CN116088557B - Full-drive six-rotor unmanned aerial vehicle pose control method and device - Google Patents
Full-drive six-rotor unmanned aerial vehicle pose control method and device Download PDFInfo
- Publication number
- CN116088557B CN116088557B CN202310332102.2A CN202310332102A CN116088557B CN 116088557 B CN116088557 B CN 116088557B CN 202310332102 A CN202310332102 A CN 202310332102A CN 116088557 B CN116088557 B CN 116088557B
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- rotor
- expected
- rotor unmanned
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 60
- 230000001133 acceleration Effects 0.000 claims abstract description 134
- 239000011159 matrix material Substances 0.000 claims abstract description 62
- 239000013598 vector Substances 0.000 claims description 36
- 230000036544 posture Effects 0.000 claims description 33
- 238000004364 calculation method Methods 0.000 claims description 26
- 238000001514 detection method Methods 0.000 claims description 24
- 238000004590 computer program Methods 0.000 claims description 13
- 230000008859 change Effects 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 11
- 238000012512 characterization method Methods 0.000 claims description 8
- 230000006870 function Effects 0.000 claims description 7
- 230000005484 gravity Effects 0.000 claims description 4
- 230000017105 transposition Effects 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000019800 disodium phosphate Nutrition 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000007499 fusion processing Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a method and a device for controlling the pose of a full-driving six-rotor unmanned aerial vehicle, wherein the method ensures the precise tracking of the unmanned aerial vehicle to a given expected position by using a position controller; in addition, a gesture generator is designed, and gestures corresponding to different scenes are generated according to the set three gesture strategies and gestures; designing a gesture controller based on a rotation matrix to ensure accurate tracking of gestures; and finally, feedback linearization control is adopted, and the rotating speed of the motor rotor is calculated according to the linear acceleration error and the angular acceleration error, so as to control the motion of the rotor-fixed inclined full-drive type multi-rotor unmanned aerial vehicle. The invention designs a corresponding pose control method aiming at the rotor fixed inclined full-driving type six-rotor unmanned aerial vehicle, ensures the stability, reliability and anti-interference performance of the rotor fixed inclined full-driving type six-rotor unmanned aerial vehicle control, is easy to expand into a controller of an air contact type operation robot, and is convenient to realize in engineering.
Description
Technical Field
The invention belongs to the field of aircraft control, and particularly relates to a full-drive six-rotor unmanned aerial vehicle pose control method and device.
Background
In recent years, with the development of technology, in-flight contact work robots have come into the field of view of the public. In-flight contact work robots typically use a conventional four/six rotor unmanned aerial vehicle as a flying platform. The four/six rotor unmanned aerial vehicle is an under-actuated system, horizontal movement dynamics and rotational movement dynamics of the under-actuated system are coupled, six-degree-of-freedom force and moment cannot be generated, and the horizontal attitude cannot be kept under free flight, so that the under-actuated system cannot hover stably under an inclined attitude, and stable control cannot be realized. However, in many working scenarios, particularly in the case of a slope or the like, a four/six rotor unmanned aerial vehicle is required to tilt the fuselage by a certain angle and to stably hover, so that the working mechanism is used to contact the object to be detected for detection. Therefore, the conventional four/six rotor unmanned aerial vehicle is difficult to meet the detection requirement.
Disclosure of Invention
The invention provides a full-driving type six-rotor unmanned aerial vehicle with a rotor fixed and inclined and a pose control method thereof, which aims to solve the technical problem that the traditional four/six-rotor unmanned aerial vehicle is an under-actuated system, so that stable hovering can not be realized when a fuselage is inclined.
In one aspect, the invention provides a full-drive six-rotor unmanned aerial vehicle pose control method, which comprises the following steps:
step 1: acquiring an expected state of the fully-driven six-rotor unmanned aerial vehicle, wherein the characterization parameters of the expected state at least comprise: a desired rotation matrix at a desired position and a desired attitude;
the six motor rotors of the full-drive six-rotor unmanned aerial vehicle tilt by a fixed angle value respectively, so that the layout of the corresponding propellers is a non-coplanar layout;
step 2: and calculating linear acceleration errors and angular acceleration errors based on the expected state and the current state, and inputting the angular acceleration errors and the linear acceleration errors into a constructed feedback linearization module to obtain expected rotor speed vectors, wherein the expected rotor speed vectors are used for controlling the motor rotor of the full-drive six-rotor unmanned aerial vehicle.
The layout of six motors of the traditional six-rotor unmanned aerial vehicle is vertical, the six propellers are in a coplanar layout and are in opposite gravity directions, so that only one-dimensional force can be formed, and the traditional six-rotor unmanned aerial vehicle system is an underactuated system. According to the technical scheme, the motor rotors of the traditional six-rotor unmanned aerial vehicle are all tilted by a fixed angle value, so that the layout of the propellers is changed into a non-coplanar layout, and lift force in three dimensions is generated, and therefore the full-drive six-rotor unmanned aerial vehicle with the rotor fixed and tilted is formed, and the full-drive six-rotor unmanned aerial vehicle belongs to a full-drive system. Based on the unmanned aerial vehicle, the technical scheme of the invention provides the pose control method of the full-drive six-rotor unmanned aerial vehicle, which inputs the angular acceleration error and the linear acceleration error into a constructed feedback linearization module through tracking the expected state, so as to obtain the expected rotor speed vector, and controls the action of the motor rotor of the unmanned aerial vehicle based on the expected rotor speed vector, so that the unmanned aerial vehicle approaches the expected state. It should be appreciated that the fully driven six rotor unmanned aerial vehicle will approach or reach the desired state indefinitely following cyclic control of the control method described above.
Further optionally, the desired rotor speed vector is expressed as follows:
definition of a function
、/>
And intermediate variables +.>
The following formula is satisfied:
in the method, in the process of the invention,
for a desired rotor speed vector,xindicating the status of the system->
Representation ofxTime derivative, L, N are defined intermediate variables, see in particular the example +.>
And +.>
Is a formula of (2); />
For angular acceleration error, ++>
Is a linear acceleration error; />
Is a gravitational constant, < >>
The mass of the full-driving six-rotor unmanned aerial vehicle is that of the full-driving six-rotor unmanned aerial vehicle; />
Is the current angular speed of the machine body; />
Is a rotation matrix from a machine body coordinate system to an inertial coordinate system in the current state; />
Is the inertial matrix of the full-drive six-rotor unmanned aerial vehicle, and T represents the transposition of the matrix.
