CN117608325A - Unmanned aerial vehicle power control method and device, unmanned aerial vehicle and storage medium - Google Patents

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

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Publication number
CN117608325A
CN117608325A CN202311507787.6A CN202311507787A CN117608325A CN 117608325 A CN117608325 A CN 117608325A CN 202311507787 A CN202311507787 A CN 202311507787A CN 117608325 A CN117608325 A CN 117608325A
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channel
rotating speed
motor
saturation
unmanned aerial
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贾宝旭
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Shenzhen Autel Intelligent Aviation Technology Co Ltd
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Shenzhen Autel Intelligent Aviation Technology Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
    • G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The application provides an unmanned aerial vehicle power control method, an unmanned aerial vehicle power control device, an unmanned aerial vehicle and a storage medium, wherein the unmanned aerial vehicle power control method comprises the following steps: constructing a control distribution matrix and a control efficiency matrix according to respective channel parameters of the gesture channel and the throttle channel of the unmanned aerial vehicle; if the rotating speed command of each motor is distributed for the first time, the rotating speed command of the first motor exceeds the rotating speed saturation value of the first motor, and the rotating speed of the first motor is controlled to reach the rotating speed saturation value; and adjusting and distributing rotating speed instructions of the residual motors according to a power output adjusting mechanism, wherein the power output adjusting mechanism is constructed according to a control distribution matrix and a control efficiency matrix, and the residual motors are motors except the first motor. According to the technical scheme, a power output adjustment mechanism can be constructed by controlling the distribution matrix and the control efficiency matrix, and the rotating speed of the residual motor is redistributed based on the mechanism, so that anti-saturation control of the unmanned aerial vehicle is effectively realized.

Description

Unmanned aerial vehicle power control method and device, 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 power control method, an unmanned aerial vehicle power control device, an unmanned aerial vehicle and a storage medium.
Background
Unmanned aerial vehicle's flight power comes from the rotor that is equipped many, and unmanned aerial vehicle changes the rotational speed of rotor through the rotational speed of a plurality of motors of control to reach the purpose of control flight gesture. During flight of the unmanned aerial vehicle, the maximum and minimum rotational speed limits of the motor may be reached during large maneuvers or extreme flights, which is referred to as rotational speed saturation. If the problem of rotation speed saturation is not processed, the unmanned aerial vehicle can possibly cause uncontrolled gesture, and further the unmanned aerial vehicle is out of control or even falls. Therefore, how to adopt effective anti-saturation treatment to unmanned aerial vehicle, guarantee the stability in the flight to the performance of unmanned aerial vehicle is played to the maximum extent, has become the problem that needs to be solved urgently.
Disclosure of Invention
The application provides an unmanned aerial vehicle power control method, an unmanned aerial vehicle power control device, an unmanned aerial vehicle and a storage medium, so as to solve the technical problem that an unmanned aerial vehicle body is out of control when the rotating speed is saturated.
In a first aspect, a method for controlling power of an unmanned aerial vehicle is provided, and the unmanned aerial vehicle is provided with at least one rotor, and the method includes: constructing a control distribution matrix and a control efficiency matrix according to respective channel parameters of the gesture channel and the throttle channel of the unmanned aerial vehicle; if the rotating speed command of each motor is distributed for the first time, and the rotating speed command of the first motor exceeds the rotating speed saturation value of the first motor, controlling the rotating speed of the first motor to reach the rotating speed saturation value; and adjusting and distributing rotating speed instructions of the residual motors according to a power output adjusting mechanism, wherein the power output adjusting mechanism is constructed according to the control distribution matrix and the control efficiency matrix, and the residual motors are motors except the first motor.
With reference to the first aspect, in one possible implementation manner, the adjusting the rotational speed command of the remaining electric motor according to the power output adjustment mechanism includes: determining a first sacrifice channel according to the gesture channel and the current priority order of the throttle channel; determining a first saturation parameter of the first sacrificial channel according to the control distribution matrix; and distributing rotating speed instructions of the residual motors according to the first saturation parameters and the control efficiency matrix.
With reference to the first aspect, in a possible implementation manner, the gesture channel includes at least any one or more of a pitch channel, a roll channel, and a yaw channel; the channel parameters comprise an acceleration command and/or an angular acceleration command; the constructing a control distribution matrix and a control efficiency matrix according to respective channel parameters of the gesture channel and the throttle channel of the unmanned aerial vehicle comprises the following steps: and constructing a control distribution matrix and a control efficiency matrix according to the acceleration command of the throttle channel of the unmanned aerial vehicle and the respective angular acceleration commands of the pitching channel, the rolling channel and the yawing channel.
With reference to the first aspect, in one possible implementation manner, the first sacrificial channel is a channel with the lowest current priority in the gesture channel and the throttle channel.
With reference to the first aspect, in a possible implementation manner, the determining, according to the control allocation matrix, a first saturation parameter of the first victim channel includes: calculating initial saturation parameters of the first sacrificial channel according to the control distribution matrix; acquiring a current anti-saturation coefficient; and determining a first saturation parameter of the first sacrifice channel according to the anti-saturation coefficient and the initial saturation parameter of the first sacrifice channel.
With reference to the first aspect, in one possible implementation manner, after the allocating a rotational speed instruction of the remaining motor according to the first saturation parameter and the control efficiency matrix, the method further includes: if the rotating speed command of the second motor in the residual motors exceeds the rotating speed saturation value of the second motor, controlling the rotating speed of the second motor to reach the rotating speed saturation value of the second motor; selecting a channel with the current priority level lower than the current priority level from the gesture channel and the throttle channel as a second sacrificial channel; and calculating a second saturation parameter of the second sacrificial channel, and distributing rotating speed instructions of the rest motors except the first motor and the second motor according to the second saturation parameter and the control efficiency matrix.
