIG. 4 is a schematic block diagram of a system for modeling a sample cell according to the present invention;
FIG. 5 is a schematic block diagram of a system of a template control unit of the present invention;
FIG. 6 is a schematic block diagram of a system of a real-time simulation unit of the present invention;
FIG. 7 is a schematic view of the connection of the four-wing drone and the hollow torus structure of the present invention;
FIG. 8 is a schematic view of the connection of the hollow ring, the piston assembly and the storage chamber structure of the present invention.
In the figure, 1, a balancing unit is loaded; 2. a ground receiving station; 3. a test unit; 4. modeling a sample unit; 5. a template control unit; 6. a real-time simulation unit; 7. a four-wing coordinate synchronization module; 8. a data integration module; 9. a space synchronization simulation module; 10. a wind speed detection module; 11. a drainage regulation module; 12. a drive control module; 13. a balance adjustment module; 14. a wind speed setting module; 15. an angle comparison module; 16. a deviation recording module; 17. a drive test module; 18. a regulating data recording module; 19. monitoring the loading module; 20. a variable analysis module; 21. a control selection module; a. a four-wing drone; b. a hollow circular ring; c. a piston assembly; d. a storage bin.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 8, an embodiment of the present invention provides a technical solution: the utility model provides an unmanned aerial vehicle self-adaptation anti-interference control system, as shown in figure 1, including loading balancing unit 1 and ground receiving station 2, wherein ground receiving station 2 is used for sending control signal to four-wing unmanned aerial vehicle a, and receives four-wing unmanned aerial vehicle a's feedback signal, and ground receiving station 2 includes test element 3, modeling sample unit 4 and template control unit 5, and ground receiving station 2 docks with real-time analog unit 6 and loading balancing unit 1 respectively.
Preferably, the loading balancing unit 1 is configured to load a hollow circular ring b with the center of gravity of the four-wing drone a as the center of circle on the four-wing drone a, and four sets of storage bins d are uniformly arranged at the bottom of the hollow circular ring b at intervals, wherein a piston assembly c is arranged in each storage bin d, the piston assembly c is composed of a piston plate and a telescopic rod, the piston plate slides inside each storage bin d and is driven by the telescopic rod, and bubble-free antifreeze solution is filled inside each hollow circular ring b, wherein the piston assembly c is configured to control the flow of the antifreeze solution, and the piston assembly c is in signal connection with the ground receiving platform 2, specifically, as shown in fig. 2, the loading balancing unit 1 includes a drainage adjusting module 11, a driving control module 12 and a balance adjusting module 13, the driving control module 12 is respectively in butt joint with the drainage adjusting module 11 and the balance adjusting module 13, as a detailed description, the drainage adjusting module 11 is used for controlling the piston assembly c to control the flow of the anti-freezing liquid;
the driving control module 12 is used for performing signal connection with the ground receiving station 2 and controlling the drainage adjusting module 11 to drive the piston assembly c to control the flow of the antifreeze solution;
As a preferred scheme, the real-time simulation unit 6 is configured to receive four-wing coordinate feedback information of the four-wing drone a, integrate the fed four-wing coordinate information, calculate a pitch angle of the four-wing drone a, and simulate and demonstrate a flight state of the four-wing drone a, specifically, as shown in fig. 6, the real-time simulation unit 6 includes a four-wing coordinate synchronization module 7, a data integration module 8, a space synchronization simulation module 9, and a wind speed detection module 10, further explaining that a GPS locator is loaded on four wings of the four-wing drone a for real-time monitoring of positions of the four wings, so as to determine the pitch angle of the four-wing drone a according to positioning data transmitted by the GPS locator;
the four-wing coordinate synchronization module 7 is used for receiving four-wing coordinate feedback information of the four-wing unmanned aerial vehicle a;
the data integration module 8 is used for integrating the four-wing coordinate information fed back by the four-wing unmanned aerial vehicle a and calculating the pitching angle of the four-wing unmanned aerial vehicle a;
the space synchronization simulation module 9 is used for simulating and demonstrating the flight state of the four-wing unmanned aerial vehicle a according to the pitching angle of the four-wing unmanned aerial vehicle a;
the wind speed detection module 10 is used for detecting the wind power received by the four-wing unmanned aerial vehicle a, and as a detailed description, a wind speed sensor is loaded on the four-wing unmanned aerial vehicle a for detecting the wind power during the flying process of the four-wing unmanned aerial vehicle a.
Further, the positions of the four wings of the four-wing drone a are synchronized, so that the pitching angles of the four-wing drone a are calculated, the flight state of the four-wing drone a is effectively simulated, the wind power received by the four-wing drone a is monitored in real time, the wind power interference received by the four-wing drone a in the flight process is judged, and interference intensity data are provided for subsequent adaptive adjustment.
