CN115009515A - High-wind-resistance multi-duct type mooring unmanned aerial vehicle and control method thereof - Google Patents
High-wind-resistance multi-duct type mooring unmanned aerial vehicle and control method thereof Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/20—Rotorcraft characterised by having shrouded rotors, e.g. flying platforms
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
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Abstract
The invention relates to a high-wind-resistance multi-duct type mooring unmanned aerial vehicle and a control method thereof, wherein the control method comprises the following steps: the aircraft comprises a flight control system, a mooring cable control device, a mooring cable, an engine body, a fixed duct mechanism, a full-motion duct mechanism and an electric rotating shaft mechanism; the processor of the flight control system is used for controlling the fixed duct mechanism and the full-motion duct mechanism according to sensing information obtained by measurement of the inertia measurement unit, the position sensor, the speed sensor and the altitude sensor and wind direction information and wind speed information measured by the wind speed and wind direction sensor so as to adjust the posture and the position of the unmanned aerial vehicle; the processor is further used for adjusting the rotation angle of the electric rotating shaft mechanism and the rotation speed of the full-motion duct mechanism according to the wind direction information and the wind speed information measured by the wind speed and direction sensor so that the unmanned aerial vehicle can resist wind speed in the horizontal wind direction. According to the invention, wind resistance in the horizontal direction and the vertical direction is respectively counteracted by adjusting the full-motion duct mechanism and the fixed duct mechanism, so that the wind resistance of the unmanned aerial vehicle is improved.
Description
Technical Field
The invention relates to the technical field of high wind resistance of a mooring unmanned aerial vehicle, in particular to a high wind resistance multi-duct type mooring unmanned aerial vehicle and a control method thereof.
Background
The mooring unmanned aerial vehicle can continuously supply power to the unmanned aerial vehicle through a mooring cable, has the characteristic of long time lag, and can be widely applied to the novel unmanned aerial vehicle in the fields of communication relay, photoelectric reconnaissance monitoring, radio detection and the like. The rotational speed of current mooring unmanned aerial vehicle through controlling many rotors changes unmanned aerial vehicle's gesture, adjusts two direction lifts of vertical and level, offsets the windage of level and vertical direction, realizes the anti-wind function, but the anti-wind ability is poor, and the biggest anti-wind ability is 6 grades, and when wind-force was greater than 6 grades, unmanned aerial vehicle tumbled easily, took place the crash, seriously restriction mooring unmanned aerial vehicle's application scenario.
Disclosure of Invention
The invention aims to provide a high-wind-resistance multi-duct type tethered unmanned aerial vehicle and a control method thereof, and aims to solve the problems that the existing tethered unmanned aerial vehicle is poor in wind resistance and is easy to tip over and crash when wind power is high.
In order to achieve the purpose, the invention provides the following scheme:
a high wind-resistant multi-duct type mooring unmanned aerial vehicle comprises: the aircraft comprises a flight control system, a mooring cable control device, a mooring cable, an engine body, a fixed duct mechanism, a full-motion duct mechanism and an electric rotating shaft mechanism;
the fixed duct mechanism is arranged above the machine body;
the electric rotating shaft mechanism is arranged at the bottom of the machine body;
the full-motion ducted mechanism is connected with the electric rotating shaft mechanism and can rotate around the electric rotating shaft mechanism, and the axis of the full-motion ducted mechanism is vertical to the axis of the fixed ducted mechanism;
the flight control system comprises a processor, and an inertial measurement unit, a position sensor, a speed sensor, a height sensor and an air speed and wind direction sensor which are arranged on the aircraft body;
the processor is configured to: adjusting the rotation angle of the electric rotating shaft mechanism, the rotation speed of the full-motion duct mechanism and the rotation speed of the fixed duct mechanism according to the sensing information obtained by the inertial measurement unit, the position sensor, the height sensor and the speed sensor and the wind speed and direction information measured by the wind speed and direction sensor so as to adjust the posture and the position of the unmanned aerial vehicle; and adjusting the rotation angle of the electric rotating shaft mechanism, the rotation speed of the full-motion duct mechanism and the rotation speed of the fixed duct mechanism according to the wind direction information and the wind speed information measured by the wind speed and direction sensor so as to enable the unmanned aerial vehicle to resist wind resistance.
Optionally, the number of the fixed duct mechanisms is at least four, and the four fixed duct mechanisms are distributed in a rectangular shape.
Optionally, the mooring cable control device comprises a mooring base, a rotating shaft motor, a rotating shaft controller, a tension sensor and a winding rotating shaft;
one end of the mooring cable is wound on the winding rotating shaft; one end of the winding rotating shaft is connected with an output shaft of the rotating shaft motor, and the other end of the winding rotating shaft is provided with the tension sensor; and the output signal end of the tension sensor is connected with the rotating shaft controller.
