TWI642596B - Balance-control method of a multirotor unmanned aerial vehicle threw at any angle to take off, computer program product and multirotor unmanned aerial vehicle - Google Patents

Abstract

A balance control method for a multi-axis unmanned aerial vehicle with an arbitrary angle and an empty throw, which uses double feedback control to correct the tilt angle. When any of the tilt angles is greater than the respective angle limit, the plurality of motors driving the multi-axis unmanned aerial vehicle are controlled by the open feedback control until a predetermined condition. When the inclination angles are not greater than the respective angle limits, the plurality of motors of the multi-axis unmanned aerial vehicle are driven by a negative feedback control until an equilibrium condition.

Description

Balance control method for multi-axis unmanned aerial vehicle with arbitrary angle and empty throw, computer program product and multi-axis unmanned aerial vehicle

The invention relates to an unmanned aerial vehicle (UAV), in particular to a balance control method for a multi-axis unmanned aerial vehicle with an arbitrary angle and air throw, a computer program product thereof and a multi-axis unmanned aerial vehicle.

An unmanned aerial vehicle (UAV) is an aircraft that does not have pilots on the vehicle, but performs other tasks by other means (such as remote control or automatic control). Among them, the multi-rotor UAV with two rotor axes or more is relatively simple, stable and portable, and its application surface is also wider and wider (for example, aerial shooting, shooting, sea fishing, etc.) ).

Multi-axis unmanned aerial vehicles are mostly controlled by a remote control to take off, and then suspended in the air to perform specific tasks. However, the remote control of the multi-axis unmanned aerial vehicle is quite complicated in operation, and the user needs to have a certain degree of proficiency to be able to operate smoothly. In addition, the user also uses the air throw method to throw out the multi-axis unmanned aerial vehicle to suspend it in the air to perform specific tasks. However, the current air-to-air technology for multi-axis unmanned aerial vehicles has great limitations. Multi-axis unmanned flight at present Under the balance control of the vehicle, once the angle of the multi-axle unmanned aerial vehicle is tilted too much, the motor of the multi-axis unmanned aerial vehicle will not converge and the multi-axis unmanned aerial vehicle will be out of control. Therefore, the user can only throw a multi-axis unmanned aerial vehicle in a horizontal manner, and cannot throw a multi-axis unmanned aerial vehicle in a vertical manner.

In one embodiment, a balanced control method for a multi-axis unmanned aerial vehicle with an arbitrary angle of air throwing is applicable to a multi-axis unmanned aerial vehicle. The method comprises: using an inertial sensing unit to detect an air-to-air state of the multi-axis unmanned aerial vehicle, and detecting the multi-axis unmanned aerial vehicle at the highest point by using the inertial sensing unit when the multi-axis unmanned aerial vehicle enters the air-to-air state The tilt angle of at least one axis, the comparison of each tilt angle and an angle threshold, and when at least one tilt angle is not greater than the angle threshold, driving a plurality of motors of the multi-axis unmanned aerial vehicle with a negative feedback control to converge the tilt angle, When any tilt angle is greater than the angle threshold, the plurality of motors that drive the multi-axis unmanned aerial vehicle are driven by an open feedback control, and after the open feedback control reaches a predetermined condition, the switch is to drive the multi-axis with the negative feedback control. The plurality of motors of the unmanned aerial vehicle converge at least one oblique angle.

In one embodiment, a computer program product includes at least one program instruction. When the program command is loaded into the multi-axis unmanned aerial vehicle, the multi-axis unmanned aerial vehicle can be used to perform the balance control method of the multi-axis unmanned aerial vehicle of any angle described above. A plurality of electronic transmissions are coupled to the plurality of motors and drive the coupled motors according to the plurality of drive signals.

In one embodiment, a multi-axis unmanned aerial vehicle of any angle is thrown, comprising: a plurality of motors, a plurality of electronic transmissions, an inertial sensing unit, and a processing unit. The inertial sensing unit is used to measure acceleration as well as angular velocity. The processing unit is coupled to the electronic transmission and the inertial sensing unit, and is determined to enter an empty throw according to the acceleration measured by the inertial sensing unit. state. When entering the empty throw state, the processing unit calculates the tilt angle of at least one axis according to the acceleration and the angular velocity and compares each tilt angle with an angle threshold. When the tilt angle is not greater than the angle threshold, the processing unit outputs a plurality of drive signals with a negative feedback control. When any tilt angle is greater than the angle threshold, the processing unit outputs a plurality of drive signals with an open feedback control and switches to output a plurality of drive signals with negative feedback control after the open feedback control reaches a predetermined condition.

In summary, according to the present invention, the balance control method of the multi-axis unmanned aerial vehicle of any angle, the computer program product and the multi-axis unmanned aerial vehicle adopt the double feedback control to correct the tilt angle, so that it is unnecessary The extra large hardware cost is used to correct the excessive tilt angle, thereby providing the user with the ability to cause multi-axis unmanned aerial vehicles with any air-to-air type to simplify the operation of the multi-axis unmanned aerial vehicle.