Further optionally, step 1 is to determine a desired rotation matrix under the desired attitude according to a set attitude strategy, where the attitude strategy is to divide the attitude of the fully-driven six-rotor unmanned aerial vehicle into: the method comprises the steps of conventional inclined postures, constant horizontal postures and fixed inclined postures, and selecting one type of postures according to detection environments, wherein an expected rotation matrix corresponding to each type of postures is expressed as follows:
the normal tilt attitude:
wherein,,
is a desired rotation matrix; />
Representing the desired body coordinate system- >
；/>
、/>
、/>
Respectively the desired body coordinate system->
Go up->
、/>
、/>
Unit vectors on the coordinate axes, and satisfy:
wherein,,
for the desired resultant force on the inertial coordinate system, +.>
Is the desired yaw angle;
wherein the formula for the desired resultant force is as follows:
in the method, in the process of the invention,
the linear acceleration is calculated by a position controller; />
Is an inertial coordinate systemIDesired linear acceleration down.
The constant horizontal attitude:
the fixed tilt attitude:
wherein,,
、/>
、/>
the following calculation is performed in turn:
in the method, in the process of the invention,
、/>
the desired inclination angle and the desired inclination direction are respectively; />
Is a unit vector on the Z axis of the inertial coordinate system,rfor the definition of intermediate variables, the axis of rotation about which the fully-driven six-rotor unmanned aerial vehicle tilts the fuselage is indicated. The axis of rotation is perpendicular to both the Z-axis of the inertial frame and the projection of the vector pointing in the oblique direction onto a plane consisting of the X-axis and the Y-axis of the inertial frame.
Further optionally, the fixed tilt gesture and the normal tilt gesture are both applicable to slope detection, and a detection distance corresponding to the fixed tilt gesture is smaller than a detection distance corresponding to the normal tilt gesture, where the detection distance is a distance between the full-drive six-rotor unmanned aerial vehicle and a detection device;
The constant horizontal attitude is suitable for vertical surface detection.
Further alternatively, the calculation process of the linear acceleration error is as follows:
firstly, obtaining a position error based on the expected position and the current actual position;
inputting the position error into a constructed position controller to obtain linear acceleration, and further obtaining linear acceleration error compared with expected linear acceleration;
the position controller builds a calculation model of the relation between the position error and the linear acceleration, and is used for calculating the linear acceleration.
The position controller is as follows:
wherein,,
is linear acceleration; />
、/>
、/>
Is a diagonal matrix, and diagonal elements are constants greater than 0,
for positional error +.>
Representing the positionError->
Corresponding to deriving about time->
，/>
The time of last calling the position controller and the time of last calling the position controller are respectively represented, and the specific value of the time is determined by the frequency of the position controller.
Further alternatively, the calculation process of the angular acceleration error is as follows:
firstly, based on the expected gesture and the gesture angle change rate determined by the current gesture, obtaining the expected angular acceleration of the machine body by utilizing the relation between the gesture angle change rate and the rotation angular speed of the machine body;
Then, inputting the expected body angular acceleration into a constructed gesture controller to obtain an angular acceleration error on a body coordinate system;
the attitude controller builds a calculation model of the relation between the expected body angular acceleration and the angular acceleration error and is used for calculating the angular acceleration error.
The gesture controller is represented as follows:
wherein,,
is the angular acceleration error on the machine body coordinate system; />
、/>
、/>
Is a diagonal matrix and is opposite toThe angle line elements are constants greater than 0; />
For the desired angular acceleration of the body->
For posture tracking error, +.>
For angular velocity tracking error +.>
，/>
The time of last invoking the gesture controller and the time of last invoking the gesture controller are respectively represented, and the specific value of the time is determined by the frequency of the gesture controller. The frequencies of the attitude controller and the position controller may be set to be the same or different, and the present invention is not particularly limited thereto.
Further optionally, the corresponding attitude angle change rate under the expected body coordinate system is expressed as:
；
the relationship between the attitude angle change rate and the rotational angular velocity is as follows:
wherein,,
is the desired angular velocity of the body; />
、/>
、/>
Roll angle, pitch angle and yaw angle, respectively.
In a second aspect, the invention further provides a full-drive type six-rotor unmanned aerial vehicle based on the method, wherein six motor rotors of the full-drive type six-rotor unmanned aerial vehicle are respectively tilted by a fixed angle value, so that the layout of corresponding propellers is a non-coplanar layout.
Wherein the fixed angle value is equal to the rotation angle
Is equal to the absolute value of said rotation angle +.>
Is obtained by obtaining the rotation angle +.>
The latter rotation angle around the Y-axis of the new rotor coordinate system, said rotation angle +.>
Is rotated around the Z axis of the machine body coordinate system to align the rotor coordinate system of the ith motor and enable the projection of the Y axis of the rotor coordinate system on the XY plane of the machine body coordinate system to point to the rotation angle of the mass center of the full-drive six-rotor unmanned aerial vehicle.
In a third aspect, the present invention provides a control system based on the full-drive six-rotor unmanned aerial vehicle pose control method, which includes: the expected state acquisition module and the control module;
the expected state acquisition module is used for acquiring an expected state of the fully-driven six-rotor unmanned aerial vehicle, and the characterization parameters of the expected state at least comprise: a desired rotation matrix at a desired position and a desired attitude;
the six motor rotors of the full-drive six-rotor unmanned aerial vehicle tilt by a fixed angle value respectively, and the layout of the corresponding propellers is changed into a non-coplanar layout;
The control module is used for calculating linear acceleration errors and angular acceleration errors based on the expected state and the current state, inputting the angular acceleration errors and the linear acceleration errors into the constructed feedback linearization module to obtain expected rotor rotating speed vectors, and controlling the motor rotor of the full-drive six-rotor unmanned aerial vehicle.
In a fourth aspect, the present invention provides a fully driven six-rotor unmanned aerial vehicle, which at least comprises: one or more processors; and a memory storing one or more computer programs;
wherein the processor invokes the computer program to implement:
a fully-driven six-rotor unmanned aerial vehicle pose control method comprises the steps of.
In a fifth aspect, the present invention provides a computer readable storage medium storing one or more computer programs, the computer programs being invoked by a processor to implement:
a fully-driven six-rotor unmanned aerial vehicle pose control method comprises the steps of.
Advantageous effects
Compared with the prior art, the invention has the advantages that the following aspects are mainly realized:
the position and posture control method of the full-driving type six-rotor unmanned aerial vehicle is suitable for a full-driving type six-rotor unmanned aerial vehicle with fixed and inclined rotors, six motor rotors of the full-driving type six-rotor unmanned aerial vehicle rotate by a fixed angle by taking a horn where the motor rotors are positioned as a rotating shaft, so that the layout of corresponding propellers is non-coplanar, and lift force with three dimensions is generated, thus a full-driving system is formed. Therefore, the technical scheme of the invention can effectively overcome the technical defect that the traditional four/six rotor unmanned aerial vehicle is an under-actuated system, and the pose control method provided by the technical scheme of the invention is continuously approximate to the expected state, so that the accurate tracking of the position and the pose is ensured.
According to the pose control method provided by the technical scheme of the invention, a feedback linearization module based on the angular acceleration error and the linear acceleration error is constructed, and the feedback linearization module is utilized to obtain a desired rotor rotating speed vector, so that the motor rotor operation of the full-drive six-rotor unmanned aerial vehicle is controlled. The control parameters are easy to adjust, the robustness is high, and the controller is easy to expand into a controller of the overhead contact type operation robot, so that the controller is convenient to realize in engineering.