Optionally, the method further comprises: mounting a bracket; the mounting bracket is mounted at the bottom of the machine body and used for fixing the mooring cable.
Optionally, the method further comprises: the antenna comprises a directional signal receiving antenna, an antenna base and an antenna rotating shaft;
the directional signal receiving antenna is installed on the antenna base through the antenna rotating shaft, and the bottom end of the antenna base is installed on the machine body.
The control method of the high-wind-resistance multi-duct type mooring unmanned aerial vehicle comprises the following steps:
measuring current wind speed information and current wind direction information through a wind speed and wind direction sensor;
measuring current horizontal position information of the unmanned aerial vehicle through a position sensor;
obtaining horizontal position change information according to a preset horizontal position and the current horizontal position information;
adjusting the rotation angle of the electric rotating shaft mechanism to enable the thrust direction provided by the full-motion duct mechanism to point to a preset horizontal position; adjusting the rotation speed of the full-motion duct mechanism according to the horizontal position change information and the current wind speed information measured by the wind speed and direction sensor, so that the unmanned aerial vehicle provides thrust in the horizontal wind direction to restore the unmanned aerial vehicle to a preset horizontal position;
after the unmanned aerial vehicle recovers to the preset horizontal position, the rotating angle of the electric rotating shaft mechanism is adjusted according to the current wind direction information measured by the wind speed and direction sensor, so that the thrust direction provided by the full-motion duct mechanism is opposite to the horizontal plane wind resistance direction, and the rotating speed of the full-motion duct mechanism is adjusted according to the current wind speed information measured by the wind speed and direction sensor, so that the unmanned aerial vehicle resists the wind speed in the horizontal wind direction.
Optionally, the method further comprises:
measuring the current pitching attitude of the unmanned aerial vehicle body through an inertia measurement unit;
and controlling the rotating speed of the fixed duct mechanism corresponding to the pitching attitude according to the preset pitching attitude and the pitching attitude measured by the inertia measurement unit so as to adjust the pitching attitude of the unmanned aerial vehicle.
Optionally, the method further comprises:
measuring the current rolling attitude of the unmanned aerial vehicle body through the inertia measurement unit;
and controlling the rotating speed of the fixed duct mechanism corresponding to the rolling attitude according to the preset rolling attitude and the rolling attitude measured by the inertia measurement unit so as to adjust the rolling attitude of the unmanned aerial vehicle.
Optionally, the method further comprises:
measuring the current course attitude of the unmanned aerial vehicle body through the inertia measurement unit;
and controlling the rotating speed of the fixed duct mechanism corresponding to the course attitude according to the preset course attitude and the current course attitude measured by the inertial measurement unit so as to adjust the course attitude of the unmanned aerial vehicle.
Optionally, the method further comprises:
measuring the current height information of the unmanned aerial vehicle through a height sensor;
and controlling the rotating speed of all fixed ducted mechanisms according to preset height information and the current height information measured by the height sensor so as to restore the height of the unmanned aerial vehicle to the preset height.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the invention provides a high-wind-resistance multi-duct type mooring unmanned aerial vehicle and a control method thereof, wherein the control method comprises the following steps: the aircraft comprises a flight control system, a mooring cable control device, a mooring cable, an engine body, a fixed duct mechanism, a full-motion duct mechanism and an electric rotating shaft mechanism; the fixed duct mechanism is arranged above the machine body; the electric rotating shaft mechanism is arranged at the bottom of the machine body; the full-motion ducted mechanism is connected with the electric rotating shaft mechanism and can rotate around the electric rotating shaft mechanism, and the axis of the full-motion ducted mechanism is vertical to the axis of the fixed ducted mechanism; the flight control system comprises a processor, and an inertial measurement unit, a position sensor, a speed sensor, a height sensor and an air speed and wind direction sensor which are arranged on the aircraft body; the processor is configured to: adjusting the rotation angle of the electric rotating shaft mechanism, the rotation speed of the full-motion duct mechanism and the rotation speed of the fixed duct mechanism according to the sensing information obtained by the inertial measurement unit, the position sensor, the height sensor and the speed sensor and the wind speed and direction information measured by the wind speed and direction sensor so as to adjust the posture and the position of the unmanned aerial vehicle; and adjusting the rotation angle of the electric rotating shaft mechanism, the rotation speed of the full-motion duct mechanism and the rotation speed of the fixed duct mechanism according to the wind direction information and the wind speed information measured by the wind speed and direction sensor so as to enable the unmanned aerial vehicle to resist wind resistance. The invention counteracts the wind resistance in the horizontal direction by adjusting the magnitude and the direction of the thrust of the full-motion bypass mechanism in the horizontal direction; the wind resistance in the vertical direction is counteracted by adjusting the size and the direction of the thrust of the fixed ducted mechanism in the vertical direction. Compare in current unmanned aerial vehicle offset the windage in horizontal direction and vertical side simultaneously through many rotor structures, the unmanned aerial vehicle of this application offsets the windage in horizontal direction and vertical side respectively through full-motion duct mechanism and fixed duct mechanism, can quick adjustment unmanned aerial vehicle's gesture and position, has improved unmanned aerial vehicle's anti-wind performance, when wind-force is big, is difficult to tumble, takes place the crash.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural view of a high wind-resistance multi-duct type tethered unmanned aerial vehicle provided by embodiment 1 of the invention;
fig. 2 is a top view of the high wind resistance multi-duct type tethered unmanned aerial vehicle provided by embodiment 1 of the present invention;
fig. 3 is a side view of a high wind resistance multi-duct type tethered unmanned aerial vehicle provided in embodiment 1 of the present invention;
fig. 4 is a schematic view of a mooring cable control device according to embodiment 1 of the present invention.
