CN115009515B - High-wind-resistance multi-duct type tethered unmanned aerial vehicle and control method thereof - Google Patents
High-wind-resistance multi-duct type tethered unmanned aerial vehicle and control method thereof Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B64C—AEROPLANES; HELICOPTERS
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- B64C27/00—Rotorcraft; Rotors peculiar thereto
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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, comprising the following steps: the system comprises a flight control system, a mooring cable control device, a mooring cable, a machine 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 the sensing information measured by the inertial measurement unit, the position sensor, the speed sensor and the height sensor, and the wind direction information and the wind speed information measured by the wind speed and direction sensor so as to adjust the gesture and the position of the unmanned aerial vehicle; the processor is also 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 resists wind speed in the horizontal wind direction. According to the wind resistance unmanned aerial vehicle, wind resistance in the horizontal direction and wind resistance in the vertical direction are 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 tethered unmanned aerial vehicles, in particular to a high wind resistance multi-duct tethered unmanned aerial vehicle and a control method thereof.
Background
The tethered unmanned aerial vehicle is a novel unmanned aerial vehicle which can continuously supply power to the unmanned aerial vehicle through a tethered cable, has the characteristic of long time lag, and can be widely applied to the fields of communication relay, photoelectric reconnaissance monitoring, radio detection and the like. The existing tethered unmanned aerial vehicle changes the gesture of the unmanned aerial vehicle by controlling the rotating speed of a plurality of rotary wings, adjusts the lifting force in the vertical direction and the horizontal direction, counteracts the wind resistance in the horizontal direction and the vertical direction, and realizes the wind resistance function, but the wind resistance capability is poor, the maximum wind resistance capability is 6 levels, and when the wind power is greater than 6 levels, the unmanned aerial vehicle is easy to tip over, and the crash occurs, so that the application occasion of the tethered unmanned aerial vehicle is severely limited.
Disclosure of Invention
The invention aims to provide a high-wind-resistance multi-duct type tethered unmanned aerial vehicle and a control method thereof, so as to solve the problems that the traditional tethered unmanned aerial vehicle is poor in wind resistance, easy to tip over when wind power is large and crashes.
In order to achieve the above object, the present invention provides the following solutions:
A high wind resistance multi-duct tethered unmanned aerial vehicle comprising: the system comprises a flight control system, a mooring cable control device, a mooring cable, a machine 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 duct 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 duct mechanism is perpendicular to the axis of the fixed duct mechanism;
the flight control system comprises a processor, an inertial measurement unit, a position sensor, a speed sensor, a height sensor and a wind speed and direction sensor, wherein the inertial measurement unit, the position sensor, the speed sensor, the height sensor and the wind speed and direction sensor are arranged on the machine body;
the processor is configured to: 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 wind direction information measured by the wind speed and wind direction sensor, 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 are adjusted so as to adjust the gesture 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 wind direction information and wind speed information measured by the wind speed and direction sensor, so that the unmanned aerial vehicle can 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 tethered cable control device includes a tethered base, a spindle motor, a spindle controller, a tension sensor, and a winding 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 tension sensor is arranged at the other end of the winding rotating shaft; and an output signal end of the tension sensor is connected with the rotating shaft controller.
Optionally, the method further comprises: a mounting 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: a directional signal receiving antenna, an antenna base and an antenna rotating shaft;
The directional signal receiving antenna is arranged on the antenna base through the antenna rotating shaft, and the bottom end of the antenna base is arranged on the machine body.
The control method of the high-wind-resistance multi-duct type tethered 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 bypass mechanism to point to a preset horizontal position; according to the horizontal position change information and the current wind speed information measured by the wind speed and direction sensor, adjusting the rotating speed of the full-motion duct mechanism so that the unmanned aerial vehicle provides thrust in the horizontal wind direction to enable the unmanned aerial vehicle to recover to a preset horizontal position;
When the unmanned aerial vehicle is restored to a 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 wind direction sensor, so that the thrust direction provided by the full-moving duct mechanism is opposite to the wind resistance direction of the horizontal plane, and the rotating speed of the full-moving duct mechanism is adjusted according to the current wind speed information measured by the wind speed and wind direction sensor, so that the unmanned aerial vehicle resists 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 rotation speed of the fixed duct mechanism corresponding to the pitching gesture according to the preset pitching gesture and the pitching gesture measured by the inertial measurement unit so as to adjust the pitching gesture of the unmanned aerial vehicle.
