WO2015135194A1 - 无人驾驶飞行器及其数据处理方法 - Google Patents
无人驾驶飞行器及其数据处理方法 Download PDFInfo
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- WO2015135194A1 WO2015135194A1 PCT/CN2014/073424 CN2014073424W WO2015135194A1 WO 2015135194 A1 WO2015135194 A1 WO 2015135194A1 CN 2014073424 W CN2014073424 W CN 2014073424W WO 2015135194 A1 WO2015135194 A1 WO 2015135194A1
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- control data
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- optimal control
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- 238000003672 processing method Methods 0.000 title claims abstract description 9
- 238000000034 method Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
- G05D1/0077—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements using redundant signals or controls
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
Definitions
- the invention relates to the field of aircraft models, and in particular to an unmanned aerial vehicle and a data processing method thereof.
- FIG. 1 is a schematic structural view of a prior art unmanned aerial vehicle.
- the arbiter 14 performs data transfer with each controller, and the arbiter 14 determines which controller's data is used by the electronic governor. Specifically, the arbiter 14 acquires data from the first controller 11, the second controller 12, and the second controller 13, and after acquiring the data, the arbiter 14 analyzes the data to obtain optimal control data, and the arbiter 14 controls The controller corresponding to the optimal control data (such as the first controller 11) performs data transmission with the electronic governor to cause the electronic governor to control the rotational speed of the motor according to the optimal control data.
- the data of the electronic governor is guaranteed in the conventional mode, once the arbiter 14 fails, the controller's data transmission is not enough to the electronic governor, and the entire unmanned aerial vehicle will not work.
- the technical problem mainly solved by the present invention is to provide an unmanned aerial vehicle and a data processing method thereof, which can directly acquire data from a controller through an electronic governor, and select an optimal control data to control the rotation speed of the motor, thereby effectively reducing the design cost. And security risks.
- one technical solution adopted by the present invention is to provide an unmanned aerial vehicle including at least two controllers, at least two electronic governors, and at least two motors, wherein: The two electronic governors are electrically connected to the at least two controllers to respectively obtain at least two sets of control data from at least two controllers; at least two electronic governors are respectively electrically connected to a motor, at least The two electronic governors select optimal control data from at least two sets of control data, and control the rotational speed of the motor according to the optimal control data.
- the at least two electronic governors further determine whether the difference between the optimal control data and the remaining control data is within a preset range after selecting the optimal control data, and if not, feedback the optimal control data to the rest. Control the controller corresponding to the data.
- At least two electronic governors require at least two electronic governors to require the most control data in at least two sets of control data as the optimal control data.
- At least two electronic governors sort the at least two sets of control data from large to small or from small to large, and determine whether the number of at least two sets of control data is an odd number, and if so, select the sorted number (n) +1)/2 sets of control data as optimal control data, if not, select the sorted n/2 or n/2+1 group control data as optimal control data, where n is the number of at least two sets of control data .
- each of the at least two sets of control data includes pitch data, roll data, heading angle data, and altitude data.
- another technical solution adopted by the present invention is to provide a data processing method for an unmanned aerial vehicle, the unmanned aerial vehicle including at least two controllers, at least two electronic governors, and at least two The motor, at least two electronic governors are electrically connected to at least two controllers, and at least two electronic governors are respectively electrically connected to a motor, and the method comprises: at least two electronic governors respectively from at least The two controllers acquire at least two sets of control data; at least two electronic governors select optimal control data from at least two sets of control data; at least two electronic governors control the rotational speed of the motor according to the optimal control data.
- the at least two electronic governors further comprise the following steps after determining the optimal control data: determining whether the difference between the optimal control data and the remaining control data is within a preset range, and if not, the optimal control The data is fed back to the controller corresponding to the remaining control data.
- the at least two electronic governors select the optimal control data from the at least two sets of control data, including: at least two electronic governors, the at least two electronic governors require at most two of the control data of the two sets of control data As the optimal control data.