10‧‧‧Multi-axis unmanned aerial vehicle

100‧‧‧Rack

110‧‧‧Processing unit

120‧‧‧ storage unit

130-1~130-N‧‧‧Electronic gearbox

150-1~150-N‧‧‧Motor

160-1~160-N‧‧‧Rotor

170‧‧‧Inertial Sensing Unit

S210‧‧‧Initialization of inertial sensing unit

S220‧‧‧Measure the three-axis acceleration and angular velocity of a multi-axis unmanned aerial vehicle using an inertial sensing unit

S230‧‧‧Detecting whether the multi-axis unmanned aerial vehicle enters the airborne state based on the measured gravitational acceleration

S240‧‧‧ Calculate the angle of inclination of the multi-axis unmanned aerial vehicle at the highest point based on the acceleration of gravity and angular velocity

S250‧‧‧ Perform an open feedback control based on each tilt angle to enable multi-axis unmanned aerial vehicles to fly in balance

S251‧‧ Is there any tilt angle greater than the angle threshold?

S252‧‧‧Open control to drive the motor of the multi-axle unmanned aerial vehicle until a predetermined condition

S254‧‧‧ Controlled the drive of a multi-axle unmanned aerial vehicle with a negative feedback to an equilibrium condition

S310‧‧‧Using proportional integral derivative control technology to output a plurality of drive signals according to the tilt angle

S320‧‧‧ drives a plurality of motors with a plurality of drive signals

S410‧‧‧ Calculate the number of revolutions of multi-axis unmanned aerial vehicles based on gravitational acceleration

S420‧‧‧The relative position of each motor is obtained according to the number of revolutions

S440‧‧‧Multiple drive signals with fixed values

S442‧‧‧ Output the corresponding fixed value drive signal according to the relative position of each motor

S450‧‧‧ Drive multiple motors for a fixed time with a fixed number of drive signals

S460‧‧‧Switch to output normal drive signal

S470‧‧‧ Drive multiple motors with normal drive signals

S480‧‧‧ Calculate the current tilt angle of the multi-axis unmanned aerial vehicle based on the gravitational acceleration and angular velocity

S490‧‧ Is there any current tilt angle greater than the angle threshold?

[Fig. 1] is a schematic view showing a multi-axis unmanned aerial vehicle of an arbitrary angle empty throw according to an embodiment of the present invention.

[Fig. 2] is a schematic view showing the appearance of a multi-axis unmanned aerial vehicle of an arbitrary angle empty throw according to an embodiment of the present invention.

[Fig. 3] is a flowchart of a balance control method of a multi-axis unmanned aerial vehicle of an arbitrary angle empty throw according to an embodiment of the present invention.

[Fig. 4] is a detailed flowchart of an embodiment of step S250.

[Fig. 5] is a detailed flowchart of an embodiment of step S254.

[Fig. 6] is a detailed flowchart of an embodiment of step S252.

[Fig. 7] is a detailed flowchart of another embodiment of the step S252.

[Fig. 8] is a partial flowchart of still another embodiment of step S252.

1 is a schematic diagram of a multi-axis unmanned aerial vehicle with an arbitrary angle of air throwing according to an embodiment of the present invention. 2 is a schematic view showing the appearance of a multi-axis unmanned aerial vehicle with an arbitrary angle and an empty throw according to an embodiment of the present invention. 3 is a flow chart of a method for balancing the balance of a multi-axis unmanned aerial vehicle of any angle at any angle according to an embodiment of the present invention.

Referring to Figures 1 and 2, the multi-axis unmanned aerial vehicle 10 includes a processing unit 110, a storage unit 120, a plurality of electronic speed controllers (ESC) 130-1~130-N, and a plurality of motors 150-1. ~150-N, a plurality of rotors 160-1~160-N and an inertial sensing unit 170. The processing unit 110 is coupled to the storage unit 120, the electronic transmissions 130-1~130-N, and the inertial sensing unit 170, and the electronic transmissions 130-1~130-N are coupled to the motors 150-1~150-N, respectively. The motors 150-1~150-N are respectively coupled to the plurality of array rotors 160-1~160-N. Where N is a positive integer greater than one. Here, the processing unit 110, the storage unit 120, the electronic transmissions 130-1 to 130-N, the motors 150-1 to 150-N, the rotors 160-1 to 160-N, and the inertial sensing unit 170 are disposed on the multi-axis. The rack 100 of the flying vehicle 10 is mounted.

Here, the electronic transmissions 130-1~130-N respectively receive a plurality of driving signals from the processing unit 110 and drive the corresponding motors 150-1~150-N according to the respective driving signals, so that the motors 150-1~150- N turns the respective pivoting rotors 160-1~160-N to generate ascending power. The inertial sensing unit 170 measures the acceleration and angular velocity of the multi-axis unmanned aerial vehicle 10 . The processing unit 110 controls the flight state of the multi-axis unmanned aerial vehicle 10 by adjusting the output driving signal.