Optionally, the method further comprises:
measuring the current rolling gesture of the unmanned aerial vehicle body through the inertial measurement unit;
And controlling the rotation speed of the fixed duct mechanism corresponding to the rolling gesture according to the preset rolling gesture and the rolling gesture measured by the inertia measurement unit so as to adjust the rolling gesture of the unmanned aerial vehicle.
Optionally, the method further comprises:
Measuring the current heading attitude of the unmanned aerial vehicle body through the inertia measurement unit;
and controlling the rotation speed of the fixed duct mechanism corresponding to the heading gesture according to the preset heading gesture and the current heading gesture measured by the inertial measurement unit so as to adjust the heading gesture of the unmanned aerial vehicle.
Optionally, the method further comprises:
Measuring current height information of the unmanned aerial vehicle through a height sensor;
And controlling the rotation speeds of all the fixed duct mechanisms according to the preset height information and the current height information measured by the height sensor so as to recover the height of the unmanned aerial vehicle to the preset height.
According to the specific embodiment provided by the application, the application discloses the following technical effects: the application provides a high wind resistance multi-duct type mooring unmanned aerial vehicle and a control method thereof, comprising the following steps: the system comprises a flight control system, a mooring cable control device, a mooring cable, a machine 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 duct 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 duct mechanism is perpendicular to the axis of the fixed duct mechanism; the flight control system comprises a processor, an inertial measurement unit, a position sensor, a speed sensor, a height sensor and a wind speed and direction sensor, wherein the inertial measurement unit, the position sensor, the speed sensor, the height sensor and the wind speed and direction sensor are arranged on the machine body; the processor is configured to: 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 wind direction information measured by the wind speed and wind direction sensor, 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 are adjusted so as to adjust the gesture 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 wind direction information and wind speed information measured by the wind speed and direction sensor, so that the unmanned aerial vehicle can resist wind resistance. According to the application, the wind resistance in the horizontal direction is counteracted by adjusting the magnitude and the direction of the thrust of the full-motion duct mechanism in the horizontal direction; the wind resistance in the vertical direction is counteracted by adjusting the thrust force and the direction of the fixed duct mechanism in the vertical direction. Compared with the existing unmanned aerial vehicle which simultaneously counteracts wind resistance in the horizontal direction and the vertical direction through a multi-rotor structure, the unmanned aerial vehicle provided by the application can respectively counteract wind resistance in the horizontal direction and the vertical direction through the full-motion duct mechanism and the fixed duct mechanism, the gesture and the position of the unmanned aerial vehicle can be quickly adjusted, the wind resistance of the unmanned aerial vehicle is improved, and when wind power is large, the unmanned aerial vehicle is not easy to tip over and crash.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are 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 other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a high wind resistance multi-duct type tethered unmanned aerial vehicle provided in embodiment 1 of the present invention;
Fig. 2 is a top view of the high wind resistance multi-duct tethered unmanned aerial vehicle provided in embodiment 1 of the present invention;
FIG. 3 is a side view of a high wind resistance multi-duct tethered unmanned provided by embodiment 1 of the present invention;
fig. 4 is a schematic diagram of a tethered cable control device according to embodiment 1 of the present invention.
