CN116848485A - Unmanned aerial vehicle control method, unmanned aerial vehicle and storage medium - Google Patents

Unmanned aerial vehicle control method, unmanned aerial vehicle and storage medium Download PDF

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Publication number
CN116848485A
CN116848485A CN202180092247.9A CN202180092247A CN116848485A CN 116848485 A CN116848485 A CN 116848485A CN 202180092247 A CN202180092247 A CN 202180092247A CN 116848485 A CN116848485 A CN 116848485A
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motor
motors
power output
matrix
failure
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王晓亮
王璐
贾向华
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C19/00—Aircraft control not otherwise provided for
    • 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
    • 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

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  • 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 Multiple Motors (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The unmanned aerial vehicle control method, the unmanned aerial vehicle and the storage medium can ensure the aerodynamic balance of the unmanned aerial vehicle and ensure that the unmanned aerial vehicle continuously executes subsequent actions in a stable posture. An unmanned aerial vehicle carrying a plurality of motors, the method comprising: acquiring power output information (101) corresponding to each of the plurality of motors; determining whether a failed motor (102) with failed power output exists in the plurality of motors according to the power output information corresponding to each motor; when a motor with invalid power output exists in the plurality of motors, acquiring power information (103) required by the unmanned aerial vehicle to maintain a preset attitude; and controlling other motors except the failed motor to output power according to the power information (104).

Description

Unmanned aerial vehicle control method, unmanned aerial vehicle and storage medium Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle control method, an unmanned aerial vehicle and a storage medium.
Background
Unmanned aircraft typically have a plurality of power shafts, each powered by a corresponding motor. When the motor fails in power output, the corresponding power shaft fails. If the power output of the motor or motors of the unmanned aerial vehicle fails, the unmanned aerial vehicle is unstable in posture, so that the unmanned aerial vehicle is fried and a certain property loss is caused for users.
When the power output of a single motor of the unmanned aerial vehicle fails, the unmanned aerial vehicle can keep a certain stable gesture, but the course of the unmanned aerial vehicle can drift, and although the unmanned aerial vehicle can not be fried due to the unstable gesture at this time, the course drift can cause problems in speed and position control of the unmanned aerial vehicle, so that the unmanned aerial vehicle is not beneficial to executing follow-up actions, such as enabling the unmanned aerial vehicle to perform safe forced landing or continuously completing the rest flight tasks. When the power output of a plurality of motors of the unmanned aerial vehicle fails, the unmanned aerial vehicle cannot maintain stable postures, and the unmanned aerial vehicle can blow out due to unstable postures.
Content of the application
The embodiment of the application provides a control method of an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium, which are used for ensuring that the unmanned aerial vehicle continuously executes subsequent actions in a stable posture when the power output of a single motor or a plurality of motors of the unmanned aerial vehicle is invalid.
In a first aspect, an embodiment of the present application provides a method for controlling an unmanned aerial vehicle, where the unmanned aerial vehicle is mounted with a plurality of motors, the method including:
acquiring power output information corresponding to each motor in the plurality of motors;
Determining whether a failure motor with failure power output exists in the plurality of motors according to the power output information corresponding to each motor;
when a motor with invalid power output exists in the plurality of motors, acquiring power information required by the unmanned aerial vehicle to keep a preset posture;
and controlling other motors except for the failure motor in the plurality of motors to output power according to the power information.
Optionally, the number of failed motors is single, and controlling other motors except the failed motor to output power according to the power information includes:
determining a coaxial motor which is arranged on the same preset axis with the failure motor in the plurality of motors;
and controlling motors except for the failure motor and the coaxial motor in the plurality of motors to output power according to the power information.
Optionally, the power information includes a required moment matrix for maintaining the preset posture, and the controlling the motors of the plurality of motors other than the failed motor and the coaxial motor to output power according to the power information includes:
determining a preset configuration corresponding to the setting positions of the motors except for the failure motor and the coaxial motor;
Acquiring a mixed control mapping matrix corresponding to the preset configuration;
determining a power output value corresponding to each motor in the motors except the failure motor and the coaxial motor according to the required torque matrix and the mixed control mapping matrix;
and controlling motors except the failure motor and the coaxial motor to output power according to the corresponding power output values.
Optionally, the determining, according to the demand torque matrix and the hybrid control mapping matrix, a power output value corresponding to each of the motors except the failed motor and the coaxial motor includes:
determining a set position of the failure motor in the unmanned aerial vehicle;
and determining a power output value corresponding to each motor except the failure motor and the coaxial motor according to the setting position of the failure motor and the required moment matrix and the mixed control mapping matrix.
Optionally, the determining, according to the set position of the failed motor and the required torque matrix and the hybrid control mapping matrix, a power output value corresponding to each of motors except the failed motor and the coaxial motor includes:
And if the setting positions of the motors except the failure motor and the coaxial motor can form the preset configuration, taking the product of the required moment matrix and the mixed control mapping matrix as a power output value corresponding to each motor except the failure motor and the coaxial motor.
Optionally, the determining, according to the set position of the failed motor and the required torque matrix and the hybrid control mapping matrix, a power output value corresponding to each of motors except the failed motor and the coaxial motor includes:
if the set positions of the motors other than the failed motor and the coaxial motor do not form the preset configuration, determining a rotation angle for rotating the set positions of the motors other than the failed motor and the coaxial motor to the preset configuration;
according to the rotation angle, determining a rotation matrix of the body coordinate system before rotation to the body coordinate system after rotation;
and taking the product of the rotation matrix, the required moment matrix and the mixed control mapping matrix as a power output value corresponding to each motor in motors except the failure motor and the coaxial motor.