According to the technical scheme, the gesture controller is further optimized, namely, the gesture of the unmanned aerial vehicle is divided into: a normal tilt attitude, a constant horizontal attitude, and a fixed tilt attitude, thereby selecting a type of attitude according to the detection environment. The conventional inclined posture strategy can resist external force and interference, reduces energy consumption, and is suitable for flying under the condition of external wind gust and other interference; the constant horizontal attitude strategy can keep the machine body horizontal, and is suitable for carrying a rigid mechanism to detect the vertical surface of a facility; the fixed inclination posture strategy can keep the machine body inclined, and is suitable for carrying a rigid mechanism to detect the inclined plane of a facility.
According to the technical scheme, the position control based on proportional-integral-derivative is designed for calculating the linear acceleration error and the angular acceleration error, and the attitude controller based on the rotation matrix is designed for ensuring accurate tracking of the position and the attitude and ensuring the stability and the robustness of the rotor fixed tilting full-driving type six-rotor unmanned aerial vehicle control.
Drawings
FIG. 1 is a schematic diagram of a control object structure according to the present invention;
fig. 2 is a control schematic of the present invention.
Detailed Description
The invention provides a position and orientation control method and device of a full-driving type six-rotor unmanned aerial vehicle, wherein the position and orientation control method is a novel full-driving type multi-rotor unmanned aerial vehicle system formed by rotating six motor rotors at a fixed angle by taking a horn where the motor rotors are positioned as a rotating shaft on the basis of a traditional six-rotor unmanned aerial vehicle. By adopting the novel unmanned aerial vehicle system as a flight platform, the carrying operation mechanism carries out air contact operation, and can realize the nondestructive detection operation of objects and environments on the surface. The core technology of the present invention will be explained below.
The technical idea is as follows:
the invention provides a full-drive six-rotor unmanned aerial vehicle pose control method, which comprises the following steps:
step 1: acquiring an expected state of the fully-driven six-rotor unmanned aerial vehicle, wherein the characterization parameters of the expected state at least comprise: a desired position, and a desired rotation matrix at a desired pose.
Step 2: and calculating linear acceleration errors and angular acceleration errors based on the expected state and the current state, and inputting the angular acceleration errors and the linear acceleration errors into a constructed feedback linearization module to obtain expected rotor speed vectors, wherein the expected rotor speed vectors are used for controlling the motor rotor of the full-drive six-rotor unmanned aerial vehicle.
The technical scheme of the invention obtains the expected rotor speed vector corresponding to the expected state based on the technical thought, so as to control the motor rotor of the full-drive six-rotor unmanned aerial vehicle, and the implementation process and theoretical formula of each step are explained below.
As shown in fig. 1, the motor rotor of the traditional six-rotor unmanned aerial vehicle is rotated by a fixed angle, so that the full-drive six-rotor unmanned aerial vehicle with the rotor fixed and inclined is formed.
The six propellers are arranged in a coplanar mode, lift force formed by rotation of the propellers is opposite to gravity, so that force with one dimension can be formed only, and the traditional six-rotor unmanned aerial vehicle system is an underactuated system. According to the six-rotor unmanned aerial vehicle, the motor rotors of the traditional six-rotor unmanned aerial vehicle are all tilted by a fixed angle value, namely, different motor tilting angles are the same, and the tilting directions of the motor rotors are different around the respective horn. The motor 1 rotates around the arm by x degrees in front of the unmanned aerial vehicle (x represents a certain angle and is the same as the following); the No. 2 motor rotates for x degrees around the horn of the unmanned aerial vehicle to the front of the unmanned aerial vehicle; the motor No. 3 rotates for x degrees around the horn in the middle of the horn No. 2 and the horn No. 3; the motor No. 4 rotates for x degrees around the horn in the middle of the horn No. 4 and the horn No. 6; no. 5 motor surrounds place horn Rotating the middle of the No. 3 horn and the No. 5 horn by x degrees; the No. 6 motor surrounds the horn, and rotates for x degrees in the direction between the No. 4 horn and the No. 6 horn of the unmanned aerial vehicle; the magnitude of the rotation angle x in this embodiment is as follows
The rotation angle x is preferably 30 degrees in size. Therefore, the layout of the propellers is changed into a non-coplanar layout, so that three-dimensional lifting force is generated, and therefore, the full-drive type six-rotor unmanned aerial vehicle with the rotor fixed and inclined is formed, and the full-drive type six-rotor unmanned aerial vehicle belongs to a full-drive system; it should be understood that in other possible embodiments, if the rotation direction or the rotation angle is set to other values, and finally, the rotor is also formed into a fully-driven six-rotor unmanned aerial vehicle with a fixed tilt, it is also in accordance with the technical concept of the present invention. The invention provides a pose control method of an unmanned aerial vehicle, which aims at a full-drive six-rotor unmanned aerial vehicle with a rotor fixed and inclined through inclination and fixed angles. Wherein the rotation angle +.>
And rotation matrix->
Relatedly, rotate matrix->
Calculation of the influence, the magnitude of the rotation angle thus influences the magnitude of the final rotor speed vector, but due to the rotation matrix +. >
When cos and sin are adopted to calculate, but the angle difference is not large, the values of sin and cos are not changed greatly, and the matrix is rotated +.>
The change is not large and the effect on the rotational speed is limited, but the following calculation process/algorithm is general regardless of the value.
(1) Based on structural characteristics and Newton equations of the rotor fixed-inclination full-driving six-rotor unmanned aerial vehicle, a position dynamics model of the system is deduced:
according to the Newton equation, the position dynamics model of the system is obtained as follows:
wherein,,
mass of all-drive six-rotor unmanned aerial vehicle with fixed inclination of rotor->
The acceleration of the unmanned aerial vehicle in the inertial coordinate system is represented by the right upper corner mark ++>
Representing an inertial coordinate system, wherein the inertial coordinate system follows the right-hand rule, the X axis points to the east, the Y axis points to the north, and the Z axis points to the upper direction; />
Is the resultant force on the inertial coordinate system; />
Is the gravity of the full-driving six-rotor unmanned aerial vehicle on an inertial coordinate system; />
Is the total tension generated by six propellers on an inertial coordinate system; />
Is a gravitational constant; />
Is a rotation matrix from a machine body coordinate system to an inertial coordinate system; />
Is the lifting force generated by the ith motor on the machine body coordinate system; the right upper corner mark B represents the coordinate system of the body and the body sits The standard is in accordance with the right hand rule, the X axis is directed to the front of the machine body, the Y axis is directed to the right of the machine body, and the Z axis is directed to the lower part of the machine body.