Reference numerals: 1-mooring a cable control device; 2-full motion duct mechanism; 3-a directional signal receiving antenna; 4-fixing the duct mechanism; 5-wind speed and direction sensor; 6, mounting a bracket; 7-an electric rotating shaft mechanism; 8-mooring the cable; 9-unmanned aerial vehicle body; 10-an antenna base; 11-an antenna shaft; 17-an antenna signal controller; 12-a tension sensor; 13-a spindle controller; 14-a spindle motor; 15-a captive base; 16-winding the spindle.
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 obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
At present, industrial-grade tethered unmanned aerial vehicles on the market mostly adopt a multi-rotor layout, and rotor blades have the highest speed at blade tips due to high-speed circular motion, so that the induced resistance is high, the impact on external air flow is large, the noise is high, and the power efficiency of the rotor is low. And adopt the unmanned aerial vehicle of mooring of duct form, because the leaf point department is restricted by the duct, the impact noise reduces. The induced resistance is reduced and the efficiency is higher. Under the same power consumption, the ducted fan can generate larger thrust and has strong wind resistance compared with an isolated propeller with the same diameter. In addition, due to the ring-included function of the duct, the structure of the duct is more compact, the pneumatic noise is low, and the use safety is good.
The invention aims to provide a high-wind-resistance multi-duct type tethered unmanned aerial vehicle and a control method thereof, and aims to solve the problems that the existing tethered unmanned aerial vehicle is poor in wind resistance and is easy to tip over and crash when wind power is high.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example 1
This embodiment provides a many ducts of high anti-wind formula unmanned aerial vehicle that moors. Referring to fig. 1, the drone comprises: the aircraft comprises a flight control system, a mooring cable control device 1, a mooring cable 8, a machine body 9, a fixed duct mechanism 4, a full-motion duct mechanism 2 and an electric rotating shaft mechanism 7.
And the fixed duct mechanism 4 is installed above the machine body 9 and used for adjusting the posture of the unmanned aerial vehicle and the position of the unmanned aerial vehicle in the vertical direction. The number of the fixed ducted mechanisms 4 is at least four, and four of the fixed ducted mechanisms 4 are distributed in a rectangular shape and are installed at four azimuth angles of the unmanned aerial vehicle body 9, as shown in fig. 2, the four fixed ductes are 401, 402, 403 and 404, respectively.
The electric rotating shaft mechanism 7 is installed at the bottom of the machine body 9.
The full-motion duct mechanism 2 is connected with the electric rotating shaft mechanism 7, can rotate around the electric rotating shaft mechanism 7 and is used for providing thrust in the horizontal direction. In the embodiment, the number of the fully-movable duct mechanisms 2 is 2, and the rotating directions of the two fully-movable ducts are opposite to each other so as to counteract the reaction torque generated by the ducts; all can be around 360 degrees rotations of electronic pivot mechanism in 2 full-motion ducts.