As a preferred scheme, the testing unit 3 is configured to record energy consumption required when the four-wing drone a reaches a set pitch angle in an interference-free state, apply wind forces of different magnitudes to the four-wing drone a at the same time, determine energy consumption required when the four-wing drone a reaches the set pitch angle under the corresponding wind force, perform difference calculation with energy consumption required when the four-wing drone a reaches the same set pitch angle under the corresponding wind force condition, determine an energy consumption difference between the same pitch angles, and record a deviation between the pitch angles under the same energy consumption, specifically, as shown in fig. 3, the testing unit 3 includes a wind speed setting module 14, an angle comparison module 15, and a deviation recording module 16, the wind speed setting module 14 is in butt joint with the angle comparison module 15, the angle comparison module 15 is in butt joint with the deviation recording module 16, and as a detailed description, the wind speed setting module 14 is configured to perform recording of energy consumption required when the four-wing drone a reaches the set pitch angle in an interference-free state Simultaneously applying wind power with different sizes to the four-wing unmanned aerial vehicle a;
the angle comparison module 15 is used for judging the energy consumption required by the four-wing unmanned aerial vehicle a when the set pitch angle is reached under the corresponding wind power, performing difference calculation on the energy consumption required by the four-wing unmanned aerial vehicle a when the same set pitch angle is reached under the corresponding wind power, and judging the energy consumption difference between the same pitch angles;
the deviation recording module 16 is used to record the deviation between pitch angles for the same energy consumption.
As a preferred scheme, the testing unit 3 is used for butting a modeling sample unit 4, wherein the modeling sample unit 4 is used for controlling a piston assembly c in the loading balance unit 1 to move, pushing the antifreeze solution in the hollow ring b, adjusting the gravity center of the loading balance unit 1, correcting the deviation between the pitch angles under the same energy consumption, generating a gravity center adjusting mode of the loading balance unit 1 corresponding to the pitch angle under the corresponding wind power condition, testing limit adjusting data of the loading balance unit 1 under different wind power conditions, and generating pitch adjusting sample data, specifically, as shown in fig. 4, the modeling sample unit 4 comprises a driving testing module 17 and an adjusting data recording module 18;
the driving test module 17 is used for controlling the piston assembly c in the loading balance unit 1 to move, pushing the antifreeze in the hollow ring b, adjusting the gravity center of the loading balance unit 1 and correcting the deviation between the pitching angles under the same energy consumption;
the adjustment data recording module 18 is configured to generate a gravity center adjustment mode of the loading balance unit 1 corresponding to the pitch angle under the corresponding wind power condition according to the test data of the driving test module 17, test limit adjustment data of the loading balance unit 1 under different wind power conditions, and generate pitch adjustment sample data.
As a preferred scheme, the modeling sample unit 4 is in butt joint with the template control unit 5, wherein the template control unit 5 is configured to receive pitch adjustment sample data in the modeling sample unit 4, receive synchronous wind speed data of the four-wing drone a, output power at a set pitch angle in an interference-free state according to the wind speed data, perform gravity center adjustment of the loading balance unit 1 according to the pitch adjustment sample data, and control the four-wing drone a to reach the set pitch angle, specifically, as shown in fig. 5, the template control unit 5 includes a monitoring loading module 19, a variable analysis module 20, and a control selection module 21;
the monitor load module 19 is used for receiving pitch adjustment sample data in the modeling sample unit 4;
the variable analysis module 20 is used for receiving the synchronous wind speed data of the four-wing unmanned aerial vehicle a, outputting the output power of the set pitching angle in an interference-free state according to the wind speed data, adjusting the gravity center of the loading balance unit 1 according to the pitching adjustment sample data, and controlling the four-wing unmanned aerial vehicle a to reach the set pitching angle;
the control selection module 21 is used for selecting to cooperate with the loading balance unit 1 to perform adjustment control of the pitch angle of the four-wing drone a or selecting not to cooperate with the loading balance unit 1 to perform adjustment control of the pitch angle of the four-wing drone a.