Optionally, the power information includes a required moment matrix for maintaining the preset posture, and the controlling, according to the power information, other motors of the plurality of motors except for the failed motor to perform power output includes:
acquiring a preset weight matrix;
determining a power output value corresponding to each motor in the plurality of motors except for the failure motor according to the weight matrix and the demand moment matrix;
and controlling each motor in the other motors to output power according to the corresponding power output value.
Optionally, the determining, according to the weight matrix and the demand moment matrix, a power output value corresponding to each of the other motors except for the failed motor in the plurality of motors includes:
acquiring a plurality of groups of possible power output values corresponding to the plurality of motors, wherein each group of possible power output values comprises a power output value which is larger than a preset value and corresponds to each motor in other motors except for a failure motor in the plurality of motors, and a power output value which is set as the preset value and corresponds to the failure motor;
for any one set of power output values in the multiple sets of possible power output values, taking the product of the any one set of power output values and a preset mixed control mapping matrix as a possible output moment matrix;
Determining a difference matrix between the demand moment matrix and the possible output moment matrix;
determining a product among a transition matrix of the difference matrix, the weight matrix and the difference matrix;
and determining the power output value corresponding to each motor in the other motors based on a set of possible power output values corresponding to the minimum product value in the sets of possible power output values.
In a second aspect, an embodiment of the present application provides an unmanned aerial vehicle, comprising a memory and a processor; wherein the memory has executable code stored thereon that, when executed by the processor, is operable to:
acquiring power output information corresponding to each motor in the plurality of motors;
determining whether a failure motor with failure power output exists in the plurality of motors according to the power output information corresponding to each motor;
when a motor with invalid power output exists in the plurality of motors, acquiring power information required by the unmanned aerial vehicle to keep a preset posture;
and controlling other motors except for the failure motor in the plurality of motors to output power according to the power information.
Optionally, the number of failed motors is single, and the processor is configured to:
determining a coaxial motor which is arranged on the same preset axis with the failure motor in the plurality of motors;
and controlling motors except for the failure motor and the coaxial motor in the plurality of motors to output power according to the power information.
Optionally, the power information includes a demand moment matrix for maintaining the preset attitude, and the processor is configured to:
determining a preset configuration corresponding to the setting positions of the motors except for the failure motor and the coaxial motor;
acquiring a mixed control mapping matrix corresponding to the preset configuration;
determining a power output value corresponding to each motor in the motors except the failure motor and the coaxial motor according to the required torque matrix and the mixed control mapping matrix;
and controlling motors except the failure motor and the coaxial motor to output power according to the corresponding power output values.
Optionally, the processor is configured to:
determining a set position of the failure motor in the unmanned aerial vehicle;
and determining a power output value corresponding to each motor except the failure motor and the coaxial motor according to the setting position of the failure motor and the required moment matrix and the mixed control mapping matrix.
Optionally, the processor is configured to:
when the setting positions of the motors except the failure motor and the coaxial motor can form the preset configuration, taking the product of the required moment matrix and the mixed control mapping matrix as the power output value corresponding to each motor except the failure motor and the coaxial motor.
Optionally, the processor is configured to:
determining a rotation angle to rotate the set positions of the motors other than the failed motor and the coaxial motor to the preset configuration when the set positions of the motors other than the failed motor and the coaxial motor fail to constitute the preset configuration;
according to the rotation angle, determining a rotation matrix of the body coordinate system before rotation to the body coordinate system after rotation;
and taking the product of the rotation matrix, the required moment matrix and the mixed control mapping matrix as a power output value corresponding to each motor in motors except the failure motor and the coaxial motor.
Optionally, the power information includes a demand moment matrix for maintaining the preset attitude, and the processor is configured to:
acquiring a preset weight matrix;
Determining a power output value corresponding to each motor in the plurality of motors except for the failure motor according to the weight matrix and the demand moment matrix;
and controlling each motor in the other motors to output power according to the corresponding power output value.
Optionally, the processor is configured to:
acquiring a plurality of groups of possible power output values corresponding to the plurality of motors, wherein each group of possible power output values comprises a power output value which is larger than a preset value and corresponds to each motor in other motors except for a failure motor in the plurality of motors, and a power output value which is set as the preset value and corresponds to the failure motor;
for any one set of power output values in the multiple sets of possible power output values, taking the product of the any one set of power output values and a preset mixed control mapping matrix as a possible output moment matrix;
determining a difference matrix between the demand moment matrix and the possible output moment matrix;
determining a product among a transition matrix of the difference matrix, the weight matrix and the difference matrix;
and determining the power output value corresponding to each motor in the other motors based on a set of possible power output values corresponding to the minimum product value in the sets of possible power output values.
In a third aspect, an embodiment of the present application provides a computer readable storage medium, where the storage medium is a computer readable storage medium, and the computer readable storage medium stores program instructions for implementing the method for controlling an unmanned aerial vehicle provided in the first aspect of the embodiment of the present application.
According to the unmanned aerial vehicle control method provided by the embodiment of the application, when the power output of a single motor or a plurality of motors of the unmanned aerial vehicle fails, other motors except the failed motor in the plurality of motors can be controlled to output power according to the power information required by the unmanned aerial vehicle to maintain the preset gesture, and the other motors are controlled to output power according to the power information required by the unmanned aerial vehicle to maintain the preset gesture, so that the aerodynamic balance of the unmanned aerial vehicle can be ensured, and the unmanned aerial vehicle can be ensured to continuously execute the subsequent actions in the stable gesture.