With reference to the first aspect, in one possible implementation manner, the rotation speed saturation value includes an upper rotation speed limit saturation value and/or a lower rotation speed limit saturation value; after the first saturation parameter of the first victim channel is determined according to the control distribution matrix, the method further comprises: when the first sacrificial channel is the throttle channel and the rotating speed saturation value of the first motor is the rotating speed upper limit saturation value, judging whether the first saturation parameter is larger than or equal to a preset minimum threshold value; if yes, executing the rotating speed instruction for distributing the residual motor according to the first saturation parameter and the control efficiency matrix; if not, setting the first saturation parameter as the preset minimum threshold value, and executing the rotating speed instruction for distributing the residual motor according to the first saturation parameter and the control efficiency matrix; or when the first sacrificial channel is the throttle channel and the rotating speed saturation value of the first motor is the rotating speed lower limit saturation value, judging whether the first saturation parameter is smaller than or equal to a preset maximum threshold value; if yes, executing the rotating speed instruction for distributing the residual motors according to the first saturation parameters and the control efficiency matrix.
With reference to the first aspect, in one possible implementation manner, the first sacrificial channel is the throttle channel, the second sacrificial channel is the yaw channel, and the second saturation parameter of the second sacrificial channel is an angular acceleration command saturation value of the yaw channel; the calculating a second saturation parameter of the second sacrificial channel, and distributing rotational speed instructions of the remaining motors except the first motor and the second motor according to the second saturation parameter and the control efficiency matrix, including: calculating an angular acceleration instruction saturation value of the yaw channel according to the control efficiency matrix; if the angular acceleration instruction saturation value is inverted and/or smaller than a preset absolute threshold, adjusting the angular acceleration instruction saturation value according to the preset absolute threshold; and distributing rotating speed instructions of the rest motors except the first motor and the second motor according to the adjusted angular acceleration instruction saturation value and the control efficiency matrix.
With reference to the first aspect, in one possible implementation manner, the first sacrificial channel is the yaw channel, and the first saturation parameter of the first sacrificial channel is an angular acceleration command saturation value of the yaw channel; the distributing the rotating speed instruction of the residual motor according to the first saturation parameter of the first sacrifice channel and the control efficiency matrix comprises the following steps: judging whether the angular acceleration command saturation value is inverted and/or smaller than a preset absolute threshold; if not, distributing the rotating speed instruction of the residual motor according to the angular acceleration instruction saturation value of the yaw channel and the control efficiency matrix; if yes, adjusting the angular acceleration command saturation value of the yaw channel according to the preset absolute threshold, and distributing the rotating speed command of the residual motor according to the adjusted angular acceleration command saturation value of the yaw channel and the control efficiency matrix.
In a second aspect, an unmanned aerial vehicle power control device is provided, and is applied to unmanned aerial vehicle, unmanned aerial vehicle is equipped with at least one rotor, unmanned aerial vehicle power control device includes: the construction module is used for constructing a control distribution matrix and a control efficiency matrix according to the respective channel parameters of the gesture channel and the throttle channel of the unmanned aerial vehicle; the control module is used for controlling the rotating speed of the first motor to reach the rotating speed saturation value if the rotating speed command of the first motor exceeds the rotating speed saturation value of the first motor when the rotating speed command of each motor is distributed for the first time; the adjusting module is used for adjusting and distributing rotating speed instructions of the residual motors according to a power output adjusting mechanism, the power output adjusting mechanism is constructed according to the control distribution matrix and the control efficiency matrix, and the residual motors are motors except the first motor.
In a third aspect, there is provided a drone comprising a memory, a processor connected to the processor, the processor being for executing one or more computer programs stored in the memory, the processor, when executing the one or more computer programs, causing the drone to implement the method of the first aspect.
In a fourth aspect, there is provided a computer readable storage medium storing a computer program comprising program instructions which, when executed by a processor, cause the processor to perform the method of the first aspect.
The application can realize the following technical effects: the unmanned aerial vehicle reasonably distributes motor rotating speeds according to respective channel parameters of a gesture channel and an accelerator channel of the unmanned aerial vehicle, controls the rotating speed of a first motor to be a rotating speed saturation value of the first motor, and adjusts and distributes rotating speed instructions of the rest motors except the first motor based on a power output adjustment mechanism, wherein the power output adjustment mechanism is constructed according to a control distribution matrix and a control efficiency matrix. The unmanned aerial vehicle anti-saturation control method can achieve the purpose of unmanned aerial vehicle anti-saturation control, so that stability and reliability in the flight process are guaranteed, and performance of the unmanned aerial vehicle is exerted to the greatest extent.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 2 is a flow chart of an anti-saturation control allocation method according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a power control device of an unmanned aerial vehicle according to an embodiment of the present application;
Fig. 4 is a schematic structural diagram of another 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 described below with reference to the drawings in the embodiments of the present application.
The technical scheme of this application is applicable to unmanned aerial vehicle, is particularly useful for this unmanned aerial vehicle has the scene that the rotational speed saturation appears in the motor. The unmanned aerial vehicle that this application relates to is an unmanned aerial vehicle, this unmanned aerial vehicle is equipped with at least one rotor, please refer to fig. 1, for the structural schematic diagram of an unmanned aerial vehicle that this application embodiment provided, the unmanned aerial vehicle that fig. 1 shows is four rotor unmanned aerial vehicle, that is to say have four rotors, it can be seen from fig. 1 that this four rotor unmanned aerial vehicle includes essential parts such as fuselage, support, rotor, wherein, thereby all corresponds a motor on every rotor, thereby the motor produces the rotational speed control rotor and produces the lift, and then the gesture and the position of this unmanned aerial vehicle of control etc.. In other embodiments, the drone may also be a stationary drone with rotors, or may have a greater number of rotors, such as six rotors, eight rotors, etc., each of which may be independently controlled, enabling the drone to perform diverse flight actions.