Wherein the matrix is rotated
Lift force->
Calculated by the following formula respectively:
wherein,,
、/>
、/>
the angle of rotation of the unmanned aerial vehicle around the X axis of the machine body coordinate system is the roll angle, the angle of rotation of the unmanned aerial vehicle around the Y axis of the machine body coordinate system is the pitch angle, and the angle of rotation of the unmanned aerial vehicle around the Z axis of the machine body coordinate system is the yaw angle; />
、/>
Respectively represent->
And +.>
；/>
The rotor lift coefficient of the representative motor is constant and positive; />
Is the rotor speed of the ith motor; corner mark of lower right corner->
Representing a motor rotor coordinate system, wherein the motor rotor coordinate system follows a right-hand criterion, a Y-axis points to the mass center of the body along the horn of the unmanned aerial vehicle, a Z-axis points obliquely downwards along the direction in which the motor blades rotate to form a plane, and the direction of the X-axis is determined by the right-hand criterion; />
Is a rotation matrix from a motor coordinate system of the ith motor to a machine body coordinate system; />
And->
Transposed matrix with respect to each other, ">
Calculated by the following formula:
wherein,,
the rotation angle is rotated around the Z axis of the machine body coordinate system to align the rotor coordinate system of the ith motor and enable the projection of the Y axis of the rotor coordinate system on the XY plane of the machine body coordinate system to point to the mass center of the unmanned plane; / >
Is obtained by->
Then the rotation angle of the X axis around the new rotor coordinate system; />
Is obtained by->
The rotation angle of the Y-axis around the new rotor coordinate system, different rotors +.>
Only positive and negative differences, this relates to direction, so the +.>
Is equal in absolute value. The machine body coordinate system and the rotor coordinate system of the rotor-fixed inclined full-driving six-rotor unmanned aerial vehicle are fixedly connected to the machine body, the relative position is not changed, and the relative position is not changed>
、/>
、/>
Is fixed.
Thus the resultant force on the inertial coordinate system
The method comprises the following steps:
and (3) making:
it can be calculated as:
and (3) making:
then:
(2) Deducing an attitude dynamic model of the system according to structural characteristics and Euler equations of the full-driving six-rotor unmanned aerial vehicle with the rotor fixed and inclined;
according to Euler equation, the attitude dynamics model of the obtained system is as follows:
wherein,,
the inertial matrix is an inertial matrix of the rotor fixed inclined full-driving type six-rotor unmanned aerial vehicle; />
Is the angular velocity of the machine body,
，/>
、/>
、/>
angular speeds of the unmanned aerial vehicle rotating around x, y and z axes of the unmanned aerial vehicle are respectively set; />
Is angular acceleration;
the lifting force moment generated by the motor rotor acts on the mass center of the unmanned aerial vehicle; />
Is the moment acting on the rotor mass center of the rotating rotor; / >
Is the distance from the centre of mass of the unmanned aerial vehicle to the centre of mass of the rotor of the ith motor,/th motor>
，
Respectively correspond tox,y,zA component in the axial direction; />
Is the torque of the ith rotating rotor acting on the rotor mass.
Calculated by the following formula:
wherein,,
0 or 1, depending on whether the rotation direction of the ith motor rotor is positive or negative about the Z-axis of the rotor coordinate system,/v>
Representing the positive direction +.>
Representing a negative direction; />
Is the reactive torque coefficient of the motor.
Thus, the moment
And moment->
The method comprises the following steps:
and (3) making:
and (3) making:
therefore, the resultant moment on the machine body coordinate system is:
and (3) making:
according to the change rate of attitude angle
Rotational angular velocity +.>
Is the relation of:
and (3) making:
then:
based on the above statement regarding the dynamics theory of the unmanned aerial vehicle, a control path as shown in fig. 2 is constructed in one embodiment of the present invention:
(1) Given a desired position
That is, the target state that the all-drive six-rotor unmanned aerial vehicle is expected to reach, and the expected position is further +.>
And inputting the linear acceleration error to a position controller, and finally obtaining the linear acceleration error and inputting the linear acceleration error to a feedback linearization module.
The embodiment of the invention preferably designs a proportional-integral-derivative position controller to ensure the accurate tracking of the unmanned aerial vehicle to a given position, wherein the position controller is expressed as:
Wherein,,
is the linear acceleration; />
、/>
、/>
Is a diagonal matrix, and diagonal elements are constants greater than 0. />
For position errors, i.e.)>
，/>
For the desired position, add->
For the actual position +.>
，/>
The time of last calling the position controller and the time of last calling the position controller are respectively represented, and the specific value of the time is determined by the frequency of the position controller.
Thus, the expected resultant force on the inertial coordinate system is calculated as follows:
thus, the actual acceleration error
The calculation is as follows:
wherein,,
is the desired linear acceleration.
In summary, after a desired position is given, a position error is obtained based on the desired position and the current actual position; and inputting the position error into a constructed position controller to obtain linear acceleration, and further obtaining linear acceleration error compared with the expected linear acceleration. Finally transmitting the linear acceleration error to a feedback linearization module; and obtaining the linear acceleration, then obtaining the expected resultant force on the inertial coordinate system through calculation, and finally transmitting the expected resultant force to the gesture generator module.
It should be noted that, in this example, a proportional-integral-derivative position controller is selected, and in other possible embodiments, other types of position controllers may be selected to implement the linear acceleration calculating function, and it should be understood that other technical solutions for calculating the linear acceleration error are also consistent with the foregoing technical ideas of the present invention, and fall within the protection scope of the present invention.
(2) Using a gesture generator and a gesture strategy, selecting a type of gesture to further determine an expected rotation matrix corresponding to the type of gesture:
and calculating a desired lifting force on the inertial coordinate system through the position controller, and calculating a desired attitude angle according to the desired lifting force.
Gesture policy: dividing the gesture of the unmanned aerial vehicle into: the device comprises a conventional inclined posture, a constant horizontal posture and a fixed inclined posture, and a class of postures is selected according to a detection environment. The expected attitude angles of the three strategies are all represented by a rotation matrix, so that the singularities represented by Euler angles and the abstractions represented by quaternions can be avoided.
The first is a conventional tilt attitude strategy, and the attitude of the full-drive six-rotor unmanned aerial vehicle under the strategy is inclined towards the movement direction of the unmanned aerial vehicle when the unmanned aerial vehicle moves, and is the same as the attitude of the fuselage inclination when the traditional underactuated unmanned aerial vehicle moves. The unmanned aerial vehicle has larger capability of resisting external force and interference under the strategy, and can save energy. When the unmanned aerial vehicle is further away from the detected facility when expanding to the overhead contact type operation robot in the future, the adoption of the strategy can ensure the stability of the unmanned aerial vehicle against interference and save energy. The rotation matrix under this strategy is:
Wherein,,
representing the desired body coordinate system of the setting>
The direction of the coordinate system is the front-right-lower coordinate system;
、/>
、/>
are respectively->
、/>
、/>
Unit vector on the coordinate axis. Wherein->
、/>
、/>
The following calculation is performed in turn:
wherein,,
for the desired resultant force on the inertial coordinate system, +.>
Is the desired yaw angle.