Drawings
Fig. 1 is a schematic flow chart diagram of a control method of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 2 is a schematic arrangement diagram of motors corresponding to power shafts in a six-shaft configuration according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a four-axis exemplary configuration reconfigured in the event of a single motor failure according to an embodiment of the present application;
FIG. 4 is a schematic illustration of another single motor failure reconfiguration provided by an embodiment of the present application;
FIG. 5 is a schematic diagram of coordinate axis rotation according to an embodiment of the present application;
fig. 6 is a schematic diagram of failure of two adjacent motors according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application.
The terminology used in the embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, the "plurality" generally includes at least two.
The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrase "if determined" or "if detected (stated condition or event)" may be interpreted as "when determined" or "in response to determination" or "when detected (stated condition or event)" or "in response to detection (stated condition or event), depending on the context.
In addition, the sequence of steps in the method embodiments described below is only an example and is not strictly limited.
The unmanned aerial vehicle control method provided by the embodiment of the application can be implemented in an unmanned aerial vehicle, and a plurality of motors can be carried in the unmanned aerial vehicle. Fig. 1 is a flowchart of a control method of an unmanned aerial vehicle according to an embodiment of the present application, as shown in fig. 1, where the method includes:
101. and acquiring power output information corresponding to each motor in the plurality of motors.
102. And determining whether a failure motor with failure power output exists in the plurality of motors according to the power output information corresponding to each motor.
103. And when the motors with invalid power output exist in the motors, acquiring power information required by the unmanned aerial vehicle to keep the preset gesture.
104. And controlling other motors except the failure motor in the plurality of motors to output power according to the power information.
Unmanned aerial vehicles described in embodiments of the present application include, but are not limited to, unmanned aerial vehicles of the type agricultural, industrial, etc., and power shaft configurations of unmanned aerial vehicles include, but are not limited to, four-shaft configurations, six-shaft configurations, eight-shaft configurations, twelve-shaft configurations, etc.
The power output information may include information indicating whether or not there is a power loss of the power shaft corresponding to the motor, and a severity of the power loss in the case where there is a power loss of the power shaft.
In practice, the motor in the unmanned aerial vehicle may malfunction, such as communication malfunction, mechanical malfunction, electrical malfunction, etc. Unmanned aircraft typically have a plurality of power shafts, each powered by a corresponding motor. If the motor fails, the corresponding power shaft may fail. By detecting whether the power shaft has a power loss, and the severity of the power loss in the case of the power shaft having a power loss, it is possible to judge whether the power shaft has completely failed. If the power shaft is completely failed, the corresponding motor has the condition of power output failure, and the motor is correspondingly a failed motor.
If a failure motor with invalid power output exists in a plurality of motors in the unmanned aerial vehicle, the use of the failure motor can be stopped, then power information required by the unmanned aerial vehicle to keep a preset gesture can be obtained, and other motors except the failure motor in the plurality of motors are controlled to carry out power output according to the power information, so that the other motors continue to operate and the dynamic balance of the unmanned aerial vehicle can be ensured.
In the process of controlling other motors, the power output value corresponding to each motor needs to be known, so that the other motors can be controlled to output power according to the corresponding power output values, and meanwhile, under the condition that all the other motors output power according to the corresponding power output values, the dynamic balance of the unmanned aerial vehicle can be ensured, the stable gesture of the unmanned aerial vehicle is maintained, and the course drift is prevented. Specifically, the power information may be a demand torque matrix, and then a power output value corresponding to each of the other motors may be calculated according to the demand torque matrix.
The required moment matrix can be expressed as u and consists of required moment corresponding to each other in the x, y and z axis directions and required lift force in the z axis direction in the body coordinate system of the unmanned aerial vehicle. The x-axis direction refers to a direction directly in front of the unmanned aerial vehicle, the y-axis direction refers to a direction directly in right of the unmanned aerial vehicle, and the z-axis direction refers to a direction directly under the unmanned aerial vehicle. The respective corresponding required moment in the x, y and z axis directions can be expressed as M in turn x 、M y 、M z For ease of calculation, M may be chosen x 、M y 、M z Normalization is in the numerical interval of-50 to 50. The required lift in the z-axis direction may be denoted as F, which may be normalized in a numerical interval of 0 to 100 for ease of calculation. u can pass through M x 、M y 、M z F, u may be represented as [ M ] x ，M y ，M z ，F] T . u may be calculated by the flight control system and thus the value of u may be obtained from the flight control system.
After the value of u is obtained, a power output value corresponding to each of the other motors may be calculated from the value of u. The other motors are controlled to output power according to the corresponding power output values, so that the unmanned aerial vehicle can continue to execute follow-up actions on the premise of still keeping dynamic balance, for example, the unmanned aerial vehicle can perform safe forced landing or continue to complete the rest flight tasks.
In the embodiment of the application, two methods for calculating the power output values corresponding to other motors are provided, wherein the first calculation method is suitable for the condition that a single motor fails, and the calculation process of the calculation method is simple and the calculation speed is high; the second calculation method is applicable to the condition that a single motor or a plurality of motors fail, and the calculation method is high in applicability.
First method for calculating power output value corresponding to other motor
The number of failed motors is single, and accordingly, according to the power information, the process of controlling other motors than the failed motor among the plurality of motors to perform power output may be implemented as follows: determining a coaxial motor which is arranged on the same preset axis with the failure motor in the plurality of motors; and controlling motors except for the failure motor and the coaxial motor in the plurality of motors to output power according to the power information.