In some embodiments, with reference to FIG. 3, in a multi-axis unmanned aerial vehicle 10 When activated (eg, powered on or reset), the multi-axis unmanned aerial vehicle 10 is placed on the ground or platform for initialization procedures. In the initialization procedure, the inertial sensing unit 170 performs initialization (step S210). After the initialization process is completed, the initialization data of the inertial sensing unit 170 is transmitted to the processing unit 110, and the three-axis acceleration and the angular velocity of the multi-axis unmanned aerial vehicle 10 are continuously measured (step S220). The processing unit 110 calculates an initial state (a state that is not thrown out, for example, a three-axis acceleration or angle) of the multi-axis unmanned aerial vehicle 10 based on the initialization data, and records the initial state in the storage unit 120.

Next, the processing unit 110 detects whether the multi-axis unmanned aerial vehicle 10 enters an air-dark state based on the measured acceleration (step S230). In some embodiments, the inertial sensing unit 170 measures a negative Z-axis acceleration at the moment the multi-axis unmanned aerial vehicle 10 is thrown into the air in any pattern. Therefore, when the processing unit 110 receives the negative Z-axis acceleration from the inertial sensing unit 170 for the first time, the processing unit 110 determines that the multi-axis unmanned aerial vehicle 10 enters the air-to-air state.

When the multi-axis unmanned aerial vehicle 10 does not enter the air-dump state, the processing unit 110 continues to detect.

For example, when the multi-axis unmanned aerial vehicle 10 is in a stationary state (eg, resting on the ground or on a platform), the acceleration of the X-axis is 0 m/s ² , and the acceleration of the Y-axis is 0 m/s ² , and Z The acceleration of the shaft is 9.8 m/s ² . When the multi-axis unmanned aerial vehicle 10 is ready to be thrown to the throw, the value of the acceleration of the X-axis will continue to change, and the value of the acceleration of the Y-axis will continue to change, but the acceleration of the Z-axis is about 9.8 m/ s ² (±2m/s ² ).

When the multi-axis unmanned aerial vehicle 10 enters the air-descent state, the processing unit 110 calculates the tilt angle of the multi-axis unmanned aerial vehicle 10 at the highest point according to the acceleration and the angular velocity (steps) S240). In some embodiments, when the multi-axis unmanned aerial vehicle 10 enters an airborne state, the processing unit 110 first determines whether the multi-axis unmanned aerial vehicle 10 has reached a highest point (ie, whether the acceleration is zero) based on the acceleration. When the multi-axis unmanned aerial vehicle 10 reaches the highest point (ie, the acceleration is zero), the processing unit 110 calculates the tilt angle of at least one axis of the multi-axis unmanned aerial vehicle 10 based on the acceleration and the angular velocity. The tilt angle of at least one axis includes a roll angle, a pitch angle, a Yaw angle, or a combination thereof. The roll angle refers to a change angle formed by the multi-axis unmanned aerial vehicle 10 with respect to the longitudinal axis X for the left and right rotation. The pitch angle refers to a change angle formed by the multi-axis unmanned aerial vehicle 10 with respect to the horizontal axis Y for up-and-down head-down operation. The yaw angle refers to the angle of change formed by the multi-axis unmanned aerial vehicle 10 with respect to the vertical axis Z for the left and right yaw motion.

For example, when the acceleration of the Z-axis is 0 m/s ^{2 is} indicated as the highest point, and the multi-axis unmanned aerial vehicle 10 will begin to fall freely. Then, the Z-axis acceleration starts to decrease, and the processing unit 110 can calculate the tilt angle by the following formula 1.

Among them, Roll represents the roll angle, and Pitch represents the pitch angle.

The processing unit 110 performs an open feedback control in accordance with each tilt angle to cause the multi-axis unmanned aerial vehicle 10 to fly in balance (step S250).

In some embodiments, when any of the tilt angles is greater than the respective angle limit, the processing unit 110 drives the motors 150-1~105-4 of the multi-axis unmanned aerial vehicle 10 with the open feedback control until a predetermined condition (step S252). When the inclination angles are not greater than the corresponding angle limits, the processing unit 110 drives the multi-axis unmanned aerial vehicle with a negative feedback control. The motor 150-1 to 105-4 of 10 is up to an equilibrium condition (step S254).

In some embodiments, each angular limit can be an angular threshold. Referring to FIG. 4, the processing unit 110 compares the respective tilt angles with respective angle thresholds to confirm whether any tilt angle is greater than the angle threshold (step S250). In some embodiments, each angle threshold can be 45 degrees.

When the tilt angles are not greater than the angle threshold, the processing unit 110 performs negative feedback control (ie, step S254) to converge the tilt angle of the multi-axis unmanned aerial vehicle 10.