The flight control system comprises a processor, and an inertial measurement unit, a position sensor, a speed sensor, a height sensor and an air speed and wind direction sensor 5 which are arranged on the machine body 9;
the processor is configured to: adjusting the rotation angle of the electric rotating shaft mechanism 7, the rotation speed of the full-motion ducted mechanism 2 and the rotation speed of the fixed ducted mechanism 4 according to the sensing information obtained by the inertia measuring unit, the position sensor, the height sensor and the speed sensor and the wind speed and direction information measured by the wind speed and direction sensor 5 so as to adjust the posture and the position of the unmanned aerial vehicle; and adjusting the rotation angle of the electric rotating shaft mechanism 7, the rotation speed of the full-motion duct mechanism 2 and the rotation speed of the fixed duct mechanism 4 according to wind direction information and wind speed information measured by the wind speed and direction sensor 5 so as to enable the unmanned aerial vehicle to resist wind resistance.
Specifically, the method comprises the following steps: when unmanned aerial vehicle received the influence of wind, unmanned aerial vehicle predetermine the gesture, predetermine the position, predetermine when highly changing, according to wind direction information and the wind speed information of wind speed and direction sensor 5 measuring with the windage resistance for horizontal plane windage resistance and vertical face windage resistance. When the set posture of the unmanned aerial vehicle is changed, the posture change amount is calculated according to the current posture measured by the inertia measuring unit, the rotating speed of the fixed duct mechanism 4 corresponding to the current posture is adjusted according to the wind resistance and the posture change amount on the vertical surface, and the unmanned aerial vehicle is restored to the set posture by changing the thrust in the vertical direction. When the set height of the unmanned aerial vehicle is changed, the height variation is calculated according to the current height measured by the height sensor, and all the rotating speeds of the fixed ducted mechanisms 4 are adjusted according to the wind resistance and the height variation on the vertical surface so as to change the thrust in the vertical direction and restore the unmanned aerial vehicle to the set height. When the set position of the unmanned aerial vehicle is changed, the current position measured by the position sensor is calculated to obtain the position variation, and the rotation angle of the electric rotating shaft mechanism 7 is adjusted, so that the thrust direction generated by the fully-movable ducted mechanism 2 points to the set position, and the rotation speed of the fully-movable ducted mechanism 2 is adjusted according to the position variation and the wind resistance direction on the horizontal plane, so that the thrust generated by the fully-movable ducted mechanism 2 can restore the unmanned aerial vehicle to the set position. The thrust of the fixed duct mechanism in the vertical direction and the thrust generated by the full-motion duct mechanism 2 are combined to obtain a resultant force, so that the unmanned aerial vehicle can be restored to a set state.
When the unmanned aerial vehicle returns to a set position, after the unmanned aerial vehicle returns to a set state, the wind resistance is decomposed into horizontal plane wind resistance and vertical plane wind resistance according to wind direction information and wind speed information measured by the wind speed and wind direction sensor 5, and the rotating speed of the fixed ducted mechanism 4 is adjusted according to the vertical plane wind resistance to generate thrust on a vertical plane; the turned angle of the electric rotating shaft mechanism 7 is adjusted according to the wind resistance direction on the horizontal plane, so that the thrust direction generated by the full-motion duct mechanism 2 is opposite to the horizontal wind resistance direction, the position of the unmanned aerial vehicle is kept stable, and the rotating speed of the full-motion duct mechanism 2 is adjusted to generate thrust on the horizontal plane. A resultant force is obtained through the thrust on the vertical surface and the thrust on the horizontal surface, so that the unmanned aerial vehicle can resist wind resistance.
When the unmanned aerial vehicle is subjected to wind resistance on the horizontal plane, the rotating speed of the fully-movable ducted mechanism 2 is adjusted according to wind speed information measured by the wind speed and direction sensor 5, so that thrust in the horizontal direction generated by the rotating speed of the fully-movable ducted mechanism 2 can resist the resistance brought to the unmanned aerial vehicle by wind on the horizontal wind direction; when unmanned aerial vehicle receives the windage on vertical face, unmanned aerial vehicle offsets the windage through the thrust or the gravity of vertical direction, according to wind speed information regulation that wind speed direction sensor 5 measured fixed duct mechanism 4's rotational speed for the vertical ascending thrust that fixed duct mechanism 4's slew velocity produced can support the resistance that the anti-wind brought unmanned aerial vehicle in vertical wind direction, has improved unmanned aerial vehicle's anti-wind performance.
The utility model provides an unmanned aerial vehicle has adopted total duct mechanism 2 that moves, compares with the generally adopted fuselage slope on the market, utilizes the horizontal component of rotor to resist the windage of horizontal direction and carries out the many rotors mooring unmanned aerial vehicle of fuselage position control, utilizes wind speed and direction sensor to carry out the flow field perception, carries out fuselage gesture and position control through total duct mechanism 2 that moves and can be rapider, and its aerodynamic response time is also still less.