The second is a constant horizontal attitude strategy under which the fuselage attitude of a fully-driven six-rotor unmanned aerial vehicle can be maintained at a constant level while in motion or hovering. When the unmanned aerial vehicle is close to the detected facility and the vertical surface of the facility is to be subjected to contact detection, the stability of the robot during detection can be maintained by adopting the strategy when the unmanned aerial vehicle is expanded to the overhead contact type operation robot in the future. The rotation matrix under this strategy is:
and the third is a fixed tilting attitude strategy, and the whole-driving six-rotor unmanned aerial vehicle under the strategy can tilt the airframe to a certain angle in a certain direction during movement or hovering. When the unmanned aerial vehicle is close to the detected facility and the facility inclined plane is to be detected in contact when expanding to the overhead contact type operation robot in the future, the inclined plane can be detected by adopting the strategy. Under this strategy, two additional input parameters, respectively the desired tilt angle, need to be set 
And the desired tilt direction->
Here it is assumed that the direction and the north direction to which the inertial coordinate system points are the same.
The rotation matrix under this strategy is:
wherein,,
、/>
、/>
the following calculation is performed in turn:
the drone is tilted about a rotation axis perpendicular to the Z-axis of the inertial coordinate system, wherein:
therefore, a type of gesture is selected according to the detection environment, and then the expected rotation matrix can be determined according to the formula, and the expected rotation matrix is obtained and then transmitted to the angular acceleration generator.
It should be noted that, in this embodiment, the above posture policy is preferably set, and in other possible embodiments, the rotation matrix in a certain posture determined by using other possible manners also conforms to the foregoing technical idea of the present invention, and falls within the protection scope of the present invention. I.e. the above gesture strategy is a preferred example of the invention, but not the only viable way.
(3) The desired body angular acceleration is obtained using an angular acceleration generator.
Wherein the set desired pose can be obtained from the desired rotation matrix. The method comprises the following steps:
in the conventional tilt attitude strategy and the fixed tilt attitude strategy, the set desired attitudes are:
wherein,,
、/>
、/>
desired rotation matrix set in normal tilt attitude strategy and fixed tilt attitude strategy, respectively +. >
First, second, and third columns of (a).
In the constant horizontal attitude strategy, the desired attitudes set are:
according to the change rate of attitude angle
Rotational angular velocity +.>
Is used in the three gesture strategies>
Indicating the desired body angular velocity, specifically:
therefore, the desired body angular acceleration is:
in summary, after the expected rotation matrix is input into the angular acceleration generator, the expected rotation matrix is utilized to determine the expression of the expected gesture, the current gesture is utilized to determine the gesture angular change rate, and the relationship between the gesture angular change rate and the rotation angular velocity of the machine body is utilized to obtain the expected machine body angular acceleration. And finally, transmitting the obtained expected body angular acceleration to the gesture controller. It should be noted that, in this embodiment, the angular acceleration generator is selected, and in other possible embodiments, other types of generators may be selected to implement the function of calculating the desired angular acceleration of the machine body, and it should be understood that other technical solutions for calculating the desired angular acceleration of the machine body are also consistent with the foregoing technical ideas of the present invention, and fall within the protection scope of the present invention.
(4) And carrying out gesture tracking by using a gesture controller to obtain an angular acceleration error on a machine body coordinate system. And designing a gesture controller according to the obtained expected rotation matrix and the expected body angular acceleration.
According to the expected rotation matrix and the current rotation matrix, calculating an attitude tracking error, wherein the attitude tracking error is specifically as follows:
wherein,,
is an attitude tracking error; />
Is a desired rotation matrix; />
Is a rotation matrix in the current state; sign->
Mapping for lie algebra to vectors: />
。
Calculating an angular velocity tracking error according to the expected rotation matrix, the current rotation matrix, the expected body angular velocity and the current body angular velocity, wherein the angular velocity tracking error is specifically as follows:
wherein,,
is an angular velocity tracking error; />
Is the desired angular velocity of the body; />
Is the current angular speed of the body.
In order to converge the attitude tracking error to 0, the attitude controller is designed specifically as follows:
wherein,,
is the angular acceleration error on the machine body coordinate system; />
、/>
、/>
Is a diagonal matrix, and diagonal elements are constants greater than 0. />
，/>
Respectively representing the time of last invoking the gesture controller and the time of the current invoking the gesture controller.
And finally, inputting the angular acceleration error on the machine body coordinate system obtained by the gesture controller to a feedback linearization module.
It should be noted that, in this embodiment, the above-mentioned gesture controller is selected, and in other possible embodiments, other types of gesture controllers may be selected to implement the angular acceleration error calculating function, and it should also be understood that other technical solutions for calculating the angular acceleration error are also consistent with the foregoing technical ideas of the present invention, and fall within the protection scope of the present invention.
(5) And calculating an expected rotor rotating speed vector by using a feedback linearization module, and controlling the motor rotor of the full-drive six-rotor unmanned aerial vehicle.
The linear acceleration error of the position controller and the angular acceleration error of the attitude controller are input into the feedback linearization module, and then the feedback linearization module outputs the expected rotor rotating speed vector.
The states of the system are defined as:
according to resultant forces on inertial coordinate systems
And linear acceleration->
Is a relationship of (a) and (b) on an inertial coordinate system
Is>
Relationship between:
the method can obtain the following steps:
according to the resultant moment on the machine body coordinate system
And angular acceleration->
And the resultant moment on the body coordinate system +.>
Is>
Relationship between:
the method can obtain the following steps:
thus, it is possible to obtain:
wherein, let:
therefore, there are:
and (3) making:
then, there are:
in summary, as shown in fig. 2, after a given expectation, the position controller calculates the wire acceleration error according to the given expectation position and other parameters, and transmits the wire acceleration error to the feedback linearization module; in addition, an angular acceleration error is finally obtained through the gesture generator, the angular acceleration generator and the gesture controller and is transmitted to the feedback linearization module; and the feedback linearization module calculates a rotor rotation speed vector to be expected by using the formula and is used for controlling the motor rotor of the full-drive six-rotor unmanned aerial vehicle. Causing the drone to approach the desired state.
It should be noted that, in this embodiment, the feedback linearization module is selected, and in other possible embodiments, other calculation models may be selected to implement rotor rotation speed vector calculation, that is, other technical schemes for calculating rotor rotation speed vectors are also in line with the foregoing technical ideas of the present invention, and fall within the protection scope of the present invention.
It should be noted that, in the above example, step 1 is to determine that the desired rotation matrix under the desired gesture is obtained preferably according to the set gesture policy, which is the best embodiment of the present invention, but is not the only example, and in other possible embodiments, other gestures or manners may be selected to determine the desired rotation matrix. In addition, step 2 in the above example is to calculate the linear acceleration error preferably using the proportional-integral-derivative position controller and calculate the angular acceleration error preferably using the above attitude controller. It should be understood that this is the preferred embodiment of the present invention, but is not the only example, and other technical means are adopted to obtain the linear acceleration error and the angular acceleration error in other feasible embodiments, which fall within the protection scope of the present invention.