- the at least two electronic governors select the optimal control data from the at least two sets of control data, including: at least two electronic governors sort the at least two sets of control data from large to small or from small to large, and determine Whether the number of control data of at least two groups is an odd number, and if so, selecting the (n+1)/2 group control data after sorting as the optimal control data, and if not, selecting the n/2th or n/2 after sorting.
- +1 group control data is used as optimal control data, where n is the number of at least two sets of control data.
- the unmanned aerial vehicle of the present invention comprises at least two controllers, at least two electronic governors and at least two motors, wherein: at least two electronic speed control And at least two controllers are electrically connected to obtain at least two sets of control data from at least two controllers; at least two electronic governors are respectively electrically connected to a motor, and at least two electronic speed adjustments are respectively
- the controller selects the optimal control data from at least two sets of control data, and controls the rotational speed of the motor according to the optimal control data.
- the electronic governor of the present invention can directly acquire data from the controller and select the optimal control data to control the rotational speed of the motor; in addition, if a controller is providing data for at least two electronic governors In the event of a fault, at least two electronic governors can flexibly acquire other controllers for normal data transmission; effectively reducing safety risks and design costs.
- FIG. 1 is a schematic structural view of an unmanned aerial vehicle in the prior art
- FIG. 2 is a schematic structural view of a first embodiment of an unmanned aerial vehicle of the present invention
- FIG. 3 is a schematic structural view of a second embodiment of the unmanned aerial vehicle of the present invention.
- FIG. 4 is a flow chart showing a data processing method of the unmanned aerial vehicle of the present invention.
- FIG. 2 is a schematic structural view of a first embodiment of the unmanned aerial vehicle of the present invention.
- the unmanned aerial vehicle includes at least two controllers, at least two electronic governors, and at least two motors.
- At least two controllers generate at least two sets of control data, and at least two sets of control data include pitch data, roll data, heading angle data, altitude data, and other data.
- the controller can be 2, 4, 5 or more, depending on the actual design.
- the first controller 20 is connected to a first bus 23, the second controller 21 is connected to a second bus 24, and the third controller 22 is connected to a third bus 25.
- the electronic governor is respectively connected to the controller through the bus to respectively obtain control data from each controller, that is, each electronic governor acquires pitch data, roll data, heading angle data, and Height data and other data.
- the electronic governor can be 2, 3, 4, 5 or other numbers, depending on the actual design.
- the unmanned aerial vehicle includes six electronic governors, respectively a first electronic governor 26, a second electronic governor 27, a third electronic governor 28, and a The fourth electronic governor 29, a fifth electronic governor 30 and a sixth electronic governor 31.
- the first bus 23 and the first electronic governor 26, the second electronic governor 27, the third electronic governor 28, the fourth electronic governor 29, the fifth electronic governor 30 and the The six electronic governors 31 are all electrically connected.
- the second bus 24 and the first electronic governor 26, the second electronic governor 27, the third electronic governor 28, the fourth electronic governor 29, the fifth electronic governor 30 and the The six electronic governors 31 are all electrically connected.
- the third bus 25 and the first electronic governor 26, the second electronic governor 27, the third electronic governor 28, the fourth electronic governor 29, the fifth electronic governor 30 and the The six electronic governors 31 are all electrically connected.
- Each electronic governor is also electrically connected to a motor, wherein the electronic governor selects optimal control data from the control data and controls the rotational speed of the motor according to the optimal control data.
- the unmanned aerial vehicle includes six motors, which are a first motor 32, a second motor 33, a third motor 34, a fourth motor 35, a fifth motor 36, and A sixth motor 37.
- the first electronic governor 26 and the first motor 32 are electrically connected, the second electronic governor 27 and the second motor 33 are electrically connected, and the third electronic governor 28 and The third motor 34 is electrically connected, the fourth electronic governor 29 and the fourth motor 35 are electrically connected, and the fifth electronic governor 30 and the fifth motor 36 are electrically connected.
- the sixth electronic governor 31 and the sixth motor 37 are electrically connected.
- the first electronic governor 26 and the first motor 32 are taken as an example.
- the first electronic governor 26 acquires control data, such as pitch data, roll data, heading angle data, altitude data, and other data from the first controller 20 through the first bus 23;
- the first electronic governor 26 acquires control data from the second controller 21 via the second bus 24;
- the first electronic governor 26 passes from the third bus 22 through the third bus Get control data.
- the control data of the controller is required as follows: the first electronic governor 26 needs to select the control data of the first controller 20, and the second electronic governor 27 needs to select the For the control data of the first controller 20, the third electronic governor 28 needs to select the control data of the second controller 21, and the fourth electronic speed controller 29 needs to select the control data of the third controller 22,
- the fifth electronic governor 30 needs to select the control data of the first controller 20, and the sixth electronic governor 31 needs to select the control data of the second controller 21, thereby knowing that all the electronic governors need to be
- the number of control data of the first controller 20 is 3, the number of control data of the second controller 21 is required to be 2, and the number of control data of the third controller 22 is required to be 1, the The number of control data of the first controller 20 is the largest, and thus the control data of the first controller 20 is selected as the optimal control data.
- the first electronic governor 26 sorts the control data from large to small or from small to large, and judges the control data. Whether the quantity is an odd number, if yes, the selected (n+1)/2 group control data is selected as the optimal control data, and if not, the sorted n/2 or n/2+1 group control data is selected as Optimal control data, where n is the number of at least three sets of control data. If n is 3, the control data of the second controller 21 is selected as the optimal control data.
- the first electronic governor 26 determines whether the data in the control data meets the current required value, such as first determining pitch data, rolling Whether the data, heading angle data, altitude data, and other data exceed the preset value. If not, continue to determine whether the pitch data, roll data, heading angle data, altitude data, and other data are closest to the current unmanned aerial vehicle. The standard value, if yes, the control data conforms to the current required value, and the control data is selected as the optimal control data.
- the current required value such as first determining pitch data, rolling Whether the data, heading angle data, altitude data, and other data exceed the preset value. If not, continue to determine whether the pitch data, roll data, heading angle data, altitude data, and other data are closest to the current unmanned aerial vehicle.
- the standard value if yes, the control data conforms to the current required value, and the control data is selected as the optimal control data.
- the pitch data, the roll data, the heading angle data, the altitude data, and other data of the first controller 20 and the second controller 21 do not exceed a preset value, and the first controller 20
- the pitch data is not close to the standard value required for the operation of the current unmanned aerial vehicle
- the pitch data of the second controller 21 is closest to the standard value required for the operation of the current unmanned aerial vehicle
- the control data of the second controller 21 is in accordance with The current value is required
- the control data of the second controller 21 is selected as the optimal control data.
- the first electronic governor 26 selects the optimal control data, it is further determined whether the difference between the optimal control data and the remaining control data is within a preset range, and if not, the optimal control data is fed back.
- the controller corresponding to the remaining control data is such that the controller corresponding to the remaining control data corrects the control data of the output.
- the first electronic governor 26 controls the rotational speed of the first motor 32 according to the optimal control data, such as controlling the first motor according to pitch data, roll data, heading angle data, altitude data or other data. 32 corresponding speed.
- control data of the first controller 20 is the optimal control data
- the first electronic governor 26 re-from the second controller 21 and The optimal control data is selected from the control data of the third controller 22 so that the current unmanned aerial vehicle remains in normal operation.
- the working principle of the second electronic governor 27, the third electronic governor 28, the fourth electronic governor 29, the fifth electronic governor 30 and the sixth electronic governor 31 and the first The working principle of the electronic governor 26 is the same, and will not be repeated here.
- FIG. 3 is a schematic structural view of a second embodiment of the unmanned aerial vehicle of the present invention.
- the unmanned aerial vehicle of the second embodiment works in the same manner as the unmanned aerial vehicle of the first embodiment, and the main difference is that the unmanned aerial vehicle further includes a fourth controller 41, and the fourth controller 41 and the first controller 41
- the fourth bus 42 is electrically connected.
- the sixth electronic governor 48 is electrically connected.
- FIG. 4 is a schematic flow chart of a data processing method of the unmanned aerial vehicle of the present invention.
- the unmanned aerial vehicle of FIG. 4 corresponds to the unmanned aerial vehicle of FIG. 2 described above.
- the method comprises the following steps:
- the at least two electronic governors respectively acquire at least two sets of control data from at least two controllers.
- each of the at least two sets of control data includes pitch data, roll data, heading angle data, altitude data, or other data.
- S102 The at least two electronic governors select optimal control data from at least two sets of control data.
- At least two electronic governors require all electronic governors to require the most control data in at least two sets of control data as the optimal control data.
- At least two electronic governors perform at least two sets of control data from large to small or from small to large, and determine whether the number of at least two sets of control data is an odd number, and if so, select The sorted (n+1)/2 group control data is used as the optimal control data, and if not, the sorted n/2 or n/2+1 group control data is selected as the optimal control data, where n is at least The number of control data for both groups.
- At least two electronic governors determine whether the data in the control data meets the current required value, such as determining whether the pitch data, the roll data, the heading angle data, the altitude data, and other data exceed the pre-predetermined value. Set the value, if not, continue to determine whether the pitch data, roll data, heading angle data, altitude data, and other data are closest to the standard values required for the current unmanned aerial vehicle operation, and if so, the control data meets the current required value Select the control data as the optimal control data.
- At least two electronic governors determine whether the difference between the optimal control data and the remaining control data is within a preset range, and if not, the optimal control data Feedback to the controller corresponding to the remaining control data.
- S103 At least two electronic governors control the rotational speed of the motor according to the optimal control data.
- the electronic governor re-selects optimal control data from the control data of the remaining controllers so that the current unmanned aerial vehicle remains normal work.
- the unmanned aerial vehicle of the present invention includes at least two controllers, at least two electronic governors, and at least two motors, wherein: at least two electronic governors and at least two controllers are electrically Connecting to obtain at least two sets of control data from at least two controllers; at least two electronic governors are also respectively electrically connected to a motor, and at least two electronic governors are selected from at least two sets of control data Optimal control data and control of motor speed based on optimal control data.
- the electronic governor of the present invention can directly acquire data from the controller and select the optimal control data to control the rotational speed of the motor; in addition, if a controller is providing data for at least two electronic governors In the event of a fault, at least two electronic governors can flexibly acquire other controllers for normal data transmission; effectively reducing safety risks and design costs.