In this embodiment, as shown in fig. 3, the unmanned aerial vehicle further includes: a directional signal receiving antenna 3, an antenna base 10, an antenna rotary shaft 11 and an antenna signal controller 17.
The directional signal receiving antenna 3 is installed on the antenna base 10 through the antenna rotating shaft 11, and the bottom end of the antenna base 10 and the antenna signal controller 17 are installed on the machine body 9.
The directional signal receiving antenna 3 can complete circumferential rotation of two degrees of freedom around the antenna rotating shaft 11, thereby completing tracking and forwarding of different signals. The excellent wind resistance and hovering performance of the unmanned aerial vehicle ensure the working stability of the directional signal receiving antenna 3, and the phenomenon of signal receiving interruption or loss is avoided.
The mooring cable control device 1 comprises a mooring base 15, a spindle motor 14, a spindle controller 13, a tension sensor 12 and a winding spindle 16, wherein the structure of the mooring cable control device is shown in fig. 4.
One end of the mooring cable 8 is wound on the winding rotating shaft 16; one end of the winding rotating shaft 16 is connected with an output shaft of the rotating shaft motor 14, and the other end of the winding rotating shaft 16 is provided with the tension sensor 12; and the output signal end of the tension sensor 12 is connected with the rotating shaft controller 13.
Wherein, mooring cable 8 is used for mooring unmanned aerial vehicle power supply, transmission control signal and service data. The mooring cable control device 1 can adjust the output torque of the rotating shaft motor 14 according to the change of the tension sensor 12, and controls the retraction of the mooring cable 8 through the forward and reverse rotation of the winding rotating shaft 16 so as to adjust the tension of the mooring cable 8.
In this implementation the unmanned aerial vehicle further comprises: a mounting bracket 6; the mounting bracket 6 is mounted at the bottom of the machine body 9 and used for fixing the mooring cable 8. Specifically, the bottom end of the mounting bracket 6 is connected to the upper end of the mooring cable 8 by a universal joint. In addition, the wind speed and direction sensor 5 is mounted on the bottom of the body 9 via a mounting bracket 6.
The control method for the high-wind-resistance multi-duct type mooring unmanned aerial vehicle comprises the following steps:
measuring current wind speed information and current wind direction information through a wind speed and wind direction sensor 5;
measuring current horizontal position information of the unmanned aerial vehicle through a position sensor;
obtaining horizontal position change information according to a preset horizontal position and the current horizontal position information;
adjusting the rotation angle of the electric rotating shaft mechanism 7 so that the thrust direction provided by the full-motion duct mechanism 2 points to a preset horizontal position; adjusting the rotation speed of the full-motion duct mechanism 2 according to the horizontal position change information and the current wind speed information measured by the wind speed and direction sensor 5, so that the unmanned aerial vehicle provides thrust in the horizontal wind direction to restore the unmanned aerial vehicle to a preset horizontal position;
after the unmanned aerial vehicle recovers to the preset horizontal position, the rotating angle of the electric rotating shaft mechanism 7 is adjusted according to the current wind direction information measured by the wind speed and direction sensor 5, so that the thrust direction provided by the fully-movable ducted mechanism 2 is opposite to the horizontal plane wind resistance direction, and the rotating speed of the fully-movable ducted mechanism is adjusted according to the current wind speed information measured by the wind speed and direction sensor 5, so that the unmanned aerial vehicle resists the wind speed in the horizontal wind direction.
For example, when the horizontal position of the tethered drone deviates, the flight control system monitors that the change of the horizontal position of the drone (the distance between the current horizontal position of the drone and the preset horizontal position) measured by the position sensor is greater than that of the systemWhen the absolute value of the threshold value is larger, the flight control system utilizes the GPS to provide the azimuth coordinate information to calculate the distance S between the unmanned aerial vehicle and the preset horizontal position h Sum deflection angle Q h The flight control system outputs a command for adjusting the fully-moving duct mechanism 2 and the electric rotating shaft mechanism 7, so that the thrust direction of the fully-moving duct is adjusted to the declination angle Q h And (4) the two are consistent (opposite to the horizontal wind direction), and meanwhile, the flight control system outputs a command for increasing the rotating speed of the 2 full-motion bypass mechanism. After the driving motor of the full-motion bypass mechanism 2 receives the instruction of the flight control system, the rotating speed of the full-motion bypass mechanism 2 begins to change. With distance S h The absolute value of the total-motion bypass mechanism 2 is continuously reduced, the rotating speed change rate of the total-motion bypass mechanism 2 is gradually reduced, and when the distance S is reached h When the absolute value of (2) is less than the system threshold value, the rotating speed of the full-motion ducted mechanism 2 is not changed any more, and the horizontal position of the unmanned aerial vehicle is recovered to be normal.