That is, under the above technical concept of the present invention, the technical means/technical points of the calculation model of the rotor rotation speed vector, the calculation model of the attitude strategy and the expected rotation matrix, the calculation model of the linear acceleration error, and the calculation model of the angular acceleration error may be arbitrarily combined, separated, or replaced in different possible embodiments. For example, on the basis of the calculation model of the rotor rotation speed vector in the above example, the above attitude strategy, and/or the calculation model of the expected rotation matrix, and/or the calculation model of the linear acceleration error, and/or the calculation model combination of the angular acceleration error may be selected, or other technical solutions that can achieve the same function may be selected to replace.
Example 2:
the embodiment provides a system based on the full-drive six-rotor unmanned aerial vehicle pose control method, which comprises the following steps: the expected state acquisition module and the control module.
The expected state acquisition module is used for acquiring an expected state of the full-drive six-rotor unmanned aerial vehicle, and the characterization parameters of the expected state at least comprise: a desired rotation matrix at a desired position and a desired attitude;
and the control module is used for calculating linear acceleration errors and angular acceleration errors based on the expected state and the current state, inputting the angular acceleration errors and the linear acceleration errors into a constructed feedback linearization module to obtain expected rotor rotating speed vectors, and controlling the motor rotor of the full-drive six-rotor unmanned aerial vehicle.
In some implementations, the two modules are further partitioned such that the system includes: a given module, a position controller, a gesture generator, an angular acceleration generator, a gesture controller and a feedback linearization module;
the given module is used for acquiring expected parameters, such as expected positions, of the full-drive type rotor unmanned aerial vehicle; the gesture generator is used for determining an expected rotation matrix of the full-drive type rotor unmanned aerial vehicle; i.e. the two modules constitute the desired state acquisition module.
The position controller is used for calculating a linear acceleration error; the angular acceleration generator is used for calculating the angular acceleration of the machine body; the gesture controller is used for calculating an angular acceleration error, and the feedback linearization module is used for calculating an expected rotor rotating speed vector based on the angular acceleration error and the linear acceleration error and controlling a motor rotor of the full-drive type six-rotor unmanned aerial vehicle. Namely, the position controller, the angular acceleration generator, and the attitude controller are regarded as constituting the control module described above.
The implementation process of each module refers to the content of the above method, and will not be described herein. It should be understood that the above-described division of functional modules is merely a division of logic functions, and other divisions may be implemented in actual manners, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Meanwhile, the integrated units can be realized in a hardware form or a software functional unit form.
Example 3
The embodiment provides a six rotor unmanned aerial vehicle of full drive type, it includes at least: one or more processors; and a memory storing one or more computer programs;
Wherein the processor invokes the computer program to implement: the method for controlling the pose of the full-driving six-rotor unmanned aerial vehicle comprises the following steps:
step 1: acquiring an expected state of the fully-driven six-rotor unmanned aerial vehicle, wherein the characterization parameters of the expected state at least comprise: a desired rotation matrix at a desired position and a desired attitude;
the six motor rotors of the full-drive six-rotor unmanned aerial vehicle tilt by a fixed angle value respectively, so that the layout of the corresponding propellers is a non-coplanar layout;
step 2: and calculating linear acceleration errors and angular acceleration errors based on the expected state and the current state, and inputting the angular acceleration errors and the linear acceleration errors into a constructed feedback linearization module to obtain expected rotor speed vectors, wherein the expected rotor speed vectors are used for controlling the motor rotor of the full-drive six-rotor unmanned aerial vehicle.
In some embodiments, the method comprises the steps of determining to acquire a desired rotation matrix under a desired gesture according to a set gesture strategy, wherein the gesture strategy is used for dividing the gesture of the unmanned aerial vehicle into the following steps: the system comprises a conventional inclined posture, a constant horizontal posture and a fixed inclined posture, wherein one type of posture is selected according to a detection environment, and one type of expected rotation matrix corresponding to each type of posture is selected.
In some embodiments, a position error is first derived based on the desired position and a current actual position; and inputting the position error into a constructed position controller to obtain linear acceleration, and further obtaining linear acceleration error compared with expected linear acceleration.
For specific implementation, refer to the relevant statements of example 1.
The memory may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk memory.
If the memory and the processor are implemented independently, the memory, the processor, and the communication interface may be interconnected by a bus and communicate with each other. The bus may be an industry standard architecture bus, an external device interconnect bus, or an extended industry standard architecture bus, among others. The buses may be classified as address buses, data buses, control buses, etc.
Alternatively, in a specific implementation, if the memory and the processor are integrated on a chip, the memory and the processor may communicate with each other through an internal interface.
It should be appreciated that in embodiments of the present invention, the processor may be a central processing unit (Central Processing Unit, CPU), which may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSPs), application specific integrated circuits (Application Specific Integrated Circuit, ASICs), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The memory may include read only memory and random access memory and provide instructions and data to the processor. A portion of the memory may also include non-volatile random access memory. For example, the memory may also store information of the device type.
Example 4
A computer-readable storage medium storing one or more computer programs, the computer programs being invoked by a processor to implement: the method for controlling the pose of the full-driving six-rotor unmanned aerial vehicle comprises the following steps:
step 1: acquiring an expected state of the fully-driven six-rotor unmanned aerial vehicle, wherein the characterization parameters of the expected state at least comprise: a desired rotation matrix at a desired position and a desired attitude;
the six motor rotors of the full-drive six-rotor unmanned aerial vehicle tilt by a fixed angle value respectively, so that the layout of the corresponding propellers is a non-coplanar layout;
step 2: and calculating linear acceleration errors and angular acceleration errors based on the expected state and the current state, and inputting the angular acceleration errors and the linear acceleration errors into a constructed feedback linearization module to obtain expected rotor speed vectors, wherein the expected rotor speed vectors are used for controlling the motor rotor of the full-drive six-rotor unmanned aerial vehicle.
In some embodiments, the method comprises the steps of determining to acquire a desired rotation matrix under a desired gesture according to a set gesture strategy, wherein the gesture strategy is used for dividing the gesture of the unmanned aerial vehicle into the following steps: the system comprises a conventional inclined posture, a constant horizontal posture and a fixed inclined posture, wherein one type of posture is selected according to a detection environment, and one type of expected rotation matrix corresponding to each type of posture is selected.
In some embodiments, a position error is first derived based on the desired position and a current actual position; and inputting the position error into a constructed position controller to obtain linear acceleration, and further obtaining linear acceleration error compared with expected linear acceleration.
For specific implementation, refer to the relevant statements of example 1.