The attitude Channel (Attitude Channels) and Throttle Channel (Throttle Channel) are two basic components of the unmanned control system. The gesture channel is responsible for controlling the gesture of the unmanned aerial vehicle, and comprises a Roll (Roll) channel, a Pitch (Pitch) channel, a Yaw (Yaw) channel and the like, wherein the angular acceleration of the gesture channel is adjusted by adjusting the rotating speed of the motor. The throttle channel controls the lifting force or the height of the unmanned aerial vehicle, and the acceleration of the throttle channel is adjusted by adjusting the total thrust of all the rotors. Because the attitude channel and the accelerator channel are not equally important under certain conditions, when the unmanned aerial vehicle is in the condition of rotating speed saturation, partial control of a certain channel or certain channels can be sacrificed, the rotating speeds of other channels are preferentially ensured to realize anti-saturation treatment, and the unmanned aerial vehicle is ensured to be rapidly adapted to the current flight condition or environmental change under the condition of not causing the unmanned aerial vehicle to be out of control.
Based on the principle, the application provides an unmanned aerial vehicle power control method. Fig. 2 is a schematic flow chart of a power control method of an unmanned aerial vehicle according to an embodiment of the present application. The method shown in fig. 2 is applied to the unmanned aerial vehicle, and can comprise the following steps:
S201, constructing a control distribution matrix and a control efficiency matrix according to respective channel parameters of the gesture channel and the throttle channel of the unmanned aerial vehicle.
In one embodiment, the attitude channel includes at least any one or more of a pitch channel, a roll channel, and a yaw channel. The channel parameters include acceleration commands and/or angular acceleration commands.
The step S201 includes: and constructing a control distribution matrix and a control efficiency matrix according to the acceleration command of the throttle channel of the unmanned aerial vehicle and the respective angular acceleration commands of the pitching channel, the rolling channel and the yawing channel.
For example, taking a quad-rotor unmanned helicopter as an example, the control allocation matrix may be constructed according to the following equation 1:
the control efficiency matrix may be constructed according to the following equation 2:
wherein M1, M2, M3 are the angular acceleration instructions of three channels of roll, pitch and yaw respectively, the unit is rad s (-2), T is the acceleration instruction of the throttle channel, the unit is M s (-2),the square of the rotating speed instructions of the four motors are respectively obtained. B (B) CA To control allocation matrix, B CE To control the efficiency matrix.
It should be noted that, in the case that the unmanned aerial vehicle is other number of rotors, the above formula 1 and formula 2 can correspondingly increase or decrease the rotation speed command variable of the motor according to the number of rotors, for example, in the case of six rotors, ω can be increased in the formula 1 and formula 2 r5 Omega, omega r6 These two variables. Similarly, in the case of increasing or decreasing channels, the corresponding channel parameters may also be correspondingly increased or decreased, which is not limited in this application.
It can be seen from the above examples that all the variables in the control allocation matrix and the control efficiency matrix related in the present application have their true physical meanings, and can be all determined through quantization, which lays a good foundation for the subsequent realization of dynamic anti-saturation control allocation.
And S202, if the rotating speed command of each motor is distributed for the first time, the rotating speed command of the first motor exceeds the rotating speed saturation value of the first motor, and the rotating speed of the first motor is controlled to reach the rotating speed saturation value.
In one embodiment, the speed saturation value comprises an upper speed saturation value and/or a lower speed saturation value. The upper limit saturation value of the rotating speed refers to the maximum rotating speed which can be reached by the preset motor, and the lower limit saturation value of the rotating speed refers to the minimum rotating speed which can be reached by the preset motor.
As a possible implementation manner, when the rotation speed command of each motor is distributed for the first time, the distribution may be performed according to the control distribution matrix and the control efficiency matrix, and if the rotation speed of the first motor exceeds the upper limit saturation value or the lower limit saturation value of the rotation speed corresponding to the first motor during the first distribution process, the first motor may be saturated, that is, the rotation speed of the first motor is controlled to reach the rotation speed saturation value.
It should be noted that the first motor may be any motor of the unmanned aerial vehicle, which is not limited in this application.
For example, when the rotation speed of the first motor exceeds the upper limit saturation value, the rotation speed of the first motor is controlled to be the upper limit saturation value, and when the rotation speed of the first motor exceeds the lower limit saturation value, the rotation speed of the first motor is controlled to be the lower limit saturation value.
S203, adjusting the rotating speed instruction of the remaining motor according to the power output adjusting mechanism.
The power output adjustment mechanism is constructed according to the control distribution matrix and the control efficiency matrix, and the remaining motors are motors except the first motor.
In one embodiment, the adjusting the rotational speed command of the remaining electric motor according to the power output adjustment mechanism includes: determining a first sacrifice channel according to the gesture channel and the current priority order of the throttle channel; determining a first saturation parameter of the first sacrificial channel according to the control distribution matrix; according to the first saturation parameter and the control efficiency matrix, the rotating speed instructions of the remaining motors are distributed, input loss during control of the limited motors is compensated by adjusting the rotating speeds of other motors, so that unmanned aerial vehicle can avoid losing control capacity caused by saturated rotating speed of the first motor, and the motor distribution can be completed in extremely short time by complex calculation in the motor distribution of the distribution matrix and the control efficiency matrix, so that the flight stability of the unmanned aerial vehicle is maintained.
