KR20220161864A - control memet gyro base Drone - Google Patents

Abstract

The present invention relates to an unmanned aerial vehicle equipped with a control moment gyro (CMG) for posture stabilization. In particular, a horizontal posture can be maintained while performing position movement without tilting a main body of the unmanned aerial vehicle so that a flight posture of cluster flight can be stabilized and geometric distortion during video recording missions can be prevented. In addition, the unmanned aerial vehicle can greatly improve flight stability and portability through structural improvement of the unmanned aerial vehicle. In particular, battery consumption in the control moment gyro can be minimized by providing a technology for balancing the body of the unmanned aerial vehicle by varying the number of rotations of a flywheel of a control moment gyro according to an air volume. The unmanned aerial vehicle equipped with a CMG for posture stabilization includes a main body, a driving part, a physical information sensing part, at least one inertial body, a control part, and a sensor.

Description

Unmanned aerial vehicle equipped with a control moment gyro for posture stabilization {control memet gyro base Drone}

The present invention relates to an unmanned aerial vehicle equipped with a control moment gyro (CMG) for posture stabilization. Provide an unmanned aerial vehicle to significantly improve flight stability and portability by stabilizing and preventing geometric distortion during video recording missions, and also improving the structure of the unmanned aerial vehicle,

In particular, the present invention aims to minimize the consumption of batteries consumed in the control moment gyro by providing a technology for balancing the body of an unmanned aerial vehicle by varying the number of revolutions of the flywheel of the control moment gyro according to the air volume.

Furthermore, although rotor control technology is currently used to maintain the flight stability of unmanned aerial vehicles, unsafe elements of the flight posture (gusts, center of gravity change, etc.) It is overcome, but structurally impossible.

On the other hand, the present invention stabilizes the attitude by increasing the number of rotations of the flywheel of the control moment gyro when an instantaneous change in wind speed and a preset air volume are detected, and rotation of the flywheel of the control moment gyro when a preset air volume or less is detected during flight. reducing the number

We want to reduce battery consumption.

In the present application, the flywheel (corresponding to an inertial body) of the control moment gyro is rotated by a BLDC motor, so that the rotational speed of the flywheel can be varied.

First of all, for reference, medium-sized UAVs sold in Korea (Korea) are advertised as guaranteeing the stability of UAVs at a wind speed of about 10 m/s.

- In fact, the wind tunnel test standard of a domestic accredited evaluation agency also passes the wind tunnel test standard if it does not exceed the range of 1 m or more for 30 seconds at 10 m/s → As a result, the manufacturers' unmanned aerial vehicles

Produce and promote a product that guarantees flight stability at 10 m/s.

- However, in the actual field, it is difficult to confirm that the flight stability of the unmanned aerial vehicle is guaranteed even with a change in wind speed that is weaker than this.

- Based on the sensor information installed on the unmanned aerial vehicle, it was confirmed that the aircraft would fall if it lost its pattern or delayed its active response.

- If an unmanned air vehicle that develops dangerous flight even with wind blowing from one direction is placed in a complex environment, it will show structural limitations that are very vulnerable to stability.

finished.

The technology of the present invention is not limited to satellite attitude control, but can be used for ships and vehicles.

As a quaternion control technology used in the field of aerospace, it is an excellent heterogeneous component that has been verified

We want to achieve differentiated technological achievements by applying Ya's technology to unmanned aerial vehicles.

- The vast majority of domestic unmanned aerial vehicle companies simply assemble and sell parts after importing them, and few companies directly develop and produce core parts.

- In other words, it can be seen as the first attempt to develop core components such as the posture control technology of an unmanned aerial vehicle by utilizing satellite control moment gyro technology.

next. Currently, attitude control technology is applied to various types of UAVs, such as artificial satellites and buildings that are affected by the posture of movement due to external influences, to control the attitude of UAVs from external influences caused by external influences, wind, earthquakes, vibrations, etc. The technology for this is gradually being developed.