Unmanned aerial vehicle's fuselage gesture stability includes: pitch stability, roll stability, and course stability. Therefore, the stability of the attitude of the fuselage needs to be controlled in three aspects of the pitch attitude, the roll attitude and the heading attitude, and the method specifically comprises the following steps:
(1) measuring the current pitching attitude of the unmanned aerial vehicle body through an inertia measurement unit;
and controlling the rotating speed of the fixed duct mechanism corresponding to the pitching attitude according to the preset pitching attitude and the pitching attitude measured by the inertia measurement unit so as to adjust the pitching attitude of the unmanned aerial vehicle.
For example, when the tethered drone has a pitch attitude problem, the flight control system monitors the drone fuselage pitch attitude angle Q measured by the inertial measurement unit f If the absolute value of Q is greater than the system threshold value f If the unmanned aerial vehicle state is higher than zero, the flight control system considers that the unmanned aerial vehicle state is high at the moment (if Q) f Less than zero, the flight control system considers that the unmanned aerial vehicle state is low in the front and high in the back at the moment), and the flight control system controls the unmanned aerial vehicle to move according to the pitching attitude angle Q of the fuselage f The rotating speed of the fixed ducted mechanism is reduced 401 and 403 and increased 402 and 404, and the rotating speed of the fixed ducted mechanism starts to change after the driving motor of the fixed ducted mechanism receives the instruction of the flight control system. Followed bySupine posture angle Q f The absolute value of the fixed bypass mechanism is continuously reduced, the rotating speed change rate of the fixed bypass mechanism is also gradually reduced, and when the posture angle Q is raised f When the absolute value of (2) is less than the system threshold value, the rotating speed of the fixed duct mechanism does not change any more, and the pitching attitude of the unmanned aerial vehicle is recovered to be normal.
(2) Measuring the current rolling attitude of the unmanned aerial vehicle body through the inertia measurement unit;
and controlling the rotating speed of the fixed duct mechanism corresponding to the rolling attitude according to the preset rolling attitude and the rolling attitude measured by the inertia measurement unit so as to adjust the rolling attitude of the unmanned aerial vehicle.
For example, when the tethered unmanned aerial vehicle has a rolling attitude problem, the flight control system monitors the fuselage rolling attitude angle Q of the unmanned aerial vehicle measured by the inertial measurement unit g If the absolute value of Q is greater than the system threshold value g Greater than zero, the flight control system considers that the unmanned aerial vehicle state is high right low (if Q) g Less than zero, the flight control system considers that the unmanned plane state is low left and high right at the moment), and the flight control system rolls the attitude angle Q according to the fuselage g To output commands to decrease 401 and 402 the fixed ducted mechanism rotational speed and increase 403 and 404 the fixed ducted mechanism rotational speed. After the driving motor of the fixed ducted mechanism receives the instruction of the flight control system, the rotating speed of the fixed ducted mechanism begins to change. Following roll attitude angle Q g The absolute value of the fixed bypass mechanism is continuously reduced, the change rate of the rotating speed of the fixed bypass mechanism is gradually reduced, and when the rotating attitude angle Q is rolled g When the absolute value of the rotating speed of the fixed ducted mechanism is smaller than the system threshold value, the rotating speed of the fixed ducted mechanism is not changed any more, and the rolling attitude of the unmanned aerial vehicle is recovered to be normal.
(3) Measuring the current course attitude of the unmanned aerial vehicle body through the inertia measurement unit;
and controlling the rotating speed of the fixed duct mechanism corresponding to the course attitude according to the preset course attitude and the current course attitude measured by the inertial measurement unit so as to adjust the course attitude of the unmanned aerial vehicle.
For example, when the tethered unmanned aerial vehicle has a heading attitude problem, the flight control system monitors the heading attitude of the body of the unmanned aerial vehicle measured by the inertial measurement unitAngle Q h If the absolute value of Q is greater than the system threshold value h If the heading state of the unmanned aerial vehicle is larger than zero, the flight control system considers that the heading state of the unmanned aerial vehicle is left biased (if Q) h Less than zero, the flight control system considers that the heading state of the unmanned aerial vehicle is right-handed), and the flight control system makes an attitude angle Q according to the heading of the aircraft body h To output commands for decreasing 402 and 403 the rotational speed of the fixed ducted mechanism and increasing 401 and 404 the rotational speed of the fixed ducted mechanism, and the rotational speed of the fixed ducted mechanism starts to change after the drive motor of the fixed ducted mechanism receives the command from the flight control system. Under the action of the torque of the motor of the fixed ducted mechanism, the course attitude angle Q h The absolute value of the fixed bypass mechanism is continuously reduced, the change rate of the rotating speed of the fixed bypass mechanism is also gradually reduced, and the rolling attitude angle Q is gradually reduced h Absolute value of (1), as roll attitude angle Q h When the absolute value of the fixed ducted mechanism is smaller than the system threshold value, the rotating speed of the fixed ducted mechanism is not changed, and the course attitude of the unmanned aerial vehicle is recovered to be normal.