In one embodiment, the first victim channel is the lowest current priority channel of the pose channel and the throttle channel. For example, the current priority ranking may be pitch channel=roll channel > yaw channel > throttle channel, then the lowest priority channel is the throttle channel, or the current priority ranking may be pitch channel=roll channel > throttle channel > yaw channel, then the lowest priority channel is the yaw channel.
As a possible implementation, the channel priority of the drone may vary according to its current state. For example, when the unmanned aerial vehicle is in a hover state, or when the current motor reaches both an upper-rotation-speed limit saturation value and a lower-rotation-speed limit saturation value, the current priority order may be pitch channel=roll channel > throttle channel > yaw channel, and when other than the above, the current priority order may be pitch channel=roll channel > yaw channel > throttle channel.
It should be noted that, according to the first sacrificial channel, the first saturation parameter may correspond to different parameters. For example, if the first sacrificial channel is the yaw channel, the first saturation parameter is an angular acceleration command of the yaw channel, and if the first sacrificial channel is the throttle channel, the first saturation parameter is an acceleration command of the throttle channel, and the priority of the channel of the unmanned aerial vehicle is dynamically changed according to the current state, such as when in a hovering state, the stability of the holding position is more important than the rotational movement, therefore, the priority of the pitch-roll channel and the throttle channel is higher than the yaw channel, the priority of the yaw channel is higher than the throttle channel under the condition of normal flight, and the priority sequence is determined and adjusted according to the current movement state of the unmanned aerial vehicle. In this way, the device can sacrifice the unimportant channel parameters in the current motion state preferentially, ensure the flight stability under the condition of keeping the current flight state, improve the flight safety and enable the device to process the complex flight condition more intelligently.
It should be noted that, in order to realize the requirements of different situations on anti-saturation characteristics, an anti-saturation coefficient can be added in the process of calculating the saturation parameter, and the anti-saturation coefficient can be dynamically changed according to the current state of the unmanned aerial vehicle. The anti-saturation coefficient ranges from 0 to 1, and when the anti-saturation coefficient is 0, it means that the anti-saturation treatment is not performed, and when the anti-saturation coefficient is 1, it means that the complete anti-saturation treatment is performed. For example, when the unmanned aerial vehicle is in a landing state, the anti-saturation coefficient may be set to 0 at this time, and when the unmanned aerial vehicle is in a flight state, the anti-saturation coefficient may be set to 1, 0.5, etc. according to the current flight specific state.
In one embodiment, the determining the first saturation parameter of the first victim channel according to the control distribution matrix comprises: calculating initial saturation parameters of the first sacrificial channel according to the control distribution matrix; acquiring a current anti-saturation coefficient; and determining a first saturation parameter of the first sacrifice channel according to the anti-saturation coefficient and the initial saturation parameter of the first sacrifice channel.
For example, when the unmanned aerial vehicle is a quad-rotor, and the first sacrificial channel is a throttle channel, the initial saturation parameter of the throttle channel may be calculated according to the above formula 1, namely:
Wherein,is the rotational speed saturation value of the first motor.
Then, the current anti-saturation coefficient k can be obtained, and the saturation parameter T of the throttle channel can be calculated according to the following formula 5 out ′：
T out ′＝T out +k*(T out ′-T out ) (equation 5)
For another example, when the unmanned aerial vehicle is a quadrotor and the first sacrificial channel is a yaw channel, the initial saturation parameter of the yaw channel may be calculated according to the above formula 1, namely:
then, the current anti-saturation coefficient k can be obtained, and the saturation parameter of the yaw path is calculated according to the following formula 7:
M3 out ’＝M3 out +k*(M3 out ‘-M3 out ) (equation 7)
In one embodiment, after the determining the first saturation parameter of the first victim channel according to the control distribution matrix, the method further comprises: when the first sacrificial channel is the throttle channel and the rotating speed saturation value of the first motor is the rotating speed upper limit saturation value, judging whether the first saturation parameter is larger than or equal to a preset minimum threshold value; if yes, executing the rotating speed instruction for distributing the residual motor according to the first saturation parameter and the control efficiency matrix; if not, setting the first saturation parameter as the preset minimum threshold value, and executing the rotating speed instruction for distributing the residual motors according to the first saturation parameter and the control efficiency matrix.
Or when the first sacrificial channel is the throttle channel and the rotating speed saturation value of the first motor is the rotating speed lower limit saturation value, judging whether the first saturation parameter is smaller than or equal to a preset maximum threshold value; if yes, executing the rotating speed instruction for distributing the residual motor according to the first saturation parameter and the control efficiency matrix; if not, setting the first saturation parameter as the preset maximum threshold value, and executing the rotating speed instruction for distributing the residual motors according to the first saturation parameter and the control efficiency matrix.
It should be noted that, through the above process of determining the first saturation parameter, when the first sacrificial channel is an accelerator channel and the first motor is saturated (i.e., the rotation speed saturation value is the rotation speed upper limit saturation value), the first saturation parameter calculated reversely may not be very low; and when the first motor is saturated (namely, the rotating speed saturation value is the rotating speed lower limit saturation value), the reversely calculated first saturation parameter is not very high, and the higher torque distribution capacity can be ensured.
S204, distributing rotating speed instructions of the remaining motors according to the first saturation parameters and the control efficiency matrix.
Wherein the remaining motors are motors other than the first motor.