For example, as buildings become taller, control of vibrations generated by lateral loads such as wind and earthquakes has become an important consideration in designing high-rise buildings. Many high-rise buildings with 30 to 60 floors are being built in Korea, and it is mandatory to review the usability in the horizontal direction at the design stage. If the usability condition is not satisfied, methods for improving the problem include designing the building itself to be strong by increasing the rigidity of the building or increasing the damping force of the building by installing additional devices.

However, at present, methods using additional devices rather than increasing the stiffness of the building itself are being adopted in many foreign countries, and design is not progressing in this direction in Korea.

For example, as a typical damping device for controlling vibration of a building, there is a Tuned Mass Damper (TMD) method in which a vibrating body composed of a mass body, a spring, and a damper is installed in a structure, and is already widely used in the United States and Japan. .

In addition, in order to efficiently perform the mission of an artificial satellite orbiting the earth in outer space, the posture of the satellite must be stably controlled. In particular, maintenance of attitude accuracy after maneuvering in orbit or attitude and changing the attitude in a different direction are parts that must be preemptively performed in performing satellite missions.

In recent years, as the purpose and size of missions of satellites in outer space have been diversified and increased, the importance of attitude control of artificial satellites having flexible structures has been further increased. This is because the performance of the attitude control system cannot be accurately predicted if the satellite is designed assuming a rigid body, although the attitude of the satellite must be controlled when there is an external disturbance.

As described above, it is necessary to control the attitude of various unmanned aerial vehicles capable of moving so as to more accurately adjust the movement of the unmanned aerial vehicle due to external influences to maintain the center of gravity.

Conventionally, rotor control technology is used to maintain the flight stability of unmanned aerial vehicles, but unstable elements of flight posture (gusts, center of gravity change, etc.), especially instantaneous wind speed changes due to natural changes, are overcome only with rotor control technology. impossible.

In addition, the control moment gyro described later in the present invention is arbitrarily applied to an unmanned aerial vehicle.

[無酌定] In the case of having it, it is unreasonable [無理] due to battery consumption.

A drone equipped with a drone posture stabilization module and algorithm based on the reaction wheel momentum of the Korean Intellectual Property Office Publication No. 10-2020-0040392 suffers from battery consumption when the reaction wheel is continuously operated to stabilize the posture.

In view of the above problems, the present invention provides a technology for balancing the body of an unmanned aerial vehicle by varying the number of rotations of the flywheel of the control moment gyro according to the air volume, thereby reducing battery consumption in the control moment gyro. want to minimize

Furthermore, although rotor control technology is currently used to maintain the flight stability of unmanned aerial vehicles, unsafe elements of the flight posture (gusts, center of gravity change, etc.) It is overcome, but structurally impossible.

On the other hand, the present invention stabilizes the attitude by increasing the number of rotations of the flywheel of the control moment gyro when an instantaneous change in wind speed and a preset air volume are detected, and rotation of the flywheel of the control moment gyro when a preset air volume or less is detected during flight. reducing the number

We want to reduce battery consumption.

The control moment gyroscope (CMG) installed in the present invention is used to control the attitude of an artificial satellite, and refers to using gyroscope torque generated by moments in two axial directions.

Referring to FIG. 8.9, the inertial body (corresponding to the flyheel) is a control moment gyro through the control unit g when an instantaneous wind speed change and a preset air volume abnormality are sensed through the air volume sensor f during flight of the unmanned aerial vehicle 100. (20a) by increasing the number of revolutions of the inertial body 140 to stabilize the posture of the body of the unmanned aerial vehicle 100,

When the preset air volume is sensed through the air volume sensor f during flight of the unmanned aerial vehicle 100, the number of revolutions of the inertia 140 of the control moment gyro 20a is reduced through the control unit g so that the unmanned aerial vehicle ( 100) while stabilizing the posture of the body, reducing the consumption of the battery (a)

During flight of the unmanned aerial vehicle 100, when an air volume equal to or less than a preset air volume is detected through the air volume sensor f, the rotation of the inertial body 140 of the control moment gyro 20a is stopped through the control unit g to stop the unmanned aerial vehicle 100 It is a configuration in which battery power supplied to the control moment gyro 100 is cut off by stabilizing the posture of the body of the unmanned aerial vehicle 100 by the rotor 100b of ).