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- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Feedback Control In General (AREA)
- Control Of Multiple Motors (AREA)
Abstract
Description
Claims (9)
- 一种无人驾驶飞行器,其中,所述无人驾驶飞行器包括至少两个控制器、至少两个电子调速器以及至少两个电机,其中:所述至少两个电子调速器与所述至少两个控制器均电性连接,以分别从所述至少两个控制器获取至少两组控制数据;所述至少两个电子调速器还分别对应与一所述电机电性连接,所述至少两个电子调速器均从所述至少两组控制数据中选取最优控制数据,并根据所述最优控制数据控制所述电机的转速。
- 根据权利要求1所述的无人驾驶飞行器,其中,所述至少两个电子调速器在选取所述最优控制数据之后,进一步判断所述最优控制数据与其余控制数据之间的差值是否在预设范围内,如果否,将所述最优控制数据反馈至其余控制数据所对应的所述控制器。
- 根据权利要求1所述的无人驾驶飞行器,其中,所述至少两个电子调速器将所述至少两个电子调速器需要所述至少两组控制数据中数量最多的所述控制数据作为所述最优控制数据。
- 根据权利要求1所述的无人驾驶飞行器,其中,所述至少两个电子调速器对所述至少两组控制数据进行从大到小或从小到大的排序,并判断所述至少两组控制数据的数量是否为奇数,如果是,选取排序后的第(n+1)/2组控制数据作为所述最优控制数据,如果否,选取排序后的第n/2或n/2+1组控制数据作为所述最优控制数据,其中n为所述至少两组控制数据的数量。
- 根据权利要求1所述的无人驾驶飞行器,其中,所述至少两组控制数据中的每一者均包括俯仰数据、横滚数据、航向角数据以及高度数据。
- 一种无人驾驶飞行器的数据处理方法,其中,所述无人驾驶飞行器包括至少两个控制器、至少两个电子调速器以及至少两个电机,所述至少两个电子调速器与所述至少两个控制器均电性连接,所述至少两个电子调速器还分别对应与一所述电机电性连接,所述方法包括:所述至少两个电子调速器分别从所述至少两个控制器获取至少两组控制数据;所述至少两个电子调速器均从所述至少两组控制数据中选取最优控制数据;所述至少两个电子调速器根据所述最优控制数据控制所述电机的转速。
- 根据权利要求6所述的方法,其中,所述至少两个电子调速器在选取所述最优控制数据之后,进一步包括以下步骤:判断所述最优控制数据与其余控制数据之间的差值是否在预设范围内,如果否,将所述最优控制数据反馈至其余控制数据所对应的控制器。
- 根据权利要求6所述的方法,其中,所述至少两个电子调速器从所述至少两组控制数据中选取最优控制数据包括:所述至少两个电子调速器将所述至少两个电子调速器需要所述至少两组控制数据中数量最多的所述控制数据作为所述最优控制数据。
- 根据权利要求6所述的方法,其中,所述至少两个电子调速器从所述至少两组控制数据中选取最优控制数据包括:所述至少两个电子调速器对所述至少两组控制数据进行从大到小或从小到大的排序,并判断所述至少两组控制数据的数量是否为奇数,如果是,选取排序后的第(n+1)/2组控制数据作为所述最优控制数据,如果否,选取排序后的第n/2或n/2+1组控制数据作为所述最优控制数据,其中n为所述至少两组控制数据的数量。
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EP14885377.3A EP3118120B1 (en) | 2014-03-14 | 2014-03-14 | Unmanned air vehicle and data processing method therefor |
US15/125,059 US9954466B2 (en) | 2014-03-14 | 2014-03-14 | Unmanned aerial vehicle and data processing method thereof |
CN201480002457.4A CN104756394B (zh) | 2014-03-14 | 2014-03-14 | 无人驾驶飞行器及其数据处理方法 |
JP2016526105A JP6139791B2 (ja) | 2014-03-14 | 2014-03-14 | 無人航空機及びそのデータ処理方法 |
PCT/CN2014/073424 WO2015135194A1 (zh) | 2014-03-14 | 2014-03-14 | 无人驾驶飞行器及其数据处理方法 |
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EP3424821B1 (en) * | 2016-02-29 | 2021-01-27 | SZ DJI Technology Co., Ltd. | Throttle control signal processing method, electronic speed regulator, controller, and mobile platform |
WO2018039922A1 (zh) * | 2016-08-30 | 2018-03-08 | 深圳市大疆创新科技有限公司 | 电调、飞行控制器和无人飞行器的控制方法及控制系统 |
CN106347683B (zh) * | 2016-10-20 | 2019-09-27 | 深圳市道通智能航空技术有限公司 | 飞行器的控制方法、装置及飞行器 |
WO2018119767A1 (zh) * | 2016-12-28 | 2018-07-05 | 深圳市大疆创新科技有限公司 | 无人机及其控制系统与控制方法、电调及其控制方法 |
US11188075B2 (en) * | 2018-08-02 | 2021-11-30 | Qualcomm Incorporated | Controlling a robotic vehicle following flight controller signal loss |
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Also Published As
Publication number | Publication date |
---|---|
US9954466B2 (en) | 2018-04-24 |
CN104756394A (zh) | 2015-07-01 |
EP3118120A4 (en) | 2017-09-13 |
EP3118120A1 (en) | 2017-01-18 |
JP6139791B2 (ja) | 2017-05-31 |
CN104756394B (zh) | 2017-09-08 |
JP2016538179A (ja) | 2016-12-08 |
US20170025971A1 (en) | 2017-01-26 |
EP3118120B1 (en) | 2019-11-06 |
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