For example, when the unmanned aerial vehicle is a four-rotor, and the first sacrificial channel is an accelerator channel, the rotational speed command of all motors can be calculated according to the following formula 8:
t at this time can be calculated by the above equation 5 out ' value, or take T out ' a preset maximum threshold or a preset minimum threshold.
In one embodiment, when the first sacrificial channel is the yaw channel and the first saturation parameter of the first sacrificial channel is the angular acceleration command saturation value of the yaw channel, the step S204 includes: judging whether the angular acceleration command saturation value is inverted and/or smaller than a preset absolute threshold; if not, distributing the rotating speed instruction of the residual motor according to the angular acceleration instruction saturation value of the yaw channel and the control efficiency matrix; if yes, adjusting the angular acceleration command saturation value of the yaw channel according to the preset absolute threshold, and distributing the rotating speed command of the residual motor according to the adjusted angular acceleration command saturation value of the yaw channel and the control efficiency matrix.
For example, the predetermined absolute threshold is 15rad -2 The original angular acceleration command of the yaw channel is 20rad -2 The angular acceleration command saturation value of the yaw channel calculated according to the control efficiency matrix is 10rad x s -2 Less than the predetermined absolute threshold, the unmanned aerial vehicle may adjust the angular acceleration command saturation value by 15rad -2 And according to the adjusted angular acceleration command saturation valueThe control efficiency matrix assigns rotational speed instructions for the remaining motors other than the first motor.
It should be noted that, when the first sacrificial channel is the yaw channel, if the absolute value of the calculated angular acceleration command saturation value of the yaw channel is too small or a reverse situation occurs, the heading may be completely out of control, by limiting the angular acceleration command saturation value to be higher than a preset absolute threshold (e.g. 15rad x s -2 And above), the stability of the aircraft in the anti-saturation process can be improved.
After the above-mentioned rotational speed distribution process is performed, there may be a case where the rotational speed of the motor is saturated, and the rotational speed command of the remaining motor may be redistributed.
In one embodiment, after the step S203, the method further includes:
s204, if the rotating speed instruction of the second motor in the remaining motors exceeds the rotating speed saturation value of the second motor, controlling the rotating speed of the second motor to reach the rotating speed saturation value of the second motor, and selecting the channel with the lower current priority from the gesture channel and the throttle channel as a second sacrificial channel.
The second motor may be any one of the remaining motors other than the first motor.
For example, if the current priority ranking is pitch channel=roll channel > yaw channel > throttle channel, then the next lowest priority channel (i.e., the second victim channel) is the yaw channel, or alternatively, the current priority ranking may be pitch channel=roll channel > throttle channel > yaw channel, then the next lowest priority channel (i.e., the second victim channel) is the throttle channel.
S205, calculating a second saturation parameter of the second sacrificial channel, and distributing rotating speed instructions of the rest motors except the first motor and the second motor according to the second saturation parameter and the control efficiency matrix.
As a possible implementation manner, in a case where the first sacrificial channel is the throttle channel, the second sacrificial channel is the yaw channel, and the second saturation parameter of the second sacrificial channel is the angular acceleration command saturation value of the yaw channel, the step S205 includes: calculating an angular acceleration instruction saturation value of the yaw channel according to the control efficiency matrix; if the angular acceleration instruction saturation value is inverted and/or smaller than a preset absolute threshold, adjusting the angular acceleration instruction saturation value according to the preset absolute threshold; and distributing rotating speed instructions of the rest motors except the first motor and the second motor according to the adjusted angular acceleration instruction saturation value and the control efficiency matrix.
For example, the predetermined absolute threshold is 15rad -2 The original angular acceleration command of the yaw channel is 20rad -2 The angular acceleration command saturation value of the yaw channel calculated according to the control efficiency matrix is 10rad x s -2 Less than the predetermined absolute threshold, the unmanned aerial vehicle may adjust the angular acceleration command saturation value by 15rad -2 And distributing the rotating speed instructions of the rest motors except the first motor according to the adjusted angular acceleration instruction saturation value and the control efficiency matrix.
It should be noted that, when the second sacrificial channel is the yaw channel, if the absolute value of the calculated angular acceleration command saturation value of the yaw channel is too small or a reverse situation occurs, the heading may be completely out of control, by limiting the angular acceleration command saturation value to be higher than a preset absolute threshold (e.g. 15rad x s -2 And above), the stability of the aircraft in the anti-saturation process can be improved.
It should be noted that, the implementation process of the step S205 may refer to the foregoing description of the process of calculating the first saturation parameter and allocating the rotational speed command of the remaining motors except the first motor, which is not described herein.
In some possible embodiments, after the process of re-allocating the rotational speed is performed, if there is a situation that the rotational speed of the motor is saturated, a channel with the third lowest priority may be selected as the third sacrificial channel, and the rotational speed command of the remaining motor is allocated for the third time until there is no situation that the rotational speed of the remaining motor is saturated.
It can be seen that, by using the power control method of the unmanned aerial vehicle shown in the embodiment of the present application, the unmanned aerial vehicle may construct a control allocation matrix and a control efficiency matrix according to respective channel parameters of a gesture channel and an accelerator channel of the unmanned aerial vehicle, if a situation that a first motor reaches rotational speed saturation occurs when a rotational speed instruction of each motor is allocated for the first time, the rotational speed of the first motor is controlled to be a rotational speed saturation value of the first motor, and rotational speed instructions of remaining motors except for the first motor are allocated based on a power output adjustment mechanism, where the power output adjustment mechanism is constructed according to the control allocation matrix and the control efficiency matrix. By the method, only two matrixes are needed to be constructed, and then a power output adjusting mechanism is constructed based on the two matrixes, wherein the power output adjusting mechanism can also consider the current priority of the channel, select the sacrifice channel according to the priority, redistribute the rotating speed of the residual motor by sacrificing part of control of the sacrifice channel, effectively realize anti-saturation control, ensure the stability in the flight process and exert the performance of the unmanned aerial vehicle to the greatest extent.