When the system works, the hollow ring b, the piston assembly c and the storage bin d are assembled on a four-wing unmanned aerial vehicle a, a GPS locator loaded on four wings of the four-wing unmanned aerial vehicle a synchronizes position data into a ground receiving station 2 through a four-wing coordinate synchronization module 7, the pitching angle of the four-wing unmanned aerial vehicle a is judged under the integration of the four-wing coordinate by a data integration module 8, the four-wing unmanned aerial vehicle a is simulated under the judgment of the pitching angle through a space synchronization simulation module 9, a wind speed setting module 14 records the energy consumption required when the four-wing unmanned aerial vehicle a reaches the set pitching angle under the non-interference state, wind forces with different sizes are applied to the four-wing unmanned aerial vehicle a, an angle comparison module 15 judges the energy consumption required when the four-wing unmanned aerial vehicle a reaches the set pitching angle under the wind force with the corresponding size, and calculates the difference value with the energy consumption required when the same set pitching angle is reached under the wind force condition with the corresponding size, and judging the energy consumption difference between the same pitching angles, the deviation recording module 16 records the deviation between the pitching angles under the same energy consumption, the driving test module 17 controls the telescopic rod to drive the piston plate to move according to the deviation of the pitching angles, the antifreeze in the hollow circular ring b is pushed, the gravity center of the loading balance unit 1 consisting of the hollow circular ring b, the piston assembly c and the storage bin d is adjusted, the deviation between the pitching angles under the same energy consumption is corrected, meanwhile, the adjusting data recording module 18 is used for generating the gravity center adjusting mode of the loading balance unit 1 corresponding to the pitching angles under the corresponding wind power conditions according to the test data of the driving test module 17, testing the limit adjusting data of the loading balance unit 1 under different wind power conditions, generating pitching adjusting sample data, and being used as the driving control of the telescopic rod under the same wind power interference condition of the four-wing unmanned aerial vehicle a, in the control process, the control selection module 21 is used for realizing the adjustment control of the pitching angle of the four-wing unmanned aerial vehicle a by matching with the loading balancing unit 1 and the adjustment control switching of the pitching angle of the four-wing unmanned aerial vehicle a by not matching with the loading balancing unit 1.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides an unmanned aerial vehicle self-adaptation anti-interference control system, is including loading balanced unit (1) and ground receiving station (2), and wherein ground receiving station (2) are used for sending control signal to four wing unmanned aerial vehicle (a), and receive the feedback signal of four wing unmanned aerial vehicle (a), its characterized in that: the ground receiving station (2) comprises a testing unit (3), a modeling sample unit (4) and a template control unit (5), and the ground receiving station (2) is respectively butted with the real-time simulation unit (6) and the loading balance unit (1);
the loading balancing unit (1) is used for loading a hollow circular ring (b) taking the gravity center of the four-wing unmanned aerial vehicle (a) as the center of a circle on the four-wing unmanned aerial vehicle (a), four groups of storage bins (d) are uniformly arranged at the bottom of the hollow circular ring (b) at intervals, a piston assembly (c) is arranged in each storage bin (d), bubble-free anti-freezing solution is filled in each hollow circular ring (b), the piston assembly (c) is used for controlling the flow of the anti-freezing solution, and the piston assembly (c) is in signal connection with the ground receiving platform (2);
the real-time simulation unit (6) is used for receiving four-wing coordinate feedback information of the four-wing unmanned aerial vehicle (a), integrating the fed-back four-wing coordinate information, calculating a pitching angle of the four-wing unmanned aerial vehicle (a), and simulating and demonstrating a flight state of the four-wing unmanned aerial vehicle (a);
the testing unit (3) is used for recording the energy consumption required when the four-wing unmanned aerial vehicle (a) reaches the set pitch angle under the non-interference state, applying wind power with different magnitudes to the four-wing unmanned aerial vehicle (a) at the same time, judging the energy consumption required when the four-wing unmanned aerial vehicle (a) reaches the set pitch angle under the wind power with the corresponding magnitude, performing difference calculation on the energy consumption required when the four-wing unmanned aerial vehicle (a) reaches the same set pitch angle under the wind power with the corresponding magnitude, judging the energy consumption difference between the same pitch angles, and recording the deviation between the pitch angles under the same energy consumption;
the testing unit (3) is used for butting a modeling sample unit (4), wherein the modeling sample unit (4) is used for controlling a piston assembly (c) in the loading balance unit (1) to move, pushing anti-freezing liquid in a hollow ring (b), adjusting the gravity center of the loading balance unit (1), correcting deviation between pitch angles under the same energy consumption, generating a gravity center adjusting mode of the loading balance unit (1) corresponding to the pitch angles under the corresponding wind power condition, testing limit adjusting data of the loading balance unit (1) under different wind power conditions, and generating pitch adjusting sample data;
the modeling sample unit (4) is in butt joint with the template control unit (5), wherein the template control unit (5) is used for receiving pitching adjustment sample data in the modeling sample unit (4), receiving synchronous wind speed data of the four-wing unmanned aerial vehicle (a), outputting output power of a set pitching angle in an interference-free state according to the wind speed data, adjusting the gravity center of the loading balance unit (1) according to the pitching adjustment sample data, and controlling the four-wing unmanned aerial vehicle (a) to reach the set pitching angle.
