WO2018072693A1 - Procédé et dispositif de commande de véhicule aérien, et véhicule aérien - Google Patents

Procédé et dispositif de commande de véhicule aérien, et véhicule aérien Download PDF

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Publication number
WO2018072693A1
WO2018072693A1 PCT/CN2017/106565 CN2017106565W WO2018072693A1 WO 2018072693 A1 WO2018072693 A1 WO 2018072693A1 CN 2017106565 W CN2017106565 W CN 2017106565W WO 2018072693 A1 WO2018072693 A1 WO 2018072693A1
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WO
WIPO (PCT)
Prior art keywords
motor
control
flight
aircraft
control information
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PCT/CN2017/106565
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English (en)
Chinese (zh)
Inventor
陈毅东
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深圳市道通智能航空技术有限公司
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Publication of WO2018072693A1 publication Critical patent/WO2018072693A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
    • B64D27/02—Aircraft characterised by the type or position of power plant
    • B64D27/24—Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
    • 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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/60—Efficient propulsion technologies, e.g. for aircraft

Definitions

  • the embodiments of the present invention relate to the field of aircraft technologies, and in particular, to a method, an apparatus, and an aircraft for controlling an aircraft.
  • the flight controller and the electronic governor in the multi-rotor aircraft adopt a separate structure, that is, the multi-rotor aircraft includes: a flight controller, a plurality of electronic governors, and a plurality of motors, each of which is electronic governor Corresponding to control a motor.
  • the flight controller sends a pulse command to the electronic governor according to the current flight attitude and the state of the remote control.
  • the technical problem to be solved by the embodiments of the present application is to provide a method, a device and an aircraft for controlling an aircraft, which can reduce the manufacturing cost of the aircraft, achieve volume miniaturization, and improve anti-interference ability and reliability.
  • an embodiment of the present application provides a method for controlling an aircraft, the aircraft being equipped with at least one motor, the method comprising:
  • an embodiment of the present application provides a control device for an aircraft, including:
  • An acquisition module configured to acquire flight control information of the aircraft, where the flight control information is used to control flight of the aircraft;
  • a signal determining module configured to determine, according to the flight control information, a control signal of the at least one motor of the aircraft to control a rotational speed of the at least one motor.
  • an embodiment of the present application further provides an aircraft, including a controller disposed on the aircraft, at least one motor communicatively coupled to the controller, and connected to and driven by the motor.
  • a propeller the controller including a body, a flight controller disposed on the body, and a motor controller for controlling at least one of the motors;
  • the flight controller is configured to acquire flight control information of the aircraft, and determine a control signal of the at least one motor according to the flight control information, where the motor controller is configured to control according to a control signal of the at least one motor The rotational speed of the at least one motor.
  • the motor controller includes at least one motor control unit disposed on the main body for controlling the motor, and each of the motor control units is configured to control at least one of the motors Speed.
  • the motor controller includes at least one motor control unit disposed on the main body for controlling the motor, and each of the motor control units is configured to control at least two of the The speed of the motor.
  • the aircraft is further provided with an LED lamp
  • the controller further includes an LED lamp control unit disposed on the main body for controlling the LED lamp.
  • the method, device and aircraft for controlling an aircraft may obtain flight control information for controlling flight of an aircraft, and determine a control signal of at least one motor according to flight control information to control at least one motor.
  • the speed can be used to control the flight of the aircraft and improve the reliability of the aircraft.
  • an aircraft provided by the embodiment of the present application can realize miniaturization of the volume, reduce the manufacturing cost of the aircraft, and improve the anti-interference ability.
  • FIG. 1 is a flowchart of a method for controlling an aircraft provided by an embodiment of the present application
  • Figure 2 is a schematic view of an aircraft performing steering
  • Figure 3 is a schematic view of an aircraft in an inclined state
  • Figure 4 is a schematic view of an aircraft adjusted to be in a parallel state
  • FIG. 5 is a flowchart of a method for controlling an aircraft according to another embodiment of the present application.
  • Figure 6 is a flow chart of the method of step S52 shown in Figure 5;
  • FIG. 7 is a functional block diagram of a control device for an aircraft provided by an embodiment of the present application.
  • FIG. 8 is a functional block diagram of a control device for an aircraft provided by another embodiment of the present application.
  • Figure 9 is a functional block diagram of the motor determination module 82 shown in Figure 8.
  • FIG. 10 is a schematic diagram showing the hardware structure of a control device for an aircraft provided by an embodiment of the present application.
  • FIG. 11 is a schematic structural diagram of hardware of an aircraft provided by an embodiment of the present application.