Reference numerals: 1-tethered cable control devices; 2-a full-motion bypass mechanism; 3-directional signal receiving antennas; 4-a fixed bypass mechanism; 5-a wind speed and direction sensor; 6-mounting a bracket; 7-an electric spindle mechanism; 8-mooring a cable; 9-unmanned plane body; 10-an antenna base; 11-an antenna rotating shaft; 17-an antenna signal controller; 12-a tension sensor; 13-a spindle controller; 14-a rotating shaft motor; 15-mooring a base; 16-winding the rotating shaft.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
At present, the industrial mooring unmanned aerial vehicle in the market mostly adopts a multi-rotor layout, and the rotor blades have the highest speed at the blade tip due to high-speed circular motion, the induced resistance is relatively large, the noise is large due to impact on external airflow, and the rotor power efficiency is low. The tethered unmanned aerial vehicle adopting the duct mode reduces impact noise because the blade tip is limited by the duct. The induced resistance is reduced and the efficiency is higher. Under the same power consumption, compared with an isolated propeller with the same diameter, the ducted fan can generate larger thrust and has strong wind resistance. In addition, due to the circular function of the duct, the structure 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, so as to solve the problems that the traditional tethered unmanned aerial vehicle is poor in wind resistance, easy to tip over when wind power is large and crashes.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Example 1
The embodiment provides a high wind resistance multi-duct type mooring unmanned aerial vehicle. Referring to fig. 1, the unmanned aerial vehicle includes: 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.
The fixed duct mechanism 4 is installed above the machine body 9 and is used for adjusting the posture of the unmanned aerial vehicle and adjusting the position in the vertical direction. The number of the fixed duct mechanisms 4 is at least four, and four fixed duct mechanisms 4 are rectangular and distributed and are installed on four azimuth angles of the unmanned aerial vehicle body 9, as shown in fig. 2, and the four fixed ducts are 401, 402, 403 and 404 respectively.
The electric rotating shaft mechanism 7 is arranged at the bottom of the machine body 9.
The full-motion duct mechanism 2 is connected to the electric rotating shaft mechanism 7, and is rotatable around the electric rotating shaft mechanism 7 to provide a thrust in a horizontal direction. In this embodiment, the number of the full-motion culvert mechanisms 2 is 2, and the rotation directions of the two full-motion culverts are opposite to counteract the reactive torque generated by the culverts; the 2 full-motion ducts can rotate 360 degrees around the electric rotating shaft mechanism.
The flight control system comprises a processor, an inertial measurement unit, a position sensor, a speed sensor, a height sensor and a wind speed and direction sensor 5 which are arranged on the machine body 9;
The processor is configured to: according to the sensing information measured by the inertial measurement unit, the position sensor, the height sensor and the speed sensor and the wind speed and wind direction information measured by the wind speed and wind direction sensor 5, 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 are adjusted 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 the wind direction information and the wind speed information measured by the wind speed and direction sensor 5 so as to enable the unmanned aerial vehicle to realize resistance to wind resistance.
Specifically: when the unmanned aerial vehicle is affected by wind, the preset gesture, the preset position and the preset height of the unmanned aerial vehicle are changed, and 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 direction sensor 5. When the set gesture of the unmanned aerial vehicle is changed, the gesture change amount is calculated according to the current gesture measured by the inertia measurement unit, and the rotating speed of the fixed duct mechanism 4 corresponding to the current gesture is adjusted according to the wind resistance on the vertical surface and the gesture change amount, so that the thrust in the vertical direction is changed, and the unmanned aerial vehicle is restored to the set gesture. 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 the rotating speeds of all the fixed duct mechanisms 4 are adjusted according to the wind resistance on the vertical surface and the height variation, so that the thrust in the vertical direction is changed, and the unmanned aerial vehicle is restored to the set height. When the unmanned aerial vehicle setting position changes, the position change quantity is calculated according to the current position measured by the position sensor, the rotating angle of the electric rotating shaft mechanism 7 is adjusted, so that the thrust direction generated by the full-motion duct mechanism 2 points to the setting position, and the rotating speed of the full-motion duct mechanism 2 is adjusted according to the position change quantity and the wind resistance direction on the horizontal plane, so that the thrust generated by the full-motion duct mechanism 2 can enable the unmanned aerial vehicle to recover to the setting position. The unmanned aerial vehicle can be restored to the set state by the resultant force obtained by the thrust of the fixed duct mechanism in the vertical direction and the thrust direction and the magnitude generated by the full-motion duct mechanism 2.