The control method further comprises the following steps:
measuring the current height information of the unmanned aerial vehicle through a height sensor;
and controlling the rotating speed of all fixed ducted mechanisms according to preset height information and the current height information measured by the height sensor so as to restore the height of the unmanned aerial vehicle to the preset height. The specific process is as follows:
when the wind resistance of the mooring unmanned aerial vehicle in the vertical direction changes, and the height change of the unmanned aerial vehicle body is larger than the system threshold value, the flight control system measures the current flight height H measured by the height sensor n And preset height information H d Subtracting to obtain the current height error H r . If the height error H r If the altitude is larger than zero, the flight control system considers that the unmanned aerial vehicle state is higher than the altitude at the moment (if H) r Less than zero, the flight control system then considers that the unmanned aerial vehicle state at this time is low in altitude). The flight control is based on the current altitude error H r And outputting a command for reducing the rotating speed of all the fixed ducted mechanisms, and driving the rotating speed of the fixed ducted mechanisms to be reduced after the driving motors of the fixed ducted mechanisms receive the command of the flight control system. Error with height H r Continuously reduced and fixed ducted mechanism rotating speed changeThe change rate is also gradually reduced when the height error H r Is less than threshold value H h During the time, fixed duct mechanism rotational speed no longer changes, and unmanned aerial vehicle resumes to predetermineeing the height.
The mooring cable control method of the embodiment includes:
the flight control system will preset the flying height H d Corresponding pulling force threshold value information F borne by the mooring cable 8 h The tension is transmitted to the shaft controller 13, and the tension sensor 12 monitors the tension applied to the mooring cable 8. When the external wind speed causes the flying height of the unmanned aerial vehicle to rise (fall), the rotating shaft controller 13 detects that the tension force applied to the mooring cable 8 measured by the tension sensor 12 is greater than (smaller than) a threshold value F h The spindle controller outputs a command to reduce (increase) the motor torque to the spindle motor 14, and after the spindle motor receives the command, the spindle motor 14 reduces (increases) the output torque; paying off (taking up) the winding rotating shaft 16; when the rotating shaft controller 13 monitors that the pulling force applied to the mooring cable 8 is restored to the threshold range, the rotating shaft controller 13 outputs a stop instruction to the rotating shaft motor 14, and at the moment, the winding rotating shaft 16 stops paying off (taking up).
Method for controlling directional antenna signal orientation stability
The antenna signal controller 17 measures the antenna signal quality in real time, compares the measured antenna signal quality data with a set antenna signal quality threshold value, and sends the measured sensing information to the flight control system, and if the measured antenna signal quality data is lower than the system threshold value, the flight control system performs circumferential adjustment through an antenna rotating shaft, so that the antenna signal quality data is restored to the set antenna signal quality range interval.
The unmanned aerial vehicle has higher wind resistance performance due to the adoption of the fixed duct mechanism 4 with higher thrust and the full-motion duct mechanism 2 which enables the position and the posture of the body to be adjusted more rapidly, and the directional signal receiving antenna 3 of the unmanned aerial vehicle cannot deviate in a large range when the posture of the body is adjusted. Therefore, the unmanned aerial vehicle has the advantages that the signal tracking capability of the directional antenna is far higher than that of an omnidirectional signal receiving antenna under the same power, and the unmanned aerial vehicle adopts the mooring cable to supply power to the unmanned aerial vehicle, so that the unmanned aerial vehicle can be used as a signal transfer station with long-time air lag (for example, the signal transfer is carried out on a cruising route of a large unmanned aerial vehicle far away from a ground station).