In practical application, a plurality of preset axes can be divided in a plane formed by an x axis and a y axis of the machine body coordinate system. Each preset axis passes through the coordinate origin of the machine body coordinate system, a motor can be respectively arranged at the position where the distance between the two ends of each preset axis and the coordinate origin is the preset distance, and the distances between the motors arranged on all the preset axes and the coordinate origin can be the preset distance.
If any one of the plurality of motors fails, the coaxial motor arranged on the same preset axis with the failed motor can be determined, the operation of the failed motor and the coaxial motor is stopped, and the motors except the failed motor and the coaxial motor in the plurality of motors are controlled to operate, so that the power shaft corresponding to the motors except the failed motor and the coaxial motor has a new N-axis configuration. For example, assuming a single motor failure in a six-axis configuration unmanned aerial vehicle, four motors remain in addition to the single failed motor and its corresponding coaxial motor, the four motors corresponding power shafts may be combined into a new four-axis configuration.
Alternatively, the process of controlling the motors other than the failed motor and the coaxial motor among the plurality of motors to perform power output according to the power information may be implemented as: determining a preset configuration corresponding to the setting position of the motor except the failure motor and the coaxial motor; acquiring a mixed control mapping matrix corresponding to a preset configuration; determining a power output value corresponding to each motor in the motors except the failure motor and the coaxial motor according to the demand moment matrix and the mixed control mapping matrix; and controlling motors except the failure motor and the coaxial motor to output power according to the corresponding power output value.
In practical application, a plurality of mixing control mapping matrixes can be set, each mixing control mapping matrix corresponds to a preset configuration, and the mixing control mapping matrixes can be associated with the preset configuration for storage. In this way, after the preset configuration corresponding to the setting position of the motor other than the failed motor and the coaxial motor is determined, the hybrid control mapping matrix corresponding to the preset configuration can be directly obtained, and then the power output value corresponding to the motor other than the failed motor and the coaxial motor is calculated according to the required moment matrix and the hybrid control mapping matrix.
For example, assuming a single motor failure in an unmanned aerial vehicle of an eight-axis configuration, the power axes corresponding to the motors other than the failed motor and the coaxial motor may be combined into a six-axis configuration. The hybrid control mapping matrix corresponding to the six-axis configuration can be (wherein, K 6 Representing a hybrid control mapping matrix corresponding to a six-axis configuration):
assuming a single motor failure in an unmanned aerial vehicle of six-axis configuration, the power axes corresponding to the motors other than the failed motor and the coaxial motor may be combined into a four-axis configuration. The mixing control mapping matrix corresponding to the four-axis configuration can be (wherein, K 4 Representing a corresponding hybrid control mapping matrix of a four-axis configuration):
Alternatively, the above process of determining the power output value corresponding to each of the motors other than the failed motor and the coaxial motor according to the demand torque matrix and the hybrid control mapping matrix may be implemented as follows: determining the setting position of a failure motor in the unmanned aerial vehicle; and determining the power output value corresponding to each motor in the motors except the failure motor and the coaxial motor according to the setting position of the failure motor and the demand moment matrix and the mixed control mapping matrix.
In practical application, the setting position of the failure motor directly influences the specific calculation mode for calculating the power output value corresponding to the motors except the failure motor and the coaxial motor. If the failure motor is disposed on the target axis among the plurality of preset axes, the disposition positions of the motors other than the failure motor and the coaxial motor can constitute a preset configuration, and if the failure motor is disposed on the axis other than the target axis among the plurality of preset axes, the disposition positions of the motors other than the failure motor and the coaxial motor are difficult to constitute a preset configuration. In one possible case, the target axis may be the y-axis in the body coordinate system.
Based on this, optionally, according to the set position of the failed motor, the process of determining the power output value corresponding to each of the motors other than the failed motor and the coaxial motor according to the demand torque matrix and the hybrid control map matrix may be implemented as: if the setting positions of the motors except the failure motor and the coaxial motor can form a preset configuration, taking the product of the required moment matrix and the mixed control mapping matrix as the power output value corresponding to each motor in the motors except the failure motor and the coaxial motor.
Taking the unmanned aerial vehicle with six-axis configuration as an example for explanation, assuming that a single motor in the unmanned aerial vehicle with six-axis configuration fails and the failed motor is disposed on the y-axis in the machine body coordinate system, power shafts corresponding to motors other than the failed motor and the coaxial motor can constitute a four-axis typical configuration. In this case, then, the power output value corresponding to the motor other than the failed motor and the coaxial motor can be calculated by the following formula:
T＝K×u；
wherein T is a power output value corresponding to a motor except for a failure motor and a coaxial motor, K is a mixed control mapping matrix corresponding to a preset configuration, and u is a demand moment matrix.
Assuming that the preset configuration is a six-axis typical configuration, K may be specifically K 6 Accordingly, T may be expressed as [ T ] 1 ,T 2 ,T 3 ,T 4 ,T 5 ,T 6 ] T Wherein T is i (i=any integer between 1 and 6) represents the power output value corresponding to the ith motor except for the failed motor and the in-line motor.