As described above, the current (conventional) rotor control technology is used to maintain flight stability of unmanned aerial vehicles, but unsafe elements of the flight posture (gusts, center of gravity change, etc.) It is overcome only with technology, but it is structurally impossible.

On the other hand, the present invention stabilizes the attitude by increasing the number of rotations of the flywheel of the control moment gyro when an instantaneous change in wind speed and a preset air volume are detected, and rotation of the flywheel of the control moment gyro when a preset air volume or less is detected during flight. because it reduces the number of

This has the effect of reducing battery consumption.

1 is a perspective view of a gyroscope for explaining the present invention;
2 is a block diagram showing the configuration of a posture control device according to the present invention;
3 is a flow chart showing the control procedure of the posture control device according to the present invention;
4 is diagrams showing a configuration showing a first driving principle of a posture control device according to the present invention;
5 is a block diagram of an alarm device according to another embodiment of the present invention;
6 is a specific circuit diagram of a signal amplifier of another embodiment of the present invention;
7 is a specific circuit diagram of a decoder of another embodiment applied to the device of the present invention;
8 is a perspective view of another embodiment of an unmanned aerial vehicle to which the apparatus of the present invention is applied;
9 is provided in another embodiment of an unmanned aerial vehicle to which the device of the present invention is applied.
Explanatory diagram and flow chart of the control moment gyro.

Referring to the principle of the control momentum gyroscope with reference to FIG. 1, the rotating table 11 is rotated about one axis g by the gimbal motor 10, and while rotating by the rotating table 11, A direction (h) orthogonal to the rotational direction of the turntable 11

As the wheel 21 rotates, the wheel 21 is driven by the spin motor 20. In this way, the gyroscope moment T is generated by the momentum in mutually orthogonal directions, that is, the g direction and the h direction.

2 is a block diagram showing the configuration of another posture control device according to the present invention.

Referring to FIG. 2, the attitude control device 100 of the present invention detects physical information from external influences using various types of inertial bodies and compensates for the movement of the unmanned aerial vehicle in response to the detected physical information. Controls the attitude of the aircraft or processes to accurately deliver the moment corresponding to the external influence applied to the unmanned aerial vehicle to the user.

To this end, the posture control device 100 of the present invention includes a physical information detector 110 that detects physical information generated according to various external influences reflected on the unmanned aerial vehicle, and the physical information detected by the physical information detector 110. In response to the information, the inertial body 140 driven to adjust the attitude of the unmanned aerial vehicle, the driving unit 130 that drives the inertial body 140, and the physical information sensing unit 110 detect physical information. The adult body 140 includes a control unit 120 that controls the driving unit 130 to adjust the posture of the unmanned aerial vehicle or to transmit a moment transmitted to the unmanned aerial vehicle by physical information to the user. The inertial body 140 and the driving unit 130 may be provided as an integral type 150.

The physical information sensing unit 110 is provided with at least one sensor that detects motion generated by the unmanned aerial vehicle itself or external influences applied to the unmanned aerial vehicle, such as wind and vibration caused by an earthquake. In addition, the physical information sensor 110 may be provided as a sensor that detects gravity to deliver electrical stimulation to the user.

The inertial body 140 is provided as, for example, a reaction wheel, a momentum wheel, a control moment gyro, and the like, and is installed on a body forming the attitude control device 100. The body is provided with, for example, rails, pipes, etc., and is installed on the unmanned aerial vehicle in a structure corresponding to the shape of the unmanned aerial vehicle, and the inertial body 140 is mounted or installed inside to be movable.

The driving unit 130 is provided with, for example, a motor, a stepper motor, and a motor having a stopping function to rotationally drive or stop the inertial body 140 .

The control unit 120 is provided as, for example, a controller, processor, programmable logic controller (PLC), control unit, etc., and controls the driving unit 130 in response to physical information sensed by the physical information sensor 110. do.

Figure 2 is a flow chart showing the control procedure of the posture control device according to the present invention.

Referring to FIG. 2 , the attitude control apparatus 100 of the present invention determines the current attitude of the unmanned aerial vehicle in step S160 and drives the inertial body 140 according to the current attitude in step S170. When physical information is sensed from the physical information sensor 110 in step S180, the posture of the unmanned aerial vehicle is adjusted by driving the inertial body 140 in response to the sensed physical information in step S190.

In detail, the configuration and action for driving the inertial body in the present invention will be described. 4A and 4B are diagrams showing a configuration showing a first driving principle of the attitude control device according to the present invention.

Referring to FIGS. 4A and 4B, the first driving principle of this embodiment is to rotate an inertial body 140 in the form of a disc that rotates around an axis, that is, a rotating body using a step motor 130, It is processed to control the attitude of the unmanned aerial vehicle using torque. Here, the torque is generated by the angular momentum of the mass of the inertial body 140 and the rotational speed. The configuration for the first driving principle includes a body 102, at least two inertial bodies 140 provided corresponding to each axis, and at least two step motors 130 rotating one inertial body 140 And, it is composed of a brake 132 provided on each inertial body 140 to stop rotation.

This first driving principle enables three-dimensional posture control because a rotational composition of two or more axes is generated. In addition to the torque generated by simple rotation, when the rotating body 140 is momentarily stopped (braked), the torque generated by the stop is transmitted to the mounted unmanned aerial vehicle to transmit instantaneous motion.

5 is a diagram showing a configuration showing a second driving principle of the posture control device according to the present invention.

Referring to FIG. 5, the second driving principle of this embodiment is to rotate a rotatable sphere-shaped inertial body, that is, a reaction sphere actuator, using a step motor, and use the torque generated through this to rotate the unmanned aerial vehicle. handle to control the posture of The second driving principle is provided as an integral type in which a spherical inertial body and a motor are combined. Therefore, the rotating body passing through the axis can be unified by using the spherical inertial body. Of course, the rotating body and the motor may be separated and provided with a motor externally, through which the rotating body may be provided in a form of rotating.

Here, the reaction sphere actuator is equipped with a plurality of permanent magnets (PM) to generate torque around an arbitrary axis, and a plurality of electromagnets (EM) to generate permanent It consists of a stator that interacts with magnets (PM) to form a magnetic field. The rotor and the stator are mutually rotatably supported by ball joint bearings. The torque of this reactive spherical actuator is generated by the rotation of the rotor and the stator, that is, by mounting a plurality of permanent magnets and electromagnets as necessary on the surface of the sphere and the case surrounding the sphere, and moving the sphere in the desired direction according to the operation of the electromagnet. obtained by rotating

The body consists of a plurality of rails or pipes (102). Each rail or pipe 102 is installed on one side or inside so that the inertial body 140 can move left and right.

In addition, the rail or pipe (102: 102b, 102c) is provided in a straight line or arc shape (102b or 102c), as shown in FIGS. 18A and 18B, and is an inertial body that can move along the rail or pipe 102. (140: 140b, 140c) is gradually or instantaneously fired in one direction by using the spring 142, linear motor, or compressed air individually or in combination to produce an effect similar to the above-described reaction wheel or control moment gyro, and also an inertial body ( 140) can add an external shock effect through an impact that hits the rail or the end of the pipe 102.

In addition, the effect can be maximized by mixing the roles of a plurality of control moment gyros or reaction wheels and rails or pipes having linear or arc-shaped inertia. For example, a more dramatic effect can be delivered by simultaneously outputting torque in a specific direction through a reaction wheel and simultaneously moving and impacting an inertial body in the pipe in the same direction.