The readable storage medium is a computer readable storage medium, which may be an internal storage unit of the controller according to any one of the foregoing embodiments, for example, a hard disk or a memory of the controller. For example, the terrain feature model constructed in the invention exists in a hard disk, and then the computer program for executing the fusion step is stored in a memory, so that the fusion process is realized by depending on the memory. The readable storage medium may also be an external storage device of the controller, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the controller. Further, the readable storage medium may also include both an internal storage unit and an external storage device of the controller. The readable storage medium is used to store the computer program and other programs and data required by the controller. The readable storage medium may also be used to temporarily store data that has been output or is to be output.
Based on such understanding, the technical solution of the present invention is essentially or a part contributing to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned readable storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It should be emphasized that the examples described herein are illustrative rather than limiting, and that this invention is not limited to the examples described in the specific embodiments, but is capable of other embodiments in accordance with the teachings of the present invention, as long as they do not depart from the spirit and scope of the invention, whether modified or substituted, and still fall within the scope of the invention.
Claims (9)
1. A fully-driven six-rotor unmanned aerial vehicle pose control method is characterized by comprising the following steps of: the method comprises the following steps:
Step 1: acquiring an expected state of the fully-driven six-rotor unmanned aerial vehicle, wherein the characterization parameters of the expected state at least comprise: a desired rotation matrix at a desired position and a desired attitude;
the six motor rotors of the full-drive six-rotor unmanned aerial vehicle tilt by a fixed angle value respectively, so that the layout of the corresponding propellers is a non-coplanar layout;
step 2: calculating linear acceleration errors and angular acceleration errors based on the expected state and the current state, inputting the angular acceleration errors and the linear acceleration errors into a constructed feedback linearization module to obtain expected rotor speed vectors, and controlling the motor rotor of the full-drive six-rotor unmanned aerial vehicle;
the desired rotor speed vector is expressed as follows:
definition of a function
、/>
And the middleVariable->
The following formula is satisfied:
where u is the desired rotor speed vector,xthe state of the system is indicated and,
representation ofxDeriving time, wherein L and N are defined intermediate variables; />
For angular acceleration error, & lt & gt>
Is a linear acceleration error; g is a gravity constant, and m is the mass of the full-drive six-rotor unmanned aerial vehicle; />
Is the current angular speed of the machine body; />
Is a rotation matrix from a machine body coordinate system to an inertial coordinate system in the current state; / >
Is the inertial matrix of the full-drive six-rotor unmanned aerial vehicle, and T represents the transposition of the matrix.
2. The method according to claim 1, characterized in that: step 1, determining an expected rotation matrix under the expected gesture according to a set gesture strategy, wherein the gesture strategy is to divide the gesture of the fully-driven six-rotor unmanned aerial vehicle into: the method comprises the steps of conventional inclined postures, constant horizontal postures and fixed inclined postures, and selecting one type of posture according to a detection environment; wherein, the expected rotation matrix corresponding to each type of gesture is expressed as follows:
the normal tilt attitude:
wherein,,
is a desired rotation matrix; />
、/>
、/>
Respectively the desired body coordinate system->
Go up->
、/>
、/>
Unit vectors on the coordinate axes, and satisfy:
wherein,,
for the desired resultant force on the inertial coordinate system, +.>
Is the desired yaw angle;
the constant horizontal attitude:
the fixed tilt attitude:
wherein,,
、/>
、/>
the following calculation is performed in turn:
in the method, in the process of the invention,
，/>
the desired inclination angle and the desired inclination direction are respectively; />
Is a unit vector on the Z axis of the inertial coordinate system,rfor the definition of intermediate variables, the axis of rotation about which the fully-driven six-rotor unmanned aerial vehicle tilts the fuselage is indicated.
3. The method according to claim 2, characterized in that: the fixed inclined posture and the conventional inclined posture are both suitable for inclined plane detection, the detection distance corresponding to the fixed inclined posture is smaller than the detection distance corresponding to the conventional inclined posture, and the detection distance is the distance between the full-drive six-rotor unmanned aerial vehicle and the detection equipment;
The constant horizontal attitude is suitable for vertical surface detection.
4. The method according to claim 1, characterized in that: the calculation process of the linear acceleration error is as follows:
firstly, obtaining a position error based on the expected position and the current actual position;
inputting the position error into a constructed position controller to obtain linear acceleration, and further obtaining linear acceleration error compared with expected linear acceleration;
the position controller builds a calculation model of the relation between the position error and the linear acceleration, and is used for calculating the linear acceleration.
5. The method according to claim 1, characterized in that: the calculation process of the angular acceleration error is as follows:
firstly, based on the expected gesture and the gesture angle change rate determined by the current gesture, obtaining the expected angular acceleration of the machine body by utilizing the relation between the gesture angle change rate and the rotation angular speed of the machine body;
then, inputting the expected body angular acceleration into a constructed gesture controller to obtain an angular acceleration error on a body coordinate system;
the attitude controller builds a calculation model of the relation between the expected body angular acceleration and the angular acceleration error and is used for calculating the angular acceleration error.
6. A fully driven six rotor unmanned aerial vehicle based on the method of any of claims 1-5, characterized in that: the six motor rotors of the full-drive six-rotor unmanned aerial vehicle tilt by a fixed angle value respectively, so that the layout of the corresponding propellers is non-coplanar;
wherein the fixed angle value is equal to the rotation angle
Is equal to the absolute value of said rotation angle +.>
Is obtained by obtaining the rotation angle +.>
The latter rotation angle around the Y-axis of the new rotor coordinate system, said rotation angle +.>
Is rotated around the Z axis of the machine body coordinate system to align the rotor coordinate system of the ith motor and enable the projection of the Y axis of the rotor coordinate system on the XY plane of the machine body coordinate system to point to the mass of the full-drive six-rotor unmanned aerial vehicleThe rotation angle of the core.
7. A system based on the method of any one of claims 1-5, characterized in that: comprising the following steps:
the expected state acquisition module is used for acquiring an expected state of the full-drive six-rotor unmanned aerial vehicle, and the characterization parameters of the expected state at least comprise: a desired rotation matrix at a desired position and a desired attitude;
the six motor rotors of the full-drive six-rotor unmanned aerial vehicle tilt by a fixed angle value respectively, and the layout of the corresponding propellers is changed into a non-coplanar layout;
And the control module is used for calculating linear acceleration errors and angular acceleration errors based on the expected state and the current state, inputting the angular acceleration errors and the linear acceleration errors into a constructed feedback linearization module to obtain expected rotor rotating speed vectors, and controlling the motor rotor of the full-drive six-rotor unmanned aerial vehicle.
8. The utility model provides a six rotor unmanned aerial vehicle of full drive type which characterized in that: at least comprises:
one or more processors;
and a memory storing one or more computer programs;
wherein the processor invokes the computer program to implement:
the method of any one of claims 1-5.