As shown in fig. 2, fig. 2 is a schematic diagram of the arrangement of the motors corresponding to the respective power shafts in the six-shaft configuration. The icons numbered 1 to 6 in the drawing represent one motor, respectively. Assuming that a single motor in the unmanned aerial vehicle of the six-axis configuration fails and that the failed motor is disposed on the y-axis in the body coordinate system, in this figure, the motor No. 3 and the motor No. 6 are both disposed on the y-axis in the body coordinate system, the failed motor is either the motor No. 3 or the motor No. 6, and the motors other than the failed motor and the coaxial motor are the motors No. 1, 2, 4, and 5. As shown in fig. 3, the power shafts corresponding to the motors No. 1, no. 2, no. 4, and No. 5 can constitute a four-shaft typical configuration, and then the power output values corresponding to the motors other than the failed motor and the coaxial motor can be calculated by the following formula:
T＝K 4 ×u；
Wherein K is 4 For a hybrid control mapping matrix corresponding to a four-axis typical configuration, T can be expressed as [ T ] 1 ,T 2 ,T 3 ,T 4 ] T Wherein T is i (i=any integer between 1 and 4) represents the power output value corresponding to the ith motor except for the failed motor and the in-line motor.
Of course, in addition to the above examples in the embodiments of the present application, the calculation process of the power output value of a specific preset configuration may be adapted by adjusting the corresponding variable in the power output value calculation formula according to the specific preset configuration, which is not illustrated here.
The above describes the calculation process of the power output value when the set positions of the motors other than the failed motor and the coaxial motor can constitute the preset configuration, and when the set positions of the motors other than the failed motor and the coaxial motor cannot constitute the preset configuration, the power output value can be calculated by the following means:
optionally, according to the setting position of the failed motor, according to the required torque matrix and the hybrid control mapping matrix, the process of determining the power output value corresponding to each motor in the motors except the failed motor and the coaxial motor may be implemented as follows: if the set positions of the motors except the failed motor and the coaxial motor do not form a preset configuration, determining a rotation angle for rotating the set positions of the motors except the failed motor and the coaxial motor to the preset configuration; according to the rotation angle, determining a rotation matrix of the body coordinate system before rotation to the body coordinate system after rotation; and taking the product of the rotation matrix, the required torque matrix and the mixed control mapping matrix as the power output value corresponding to each motor in the motors except the failure motor and the coaxial motor.
In practical application, when the set positions of the motors except the failed motor and the coaxial motor cannot form the preset configuration, the set positions of the motors except the failed motor and the coaxial motor can form the preset configuration again through the rotating operation of the machine body coordinate system, so that the target axis in the rotated machine body coordinate system is overlapped with the set positions of the failed motor, and the power output values corresponding to the motors except the failed motor and the coaxial motor can be calculated.
For example, as shown in fig. 4, the icons numbered 1 to 6 in the drawing represent one motor, respectively. In this figure, the motor No. 3 and the motor No. 6 are both disposed on the y-axis in the machine body coordinate system, and if one of the motors No. 1, no. 2, no. 4, and No. 5 fails, it is difficult for the motors other than the failed motor and the coaxial motor to constitute a four-axis typical configuration. In this example, assuming that motor No. 2 fails, the operation of motors No. 2 and No. 5 is stopped, and motors other than the failed motor and the coaxial motor are No. 1, no. 3, no. 4, and No. 6. At this time, if the x-axis or the y-axis in the machine coordinate system is rotated by 60 °, as shown in fig. 5, the y ' axis in the x ' axis and the y ' axis of the new machine coordinate system coincides with the axes of the motor No. 2 and the motor No. 5, and the setting positions of the motor No. 1, the motor No. 3, the motor No. 4, and the motor No. 6 may be again configured into a four-axis typical configuration.
In practical application, a rotation angle for rotating the set positions of the motors except the failed motor and the coaxial motor to a preset configuration can be determined, then, according to the rotation angle, a rotation matrix for converting a body coordinate system before rotation to a body coordinate system after rotation is determined, the rotation matrix can be expressed as R, and then, a power output value can be calculated through the following formula:
T＝K×R×u；
if the preset configuration is a four-axis typical configuration, the above equation can be converted into:
T＝K 4 ×R×u；
wherein T= [ T ] 1 ,T 2 ,T 3 ,T 4 ] T ，T i (i=any integer between 1 and 4) represents the power output value corresponding to the ith motor except for the failed motor and the in-line motor.
(II) second method for calculating power output value corresponding to other motors
The method of calculating the power output value is not limited to the case where a single motor fails, and may be applicable regardless of whether the failed motor is single or plural. It should be noted that if the plurality of motors fail and the setting positions of the plurality of failed motors are adjacent, it is difficult to maintain the balance of the output torque regardless of setting the power output values corresponding to the other motors, and further it is difficult to ensure that the unmanned aerial vehicle is stable in posture, which is not considered in the embodiment of the present application. For example, as shown in fig. 6, assuming that the motor No. 1 and the motor No. 2 in the six-axis configuration are simultaneously failed, since the setting positions of the motor No. 1 and the motor No. 2 are adjacent, the condition for maintaining the stable posture of the unmanned aerial vehicle is not satisfied, and such a case is not considered.
Alternatively, the process of controlling other motors than the failed motor among the plurality of motors to perform power output according to the power information may be implemented as: acquiring a preset weight matrix; determining a power output value corresponding to each motor in the other motors except the failure motor in the plurality of motors according to the weight matrix and the demand moment matrix; and controlling each motor in the other motors to output power according to the corresponding power output value.