The method of the present application is described above and the apparatus of the present application is described below.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a power control device of an unmanned aerial vehicle, which is provided in an embodiment of the present application, and is applied to an unmanned aerial vehicle, and the unmanned aerial vehicle is equipped with at least one rotor wing. As shown in fig. 3, the unmanned aerial vehicle power control apparatus 30 includes:
the construction module 301 is configured to construct a control allocation matrix and a control efficiency matrix according to respective channel parameters of the gesture channel and the throttle channel of the unmanned aerial vehicle.
The control module 302 is configured to control, if the rotational speed command of the first motor exceeds the rotational speed saturation value of the first motor when the rotational speed command of each motor is first allocated, the rotational speed of the first motor to reach the rotational speed saturation value.
The adjusting module 303 is configured to adjust a rotational speed instruction of the remaining motors according to a power output adjusting mechanism, where the power output adjusting mechanism is constructed according to the control distribution matrix and the control efficiency matrix, and the remaining motors are motors other than the first motor.
In one possible design, the adjustment module 303 is configured to adjust the rotational speed command of the remaining electric motor according to the power output adjustment mechanism, specifically: determining a first sacrifice channel according to the gesture channel and the current priority order of the throttle channel; determining a first saturation parameter of the first sacrificial channel according to the control distribution matrix; and distributing rotating speed instructions of the residual motors according to the first saturation parameters and the control efficiency matrix.
In one possible design, the attitude channel includes at least any one or more of a pitch channel, a roll channel, a yaw channel; the channel parameters comprise an acceleration command and/or an angular acceleration command; the construction module 301 is configured to, when constructing the control allocation matrix and the control efficiency matrix according to respective channel parameters of the gesture channel and the throttle channel of the unmanned aerial vehicle, specifically: and constructing a control distribution matrix and a control efficiency matrix according to the acceleration command of the throttle channel of the unmanned aerial vehicle and the respective angular acceleration commands of the pitching channel, the rolling channel and the yawing channel.
In one possible design, the first victim channel is the lowest current priority channel of the pose channel and the throttle channel.
In one possible design, the adjusting module 303 is configured to, when determining the first saturation parameter of the first sacrificial channel according to the control allocation matrix, specifically: calculating initial saturation parameters of the first sacrificial channel according to the control distribution matrix; acquiring a current anti-saturation coefficient; and determining a first saturation parameter of the first sacrifice channel according to the anti-saturation coefficient and the initial saturation parameter of the first sacrifice channel.
In one possible design, the adjusting module 303 is configured to, after distributing the rotational speed command of the remaining electric machine according to the first saturation parameter and the control efficiency matrix, further configured to: if the rotating speed instruction of the second motor in the remaining motors exceeds the rotating speed saturation value of the second motor, selecting a channel with the current priority level lower than the current priority level from the gesture channel and the throttle channel as a second sacrificial channel; and calculating a second saturation parameter of the second sacrificial channel, and distributing rotating speed instructions of the rest motors except the first motor and the second motor according to the second saturation parameter and the control efficiency matrix.
In one possible embodiment, the rotational speed saturation value comprises an upper rotational speed saturation value and/or a lower rotational speed saturation value; the control module 302 is configured to, after determining the first saturation parameter of the first victim channel according to the control distribution matrix, further: when the first sacrificial channel is the throttle channel and the rotating speed saturation value of the first motor is the rotating speed upper limit saturation value, judging whether the first saturation parameter is larger than or equal to a preset minimum threshold value; if yes, executing the rotating speed instruction for distributing the residual motor according to the first saturation parameter and the control efficiency matrix; if not, setting the first saturation parameter as the preset minimum threshold value, and executing the rotating speed instruction for distributing the residual motors according to the first saturation parameter and the control efficiency matrix. Or when the first sacrificial channel is the throttle channel and the rotating speed saturation value of the first motor is the rotating speed lower limit saturation value, judging whether the first saturation parameter is smaller than or equal to a preset maximum threshold value; if yes, executing the rotating speed instruction for distributing the residual motor according to the first saturation parameter and the control efficiency matrix; if not, setting the first saturation parameter as the preset maximum threshold value, and executing the rotating speed instruction for distributing the residual motors according to the first saturation parameter and the control efficiency matrix.
In one possible design, the first sacrificial passage is the throttle passage, the second sacrificial passage is the yaw passage, and the second saturation parameter of the second sacrificial passage is an angular acceleration command saturation value of the yaw passage; the adjusting module 303 is configured to calculate a second saturation parameter of the second sacrificial channel, and allocate rotational speed instructions of remaining motors except the first motor and the second motor according to the second saturation parameter and the control efficiency matrix, where the second saturation parameter is specifically configured to: calculating an angular acceleration instruction saturation value of the yaw channel according to the control efficiency matrix; if the angular acceleration instruction saturation value is inverted and/or smaller than a preset absolute threshold, adjusting the angular acceleration instruction saturation value according to the preset absolute threshold; and distributing rotating speed instructions of the rest motors except the first motor and the second motor according to the adjusted angular acceleration instruction saturation value and the control efficiency matrix.