9. A computer-readable storage medium, characterized by: one or more computer programs are stored, which are called by a processor to implement:
the method of any one of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310332102.2A CN116088557B (en) | 2023-03-31 | 2023-03-31 | Full-drive six-rotor unmanned aerial vehicle pose control method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310332102.2A CN116088557B (en) | 2023-03-31 | 2023-03-31 | Full-drive six-rotor unmanned aerial vehicle pose control method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116088557A CN116088557A (en) | 2023-05-09 |
| CN116088557B true CN116088557B (en) | 2023-06-23 |
Family
ID=86187094
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310332102.2A Active CN116088557B (en) | 2023-03-31 | 2023-03-31 | Full-drive six-rotor unmanned aerial vehicle pose control method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116088557B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118239027B (en) * | 2024-05-28 | 2024-08-02 | 浙江大学湖州研究院 | Amphibious four-rotor unmanned aerial vehicle and wall climbing control method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1515068A (en) * | 2002-02-25 | 2004-07-21 | 大金工业株式会社 | Motor control method and its apparatus |
| WO2020035715A1 (en) * | 2018-08-15 | 2020-02-20 | Gary Anthony Daprato | Aircrafts with controllers and tiltable rotors for attitude-controlled flight |
| WO2021223173A1 (en) * | 2020-05-07 | 2021-11-11 | 深圳市大疆创新科技有限公司 | Multi-rotor unmanned aerial vehicle and control method therefor, control device, and computer-readable storage medium |
| CN114167720A (en) * | 2021-10-18 | 2022-03-11 | 天津大学 | Tilting type three-rotor unmanned aerial vehicle trajectory tracking control method based on observer |
| CN114995483A (en) * | 2022-06-28 | 2022-09-02 | 四川大学 | Dual quaternion-based tilt rotor multi-rotor unmanned aerial vehicle tracking control method |
| CN115533915A (en) * | 2022-10-21 | 2022-12-30 | 湖南大学 | Active contact detection control method for aerial work robot in uncertain environment |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160023755A1 (en) * | 2014-05-05 | 2016-01-28 | King Fahd University Of Petroleum And Minerals | System and method for control of quadrotor air vehicles with tiltable rotors |
| CN105353762B (en) * | 2015-09-25 | 2017-12-26 | 南京航空航天大学 | The control method of six rotor wing unmanned aerial vehicles based on double remaining attitude transducers |
| CN108398885B (en) * | 2018-03-29 | 2019-03-26 | 湖南大学 | Rotor flying mechanical arm self_adaptive RBF NNs surveys Auto-disturbance-rejection Control of making an uproar |
| CN108614573B (en) * | 2018-05-15 | 2021-08-20 | 上海扩博智能技术有限公司 | Automatic fault-tolerant attitude control method for six-rotor unmanned aerial vehicle |
| US11866198B2 (en) * | 2018-10-29 | 2024-01-09 | California Institute Of Technology | Long-duration, fully autonomous operation of rotorcraft unmanned aerial systems including energy replenishment |
| US11693373B2 (en) * | 2018-12-10 | 2023-07-04 | California Institute Of Technology | Systems and methods for robust learning-based control during forward and landing flight under uncertain conditions |
-
2023
- 2023-03-31 CN CN202310332102.2A patent/CN116088557B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1515068A (en) * | 2002-02-25 | 2004-07-21 | 大金工业株式会社 | Motor control method and its apparatus |
| WO2020035715A1 (en) * | 2018-08-15 | 2020-02-20 | Gary Anthony Daprato | Aircrafts with controllers and tiltable rotors for attitude-controlled flight |
| WO2021223173A1 (en) * | 2020-05-07 | 2021-11-11 | 深圳市大疆创新科技有限公司 | Multi-rotor unmanned aerial vehicle and control method therefor, control device, and computer-readable storage medium |
| CN114167720A (en) * | 2021-10-18 | 2022-03-11 | 天津大学 | Tilting type three-rotor unmanned aerial vehicle trajectory tracking control method based on observer |
| CN114995483A (en) * | 2022-06-28 | 2022-09-02 | 四川大学 | Dual quaternion-based tilt rotor multi-rotor unmanned aerial vehicle tracking control method |
| CN115533915A (en) * | 2022-10-21 | 2022-12-30 | 湖南大学 | Active contact detection control method for aerial work robot in uncertain environment |
Non-Patent Citations (1)
| Title |
|---|
| 基于滑模控制的四旋翼无人机姿态跟踪研究;杨永强;;中国新技术新产品(第02期);第130-132页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116088557A (en) | 2023-05-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Emran et al. | A review of quadrotor: An underactuated mechanical system | |
| Kendoul et al. | Modeling and control of a small autonomous aircraft having two tilting rotors | |
| Kaufman et al. | Design and development of a free-floating hexrotor UAV for 6-DOF maneuvers | |
| Abbas et al. | Tuning of PID controllers for quadcopter system using hybrid memory based gravitational search algorithm–particle swarm optimization | |
| CN116088557B (en) | Full-drive six-rotor unmanned aerial vehicle pose control method and device | |
| CN112965512B (en) | Unmanned aerial vehicle wind-resistant control method based on propeller model | |
| CN108638068A (en) | A kind of flying robot's Control System Design method carrying redundancy mechanical arm | |
| CN107357302A (en) | The tumbling action implementation method and device of a kind of quadrotor | |
| CN111459188A (en) | Multi-rotor nonlinear flight control method based on quaternion | |
| CN115480583A (en) | Visual servo tracking and impedance control method of flying operation robot | |
| CN108475066B (en) | Unmanned aerial vehicle attitude calculation method, flight controller and unmanned aerial vehicle | |
| Månsson et al. | Model-based design development and control of a wind resistant multirotor UAV | |
| CN117401187A (en) | Complex-shape spacecraft collision avoidance control method based on algebraic conditions | |
| CN116301009A (en) | Anti-interference safety control method for variable-configuration unmanned aerial vehicle | |
| Johnson et al. | Enhanced proportional-derivative control of a micro quadcopter | |
| Joukhadar et al. | Integral Lqr-based 6dof autonomous quadrocopter balancing system control | |
| CN112008731B (en) | Compliance control method, device, terminal, system and readable storage medium for aerial work robot | |
| Ateş et al. | Controller design for quadrotor-slung load system with swing angle constraints using particle swarm optimization | |
| WO2021024591A1 (en) | Motor control device, moving body, motor control method, and program | |
| Salunkhe et al. | Design, trajectory generation and control of quadrotor research platform | |
| JPWO2021024591A5 (en) | ||
| CN111650954A (en) | Four-rotor unmanned aerial vehicle ground effect compensation landing control method based on deep learning | |
| Yang et al. | Robust Online Predictive Visual Servoing for Autonomous Landing of a Rotor UAV | |
| TWI783438B (en) | Fixed-wing vertical take-off and landing aircraft and automatic control method thereof | |
| Wasim et al. | Robust Design of Sliding Mode Control for Airship Trajectory Tracking with Uncertainty and Disturbance Estimation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |