CN118034328A - Rotor unmanned aerial vehicle control method based on lift force feedback power device - Google Patents
Rotor unmanned aerial vehicle control method based on lift force feedback power device Download PDFInfo
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Abstract
The invention relates to the field of rotor unmanned aerial vehicles, in particular to a rotor unmanned aerial vehicle control method based on a lift force feedback power device. This rotor unmanned aerial vehicle system based on lift feedback power device can effectively promote rotor unmanned aerial vehicle's wind resistance, maneuverability and the ability of quick adjustment self gesture.
Description
Technical Field
The invention relates to the field of rotor unmanned aerial vehicles, in particular to a rotor unmanned aerial vehicle control method based on a lift force feedback power device.
Background
The traditional rotor unmanned aerial vehicle power system uses the motor rotation speed as a controlled object to carry out closed-loop control, and can not accurately control the output lifting force. However, the force and moment acting on the unmanned aerial vehicle system, namely the lift output of each shaft power system, directly affect the air state of the unmanned aerial vehicle. Therefore, in flight scenes such as strong wind disturbance or complex obstacles which require high maneuvering performance, the rotor unmanned aerial vehicle system provided with the existing power system cannot accurately and rapidly change the gesture of the rotor unmanned aerial vehicle. For example, in a forest environment, when a branch trunk is shielded, the rotor unmanned aerial vehicle cannot immediately adjust the posture of the rotor unmanned aerial vehicle to avoid the branch trunk so as to prevent collision.
Disclosure of Invention
The invention solves the problems that: aiming at the defects of the conventional rotor unmanned aerial vehicle power system rotating speed closed-loop control method, a lift force feedback power device is designed, and a rotor unmanned aerial vehicle system based on the lift force feedback power device is provided, so that the problem of accurately and quickly adjusting the posture of the rotor unmanned aerial vehicle in a severe environment or in a high maneuver flight scene is solved.
The invention designs a rotor unmanned aerial vehicle system based on a lift force feedback power device, which adopts a distributed closed-loop controller and takes expected lift force output by a flight control system as input of the force feedback power device to carry out force feedback control. The rotor unmanned aerial vehicle system based on the lift force feedback power device has lift force closed-loop control capability, can more accurately and rapidly control the attitude, and effectively improves the flying machine capability.
The technical proposal of the invention is as follows: a rotor unmanned aerial vehicle control method based on a lift force feedback power device comprises the following steps:
Acquiring the real-time pose of the rotor unmanned aerial vehicle through a navigation module;
Obtaining a pose error according to the expected pose and the real-time pose, and obtaining expected lifting force through a flight control module according to the pose error;
and taking the expected lifting force as the input of a force feedback power device, and performing force feedback control on each shaft power system of the rotary wing unmanned aerial vehicle, thereby realizing the control of the rotary wing unmanned aerial vehicle.
The force feedback power device takes a single-shaft power system of the rotor unmanned aerial vehicle as a controlled object, acquires lifting force generated by the rotor in real time to form force feedback closed-loop control, and executes the following steps:
The lift force information is obtained through direct measurement of a force sensor arranged on a power system of the rotor unmanned aerial vehicle to be subjected to data preprocessing and used as a feedback signal of force closed-loop control;
According to the feedback signal of the force closed-loop control, the lift force closed-loop control is realized through a controller of a power system of the rotor unmanned aerial vehicle.
The lift force feedback power device adopts a distributed force closed-loop controller:
The force sensors are arranged on the shafts of the rotor unmanned aerial vehicle, and distributed force closed-loop control is realized through the independently operated force closed-loop controller for each force sensor and the corresponding shaft.
The real-time pose of the rotor unmanned aerial vehicle is obtained through the navigation module, and the real-time pose is specifically as follows:
Obtaining a predicted value of an inclination angle comprising a pitch angle and a roll angle through integration of a pitch angle and a roll angle speed measured by a gyroscope; the measurement value of the inclination angle is obtained through the triaxial component of the geomagnetic field under the machine body coordinate system measured by the magnetic compass; the unmanned aerial vehicle inclination angle is obtained by combining the unmanned aerial vehicle inclination angle and the unmanned aerial vehicle inclination angle;
obtaining a yaw angle predicted value through the course angular velocity integration measured by the gyroscope, and obtaining a yaw angle measured value through the magnetic compass, wherein the yaw angle predicted value and the yaw angle measured value are fused to obtain the unmanned aerial vehicle yaw angle;
The three-axis speed predicted value is obtained through acceleration integration measured by an accelerometer, the speed measured by a satellite positioning module is a measured value, and the three-axis speed predicted value and the measured value are fused to obtain the speed of the unmanned aerial vehicle;
And obtaining a position prediction value through integration of the speed of the unmanned aerial vehicle obtained through fusion, and obtaining the position of the unmanned aerial vehicle through fusion of the position prediction value and the measured value which are measured by the satellite positioning module.
The method for acquiring the expected lifting force of each shaft lifting force feedback power device through the flight control module comprises the following steps:
The pose controller obtains a nominal control quantity according to the pose error,
The hybrid controller calculates the expected lifting force f di (i=1, 2,3,4 and …) of each motor according to the nominal control quantity according to the structural distribution of the power system of the rotor unmanned aerial vehicle.
The nominal control amount includes a pitch control amount, a roll control amount, a yaw control amount, and a throttle control amount.
A rotor unmanned aerial vehicle control system based on lift feedback power device, comprising:
the navigation module is used for acquiring the real-time pose of the rotor unmanned aerial vehicle;
The flight control module is used for acquiring expected lifting force through pose errors obtained by the expected pose and the real-time pose;
And the force feedback power module is used for taking the expected lifting force as the input of the force feedback power device, and performing force feedback control on each shaft power system of the rotary wing unmanned aerial vehicle so as to realize the control of the rotary wing unmanned aerial vehicle.
The flight control module includes:
the pose controller is used for obtaining a nominal control quantity according to the pose error;
The hybrid controller is used for calculating the expected lifting force f di (i=1, 2,3,4 and …) of each motor according to the nominal control quantity according to the structural distribution of the power system of the rotor unmanned aerial vehicle.
A computer readable storage medium having a computer program stored thereon, which when executed by a processor, implements the method of controlling a rotorcraft based on lift feedback power.
Compared with the prior art, the invention has the beneficial effects that:
In the face of special scenes requiring high maneuvering flight performance, the rotor unmanned aerial vehicle system based on the lift force feedback power device can output lift force of each shaft more rapidly and accurately so as to meet the requirements of rapidly-changing gesture adjustment.
Drawings
FIG. 1 is an assembly schematic of a quad-rotor unmanned helicopter system of the present invention;
fig. 2 is a control block diagram of the quad-rotor unmanned helicopter system of the present invention.
Detailed Description
The following takes a quadrotor unmanned aerial vehicle as an example, and the specific embodiments of the invention are described in further detail with reference to the accompanying drawings.
The invention provides a rotor unmanned aerial vehicle system based on a lift force feedback power device, which adopts a distributed closed-loop controller, takes expected lift force output by a flight control system as input of the force feedback power device to carry out force feedback control, and further quickly and accurately tracks expected lift force calculated and output by the flight control system, so that the rotor unmanned aerial vehicle system has more accurate and quick attitude control performance, and effectively improves the flight movement capability.
The method comprises the following specific steps:
Firstly, considering the limit lifting force, the weight, the volume, the measurement precision, the working temperature and other constraints of the power device, selecting a proper tension-torsion force sensor, and installing the tension-torsion force sensor between each shaft power motor and a motor installation seat. In view of the demands of torque resistance measurement and yaw control, tension-torsion sensors are mounted concentrically with each shaft motor. Meanwhile, the lift force feedback power device adopts a distributed force closed-loop controller, namely, force sensors are arranged on each shaft of the rotor unmanned aerial vehicle, and the independently operated force closed-loop controller is designed, so that the distributed force closed-loop control is realized. The distributed design of the force closed-loop control can be matched with the overall modularized design concept of the unmanned aerial vehicle system, so that the power devices can be conveniently disassembled, assembled and transported, common faults caused by the centralized controllers can be avoided, and the reliability of the system is improved. In combination with the conventional four-rotor unmanned aerial vehicle structure, a specific system assembly schematic diagram is shown in fig. 1: in the figure, a tension and torsion sensor is shown at 1, a power device (a built-in force feedback controller) with a force feedback control function is shown at 2, a main structure (a built-in flight control system) of a rotor unmanned aerial vehicle cabin is shown at 3, and a landing gear is shown at 4.
As shown in fig. 2, the flight control system mainly includes a navigation module and a flight control module. Wherein, navigation module contains flight status sensor and position appearance estimator. The flight state sensor is used for sensing and measuring each flight state of the unmanned aerial vehicle system and mainly comprises a triaxial accelerometer, a triaxial gyroscope, a triaxial magnetometer, a satellite positioning module and a barometer. Because the original data collected by each sensor is affected by temperature change, external interference and self precision and has errors, a pose estimator is needed to filter and fuse and correct the original data, specifically: the pitch angle and roll angle speeds measured by the gyroscope are integrated to obtain a predicted value of an inclination angle (pitch angle and roll angle), the three-axis component of the geomagnetic field measured by the magnetic compass under a machine body coordinate system is used for calculating a measured value of the inclination angle, and the measured value are fused to obtain the inclination angle of the unmanned plane; the yaw angle predicted value is obtained by integrating the course angular velocity measured by the gyroscope, the yaw angle measured value is measured by the magnetic compass, and the yaw angle are fused to obtain the unmanned aerial vehicle yaw angle; integrating the acceleration measured by the accelerometer to obtain a triaxial speed predicted value, wherein the speed measured by the satellite positioning module is a measured value, and the three values are fused to obtain the speed of the unmanned aerial vehicle; and the speed integral obtained above is used for obtaining a position predicted value, the position measured by the satellite positioning module is a measured value, and the position predicted value and the measured value are fused to obtain the position of the unmanned aerial vehicle.
The flight control module is divided into a pose controller and a mixing controller. The position and pose controller is of a cascade PID structure of a position ring, a speed ring, a pose ring and an angular speed ring: firstly, according to the expected position, the expected speed and the expected navigation module, fusing to obtain the deviation between the positions and the speeds, and calculating to obtain the expected flight attitude; and calculating the expected nominal control quantity according to the expected gesture and the angular speed and the deviation between the actual gesture and the angular speed. The nominal control amount includes a pitch control amount, a roll control amount, a yaw control amount, and a throttle control amount. The hybrid controller calculates expected lifting forces f di (i=1, 2,3, 4) of the four motors according to the structural distribution of the rotor unmanned aerial vehicle power system and the nominal control quantity.
Specifically, in the lift force feedback power device of a certain horn, the force closed-loop controller performs force closed-loop control according to the deviation f e between the expected lift force f d of the horn calculated by the flight control system and the actual lift force f b fed back by the force sensor, so as to realize accurate control of the flight state, and specific embodiments are as follows:
The rotor wing lift force is directly used as feedback control quantity, the lift force closed-loop control mode is used for enabling the rotor wing unmanned aerial vehicle power system to generate the lift force with the expected size, and the method improves the rapidity and accuracy of the lift force output by the rotor wing unmanned aerial vehicle power system. The method comprises the following specific steps:
Firstly, a force sensor with a proper measuring range is selected according to the limit lifting force of a power system of the rotor unmanned aerial vehicle, for example, a 20kg force sensor can be selected for a power system with the limit lifting force of 16 kg. Meanwhile, considering the limited carrying capacity and installation size of the rotor unmanned aerial vehicle power system, the selected force sensor meets the volume and weight requirements: on the premise that the strength meets the requirement, the main body structure is made of aluminum alloy so as to reduce the weight, and the outer diameter of the sensor is not larger than the diameter of the motor. On the basis, a force sensor with smaller comprehensive error and wider measuring bandwidth and temperature adaptation range is selected as much as possible: considering cost and measurement accuracy, five thousandths of the integrated error can meet the requirement; the natural frequency of the conventional strain gauge force sensor can reach more than one kilohertz, and the bandwidth of the rotor unmanned aerial vehicle and a power system can meet the requirements in the aspect of bandwidth, wherein the bandwidth is usually tens of hertz; the temperature of the lower surface of the motor can reach 120 ℃ when the motor rotates and works, and a force sensor with the working temperature range meeting the requirement is selected. Meanwhile, the selected force sensor also needs to have certain bending moment resistance and unbalanced load resistance, and the uniaxial tension and torsion sensor or the six-dimensional force/moment sensor is selected because of the limitation of the working principle and structure of the uniaxial tension and pressure sensor and poor bending moment resistance and unbalanced load resistance.