When the unmanned aerial vehicle is restored to the set position, after the unmanned aerial vehicle is restored to the set state, 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 duct mechanism 4 is adjusted according to the vertical plane wind resistance so as to generate thrust on the vertical plane; the rotation 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 rotation speed of the full-motion duct mechanism 2 is adjusted to generate thrust on the horizontal plane. And 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 receives windage on a horizontal plane, the rotation speed of the full-motion duct mechanism 2 is adjusted according to the wind speed information measured by the wind speed and direction sensor 5, so that the thrust in the horizontal direction generated by the rotation speed of the full-motion duct mechanism 2 can resist the resistance of wind on the horizontal wind direction to the unmanned aerial vehicle; when the unmanned aerial vehicle receives the windage on vertical face, the unmanned aerial vehicle offsets the windage through thrust or gravity of vertical direction, according to wind speed information that wind speed wind direction sensor 5 measured is adjusted the rotational speed of fixed ducted structure 4 for the vertical ascending thrust that fixed ducted structure 4 rotational speed produced can resist wind and bring the resistance for unmanned aerial vehicle in vertical wind direction, has improved unmanned aerial vehicle's wind resistance.
Compared with a multi-rotor tethered unmanned aerial vehicle which adopts a full-motion duct mechanism 2 and generally adopts a fuselage to incline in the market, the unmanned aerial vehicle provided by the application has the advantages that compared with a multi-rotor tethered unmanned aerial vehicle which adopts the horizontal component force of the rotor to resist wind resistance in the horizontal direction and adjust the position of the fuselage, the unmanned aerial vehicle adopts the wind speed and wind direction sensor to perform flow field sensing, and the fuselage posture and position are adjusted more quickly through the full-motion duct mechanism 2, so that the aerodynamic response time is shorter.
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 rotating 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, so that tracking and forwarding of different signals are completed. The unmanned aerial vehicle has excellent wind resistance and hovering performance, so that the working stability of the directional signal receiving antenna 3 is ensured, and the phenomenon of signal receiving interruption or loss is avoided.
The tethered cable control device 1 comprises a tethered base 15, a spindle motor 14, a spindle controller 13, a tension sensor 12 and a winding spindle 16, wherein the tethered cable control device is structured as shown in fig. 4.
One end of the mooring cable 8 is wound on the winding shaft 16; one end of the winding rotating shaft 16 is connected with an output shaft of the rotating shaft motor 14, and the tension sensor 12 is arranged at the other end of the winding rotating shaft 16; the output signal end of the tension sensor 12 is connected with the rotating shaft controller 13.
Wherein, the tethered cable 8 is used for supplying power to the tethered unmanned aerial vehicle, transmitting control signals and service data. The tethered 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 tethered cable 8 through the positive and negative rotation of the winding rotating shaft 16 so as to adjust the tension of the tethered cable 8.
The unmanned aerial vehicle in this embodiment further includes: a mounting bracket 6; the mounting bracket 6 is mounted at the bottom of the machine body 9 and is 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 at the bottom of the machine body 9 through a mounting bracket 6.
The implementation method for controlling the high-wind-resistance multi-duct type tethered unmanned aerial vehicle comprises the following steps:
measuring current wind speed information and current wind direction information by a wind speed and 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;
The rotation angle of the electric rotating shaft mechanism 7 is regulated so that the thrust direction provided by the full-motion bypass mechanism 2 points to a preset horizontal position; according to the horizontal position change information and the current wind speed information measured by the wind speed and direction sensor 5, the rotating speed of the full-motion duct mechanism 2 is adjusted, so that the unmanned aerial vehicle provides thrust in the horizontal wind direction to enable the unmanned aerial vehicle to recover to a preset horizontal position;
When the unmanned aerial vehicle is restored to a 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 wind direction sensor 5, so that the thrust direction provided by the full-motion duct mechanism 2 is opposite to the wind resistance direction of the horizontal plane, 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 wind direction sensor 5, so that the unmanned aerial vehicle resists wind speed in the horizontal wind direction.
For example, when the tethered unmanned aerial vehicle has a horizontal position deviation, the flight control system monitors that the change of the horizontal position of the unmanned aerial vehicle measured by the position sensor (the distance between the current horizontal position of the unmanned aerial vehicle and the preset horizontal position) is larger than the absolute value of a system threshold value, the flight control system uses the GPS to provide azimuth coordinate information to calculate the distance S h and the deflection angle Q h of the unmanned aerial vehicle from the preset horizontal position, the flight control system outputs an instruction for adjusting the full-motion duct mechanism 2 and the electric rotating shaft mechanism 7, the thrust direction of the full-motion duct is adjusted to be consistent with the deflection angle Q h (opposite to the wind direction on the horizontal), and meanwhile, the flight control system outputs an instruction for increasing the rotating speed of the full-motion duct mechanism 2. After the driving motor of the full-motion duct mechanism 2 receives the instruction of the flight control system, the rotating speed of the full-motion duct mechanism 2 starts to change. Along with the continuous decrease of the absolute value of the distance S h, the change rate of the rotating speed of the full-motion duct mechanism 2 is gradually reduced, and when the absolute value of the distance S h is smaller than the system threshold value, the rotating speed of the full-motion duct mechanism 2 is not changed any more, and the horizontal position of the unmanned aerial vehicle is restored to be normal.
The fuselage attitude stability of the unmanned aerial vehicle includes: pitch stability, roll stability, and heading stability. Therefore, the stability of the body posture needs to be controlled in three aspects of pitching posture, rolling posture and heading posture, 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 rotation speed of the fixed duct mechanism corresponding to the pitching gesture according to the preset pitching gesture and the pitching gesture measured by the inertial measurement unit so as to adjust the pitching gesture of the unmanned aerial vehicle.
For example, when the tethered unmanned aerial vehicle has a pitch attitude problem, the flight control system monitors that the absolute value of the unmanned aerial vehicle body pitch attitude angle Q f measured by the inertial measurement unit is greater than the system threshold, if Q f is greater than zero, the flight control system considers that the unmanned aerial vehicle state is high front and low back at this time (if Q f is less than zero, the flight control system considers that the unmanned aerial vehicle state is low front and high back at this time), and the flight control system outputs instructions for reducing 401 and 403 fixed duct mechanism rotational speeds and increasing 402 and 404 fixed duct mechanism rotational speeds according to the body pitch attitude angle Q f, and after the driving motor of the fixed duct mechanism receives the instructions of the flight control system, the fixed duct mechanism rotational speed starts to change. As the absolute value of the elevation angle Q f is continuously reduced, the rotation speed change rate of the fixed ducted mechanism is gradually reduced, and when the absolute value of the elevation angle Q f is smaller than the system threshold value, the rotation speed of the fixed ducted mechanism is not changed any more, and the pitching attitude of the unmanned aerial vehicle is recovered to be normal.
(2) Measuring the current rolling gesture of the unmanned aerial vehicle body through the inertial measurement unit;
And controlling the rotation speed of the fixed duct mechanism corresponding to the rolling gesture according to the preset rolling gesture and the rolling gesture measured by the inertia measurement unit so as to adjust the rolling gesture of the unmanned aerial vehicle.
For example, when the tethered unmanned aerial vehicle has a roll attitude problem, when the flight control system monitors that the absolute value of the unmanned aerial vehicle body roll attitude angle Q g measured by the inertial measurement unit is greater than the system threshold, if Q g is greater than zero, the flight control system considers that the unmanned aerial vehicle state is low on the left and right (if Q g is less than zero, the flight control system considers that the unmanned aerial vehicle state is high on the left and right) at this time, and the flight control system outputs instructions for reducing 401 and 402 the rotational speed of the fixed ducted mechanism and increasing 403 and 404 the rotational speed of the fixed ducted mechanism according to the body roll attitude angle Q g. After the driving motor of the fixed duct mechanism receives the instruction of the flight control system, the rotating speed of the fixed duct mechanism starts to change. Along with the continuous decrease of the absolute value of the roll attitude angle Q g, the change rate of the rotation speed of the fixed duct mechanism is gradually reduced, and when the absolute value of the roll attitude angle Q g is smaller than the system threshold value, the rotation speed of the fixed duct mechanism is not changed any more, and the roll attitude of the unmanned aerial vehicle is recovered to be normal.