When any of the tilt angles is greater than the angle threshold, the processing unit 110 performs the open feedback control (ie, step S252) to narrow the tilt angle of the multi-axis unmanned aerial vehicle 10. After the open feedback control (step S252) reaches the predetermined condition, the processing unit 110 switches to perform the negative feedback control (ie, step S254) to converge the tilt angle of the multi-axis unmanned aerial vehicle 10.

Figure 5 is a detailed flow chart of an embodiment of step S254.

In some embodiments, referring to FIG. 5, in the negative feedback control (step S254), the processing unit 110 outputs a plurality of driving signals to the electronic transmissions 130-1~130 according to the tilt angles by using a proportional integral derivative control technique. N (step S310), and the electronic transmissions 130-1 to 130-N respectively drive the coupled motors 150-1 to 150-N with respective driving signals (step S320). Moreover, the processing unit 110 adjusts the output driving signal (ie, adjusts the rotational speed of the motors 150-1~150-N) as the tilt angle changes until the tilt angle reaches a horizontal angle. In some embodiments, the horizontal angle is less than or equal to 1 degree. Preferably, the horizontal angle is approximately 0 degrees.

Figure 6 is a detailed flow chart of an embodiment of step S252.

In some embodiments, referring to FIG. 6, in the open feedback control (step S252), the processing unit 110 outputs a plurality of driving signals of a fixed value to the electronic transmission. 130-1~130-N (step S440), so that the electronic transmissions 130-1~130-N respectively drive the coupled motors 150-1~150-N according to a fixed number of driving signals for a predetermined time. (Step S450). In other words, the processing unit 110 maintains a plurality of drive signals outputting a fixed value for a predetermined time so that the motors 150-1~150-N are rotated for a predetermined time at a fixed rotational speed corresponding to the fixed value.

Figure 7 is a detailed flow chart of another embodiment of step S252.

In some embodiments, referring to FIG. 7, in the open feedback control (step S252), the processing unit 110 calculates the number of revolutions when the multi-axis unmanned aerial vehicle 10 reaches the highest point in an accumulated manner according to the acceleration and the initial state. (Step S410), then the relative positions of the motors 150-1 to 150-N at the highest point are obtained based on the number of revolutions (step S420). For example, when the roll angle is greater than or equal to 360 degrees, the processing unit 110 can determine that the multi-axis unmanned aerial vehicle 10 rolls over one turn. When the pitch angle is greater than or equal to 360 degrees, the processing unit 110 can determine that the multi-axis unmanned aerial vehicle 10 is tilted one turn.

Next, the processing unit 110 outputs a plurality of corresponding driving signals corresponding to the fixed values to the electronic transmissions 130-1~130-N according to the relative positions of the motors 150-1~150-N (step S442), so as to cause the electronic transmission 130- 1~130-N respectively drives the coupled motors 150-1~150-N for a predetermined time according to a plurality of fixed driving signals (step S450). In other words, the processing unit 110 gives a drive signal corresponding to a specific fixed value of the position according to whether each of the motors 150-1 to 150-N is at the upper end position, the intermediate position, or the lower end position. In some embodiments, the processing unit 110 may generate a driving signal corresponding to a specific fixed value of the position of each of the motors 150-1~150-N by formula conversion or table lookup. In some embodiments, the predetermined time can be 1-2 seconds.

For example, assume that the multi-axis unmanned aerial vehicle 10 is a four-axis aircraft having Four motors 150-1 to 150-4, and the specifications of the motors 150-1 to 150-4 are 1000 kV. In the steady state, the driving voltage is 11V, so the rotation speed of each of the motors 150-1 to 150-4 is about 11,000 rpm (per minute). For the sake of clarity, in the following examples, the motors 150-1 to 150-4 are referred to as a first motor 150-1, a second motor 150-2, a third motor 150-3, and a fourth motor 150-4, respectively.

In the case where the inclination angle is about 80-90 degrees, if the second motor 150-2 is clearly located at the lowermost position (lower end position), the fourth motor 150-4 is clearly located at the uppermost position (upper end position) and the first motor 150-1 The third motor 150-3 is located between the second motor 150-2 and the fourth motor 150-4 (intermediate position), and the processing unit 110 reduces the rotation speed of the fourth motor 150-4 by 500 revolutions (about 10.5V). The driving signal) and the rotation speed of the second motor 150-2 are increased by 500 rpm (a driving signal of about 11.5 V), while the rotational speeds of the first motor 150-1 and the third motor 150-3 are maintained (about 11 V). Drive signal).

In another case where the inclination angle is about 80-90 degrees, if both the second motor 150-2 and the third motor 150-3 are located below (lower end position) and the first motor 150-1 and the fourth motor 150-4 are both Located at the upper (upper end position), the processing unit 110 individually reduces the rotational speeds of the first motor 150-1 and the fourth motor 150-4 by 250 rpm (a drive signal of about 10.75 V) and the second motor 150-2 The speed of the three motors 150-3 is individually increased by 250 rpm (about 11.25V drive signal).