The preset weight matrix can be regarded as a constant and can be set according to the actual control requirement emphasis of the unmanned aerial vehicle. For example, if the stationarity of the attitude of the unmanned aerial vehicle is emphasized, a first parameter in the weight matrix may be increased and the other parameters may be correspondingly decreased, and if the precise control of the altitude and heading angle of the unmanned aerial vehicle is emphasized, a second parameter in the weight matrix may be increased and the other parameters may be correspondingly decreased. After the weight matrix is determined, the weight matrix can be stored in a memory, and can be directly acquired for use when in use. Or, a plurality of weight matrixes can be set, each weight matrix focuses on different unmanned aerial vehicle control demands, the weight matrixes and the unmanned aerial vehicle control demand focusing information can be associated and stored, and therefore when the focusing points of the unmanned aerial vehicle control demands are different, the unmanned aerial vehicle can be controlled through different weight matrixes. In one possible implementation, the weight matrix may be set to:
Where W represents a weight matrix.
Alternatively, in calculating the power output values corresponding to other motors, the power output values may be calculated by solving an optimization problem. Based on this, the above-mentioned process of determining the power output value corresponding to each of the other motors except for the failed motor among the plurality of motors according to the weight matrix and the demand torque matrix may be implemented as: acquiring a plurality of groups of possible power output values corresponding to the plurality of motors, wherein each group of possible power output values comprises a power output value which corresponds to each motor of the plurality of motors except for the failed motor and is larger than a preset value, and a power output value which corresponds to the failed motor and is set as the preset value; for any one of a plurality of groups of possible power output values, taking the product of any one group of power output values and a preset mixed control mapping matrix as a possible output moment matrix; determining a difference matrix between the demand moment matrix and the possible output moment matrix; determining products among a transfer matrix of the difference matrix, the weight matrix and the difference matrix; a power output value corresponding to each of the other motors is determined based on a set of possible power output values corresponding to a minimum product of the sets of possible power output values.
In practical applications, the following functions may be set:
min J＝(u 0 -u) T W(u 0 -u)；
wherein min J is the target value. u (u) 0 Is a demand moment matrix. u is a matrix of possible output moments. W is a weight matrix.
U is as described above 0 Can be obtained directly by a flight control system. u can be calculated, in particular u is calculated by the formula u=k T (KK T ) -1 And calculating T. K is a mixed control mapping matrix corresponding to a preset configuration, and T is power output values corresponding to a plurality of motors.
When T= [ T ] is satisfied 1 ，...T i ，...T n ] T ,0≤T i ≤100,T x ＝0,T y Under the condition that the value of J is not less than 0, the value of x is not less than 1 and not more than y is not less than n, u with the minimum value of J can be the optimal solution.
Wherein T is x Represents the power output value, T, corresponding to the xth failure motor y And representing the power output value corresponding to the y-th failure motor. Since the xth motor fails and the y motor fails, they cannot provide an actual power output value, and thus the power output value corresponding to the xth failed motor and the power output value corresponding to the y failed motor can be set to 0.
In practical application, multiple groups of possible power output values corresponding to multiple motors can be set, and thenEach set of possible power output values is substituted into the formula to calculate a corresponding J, and if J calculated by substituting a set of possible power output values is the smallest of all J, the set of possible power output values is the optimal solution to be sought, except T x And T y T outside i I.e. the power output value of the final other motor.
According to the unmanned aerial vehicle control method provided by the embodiment of the application, when the power output of a single motor or a plurality of motors of the unmanned aerial vehicle fails, other motors except the failed motor in the plurality of motors can be controlled to output power according to the power information required by the unmanned aerial vehicle to maintain the preset gesture, and the other motors are controlled to output power according to the power information required by the unmanned aerial vehicle to maintain the preset gesture, so that the aerodynamic balance of the unmanned aerial vehicle can be ensured, and the unmanned aerial vehicle can be ensured to continuously execute the subsequent actions in the stable gesture.
Yet another exemplary embodiment of the present application provides an unmanned aerial vehicle, as shown in fig. 7, including:
memory 1910 for storing executable code;
a processor 1920 for performing the following operations when the executable code is executed by the processor 1920:
acquiring power output information corresponding to each motor in the plurality of motors;
determining whether a failure motor with failure power output exists in the plurality of motors according to the power output information corresponding to each motor;
when a motor with invalid power output exists in the plurality of motors, acquiring power information required by the unmanned aerial vehicle to keep a preset posture;
And controlling other motors except the failure motor in the plurality of motors to output power according to the power information.
Optionally, the number of failed motors is a single, processor 1920 for:
determining a coaxial motor which is arranged on the same preset axis with the failure motor in the plurality of motors;
and controlling motors except for the failure motor and the coaxial motor in the plurality of motors to output power according to the power information.
Optionally, the power information includes a demand moment matrix for maintaining a preset attitude, and the processor 1920 is configured to:
determining a preset configuration corresponding to the setting position of the motor except the failure motor and the coaxial motor;
acquiring a mixed control mapping matrix corresponding to a preset configuration;
determining a power output value corresponding to each motor in the motors except the failure motor and the coaxial motor according to the demand moment matrix and the mixed control mapping matrix;
and controlling motors except the failure motor and the coaxial motor to output power according to the corresponding power output value.
Optionally, the processor 1920 is configured to:
determining a setting position of a failure motor in the unmanned aerial vehicle;
and determining the power output value corresponding to each motor in the motors except the failure motor and the coaxial motor according to the setting position of the failure motor and the demand moment matrix and the mixed control mapping matrix.
Optionally, the processor 1920 is configured to:
when the setting positions of the motors except the failure motor and the coaxial motor can form a preset configuration, taking the product of the required moment matrix and the mixed control mapping matrix as the power output value corresponding to each motor in the motors except the failure motor and the coaxial motor.