In one possible design, the first sacrificial channel is the yaw channel, and the first saturation parameter of the first sacrificial channel is an angular acceleration command saturation value of the yaw channel; the adjusting module 303 is configured to, when distributing the rotational speed command of the remaining motors according to the first saturation parameter of the first sacrificial channel and the control efficiency matrix, specifically: judging whether the angular acceleration command saturation value is inverted and/or smaller than a preset absolute threshold; if not, distributing the rotating speed instruction of the residual motor according to the angular acceleration instruction saturation value of the yaw channel and the control efficiency matrix; if yes, adjusting the angular acceleration command saturation value of the yaw channel according to the preset absolute threshold, and distributing the rotating speed command of the residual motor according to the adjusted angular acceleration command saturation value of the yaw channel and the control efficiency matrix.
According to the device, the control distribution matrix and the control efficiency matrix can be constructed according to the respective channel parameters of the gesture channel and the throttle channel of the unmanned aerial vehicle, if the condition that the first motor reaches rotational speed saturation occurs in the rotational speed command of each motor distributed for the first time, the rotational speed of the first motor is controlled to be the rotational speed saturation value of the first motor, and the rotational speed commands of the rest motors except the first motor are regulated and distributed based on the power output regulating mechanism, wherein the power output regulating mechanism is constructed according to the control distribution matrix and the control efficiency matrix. The device constructs two matrixes, constructs a power output adjustment mechanism based on the two matrixes, and effectively realizes anti-saturation control of the unmanned aerial vehicle by redistributing the rotating speed of the residual motor, thereby ensuring the stability in the flight process and exerting the performance of the unmanned aerial vehicle to the greatest extent.
Referring to fig. 4, fig. 4 is a schematic structural diagram of another unmanned aerial vehicle provided in an embodiment of the present application, where the unmanned aerial vehicle 40 includes a processor 401 and a memory 402. The memory 402 is connected to the processor 401, for example by a bus, to the processor 401.
The processor 401 is configured to support the drone 40 to perform the corresponding functions in the method of the method embodiments described above. The processor 401 may be a central processing unit (central processing unit, CPU), a network processor (network processor, NP), a hardware chip or any combination thereof. The hardware chip may be an application specific integrated circuit (application specific integrated circuit, ASIC), a programmable logic device (programmable logic device, PLD), or a combination thereof. The PLD may be a complex programmable logic device (complex programmable logic device, CPLD), a field-programmable gate array (field-programmable gate array, FPGA), general-purpose array logic (generic array logic, GAL), or any combination thereof.
The memory 402 is used for storing program codes and the like. Memory 402 may include Volatile Memory (VM), such as random access memory (random access memory, RAM); the memory 402 may also include a non-volatile memory (NVM), such as read-only memory (ROM), flash memory (flash memory), hard disk (HDD) or Solid State Drive (SSD); memory 402 may also include a combination of the above types of memory.
The processor 401 may call the program code to perform the following operations:
constructing a control distribution matrix and a control efficiency matrix according to respective channel parameters of the gesture channel and the throttle channel of the unmanned aerial vehicle;
if the rotating speed command of each motor is distributed for the first time, and the rotating speed command of the first motor exceeds the rotating speed saturation value of the first motor, controlling the rotating speed of the first motor to reach the rotating speed saturation value;
and adjusting and distributing rotating speed instructions of the residual motors according to a power output adjusting mechanism, wherein the power output adjusting mechanism is constructed according to the control distribution matrix and the control efficiency matrix, and the residual motors are motors except the first motor.
The present application also provides a computer-readable storage medium storing a computer program comprising program instructions that, when executed by a computer, cause the computer to perform the method of the previous embodiments.
Those skilled in the art will appreciate that implementing all or part of the above-described methods in the embodiments may be accomplished by computer programs stored in a computer-readable storage medium, which when executed, may include the steps of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only memory (ROM), a random-access memory (Random Access memory, RAM), or the like.
The foregoing disclosure is only illustrative of the preferred embodiments of the present application and is not intended to limit the scope of the claims herein, as the equivalent of the claims herein shall be construed to fall within the scope of the claims herein.

Claims (12)

1. A method of controlling the power of an unmanned aerial vehicle, the unmanned aerial vehicle being equipped with at least one rotor, the method comprising:
Constructing a control distribution matrix and a control efficiency matrix according to respective channel parameters of the gesture channel and the throttle channel of the unmanned aerial vehicle;
if the rotating speed command of each motor is distributed for the first time, and the rotating speed command of the first motor exceeds the rotating speed saturation value of the first motor, controlling the rotating speed of the first motor to reach the rotating speed saturation value;
and adjusting and distributing rotating speed instructions of the residual motors according to a power output adjusting mechanism, wherein the power output adjusting mechanism is constructed according to the control distribution matrix and the control efficiency matrix, and the residual motors are motors except the first motor.
2. The method of claim 1, wherein said adjusting the rotational speed command of the remaining electric machine according to the power take-off adjustment mechanism comprises:
determining a first sacrifice channel according to the gesture channel and the current priority order of the throttle channel;
determining a first saturation parameter of the first sacrificial channel according to the control distribution matrix;
and distributing rotating speed instructions of the residual motors according to the first saturation parameters and the control efficiency matrix.
3. The method of claim 1, wherein the attitude channel comprises at least any one or more of a pitch channel, a roll channel, a yaw channel; the channel parameters comprise an acceleration command and/or an angular acceleration command;
The constructing a control distribution matrix and a control efficiency matrix according to respective channel parameters of the gesture channel and the throttle channel of the unmanned aerial vehicle comprises the following steps:
and constructing a control distribution matrix and a control efficiency matrix according to the acceleration command of the throttle channel of the unmanned aerial vehicle and the respective angular acceleration commands of the pitching channel, the rolling channel and the yawing channel.