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. The utility model provides a many ducts of high wind resistance formula moors unmanned aerial vehicle which characterized in that includes: the aircraft comprises a flight control system, a mooring cable control device, a mooring cable, an engine body, a fixed duct mechanism, a full-motion duct mechanism and an electric rotating shaft mechanism;
the fixed duct mechanism is arranged above the machine body;
the electric rotating shaft mechanism is arranged at the bottom of the machine body;
the full-motion ducted mechanism is connected with the electric rotating shaft mechanism and can rotate around the electric rotating shaft mechanism, and the axis of the full-motion ducted mechanism is vertical to the axis of the fixed ducted mechanism;
the flight control system comprises a processor, and an inertial measurement unit, a position sensor, a speed sensor, a height sensor and an air speed and wind direction sensor which are arranged on the aircraft body;
the processor is configured to: adjusting the rotation angle of the electric rotating shaft mechanism, the rotation speed of the full-motion duct mechanism and the rotation speed of the fixed duct mechanism according to the sensing information obtained by the inertial measurement unit, the position sensor, the height sensor and the speed sensor and the wind speed and direction information measured by the wind speed and direction sensor so as to adjust the posture and the position of the unmanned aerial vehicle; and adjusting the rotation angle of the electric rotating shaft mechanism, the rotation speed of the full-motion duct mechanism and the rotation speed of the fixed duct mechanism according to the wind direction information and the wind speed information measured by the wind speed and direction sensor so as to enable the unmanned aerial vehicle to resist wind resistance.
2. The drone of claim 1, wherein the number of fixed ducted mechanisms is at least four, and four of the fixed ducted mechanisms are rectangularly distributed.
3. The drone of claim 1, wherein the tethered cable control device includes a tethered base, a spindle motor, a spindle controller, a tension sensor, and a wound spindle;
one end of the mooring cable is wound on the winding rotating shaft; one end of the winding rotating shaft is connected with an output shaft of the rotating shaft motor, and the other end of the winding rotating shaft is provided with the tension sensor; and the output signal end of the tension sensor is connected with the rotating shaft controller.
4. The drone of claim 1, further comprising: mounting a bracket; the mounting bracket is mounted at the bottom of the machine body and used for fixing the mooring cable.
5. The drone of claim 1, further comprising: the antenna comprises a directional signal receiving antenna, an antenna base and an antenna rotating shaft;
the directional signal receiving antenna is installed on the antenna base through the antenna rotating shaft, and the bottom end of the antenna base is installed on the machine body.
6. The control method of the high wind resistance multi-ducted tethered drone of any of claims 1 to 4, comprising:
measuring current wind speed information and current wind direction information through a wind speed and wind direction sensor;
measuring the current horizontal position information of the unmanned aerial vehicle through a position sensor;
obtaining horizontal position change information according to a preset horizontal position and the current horizontal position information;
adjusting the rotation angle of the electric rotating shaft mechanism to enable the thrust direction provided by the full-motion duct mechanism to point to a preset horizontal position; adjusting the rotation speed of the full-motion duct mechanism according to the horizontal position change information and the current wind speed information measured by the wind speed and direction sensor, so that the unmanned aerial vehicle provides thrust in the horizontal wind direction to restore the unmanned aerial vehicle to a preset horizontal position;
after the unmanned aerial vehicle recovers to the preset horizontal position, the rotating angle of the electric rotating shaft mechanism is adjusted according to the current wind direction information measured by the wind speed and direction sensor, so that the thrust direction provided by the full-motion duct mechanism is opposite to the horizontal plane wind resistance direction, and the rotating speed of the full-motion duct mechanism is adjusted according to the current wind speed information measured by the wind speed and direction sensor, so that the unmanned aerial vehicle resists the wind speed in the horizontal wind direction.
7. The control method according to claim 6, characterized by further comprising:
measuring the current pitching attitude of the unmanned aerial vehicle body through an inertia measurement unit;
and controlling the rotating speed of the fixed duct mechanism corresponding to the pitching attitude according to the preset pitching attitude and the pitching attitude measured by the inertia measurement unit so as to adjust the pitching attitude of the unmanned aerial vehicle.
8. The control method according to claim 6, characterized by further comprising:
measuring the current rolling attitude of the unmanned aerial vehicle body through the inertia measurement unit;
and controlling the rotating speed of the fixed duct mechanism corresponding to the rolling attitude according to the preset rolling attitude and the rolling attitude measured by the inertia measurement unit so as to adjust the rolling attitude of the unmanned aerial vehicle.
9. The control method according to claim 6, characterized by further comprising:
measuring the current course attitude of the unmanned aerial vehicle body through the inertia measurement unit;
and controlling the rotating speed of the fixed duct mechanism corresponding to the course attitude according to the preset course attitude and the current course attitude measured by the inertial measurement unit so as to adjust the course attitude of the unmanned aerial vehicle.
10. The control method according to claim 6, characterized by further comprising:
measuring the current height information of the unmanned aerial vehicle through a height sensor;
and controlling the rotating speed of all fixed ducted mechanisms according to preset height information and the current height information measured by the height sensor so as to restore the height of the unmanned aerial vehicle to the preset height.
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