In the posture control device,

A main body installed on an unmanned aerial vehicle;

a driving unit installed on the main body to generate rotational force;

a physical information detection unit for detecting physical information generated from the unmanned aerial vehicle itself or from the outside;

at least one inertial body installed on the main body to receive rotational force from the drive unit and rotate to adjust the center of gravity of the unmanned aerial vehicle and transmit the rotational force to the unmanned aerial vehicle;

a controller for controlling the driving unit to determine a current posture of the unmanned aerial vehicle and to drive the inertial body in response to the physical information sensed by the physical information sensing unit;

In the physical information sensor consisting of a sensor for detecting at least one of wind speed and vibration corresponding to the unmanned aerial vehicle,

The inertial body is in flight of an unmanned aerial vehicle (see FIGS. 8 and 9)

When an instantaneous wind speed change and a preset air volume are detected, the control moment stabilizes the attitude by increasing the number of revolutions of the inertia 140 of the gyro 20a, and when a preset air volume or less is detected during the flight of the unmanned aerial vehicle 100, the control moment It is a configuration to reduce the consumption of the battery (a) by reducing the number of revolutions of the inertial body 140 of the gyro (20a).

The inertial body (corresponding to the flyheel) controls the control moment gyro 20a through the control unit g when an instantaneous wind speed change and a preset wind volume abnormality are sensed through the air volume sensor f during the flight of the unmanned aerial vehicle 100. Stabilize the posture of the body of the unmanned aerial vehicle 100 by increasing the number of rotations of the adult body 140,

When the preset air volume is sensed through the air volume sensor f during flight of the unmanned aerial vehicle 100, the number of revolutions of the inertia 140 of the control moment gyro 20a is reduced through the control unit g so that the unmanned aerial vehicle ( 100) while stabilizing the posture of the body, reducing the consumption of the battery (a)

During flight of the unmanned aerial vehicle 100, when an air volume equal to or less than a preset air volume is detected through the air volume sensor f, the rotation of the inertial body 140 of the control moment gyro 20a is stopped through the control unit g to stop the unmanned aerial vehicle 100 It is a configuration in which battery power supplied to the control moment gyro 100 is cut off by stabilizing the posture of the body of the unmanned aerial vehicle 100 by the rotor 100b of ).

Power supply to the control moment gyroscope 100 may be cut off by using a relay switch.

In the present invention, the rotor control technology maintains the attitude by controlling the number of revolutions of the rotor equipped with a plurality of rotors, as shown in Korean Intellectual Property Office Registration No. 10-1866534.

In the present invention, air flow sensors are disclosed in Korean Intellectual Property Office Registration Nos. 10-0742351, 20-0391743, and 10-0245051.

10: unmanned aerial vehicle
20: unmanned aerial vehicle
30: virtual reality wearable device
40: Architecture

Claims (1)

In the posture control device,
A main body installed on an unmanned aerial vehicle;
a driving unit installed on the main body to generate rotational force;
a physical information detection unit for detecting physical information generated from the unmanned aerial vehicle itself or from the outside;
at least one inertial body installed on the main body to receive rotational force from the drive unit and rotate to adjust the center of gravity of the unmanned aerial vehicle and transmit the rotational force to the unmanned aerial vehicle;
a controller for controlling the driving unit to determine a current posture of the unmanned aerial vehicle and to drive the inertial body in response to the physical information sensed by the physical information sensing unit;
In the physical information sensor consisting of a sensor for detecting at least one of wind speed and vibration corresponding to the unmanned aerial vehicle,

The inertial body increases the number of revolutions of the inertial body of the control moment gyro through the control unit when an instantaneous wind speed change and a preset air volume or more are sensed through the air volume sensor during flight of the unmanned aerial vehicle, thereby stabilizing the posture of the body of the unmanned aerial vehicle,

When the preset air volume is detected by the air volume sensor during flight of the unmanned aerial vehicle, the control unit reduces the number of revolutions of the inertial body of the control moment gyro to stabilize the posture of the body of the unmanned aerial vehicle and reduce battery consumption,
During flight of the unmanned aerial vehicle, when an air volume below a preset air volume is detected through the air volume sensor, the rotation of the inertial body of the control moment gyro is stopped through the control unit to stabilize the posture of the body of the unmanned aerial vehicle by the rotor of the unmanned aerial vehicle, thereby generating the control moment An unmanned aerial vehicle equipped with a control moment gyro for posture stabilization, characterized in that it cuts off battery power supplied to the gyro.

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