(3) Measuring the current heading attitude of the unmanned aerial vehicle body through the inertia measurement unit;
and controlling the rotation speed of the fixed duct mechanism corresponding to the heading gesture according to the preset heading gesture and the current heading gesture measured by the inertial measurement unit so as to adjust the heading gesture of the unmanned aerial vehicle.
For example, when the tethered unmanned aerial vehicle has a heading attitude problem, the flight control system monitors that the absolute value of the unmanned aerial vehicle body heading attitude angle Q h measured by the inertial measurement unit is larger than the system threshold, if Q h is larger than zero, the flight control system considers that the unmanned aerial vehicle heading state is left-biased (if Q h is smaller than zero, the flight control system considers that the unmanned aerial vehicle heading state is right-biased), and the flight control system outputs instructions for reducing 402 and 403 the fixed ducted mechanism rotating speed and increasing 401 and 404 the fixed ducted mechanism rotating speed according to the body heading attitude angle Q h, and after the driving motor of the fixed ducted mechanism receives the instructions of the flight control system, the fixed ducted mechanism rotating speed starts to change. Under the action of the reverse torque of the motor of the fixed ducted mechanism, the absolute value of the course attitude angle Q h is continuously reduced, the change rate of the rotation speed of the fixed ducted mechanism is gradually reduced, the absolute value of the roll attitude angle Q h is reduced, when the absolute value of the roll attitude angle Q h is smaller than the system threshold value, the rotation 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 includes:
Measuring current height information of the unmanned aerial vehicle through a height sensor;
And controlling the rotation speeds of all the fixed duct mechanisms according to the preset height information and the current height information measured by the height sensor so as to recover the height of the unmanned aerial vehicle to the preset height. The specific process is as follows:
when the windage in the vertical direction of the tethered unmanned aerial vehicle changes, and the unmanned aerial vehicle body height change is larger than the system threshold value, the flight control system subtracts the current flight height H n measured by the height sensor from the preset height information H d to obtain a current height error H r. If the altitude error H r is greater than zero, the flight control system considers the drone state to be high at this time (if H r is less than zero, the flight control system considers the drone state to be low at this time). The flight control system outputs instructions for reducing the rotation speed of all the fixed culvert mechanisms according to the current height error H r, and the driving motor of the fixed culvert mechanisms drives the fixed culvert mechanisms to reduce the rotation speed after receiving the instructions of the flight control system. Along with the continuous reduction of the height error H r, the rotating speed change rate of the fixed duct mechanism is also gradually reduced, and when the height error H r is smaller than the threshold value H h, the rotating speed of the fixed duct mechanism is not changed any more, and the unmanned aerial vehicle is restored to the preset height.
The mooring cable control method of the embodiment comprises the following steps:
The flight control system transmits the tension threshold information F h of the mooring cable 8 corresponding to the preset flight height H d to the rotating shaft controller 13, and the tension sensor 12 monitors the tension of the mooring cable 8. When the flying height of the unmanned aerial vehicle is increased (decreased) due to the external wind speed, the rotating shaft controller 13 detects that the tension force of the mooring cable 8 measured by the tension sensor 12 is larger than (smaller than) a threshold value F h, the rotating shaft controller outputs an instruction for reducing (increasing) the motor torque to the rotating shaft motor 14, and the rotating shaft motor 14 reduces (increases) the output torque after receiving the instruction; paying out (winding up) the winding shaft 16; when the rotation shaft controller 13 detects that the tension force of the mooring cable 8 is restored to be within the threshold range, the rotation shaft controller 13 outputs a stop command to the rotation shaft motor 14, and at this time, the winding rotation shaft 16 stops paying out (winding up).
Directional antenna signal azimuth stability control method
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 sensing information is lower than the system threshold value, the flight control system performs circumferential adjustment through the antenna rotating shaft, so that the antenna signal quality data is restored to be within the set antenna signal quality range.