After the force sensor is selected, the force sensor is arranged between the power motor and the motor mounting seat, specifically: the force sensor fixing surface (lower mounting surface) is fixedly connected to the motor mounting seat of the fuselage frame, and the force sensor stress surface (upper mounting surface) is fixedly connected to the direct current brushless motor. The force sensor is arranged concentrically with the power motor in consideration of the requirements of bending moment resistance, unbalanced load resistance and torque measurement. The specific installation schematic diagram is shown in fig. 2: in the figure, 1 is a tension-torsion sensor, 2 is a motor mounting seat (in which an electronic speed regulator is arranged), 3 is a direct-current brushless motor, 4 is a power propeller, and 5 is a horn.
The power system lift force information directly acquired by the force sensor contains noise signals because of external disturbance and vibration generated by rotation of the propeller and fluctuation of lift force output of the power system and measurement noise of the force sensor. If the original signal with noise is directly used as the force feedback signal without processing, the performance of the force feedback control is affected. Therefore, the original output signal of the force sensor needs to be filtered and preprocessed by a Gaussian filter reasonably designed according to the frequency characteristic of the power system, and the white noise in a low frequency band is reasonably filtered by a Kalman filter after the high-frequency noise signal above 30Hz is filtered, so that the closed-loop control performance of the force feedback power system can be improved.
After the available lift signal is obtained, a force feedback controller is built, as shown in fig. 2: the force sensor collects the lift force f of the rotor wing to obtain f m, the filtered lift force signal f n is used as a feedback signal of the force closed loop system, the expected lift force f d output by the flight controller is differenced with the force feedback signal f b measured by the force sensor to obtain lift force deviation f e, a force feedback PID controller based on the lift force deviation is designed, and parameters of the controller are adjusted. Meanwhile, the lift feedforward control is added for the dynamic response performance of the lift feedback control. The output sigma of the force feedback controller is supplied to the electronic speed regulator, and the electronic speed regulator changes the interphase armature voltage U m acting on the DC brushless motor according to the output value of the controller, so that the motor rotating speed omega is regulated, and the propeller is driven to rotate to generate lifting force f.
Under the regulation of the force feedback controller, the lift force output by the force feedback power system can follow the expected lift force calculated by the flight controller in real time, compared with the traditional power system based on motor rotation speed closed-loop control, the lift force response is more direct and quicker, and the defect of poor motor rotation speed closed-loop control performance can be overcome. The lift signal after noise disturbance filtering has higher precision when closed-loop control is performed, so that the maneuverability of the rotor unmanned aerial vehicle and the robustness of a control system are improved.
Compared with a traditional rotor unmanned aerial vehicle power device, the power device with lift force feedback can more accurately follow the expected lift force calculated by the flight control system in real time. Therefore, when facing special scenes such as strong wind disturbance, complex obstacles, large-angle aerial overturn, gesture track task execution and the like which require high maneuvering flight performance, the rotor unmanned aerial vehicle system can rapidly and accurately output lifting force of each shaft so as to meet the requirements of rapidly-changing gesture adjustment. The above description of the embodiments of the invention has been presented in connection with the drawings but these descriptions should not be construed as limiting the scope of the invention, which is defined by the appended claims, and any changes based on the claims are intended to be covered by the invention.
Claims (9)
1. The rotor unmanned aerial vehicle control method based on the lift force feedback power device is characterized by comprising the following steps of:
Acquiring the real-time pose of the rotor unmanned aerial vehicle through a navigation module;
Obtaining a pose error according to the expected pose and the real-time pose, and obtaining expected lifting force through a flight control module according to the pose error;
and taking the expected lifting force as the input of a force feedback power device, and performing force feedback control on each shaft power system of the rotary wing unmanned aerial vehicle, thereby realizing the control of the rotary wing unmanned aerial vehicle.