  • Figure 12 is a block diagram showing the structure of the controller of Figure 11.
  • an embodiment of the present application provides a method for controlling an aircraft, where the aircraft is equipped with at least one motor, and the method includes:
  • Step S11 Obtain flight control information of the aircraft, and the flight control information is used to control flight of the aircraft.
  • the flight control information may be based on the acceleration configured on the aircraft.
  • Control information generated by at least one of a sensor such as a meter, a gyroscope, a magnetometer, and a barometer.
  • the flight control information may also be control information sent to the aircraft through the remote controller, including but not limited to instructions such as steering, acceleration, hovering, ascending, descending, and the like.
  • Step S13 Determine, according to the flight control information, a control signal of the at least one motor to control the rotation speed of the at least one motor.
  • control signal may include a square wave signal, and may also include a sine wave signal, and the square wave signal or the sine wave signal has a certain frequency, and the motor is controlled by controlling the frequency of the square wave signal or the sine wave signal.
  • the speed of the speed may also include a pulse signal having a certain frequency, and controlling the rotation speed of the motor by controlling the frequency of the pulse signal.
  • the flight control information may include remote control information of the flight steering
  • the remote control information of the flight steering may be remote control information that is sent by the remote controller to the aircraft and used to control the steering of the aircraft, where the flight steering includes It is not limited to turning to the left, turning to the right, and the like.
  • the step S13 specifically includes determining, according to the remote control information of the flight steering, a control signal of the at least one motor to control the rotation speed of the motor on the side of the flight steering to be lower than the rotation speed of the motor on the side of the flight steering.
  • the aircraft 210 is a quadrotor aircraft, and the quadrotor is equipped with four motors, namely, a first motor 211, a second motor 212, a third motor 213, and a fourth.
  • the motor 214 is connected to each of the motor drives with a propeller.
  • a control signal of at least one motor is determined to control the first motor 211 and the first side of the flight steering 220.
  • the rotational speed of the second motor 212 is lower than the rotational speed of the third motor 213 and the fourth motor 214 on the side of the flight steering 220, thereby enabling the aircraft 210 to steer along the flight steering 220.
  • the aircraft may be a single-rotor, a double-rotor, or a multi-rotor, which is not limited in this embodiment of the present application.
  • the flight control information may include attitude information of the aircraft tilting, and the aircraft is provided with a gyroscope, and the attitude information of the tilting of the aircraft may be posture information or an aircraft of the aircraft that is tilted according to the gyroscope detection. Pour Oblique angle attitude information.
  • the step S13 specifically includes determining a control signal of the at least one motor according to the attitude information of the tilt of the aircraft, so as to control the rotation speed of the motor on the inclined lower side to be higher than the rotation speed of the motor on the inclined high side.
  • the aircraft 310 is provided with a gyroscope (not shown in FIG. 3), and according to the posture information of the aircraft tilt detected by the gyroscope, the control signal of at least one motor is determined to control the tilting.
  • the rotation speed of the motor 311 on the lower side is higher than the rotation speed of the motor 312 on the side of the inclined high position, thereby realizing that the motor on both sides of the aircraft 310 is adjusted from the inclined state of the relative horizontal plane 320 as shown in FIG. 3 to the relative horizontal plane as shown in FIG. Parallel state of 320.
  • the control method of the aircraft provided by the embodiment of the present application can acquire flight control information for controlling flight of the aircraft, and determine a control signal of at least one motor according to the flight control information to control the rotation speed of the at least one motor, thereby being convenient Control the flight of the aircraft to improve the reliability of the aircraft.
  • another embodiment of the present application provides a method for controlling an aircraft, the aircraft is equipped with at least one motor, and the method includes:
  • Step S51 Acquire flight control information of the aircraft, and the flight control information is used to control flight of the aircraft.
  • step S51 for the explanation of the step S51, please refer to the explanation of the above step S11.
  • Step S52 Determine, according to the flight control information, a motor that requires speed regulation from at least one motor.
  • Step S53 Determine, according to the flight control information, a control signal of the motor that needs to be adjusted to control the rotation speed of the motor that needs speed regulation.
  • the aircraft for the flight control of the multi-rotor aircraft, generally, it is first determined which one or more motors need to increase the rotation speed, and which one or more motors need to be adjusted to reduce the rotation speed to form a difference in the rotation speed. Therefore, the aircraft is controlled to perform steering, from the tilt state to the parallel state, acceleration, deceleration and the like, or to determine whether all the motors need to increase the speed or reduce the speed, thereby controlling the aircraft to perform ascending and descending flight operations.
  • step S52 specifically includes:
  • Step S521 respectively detecting a current value and a voltage value corresponding to the at least one motor.