The unmanned aerial vehicle has higher wind resistance because the fixed duct mechanism 4 with larger thrust and the full-motion duct mechanism 2 which enables the position and the posture of the unmanned aerial vehicle to be adjusted more rapidly are adopted, and the directional signal receiving antenna 3 of the unmanned aerial vehicle can not deviate in azimuth greatly when the posture of the unmanned aerial vehicle is adjusted. Therefore, the unmanned aerial vehicle has the advantages that the unmanned aerial vehicle continuously tracks signals in a specific direction, the signal tracking capacity 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 a mooring cable to supply power for the unmanned aerial vehicle, so that the unmanned aerial vehicle can be used as a signal transfer station for long-time idle-retention (for example, signal transfer is carried out on a routing route of a large unmanned aerial vehicle away from a ground station).
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (10)
1. A high wind resistance multi-duct tethered unmanned aerial vehicle, comprising: the system comprises a flight control system, a mooring cable control device, a mooring cable, a machine 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 duct 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 duct mechanism is perpendicular to the axis of the fixed duct mechanism;
the flight control system comprises a processor, an inertial measurement unit, a position sensor, a speed sensor, a height sensor and a wind speed and direction sensor, wherein the inertial measurement unit, the position sensor, the speed sensor, the height sensor and the wind speed and direction sensor are arranged on the machine body;
The processor is configured to: 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 wind direction information measured by the wind speed and wind direction sensor, 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 are adjusted so as to adjust the gesture and the position of the unmanned aerial vehicle; according to wind direction information and wind speed information measured by the wind speed and direction sensor, 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 are adjusted, so that the unmanned aerial vehicle can resist wind resistance, and the unmanned aerial vehicle specifically comprises:
When the unmanned aerial vehicle is affected by wind, the preset gesture, the preset position and the preset height of the unmanned aerial vehicle are changed, and 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 a wind speed and direction sensor; when the set gesture of the unmanned aerial vehicle is changed, calculating to obtain a gesture change amount according to the current gesture measured by the inertia measurement unit, and adjusting the rotating speed of the fixed duct mechanism corresponding to the current gesture according to the wind resistance on the vertical surface and the gesture change amount so as to change the thrust in the vertical direction to restore the unmanned aerial vehicle to the set gesture; when the set height of the unmanned aerial vehicle is changed, calculating to obtain a height variation according to the current height measured by the height sensor, and adjusting the rotating speeds of all the fixed duct mechanisms according to the wind resistance on the vertical surface and the height variation so as to change the thrust in the vertical direction to restore the unmanned aerial vehicle to the set height; when the set position of the unmanned aerial vehicle is changed, calculating a position change amount according to the current position measured by a position sensor, and adjusting the rotation angle of the electric rotating shaft mechanism, so that the thrust direction generated by the full-motion duct mechanism points to the set position, and adjusting the rotating speed of the full-motion duct mechanism according to the position change amount and the wind resistance direction on the horizontal plane, so that the thrust generated by the full-motion duct mechanism can enable the unmanned aerial vehicle to recover to the set position; the unmanned aerial vehicle can be restored to a set state through the resultant force obtained by the thrust of the fixed duct mechanism in the vertical direction and the thrust direction and the magnitude generated by the full-motion duct mechanism;
When the unmanned aerial vehicle is restored to the set position, after the unmanned aerial vehicle is restored to the set state, decomposing wind resistance into horizontal plane wind resistance and vertical plane wind resistance according to wind direction information and wind speed information measured by a wind speed and wind direction sensor, and adjusting the rotating speed of the fixed duct mechanism according to the vertical plane wind resistance so as to generate thrust on a vertical plane; the rotation angle of the electric rotating shaft mechanism is adjusted according to the wind resistance direction on the horizontal plane, so that the thrust direction generated by the full-motion duct mechanism is opposite to the horizontal wind resistance direction, the position of the unmanned aerial vehicle is kept stable, and the rotation speed of the full-motion duct mechanism is adjusted to generate thrust on the horizontal plane; the 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 receives windage on a horizontal plane, the rotation speed of the full-motion duct mechanism is adjusted according to wind speed information measured by the wind speed and wind direction sensor, so that the thrust in the horizontal direction generated by the rotation speed of the full-motion duct mechanism can resist the resistance of wind on the horizontal wind direction to the unmanned aerial vehicle; when the unmanned aerial vehicle receives the windage on vertical face, the unmanned aerial vehicle offsets the windage through thrust or gravity of vertical direction, according to wind speed information of wind speed wind direction sensor measuring adjusts fixed ducted structure's rotational speed for the vertical ascending thrust that fixed ducted structure's rotational speed produced can resist wind and bring the resistance for unmanned aerial vehicle in vertical wind direction.