2. The method for controlling a rotor unmanned aerial vehicle based on a lift force feedback power device according to claim 1, wherein the force feedback power device takes a single-shaft power system of the rotor unmanned aerial vehicle as a controlled object, acquires lift force generated by a rotor in real time to form force feedback closed-loop control, and performs the following steps:
The lift force information is obtained through direct measurement of a force sensor arranged on a power system of the rotor unmanned aerial vehicle to be subjected to data preprocessing and used as a feedback signal of force closed-loop control;
According to the feedback signal of the force closed-loop control, the lift force closed-loop control is realized through a controller of a power system of the rotor unmanned aerial vehicle.
3. The rotor unmanned aerial vehicle control method based on the lift feedback power device according to claim 1, wherein the lift feedback power device adopts a distributed force closed-loop controller:
The force sensors are arranged on the shafts of the rotor unmanned aerial vehicle, and distributed force closed-loop control is realized through the independently operated force closed-loop controller for each force sensor and the corresponding shaft.
4. The method for controlling the rotor unmanned aerial vehicle based on the lift force feedback power device according to claim 1, wherein the real-time pose of the rotor unmanned aerial vehicle is obtained through a navigation module, specifically comprising the following steps:
Obtaining a predicted value of an inclination angle comprising a pitch angle and a roll angle through integration of a pitch angle and a roll angle speed measured by a gyroscope; the measurement value of the inclination angle is obtained through the triaxial component of the geomagnetic field under the machine body coordinate system measured by the magnetic compass; the unmanned aerial vehicle inclination angle is obtained by combining the unmanned aerial vehicle inclination angle and the unmanned aerial vehicle inclination angle;
obtaining a yaw angle predicted value through the course angular velocity integration measured by the gyroscope, and obtaining a yaw angle measured value through the magnetic compass, wherein the yaw angle predicted value and the yaw angle measured value are fused to obtain the unmanned aerial vehicle yaw angle;
The three-axis speed predicted value is obtained through acceleration integration measured by an accelerometer, the speed measured by a satellite positioning module is a measured value, and the three-axis speed predicted value and the measured value are fused to obtain the speed of the unmanned aerial vehicle;
And obtaining a position prediction value through integration of the speed of the unmanned aerial vehicle obtained through fusion, and obtaining the position of the unmanned aerial vehicle through fusion of the position prediction value and the measured value which are measured by the satellite positioning module.
5. The method for controlling a rotor unmanned aerial vehicle based on a lift force feedback power device according to claim 1, wherein the step of obtaining the desired lift force of each shaft of the lift force feedback power device by a flight control module comprises the following steps:
The pose controller obtains a nominal control quantity according to the pose error,
The hybrid controller calculates the expected lifting force f di (i=1, 2,3,4 and …) of each motor according to the nominal control quantity according to the structural distribution of the power system of the rotor unmanned aerial vehicle.
6. The method of claim 1, wherein the nominal control comprises pitch control, roll control, yaw control, and throttle control.
7. Rotor unmanned aerial vehicle control system based on lift feedback power device, characterized by comprising:
the navigation module is used for acquiring the real-time pose of the rotor unmanned aerial vehicle;
The flight control module is used for acquiring expected lifting force through pose errors obtained by the expected pose and the real-time pose;
And the force feedback power module is used for taking the expected lifting force as the input of the force feedback power device, and performing force feedback control on each shaft power system of the rotary wing unmanned aerial vehicle so as to realize the control of the rotary wing unmanned aerial vehicle.
8. The lift feedback power plant-based rotary wing unmanned aerial vehicle control system of claim 7, wherein the flight control module comprises:
the pose controller is used for obtaining a nominal control quantity according to the pose error;
The hybrid controller is used for calculating the expected lifting force f di (i=1, 2,3,4 and …) of each motor according to the nominal control quantity according to the structural distribution of the power system of the rotor unmanned aerial vehicle.
9. A computer readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when executed by a processor, implements a method for controlling a rotorcraft based on lift feedback power means according to any one of claims 1-6.
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