  • Step S522 Determine, according to the flight control information and the current value and the voltage value corresponding to the at least one motor, the motor that needs speed regulation from the at least one motor.
  • the current speed of the motor can be estimated by detecting the current value and the voltage value corresponding to the motor, and the motor that needs speed regulation is further determined according to the flight control information and the current speed of the at least one motor, thereby realizing the need
  • the speed of the regulated motor is automatically adjusted.
  • the flight control information includes a command to descend.
  • the aircraft is guaranteed to be in a parallel state with respect to the horizontal plane to facilitate the safe landing of the aircraft. Therefore, during the descending process of the aircraft, the current value corresponding to the detected motor can be The voltage value determines the motor that needs speed regulation from at least one motor.
  • an embodiment of the present application provides a control device 70 for an aircraft.
  • the device 70 may include an acquisition module 71 and a signal determination module 73 .
  • the acquisition module 71 is configured to acquire flight control information of the aircraft, and the flight control information is used to control flight of the aircraft.
  • the aircraft may be equipped with at least one motor, and each motor may drive one propeller correspondingly.
  • the flight control information may be control information generated based on at least one of an accelerometer, a gyroscope, a magnetometer, a barometer, and the like configured on the aircraft.
  • the flight control information may also be control information sent to the aircraft through the remote controller, including but not limited to instructions such as steering, acceleration, hovering, ascending, descending, and the like.
  • the signal determining module 73 is configured to determine a control signal of the at least one motor of the aircraft according to the flight control information to control the rotational speed of the at least one motor.
  • control signal may include a square wave signal, and may also include a sine wave signal, and the square wave signal or the sine wave signal has a certain frequency, and the motor is controlled by controlling the frequency of the square wave signal or the sine wave signal.
  • the speed of the speed may also include a pulse signal having a certain frequency, and controlling the rotation speed of the motor by controlling the frequency of the pulse signal.
  • the flight control information may include remote control information of the flight steering, the flight steering
  • the remote control information may be remote control information that is transmitted to the aircraft by the remote control and used to control the steering of the aircraft, including but not limited to steering to the left, steering to the right, and the like.
  • the signal determining module 73 is specifically configured to determine a control signal of the at least one motor according to the remote control information of the flight steering, so as to control the rotation speed of the motor on the side of the flight steering to be lower than the rotation speed of the motor on the side of the flight steering. .
  • the signal determining module 73 is specifically configured to determine a control signal of the at least one motor according to the remote control information of the flight steering, so as to control the rotation speed of the motor on the side of the flight steering to be lower than the rotation speed of the motor on the side of the flight steering.
  • the aircraft 210 is a quadrotor aircraft configured with four motors, namely a first motor 211, a second motor 212, a third motor 213, and a fourth motor 214, each The motor drive is coupled to a propeller, and the control signal of the at least one motor is determined according to the remote control information of the flight steering 220 sent by the remote controller to the aircraft 210 to control the rotational speeds of the first motor 211 and the second motor 212 on the side of the flight steering 220.
  • the rotational speeds of the third motor 213 and the fourth motor 214 that are facing away from one side of the flight steering 220 are achieved, thereby enabling the aircraft 210 to steer along the flight steering 220.
  • the flight control information may include posture information of the aircraft tilting, and the aircraft is provided with a gyroscope, and the posture information of the tilting of the aircraft may be posture information of the aircraft in an inclined state or a tilt angle of the aircraft according to the gyroscope detection. information.
  • the signal determining module 73 is specifically configured to determine a control signal of the at least one motor according to the attitude information of the tilt of the aircraft, so as to control the rotation speed of the motor on the inclined lower side to be higher than the rotation speed of the motor on the inclined high side.
  • the aircraft 310 is provided with a gyroscope (not shown in FIG. 3), and according to the posture information of the aircraft tilt detected by the gyroscope, the control signal of at least one motor is determined to control the tilting.
  • the rotation speed of the motor 311 on the lower side is higher than the rotation speed of the motor 312 on the side of the inclined high position, thereby realizing that the motor on both sides of the aircraft 310 is adjusted from the inclined state of the relative horizontal plane 320 as shown in FIG. 3 to the relative horizontal plane as shown in FIG. Parallel state of 320.
  • the control device for an aircraft acquires flight control information for controlling flight of an aircraft by an acquisition module, and the signal determination module determines a control signal of at least one motor according to the flight control information to control at least one motor.
  • the speed can easily control the flight of the aircraft and improve the reliability of the aircraft.
  • an aircraft control device 80 which may include an acquisition module 81 , a motor determination module 82 , and a letter. No. determination module 83.