2. The unmanned aerial vehicle of claim 1, wherein the number of fixed ducted mechanisms is at least four, and four of the fixed ducted mechanisms are in rectangular distribution.
3. The unmanned aerial vehicle of claim 1, wherein the tethered cable control device comprises 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 tension sensor is arranged at the other end of the winding rotating shaft; and an output signal end of the tension sensor is connected with the rotating shaft controller.
4. The unmanned aerial vehicle of claim 1, further comprising: a mounting bracket; the mounting bracket is mounted at the bottom of the machine body and used for fixing the mooring cable.
5. The unmanned aerial vehicle of claim 1, further comprising: a directional signal receiving antenna, an antenna base and an antenna rotating shaft;
The directional signal receiving antenna is arranged on the antenna base through the antenna rotating shaft, and the bottom end of the antenna base is arranged on the machine body.
6. A method of controlling a high wind resistance multi-duct tethered unmanned aerial vehicle of any of claims 1-4, comprising:
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 bypass mechanism to point to a preset horizontal position; according to the horizontal position change information and the current wind speed information measured by the wind speed and direction sensor, adjusting the rotating speed of the full-motion duct mechanism so that the unmanned aerial vehicle provides thrust in the horizontal wind direction to enable the unmanned aerial vehicle to recover to a preset horizontal position;
When the unmanned aerial vehicle is restored to a 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 wind direction sensor, so that the thrust direction provided by the full-moving duct mechanism is opposite to the wind resistance direction of the horizontal plane, and the rotating speed of the full-moving duct mechanism is adjusted according to the current wind speed information measured by the wind speed and wind direction sensor, so that the unmanned aerial vehicle resists 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 rotation speed of the fixed duct mechanism corresponding to the pitching gesture according to the preset pitching gesture and the pitching gesture measured by the inertial measurement unit so as to adjust the pitching gesture of the unmanned aerial vehicle.
8. The control method according to claim 6, characterized by further comprising:
measuring the current rolling gesture of the unmanned aerial vehicle body through the inertial measurement unit;
And controlling the rotation speed of the fixed duct mechanism corresponding to the rolling gesture according to the preset rolling gesture and the rolling gesture measured by the inertia measurement unit so as to adjust the rolling gesture of the unmanned aerial vehicle.
9. The control method according to claim 6, characterized by further comprising:
Measuring the current heading attitude of the unmanned aerial vehicle body through the inertia measurement unit;
and controlling the rotation speed of the fixed duct mechanism corresponding to the heading gesture according to the preset heading gesture and the current heading gesture measured by the inertial measurement unit so as to adjust the heading gesture of the unmanned aerial vehicle.
10. The control method according to claim 6, characterized by further comprising:
Measuring current height information of the unmanned aerial vehicle through a height sensor;
And controlling the rotation speeds of all the fixed duct mechanisms according to the preset height information and the current height information measured by the height sensor so as to recover the height of the unmanned aerial vehicle to the preset height.
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| DE202012011054U1 (en) * | 2012-11-19 | 2013-03-18 | AIRVIONIC UG (haftungsbeschränkt) | aircraft |
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| CN111287411A (en) * | 2020-03-03 | 2020-06-16 | 西南交通大学 | Aerial spraying system based on unmanned aerial vehicle flight platform |
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