Optionally, the processor 1920 is configured to:
determining a rotation angle to rotate the set positions of the motors other than the failed motor and the coaxial motor to a preset configuration when the set positions of the motors other than the failed motor and the coaxial motor fail to constitute the preset configuration;
according to the rotation angle, determining a rotation matrix of the body coordinate system before rotation to the body coordinate system after rotation;
and taking the product of the rotation matrix, the required torque matrix and the mixed control mapping matrix as the power output value corresponding to each motor in the motors except the failure motor and the coaxial motor.
Optionally, the power information includes a demand moment matrix for maintaining a preset attitude, and the processor 1920 is configured to:
acquiring a preset weight matrix;
determining a power output value corresponding to each motor in the other motors except the failure motor in the plurality of motors according to the weight matrix and the demand moment matrix;
And controlling each motor in the other motors to output power according to the corresponding power output value.
Optionally, the processor 1920 is configured to:
acquiring a plurality of groups of possible power output values corresponding to the plurality of motors, wherein each group of possible power output values comprises a power output value which corresponds to each motor of the plurality of motors except for the failed motor and is larger than a preset value, and a power output value which corresponds to the failed motor and is set as the preset value;
for any one of a plurality of groups of possible power output values, taking the product of any one group of power output values and a preset mixed control mapping matrix as a possible output moment matrix;
determining a difference matrix between the demand moment matrix and the possible output moment matrix;
determining products among a transfer matrix of the difference matrix, the weight matrix and the difference matrix;
a power output value corresponding to each of the other motors is determined based on a set of possible power output values corresponding to a minimum product of the sets of possible power output values.
The unmanned aerial vehicle shown in fig. 7 may perform the method of the embodiment shown in fig. 1-6, and reference is made to the relevant description of the embodiment shown in fig. 1-6 for a part of this embodiment that is not described in detail. The implementation process and the technical effect of this technical solution are described in the embodiments shown in fig. 1 to 6, and are not described herein.
In addition, the embodiment of the application also provides a computer readable storage medium, wherein executable codes are stored in the computer readable storage medium, and the executable codes are used for realizing the unmanned aerial vehicle control method provided by the previous embodiments.
The technical schemes and technical features in the above embodiments can be independent or combined under the condition of no conflict, and all the technical schemes and technical features in the above embodiments belong to equivalent embodiments within the protection scope of the application as long as the technical scope of the technical scheme and the technical features does not exceed the cognitive scope of the technical personnel in the field.
The foregoing description is only illustrative of the present application and is not intended to limit the scope of the application, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present application.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.

Claims (17)

  1. A method for controlling an unmanned aerial vehicle on which a plurality of motors are mounted, comprising:
    acquiring power output information corresponding to each motor in the plurality of motors;
    determining whether a failure motor with failure power output exists in the plurality of motors according to the power output information corresponding to each motor;
    when a motor with invalid power output exists in the plurality of motors, acquiring power information required by the unmanned aerial vehicle to keep a preset posture;
    and controlling other motors except for the failure motor in the plurality of motors to output power according to the power information.
  2. The method of claim 1, wherein the number of failed motors is a single, and wherein controlling other motors of the plurality of motors, other than the failed motor, to perform power output based on the power information comprises:
    determining a coaxial motor which is arranged on the same preset axis with the failure motor in the plurality of motors;
    and controlling motors except for the failure motor and the coaxial motor in the plurality of motors to output power according to the power information.
  3. The method of claim 2, wherein the power information includes a demand torque matrix maintaining the preset attitude, and wherein controlling the motors of the plurality of motors other than the failed motor and the coaxial motor to perform power output according to the power information includes:
    Determining a preset configuration corresponding to the setting positions of the motors except for the failure motor and the coaxial motor;
    acquiring a mixed control mapping matrix corresponding to the preset configuration;
    determining a power output value corresponding to each motor in the motors except the failure motor and the coaxial motor according to the required torque matrix and the mixed control mapping matrix;
    and controlling motors except the failure motor and the coaxial motor to output power according to the corresponding power output values.
  4. A method according to claim 3, wherein said determining a power output value for each of the motors other than the failed motor and the coaxial motor based on the demand torque matrix and the hybrid map matrix comprises:
    determining a set position of the failure motor in the unmanned aerial vehicle;
    and determining a power output value corresponding to each motor except the failure motor and the coaxial motor according to the setting position of the failure motor and the required moment matrix and the mixed control mapping matrix.
  5. The method of claim 4, wherein determining a power output value for each of the motors other than the failed motor and the coaxial motor according to the set position of the failed motor and the demand torque matrix and the hybrid map matrix comprises:
    And if the setting positions of the motors except the failure motor and the coaxial motor can form the preset configuration, taking the product of the required moment matrix and the mixed control mapping matrix as a power output value corresponding to each motor except the failure motor and the coaxial motor.
  6. The method of claim 4, wherein determining a power output value for each of the motors other than the failed motor and the coaxial motor according to the set position of the failed motor and the demand torque matrix and the hybrid map matrix comprises:
    if the set positions of the motors other than the failed motor and the coaxial motor do not form the preset configuration, determining a rotation angle for rotating the set positions of the motors other than the failed motor and the coaxial motor to the preset configuration;
    according to the rotation angle, determining a rotation matrix of the body coordinate system before rotation to the body coordinate system after rotation;
    and taking the product of the rotation matrix, the required moment matrix and the mixed control mapping matrix as a power output value corresponding to each motor in motors except the failure motor and the coaxial motor.