In still another case where the inclination angle is about 80-90 degrees, if the second motor 150-2 and the third motor 150-3 are both located below (lower end position) but the third motor 150-3 is slightly higher than the second motor 150- 2, and the first motor 150-1 and the fourth motor 150-4 are both located above (upper end position) but the fourth motor 150-4 is slightly higher than the first motor 150-1, and the processing unit 110 will be the first motor 150- The speed of 1 is reduced by 220 rpm (about 10.78V drive signal), the speed of the fourth motor 150-4 is lowered by 280 rpm (about 10.72V drive signal), and the speed of the third motor 150-3 is increased by 220. Turn 11.22V drive signal) and the second motor 150-2 speed is increased by 280 rpm (about 11.28V drive signal).

In the case where the inclination angle is about 65-80 degrees, if the second motor 150-2 is clearly located at the lowermost position (lower end position), the fourth motor 150-4 is clearly located at the uppermost position (upper end position) and the first motor 150-1 The third motor 150-3 is located between the second motor 150-2 and the fourth motor 150-4 (intermediate position), and the processing unit 110 reduces the rotational speed of the fourth motor 150-4 by 300 rpm (about 10.7V). The driving signal) and the rotation speed of the second motor 150-2 are increased by 300 rpm (a driving signal of about 11.3 V), while the rotational speeds of the first motor 150-1 and the third motor 150-3 are maintained (about 11 V). Drive signal).

In another case where the tilt angle is about 65-80 degrees, if both the second motor 150-2 and the third motor 150-3 are located below (lower end position) and the first motor 150-1 and the fourth motor 150-4 are both Located at the upper (upper end position), the processing unit 110 individually reduces the rotational speeds of the first motor 150-1 and the fourth motor 150-4 by 150 revolutions (a drive signal of about 10.85 V) and the second motor 150-2 The speed of the three motors 150-3 is individually increased by 150 revolutions (approximately 11.15V drive signal).

In still another case where the inclination angle is about 65-80 degrees, if the second motor 150-2 and the third motor 150-3 are both located below (lower end position) but the third motor 150-3 is slightly higher than the motor 150-2, And the first motor 150-1 and the fourth motor 150-4 are both located above (upper end position) but the fourth motor 150-4 is slightly higher than the first motor 150-1, and the processing unit 110 adjusts the first motor 150-1 Decrease 120 rpm (about 10.88V drive signal), reduce the speed of the fourth motor 150-4 by 180 rpm (about 10.82V drive signal), and increase the speed of the third motor 150-3 by 120 rpm (about 11.12) The driving signal of V) and the rotation speed of the second motor 150-2 are increased by 180 rpm (a driving signal of about 11.18 V).

In the case where the tilt angle is about 45-65 degrees, if the second motor 150-2 is noticeable At the lowermost (lower end position), the fourth motor 150-4 is obviously located at the uppermost position (upper end position) and the first motor 150-1 and the third motor 150-3 are located at the second motor 150-2 and the fourth motor 150-4. Between (intermediate position), the processing unit 110 will reduce the rotation speed of the fourth motor 150-4 by 200 rpm (a driving signal of about 10.8 V) and increase the rotation speed of the second motor 150-2 by 200 rpm (about 11.2 V). The driving signal is maintained, and the rotational speeds of the first motor 150-1 and the third motor 150-3 are maintained (a driving signal of about 11 V).

In another case where the tilt angle is about 45-65 degrees, if both the second motor 150-2 and the third motor 150-3 are located below (lower end position) and the first motor 150-1 and the fourth motor 150-4 are both Located at the upper position (upper end position), the processing unit 110 individually reduces the rotation speeds of the first motor 150-1 and the fourth motor 150-4 by 100 revolutions (a drive signal of about 10.9 V) and the second motor 150-2 The speed of the three motors 150-3 is individually increased by 100 revolutions (a drive signal of about 11.1V).

In still another case where the tilt angle is about 45-65 degrees, if the second motor 150-2 and the third motor 150-3 are both located below (lower end position) but the motor 150-3 is slightly higher than the motor 150-2, and A motor 150-1 and a fourth motor 150-4 are both located above (upper end position) but the fourth motor 150-4 is slightly higher than the first motor 150-1, and the processing unit 110 lowers the first motor 150-1 by 20 Turn (about 10.982V drive signal), reduce the speed of the fourth motor 150-4 by 80 revolutions (about 10.92V drive signal), and increase the speed of the third motor 150-3 by 20 turns (about 11.02V) The drive signal) and the rotation speed of the second motor 150-2 are increased by 80 revolutions (a drive signal of about 11.08V).

In these cases, after the rotational speed adjustment, each of the motors 150-1~150-4 will maintain the adjusted rotational speed for about 2 seconds, that is, return to the normal rotational speed (such as 11000 revolutions as described above). That is, the processing unit 110 switches to output a normal drive signal (such as the aforementioned 11V voltage).

It should be understood that the speed value will vary depending on the motor specifications and be adjusted. The quantity will also be adjusted according to the specifications of the motor.