2. The adaptive anti-jamming control system for unmanned aerial vehicles according to claim 1, wherein: the real-time simulation unit (6) comprises a four-wing coordinate synchronization module (7), a data integration module (8), a space synchronization simulation module (9) and an air speed detection module (10);
the four-wing coordinate synchronization module (7) is used for receiving four-wing coordinate feedback information of the four-wing unmanned aerial vehicle (a);
the data integration module (8) is used for integrating the four-wing coordinate information fed back by the four-wing unmanned aerial vehicle (a) and calculating the pitching angle of the four-wing unmanned aerial vehicle (a);
the space synchronization simulation module (9) is used for simulating and demonstrating the flight state of the four-wing unmanned aerial vehicle (a) according to the pitching angle of the four-wing unmanned aerial vehicle (a);
the wind speed detection module (10) is used for detecting the wind power received by the four-wing unmanned aerial vehicle (a).
3. The adaptive anti-jamming control system for unmanned aerial vehicles according to claim 1, wherein: the loading balance unit (1) comprises a drainage regulation module (11), a drive control module (12) and a balance regulation module (13), wherein the drive control module (12) is respectively butted with the drainage regulation module (11) and the balance regulation module (13).
4. The adaptive anti-jamming control system for unmanned aerial vehicles according to claim 3, wherein: the drainage adjusting module (11) is used for controlling the piston assembly (c) to control the flow of the anti-freezing liquid;
the drive control module (12) is used for performing signal connection with the ground receiving table (2) and controlling the drainage adjusting module (11) to drive the piston assembly (c) to control the flow of the anti-freezing solution;
balance adjustment module (13) are used for loading on four-wing unmanned aerial vehicle (a) and use four-wing unmanned aerial vehicle (a) focus as hollow ring (b) of centre of a circle to hollow ring (b) bottom interval is even sets up four groups of storage warehouses (d), and wherein storage warehouse (d) embeds piston assembly (c), and hollow ring (b) inside packing bubble-free antifreeze.
5. The adaptive anti-jamming control system for unmanned aerial vehicles according to claim 1, wherein: the testing unit (3) comprises a wind speed setting module (14), an angle comparison module (15) and a deviation recording module (16), wherein the wind speed setting module (14) is in butt joint with the angle comparison module (15), and the angle comparison module (15) is in butt joint with the deviation recording module (16).
6. The adaptive anti-jamming control system for unmanned aerial vehicles according to claim 5, wherein: the wind speed setting module (14) is used for recording energy consumption required when the four-wing unmanned aerial vehicle (a) reaches a set pitching angle in an interference-free state, and applying wind power with different sizes to the four-wing unmanned aerial vehicle (a) at the same time;
the angle comparison module (15) is used for judging the energy consumption required by the four-wing unmanned aerial vehicle (a) when the set pitching angle is reached under the condition of corresponding wind power, carrying out difference calculation on the energy consumption required by the four-wing unmanned aerial vehicle (a) when the same set pitching angle is reached under the condition of corresponding wind power, and judging the energy consumption difference between the same pitching angles;
the deviation recording module (16) is used for recording the deviation between the pitch angles under the same energy consumption.
7. The adaptive anti-jamming control system for unmanned aerial vehicles according to claim 1, wherein: the modeling sample unit (4) comprises a driving test module (17) and an adjusting data recording module (18);
the drive test module (17) is used for controlling the piston assembly (c) in the loading balance unit (1) to move, pushing the anti-freezing solution in the hollow circular ring (b), and adjusting the gravity center of the loading balance unit (1) to correct the deviation between the pitching angles under the same energy consumption;
the adjusting data recording module (18) is used for generating a gravity center adjusting mode of the loading balance unit (1) corresponding to the pitching angle under the corresponding wind power condition according to the test data of the driving test module (17), testing limit adjusting data of the loading balance unit (1) under different wind power conditions, and generating pitching adjusting sample data.
8. The adaptive anti-jamming control system for unmanned aerial vehicles according to claim 1, wherein: the template control unit (5) comprises a monitoring loading module (19), a variable analysis module (20) and a control selection module (21);
the monitoring loading module (19) is used for receiving pitch adjustment sample data in the modeling sample unit (4);
the variable analysis module (20) is used for receiving synchronous wind speed data of the four-wing unmanned aerial vehicle (a), outputting output power at a set pitch angle in an interference-free state according to the wind speed data, adjusting the gravity center of the loading balance unit (1) according to pitch adjustment sample data, and controlling the four-wing unmanned aerial vehicle (a) to reach the set pitch angle;
the control selection module (21) is used for selecting the matching loading balance unit (1) to adjust and control the pitch angle of the four-wing unmanned aerial vehicle (a) or selecting the non-matching loading balance unit (1) to adjust and control the pitch angle of the four-wing unmanned aerial vehicle (a).
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