  7. The method of claim 1, wherein the power information includes a demand torque matrix that maintains the preset attitude, and wherein controlling other motors of the plurality of motors, other than the failed motor, to perform power output based on the power information includes:
    acquiring a preset weight matrix;
    determining a power output value corresponding to each motor in the plurality of motors except for the failure motor according to the weight matrix and the demand moment matrix;
    and controlling each motor in the other motors to output power according to the corresponding power output value.
  8. The method of claim 7, wherein determining a power output value for each of the plurality of motors other than the failed motor based on the weight matrix and the demand torque matrix comprises:
    acquiring a plurality of groups of possible power output values corresponding to the plurality of motors, wherein each group of possible power output values comprises a power output value which is larger than a preset value and corresponds to each motor in other motors except for a failure motor in the plurality of motors, and a power output value which is set as the preset value and corresponds to the failure motor;
    For any one set of power output values in the multiple sets of possible power output values, taking the product of the any one set of power output values and a preset mixed control mapping matrix as a possible output moment matrix;
    determining a difference matrix between the demand moment matrix and the possible output moment matrix;
    determining a product among a transition matrix of the difference matrix, the weight matrix and the difference matrix;
    and determining the power output value corresponding to each motor in the other motors based on a set of possible power output values corresponding to the minimum product value in the sets of possible power output values.
  9. An unmanned aerial vehicle comprising a memory and a processor; wherein the memory has executable code stored thereon that, when executed by the processor, is operable to:
    acquiring power output information corresponding to each motor in the plurality of motors;
    determining whether a failure motor with failure power output exists in the plurality of motors according to the power output information corresponding to each motor;
    when a motor with invalid power output exists in the plurality of motors, acquiring power information required by the unmanned aerial vehicle to keep a preset posture;
    And controlling other motors except for the failure motor in the plurality of motors to output power according to the power information.
  10. The unmanned aerial vehicle of claim 9, wherein the number of failed motors is a single, the processor configured to:
    determining a coaxial motor which is arranged on the same preset axis with the failure motor in the plurality of motors;
    and controlling motors except for the failure motor and the coaxial motor in the plurality of motors to output power according to the power information.
  11. The unmanned aerial vehicle of claim 10, wherein the power information comprises a demand moment matrix that maintains the preset attitude, the processor to:
    determining a preset configuration corresponding to the setting positions of the motors except for the failure motor and the coaxial motor;
    acquiring a mixed control mapping matrix corresponding to the preset configuration;
    determining a power output value corresponding to each motor in the motors except the failure motor and the coaxial motor according to the required torque matrix and the mixed control mapping matrix;
    and controlling motors except the failure motor and the coaxial motor to output power according to the corresponding power output values.
  12. The unmanned aerial vehicle of claim 11, wherein the processor is configured to:
    determining a set position of the failure motor in the unmanned aerial vehicle;
    and determining a power output value corresponding to each motor except the failure motor and the coaxial motor according to the setting position of the failure motor and the required moment matrix and the mixed control mapping matrix.
  13. The unmanned aerial vehicle of claim 12, wherein the processor is configured to:
    when the setting positions of the motors except the failure motor and the coaxial motor can form the preset configuration, taking the product of the required moment matrix and the mixed control mapping matrix as the power output value corresponding to each motor except the failure motor and the coaxial motor.
  14. The unmanned aerial vehicle of claim 12, wherein the processor is configured to:
    determining a rotation angle to rotate the set positions of the motors other than the failed motor and the coaxial motor to the preset configuration when the set positions of the motors other than the failed motor and the coaxial motor fail to constitute the preset configuration;
    According to the rotation angle, determining a rotation matrix of the body coordinate system before rotation to the body coordinate system after rotation;
    and taking the product of the rotation matrix, the required moment matrix and the mixed control mapping matrix as a power output value corresponding to each motor in motors except the failure motor and the coaxial motor.
  15. The unmanned aerial vehicle of claim 9, wherein the power information comprises a demand moment matrix that maintains the preset attitude, the processor to:
    acquiring a preset weight matrix;
    determining a power output value corresponding to each motor in the plurality of motors except for the failure motor according to the weight matrix and the demand moment matrix;
    and controlling each motor in the other motors to output power according to the corresponding power output value.
  16. The unmanned aerial vehicle of claim 15, wherein the processor is configured to:
    acquiring a plurality of groups of possible power output values corresponding to the plurality of motors, wherein each group of possible power output values comprises a power output value which is larger than a preset value and corresponds to each motor in other motors except for a failure motor in the plurality of motors, and a power output value which is set as the preset value and corresponds to the failure motor;
    For any one set of power output values in the multiple sets of possible power output values, taking the product of the any one set of power output values and a preset mixed control mapping matrix as a possible output moment matrix;
    determining a difference matrix between the demand moment matrix and the possible output moment matrix;
    determining a product among a transition matrix of the difference matrix, the weight matrix and the difference matrix;
    and determining the power output value corresponding to each motor in the other motors based on a set of possible power output values corresponding to the minimum product value in the sets of possible power output values.
  17. A computer readable storage medium comprising instructions which, when run on a computer, cause the computer to implement the unmanned aerial vehicle control method of any of claims 1-8.
CN202180092247.9A 2021-03-15 2021-03-15 Unmanned aerial vehicle control method, unmanned aerial vehicle and storage medium Pending CN116848485A (en)

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