Figure 8 is a partial flow chart of still another embodiment of step S252.

In some embodiments, referring to FIG. 8, when the predetermined time is reached, the motors 150-1~150-4 are switched to the normal speed, that is, the processing unit 110 outputs the normal driving signal to the electronic transmissions 130-1~130. -N (step S460), so that the electronic transmissions 130-1~130-N respectively drive the coupled motors 150-1~150-N according to the received driving signals (step S470).

Moreover, the processing unit 110 will determine the tilt angle again. In other words, the processing unit 110 calculates the current tilt angle of at least one axis of the multi-axis unmanned aerial vehicle 10 according to the acceleration and angular velocity measured by the inertial sensing unit 170 (step S480), and compares the current tilt angle with the angle threshold. To confirm whether any of the current tilt angles is greater than the angle threshold (step S490).

When the current tilt angle is not greater than the angle threshold, the processing unit 110 completes the open control (step S252) and continues to perform the negative feedback control (step S254) to converge the tilt angle of the multi-axis unmanned aerial vehicle 10.

Conversely, when any of the current tilt angles is still greater than the angle threshold, the processing unit 110 adjusts the motor speed again for a predetermined time (ie, returns to step S410 or S440). The processing unit 110 adjusts and judges repeatedly until the current tilt angle is not greater than the angle threshold.

In some embodiments, when the tilt angle reaches a horizontal angle, the processing unit 110 performs a monitoring procedure to continuously monitor changes in the tilt angle. And, when the tilt angle is greater than the horizontal angle, the processing unit 110 starts the feedback control again.

The storage unit 120 is configured to store related software/firmware programs, data required during the operation of the processing unit 110, and generated data. In some embodiments, storage unit 120 can be implemented by one or more storage elements. The storage element may be, for example, a memory or a temporary storage device, but is not limited thereto.

In addition, the balance control method of the multi-axis unmanned aerial vehicle of any angle of any of the foregoing embodiments can be implemented by a computer program product. The computer program product includes at least one program instruction, so that when the multi-axis unmanned aerial vehicle 10 is loaded and executed, the balance control method for the multi-axis unmanned aerial vehicle of any angle according to any embodiment of the present invention can be completed. . In some embodiments, the computer program product can be a readable recording medium, and the program instructions are stored in a readable recording medium for reading and loading by the multi-axis unmanned aerial vehicle 10. In some embodiments, the program instructions themselves may be computer program products and transmitted to the multi-axis unmanned aerial vehicle 10 via wire or wireless.

In summary, according to the present invention, the balance control method of the multi-axis unmanned aerial vehicle of any angle, the computer program product and the multi-axis unmanned aerial vehicle adopt the double feedback control to correct the tilt angle, so that it is unnecessary The extra large hardware cost is used to correct the excessive tilt angle, thereby providing the user with the ability to cause multi-axis unmanned aerial vehicles with any air-to-air type to simplify the operation of the multi-axis unmanned aerial vehicle.

Claims (27)

A balance control method for a multi-axis unmanned aerial vehicle with an arbitrary angle and air throwing is applicable to a multi-axis unmanned aerial vehicle, the method comprising: detecting an empty throwing state of the multi-axis unmanned aerial vehicle by using an inertial sensing unit And detecting, by the inertial sensing unit, an inclination angle of the at least one axis of the multi-axis unmanned aerial vehicle at a specific position when the multi-axis unmanned aerial vehicle enters the air-to-air state; and performing a tilting angle according to each of the tilting angles; The feedback control is turned on to make the multi-axis unmanned aerial vehicle fly in balance. The method for controlling the balance of the multi-axis unmanned aerial vehicle of any angle, as described in claim 1, wherein the detecting step of the air-to-air state comprises: measuring a vertical by using an acceleration gauge in the inertial sensing unit The axial acceleration; and when the vertical axis acceleration is negative, determining that the multi-axis unmanned aerial vehicle enters the air-to-air state. The method for controlling the balance of the multi-axis unmanned aerial vehicle of any angle described in claim 1, wherein the step of performing the open feedback control according to each of the tilt angles comprises: when any of the tilt angles is greater than a corresponding angle When the limit is controlled, the plurality of motors of the multi-axis unmanned aerial vehicle are driven by the open feedback control until a predetermined condition; and when the at least one tilt angle is not greater than the corresponding angle limit, the control is controlled by a negative feedback The plurality of motors of the multi-axis unmanned aerial vehicle are driven until an equilibrium condition. The method for balancing the multi-axis unmanned aerial vehicle of any angle described in claim 3, wherein the predetermined condition is a predetermined time, and the step of driving the plurality of motors by the open feedback control comprises: Calculating a number of rotations of the multi-axis unmanned aerial vehicle by using an acceleration gauge in the inertia sensing unit; obtaining a relative position of each of the motors according to the number of rotations; and fixing corresponding to the relative position of each of the motors The value of the drive signal drives each of the motors for the predetermined time. The method for balancing a multi-axis unmanned aerial vehicle of any angle described in claim 3, wherein the step of driving the plurality of motors with the open feedback control comprises: utilizing an acceleration in the inertial sensing unit Calculating a number of rotations of the multi-axis unmanned aerial vehicle; obtaining a relative position of each of the motors according to the number of rotations; driving each of the motors with a fixed value corresponding to the relative position of each of the motors Time; detecting, by the inertial sensing unit, the current tilt angle of the at least one axis of the multi-axis unmanned aerial vehicle and comparing each of the current tilt angles with an angle threshold; When the current tilt angle is greater than the angle threshold, returning to the driving signal that performs the fixed value corresponding to the relative position of each of the motors to drive the motor for the predetermined time; and when the at least one current tilt angle is When it is not greater than the angle threshold, it is determined that the open feedback control reaches the predetermined condition. A method for balancing a multi-axis unmanned aerial vehicle of any angle as described in claim 4 or 5, wherein the driving signal of the fixed value corresponding to the relative position of each of the motors drives the motor to continue the predetermined The step of time includes lowering the top of the plurality of motors The rotational speed of a motor of the square, the rotational speed of a motor located at the lowest of the plurality of motors, and the rotational speed of the two motors located in the middle of the plurality of motors. A method for balancing a multi-axis unmanned aerial vehicle of any angle as described in claim 4 or 5, wherein the driving signal of the fixed value corresponding to the relative position of each of the motors drives the motor to continue the predetermined The step of time includes reducing the rotational speed of the two motors above the plurality of motors by the same amount and increasing the rotational speed of the two motors below the plurality of motors by the same amount. A method for balancing a multi-axis unmanned aerial vehicle of any angle as described in claim 4 or 5, wherein the driving signal of the fixed value corresponding to the relative position of each of the motors drives the motor to continue the predetermined The step of time includes adjusting, by different amounts, a rotational speed of a motor at the uppermost one of the plurality of motors and a motor adjacent to the uppermost one, and raising a motor at the lowest of the plurality of motors and a motor adjacent to the lowermost Speed. The method for balancing the multi-axis unmanned aerial vehicle of any angle described in claim 3, wherein the predetermined condition is a predetermined time, and the step of driving the plurality of motors by the open feedback control comprises: fixing A plurality of drive signals of the value drive the plurality of motors for the predetermined time. The method for balancing the multi-axis unmanned aerial vehicle of any angle described in claim 3, wherein the step of driving the plurality of motors by the open feedback control comprises: driving the plurality of driving signals with a fixed number of driving signals The motor continues for a predetermined time; the inertial sensing unit is used to detect the current tilt angle of the at least one axis of the multi-axis unmanned aerial vehicle and compare the current tilt angle with an angle threshold; Returning, when any of the current tilt angles is greater than the angle threshold, performing the step of driving the plurality of motors with the fixed value to drive the plurality of motors for the predetermined time; and when the at least one current tilt angle is not greater than At the angle threshold, it is determined that the open feedback control reaches the predetermined condition. A method for balancing a multi-axis unmanned aerial vehicle of any angle, as described in claim 9 or 10, wherein each of the driving signals is about 11 V in a steady state, and the relative position of each of the motors corresponds to The step of driving the motor with the fixed value to drive the motor for the predetermined time comprises driving a motor at the top of the plurality of motors with the driving signal lower than 11V, driving the plurality of motors with the driving signal higher than 11V The lowermost one of the motors and the two motors in the middle of the plurality of motors are driven by the drive signal of about 11V. A method for balancing a multi-axis unmanned aerial vehicle of any angle, as described in claim 9 or 10, wherein each of the driving signals is about 11 V in a steady state, and the relative position of each of the motors corresponds to The step of driving the motor with the fixed value for driving the motor for the predetermined time comprises driving the two motors above the plurality of motors with the same amount of the driving signal below 11V and the same amount of the driving signal above 11V Driving the two motors below the plurality of motors. A method for balancing a multi-axis unmanned aerial vehicle of any angle, as described in claim 9 or 10, wherein each of the driving signals is about 11 V in a steady state and corresponds to the relative position of each of the motors. The step of driving the motor with the fixed value to drive the motor for the predetermined time comprises driving a motor at the top of the plurality of motors and a motor adjacent to the uppermost one of the plurality of motors with the driving signals of less than about 11 V, respectively. And above 11V respectively And different amounts of the driving signal drive a lowermost one of the plurality of motors and a motor adjacent to the lowermost one. The method for balancing a multi-axis unmanned aerial vehicle of any angle described in claim 3, wherein the step of driving the plurality of motors by the negative feedback control comprises: using a proportional integral derivative control technique according to the at least one The tilting angle outputs a plurality of driving signals, wherein each of the driving signals changes with the change of the at least one tilt angle; and the plurality of motors are respectively driven by the plurality of driving signals. A computer program product comprising at least one program instruction, the at least one program instruction being executable to perform the multi-axis unmanned aerial vehicle as claimed in any one of claims 1 to 14 after being loaded into a multi-axis unmanned aerial vehicle The balance control method for multi-axis unmanned aerial vehicles with arbitrary angles and empty throws. The utility model relates to a multi-axis unmanned aerial vehicle with an arbitrary angle and free throwing, comprising: a plurality of motors; a plurality of driving units coupled to the plurality of motors, driving the plurality of motors according to a plurality of driving signals; an inertial sensing unit, outputting one An inertial sensing signal; and a processing unit coupled to the plurality of driving units and the inertial sensing unit, determining to enter an air-dark state according to the inertial sensing signal, and entering the air-dark state according to the inertial sensing signal An inclination angle of at least one axis is calculated and an open feedback control is performed according to each of the inclination angles to cause the multi-axis unmanned aerial vehicle to fly in balance. The multi-axis unmanned aerial vehicle of any angle described in claim 16, wherein the inertial sensing signal comprises a vertical axis acceleration, and when the vertical axis acceleration is negative, the processing unit determines to enter the air towing status. The multi-axis unmanned aerial vehicle of any angle described in claim 16 wherein, when any of the inclination angles is greater than a respective angle limit, the processing unit drives the multi-axis unmanned flight with the open feedback control Having the plurality of motors up to a predetermined condition; and when the at least one tilt angle is not greater than the respective corresponding angle limit, the processing unit drives the plurality of the multi-axis unmanned aerial vehicles with a negative feedback control The motor is up to an equilibrium condition. The multi-axis unmanned aerial vehicle of any angle described in claim 18, wherein the inertial sensing signal comprises an acceleration, the predetermined condition is a predetermined time, and the processing unit obtains the relative of each of the motors according to the acceleration. Positioning and driving the motor for a predetermined time under the open feedback control with a fixed value of the drive signal corresponding to the relative position of each of the motors. A multi-axis unmanned aerial vehicle of any angle, as described in claim 18, wherein the inertial sensing signal includes an acceleration, and the processing unit obtains a relative position of each of the motors according to the acceleration and controls the opening of the motor. And driving the motor with a fixed value corresponding to the relative position of each of the motors to drive each of the motors for a predetermined time, and when the predetermined time is reached, calculating a current tilt angle of the at least one axis and determining each of the current tilts Whether the angle is greater than an angle threshold, and when any of the current tilt angles is greater than the angle threshold, returning to the step of executing the driving signal with a fixed value corresponding to the relative position of each of the motors to drive each of the motors for the predetermined time And determining that the open feedback control reaches the predetermined condition when the at least one current tilt angle is not greater than the angle threshold. The multi-axis unmanned aerial vehicle of any of the angles of any one of claims 16 to 20, wherein the processing unit downgrades the uppermost one of the plurality of motors under the open feedback control The rotation speed of the motor, the rotation speed of the motor at the lowest position among the plurality of motors, and the rotation speed of the two motors located in the middle of the plurality of motors. The multi-axis unmanned aerial vehicle of any of the angles of any one of claims 16 to 20, wherein, under the open feedback control, the processing unit is down by the same amount of the plurality of motors The rotational speed of the two motors and the rotation of the two motors located below the plurality of motors are increased by the same amount. The multi-axis unmanned aerial vehicle of any angle according to any one of claims 16 to 20, wherein, under the open feedback control, the processing unit is adjusted by a different amount to the most of the plurality of motors The speed of the upper motor and the motor adjacent to the uppermost one and the rotation of the lowermost motor and the lowermost one of the plurality of motors are increased by different amounts. The multi-axis unmanned aerial vehicle of any angle according to any one of claims 16 to 20, wherein each of the driving signals is about 11 V in a steady state, and the processing is performed under the open feedback control. The unit drives the motor at the top of the plurality of motors with the driving signal lower than 11V, drives the motor at the lowest of the plurality of motors with the driving signal higher than 11V, and drives the motor at about 11V. The signal drives the two motors in the middle of the plurality of motors. The multi-axis unmanned aerial vehicle of any angle according to any one of claims 16 to 20, wherein each of the driving signals is about 11 V in a steady state, and the processing is performed under the open feedback control. The unit drives the plurality of motors with the driving signal below 11V and the same amount The two motors located above and the same amount of drive signals above 11V drive the two motors below the plurality of motors. The multi-axis unmanned aerial vehicle of any angle according to any one of claims 16 to 20, wherein each of the driving signals is about 11 V in a steady state, and the processing is performed under the open feedback control. The unit drives the motor at the uppermost one of the plurality of motors and a motor adjacent to the uppermost portion with the driving signal of less than 11V and different amounts, and drives the plurality of motors at a driving signal higher than 11V and different amounts The lowermost motor and a motor near the bottom. The multi-axis unmanned aerial vehicle of any angle described in claim 18, wherein, under the negative feedback control, the processing unit outputs the plurality of driving signals according to the tilt angle by a proportional integral derivative control technique, and Each of the drive signals changes as the tilt angle changes.