4. The method of claim 2, wherein the first victim way is the pose way and the lowest current priority way of the throttle way.
5. The method of claim 2, wherein the determining a first saturation parameter of the first victim channel from the control distribution matrix comprises:
calculating initial saturation parameters of the first sacrificial channel according to the control distribution matrix;
acquiring a current anti-saturation coefficient;
and determining a first saturation parameter of the first sacrifice channel according to the anti-saturation coefficient and the initial saturation parameter of the first sacrifice channel.
6. The method according to any one of claims 2 to 5, wherein after said assigning rotational speed instructions of the remaining electric machines according to said first saturation parameter and said control efficiency matrix, further comprises:
If the rotating speed command of the second motor in the residual motors exceeds the rotating speed saturation value of the second motor, controlling the rotating speed of the second motor to reach the rotating speed saturation value of the second motor;
selecting a channel with the current priority level lower than the current priority level from the gesture channel and the throttle channel as a second sacrificial channel;
and calculating a second saturation parameter of the second sacrificial channel, and distributing rotating speed instructions of the rest motors except the first motor and the second motor according to the second saturation parameter and the control efficiency matrix.
7. Method according to any one of claims 2 to 5, wherein the speed saturation value comprises an upper speed saturation value and/or a lower speed saturation value; after the first saturation parameter of the first victim channel is determined according to the control distribution matrix, the method further comprises:
when the first sacrificial channel is the throttle channel and the rotating speed saturation value of the first motor is the rotating speed upper limit saturation value, judging whether the first saturation parameter is larger than or equal to a preset minimum threshold value;
if yes, executing the rotating speed instruction for distributing the residual motor according to the first saturation parameter and the control efficiency matrix;
If not, setting the first saturation parameter as the preset minimum threshold value, and executing the rotating speed instruction for distributing the residual motor according to the first saturation parameter and the control efficiency matrix;
or alternatively, the first and second heat exchangers may be,
when the first sacrificial channel is the accelerator channel and the rotating speed saturation value of the first motor is the rotating speed lower limit saturation value, judging whether the first saturation parameter is smaller than or equal to a preset maximum threshold value;
if yes, executing the rotating speed instruction for distributing the residual motor according to the first saturation parameter and the control efficiency matrix;
if not, setting the first saturation parameter as the preset maximum threshold value, and executing the rotating speed instruction for distributing the residual motors according to the first saturation parameter and the control efficiency matrix.
8. The method of claim 6, wherein the first sacrificial passage is the throttle passage, the second sacrificial passage is the yaw passage, and the second saturation parameter of the second sacrificial passage is an angular acceleration command saturation value of the yaw passage;
the calculating a second saturation parameter of the second sacrificial channel, and distributing rotational speed instructions of the remaining motors except the first motor and the second motor according to the second saturation parameter and the control efficiency matrix, including:
Calculating an angular acceleration instruction saturation value of the yaw channel according to the control efficiency matrix;
if the angular acceleration instruction saturation value is inverted and/or smaller than a preset absolute threshold, adjusting the angular acceleration instruction saturation value according to the preset absolute threshold;
and distributing rotating speed instructions of the rest motors except the first motor and the second motor according to the adjusted angular acceleration instruction saturation value and the control efficiency matrix.
9. The method of any of claims 2-5, wherein the first sacrificial channel is the yaw channel and the first saturation parameter of the first sacrificial channel is an angular acceleration command saturation value of the yaw channel;
the distributing the rotating speed instruction of the residual motor according to the first saturation parameter and the control efficiency matrix comprises the following steps:
judging whether the angular acceleration command saturation value is inverted and/or smaller than a preset absolute threshold;
if not, distributing the rotating speed instruction of the residual motor according to the angular acceleration instruction saturation value of the yaw channel and the control efficiency matrix;
if yes, adjusting the angular acceleration command saturation value of the yaw channel according to the preset absolute threshold, and distributing the rotating speed command of the residual motor according to the adjusted angular acceleration command saturation value of the yaw channel and the control efficiency matrix.
10. An unmanned aerial vehicle power control device, characterized in that is applied to unmanned aerial vehicle, unmanned aerial vehicle is equipped with at least one rotor, unmanned aerial vehicle power control device includes:
the construction module is used for constructing a control distribution matrix and a control efficiency matrix according to the respective channel parameters of the gesture channel and the throttle channel of the unmanned aerial vehicle;
the control module is used for controlling the rotating speed of the first motor to reach the rotating speed saturation value if the rotating speed command of the first motor exceeds the rotating speed saturation value of the first motor when the rotating speed command of each motor is distributed for the first time;
the adjusting module is used for adjusting and distributing rotating speed instructions of the residual motors according to a power output adjusting mechanism, the power output adjusting mechanism is constructed according to the control distribution matrix and the control efficiency matrix, and the residual motors are motors except the first motor.
11. A drone comprising a memory, a processor connected to the processor for executing one or more computer programs stored in the memory, which when executed, causes the drone to implement the method of any one of claims 1 to 9.
12. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program comprising program instructions which, when executed by a processor, cause the processor to perform the method of any of claims 1 to 9.
CN202311507787.6A 2023-11-13 2023-11-13 Unmanned aerial vehicle power control method and device, unmanned aerial vehicle and storage medium Pending CN117608325A (en)

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CN202311507787.6A CN117608325A (en) 2023-11-13 2023-11-13 Unmanned aerial vehicle power control method and device, unmanned aerial vehicle and storage medium

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CN117608325A true CN117608325A (en) 2024-02-27

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