  • the acquisition module 81 is configured to acquire flight control information of the aircraft, and the flight control information is used to control flight of the aircraft.
  • the motor determining module 82 is configured to determine, from the at least one motor, a motor that requires speed regulation according to the flight control information.
  • the signal determining module 83 is configured to determine, according to the flight control information, a control signal of the motor that needs speed regulation to control the rotation speed of the motor that needs speed regulation.
  • the aircraft for the flight control of the multi-rotor aircraft, generally, it is first determined which one or more motors need to increase the rotation speed, and which one or more motors need to be adjusted to reduce the rotation speed to form a difference in the rotation speed. Therefore, the aircraft is controlled to perform steering, from the tilt state to the parallel state, acceleration, deceleration and the like, or to determine whether all the motors need to increase the speed or reduce the speed, thereby controlling the aircraft to perform ascending and descending flight operations.
  • the motor determination module 82 may include a detection unit 821 and a motor determination unit 822.
  • the detecting unit 821 is configured to respectively detect a current value and a voltage value corresponding to the at least one motor
  • the motor determining unit 822 is configured to determine, from the at least one motor, a motor that requires speed regulation according to the flight control information and the current value and the voltage value corresponding to the at least one motor.
  • the current speed of the motor can be estimated by detecting the current value and the voltage value corresponding to the motor, and the motor that needs speed regulation is further determined according to the flight control information and the current speed of the at least one motor, thereby realizing the need
  • the speed of the regulated motor is automatically adjusted.
  • the flight control information includes a command to descend.
  • the aircraft is guaranteed to be in a parallel state with respect to the horizontal plane to facilitate the safe landing of the aircraft. Therefore, during the descending process of the aircraft, the current value corresponding to the detected motor can be The voltage value determines the motor that needs speed regulation from at least one motor.
  • the embodiment of the present application provides a control device 90 for an aircraft.
  • a schematic diagram of the hardware structure, as shown in FIG. 10, the apparatus 90 may include:
  • One or more processors 91, a memory 92, and at least one motor 93 are exemplified by a processor 91 in FIG.
  • the processor 91, the memory 92, and the motor 93 can be connected by a bus or the like, and the bus connection is taken as an example in FIG.
  • the memory 92 is a non-volatile computer readable storage medium, and is usable for storing a non-volatile software program, a non-volatile computer executable program, and a module, such as a control method for executing an aircraft in the embodiment of the present application.
  • Corresponding program instructions/modules for example, acquisition module 71 and signal determination module 73 shown in FIG. 7, acquisition module 81, motor determination module 82, and signal determination module 83 in FIG. 8, detection unit in FIG. 821 and motor determination unit 822).
  • the processor 91 executes various functional applications and data processing of the control device of the aircraft by executing non-volatile software programs, instructions, and modules stored in the memory 92, that is, the control method of the aircraft in the above-described method embodiments.
  • the memory 92 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to usage of the control device of the aircraft, and the like.
  • memory 92 can include high speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device.
  • memory 92 may optionally include memory remotely located relative to processor 91, which may be connected to the aircraft's control device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • the one or more modules are stored in the memory 92, and when executed by the one or more processors 91, the control method of the aircraft in any of the above method embodiments is performed, for example, performing the above described FIG. Method step S11 and step S13, method step S51, step S52 and step S53 in Fig. 5, method step S521 and step S522 shown in Fig. 6, the obtaining module 71 and the signal determining module 73 shown in Fig. 7, The acquisition module 81, the motor determination module 82, and the signal determination module 83 in FIG. The functions of the detecting unit 821 and the motor determining unit 822 in FIG.
  • the above device can execute the control method of the aircraft provided by the embodiment of the present application, and has a corresponding functional module and a beneficial effect of executing the control method of the aircraft.
  • a corresponding functional module and a beneficial effect of executing the control method of the aircraft For the technical details that are not described in detail in this embodiment, reference may be made to the control method of the aircraft provided by the embodiments of the present application.
  • an embodiment of the present application provides an aircraft 100 .
  • the aircraft 100 may include: a controller 110 , at least one motor 120 communicatively coupled to the controller 110 , and a propeller coupled to the motor 120 and driven to rotate by the motor ( Not shown), in FIG. 11, four motors 120 are taken as an example, and the controller 110 is communicably connected to four motors 120, respectively.
  • the controller 110 includes a main body 111, a flight controller 112 disposed on the main body 111, and a motor controller 113 for controlling the four motors 120.
  • the flight controller 112 is configured to acquire flight control information of the aircraft 100, and determine a control signal of the at least one motor 120 according to the flight control information.
  • the motor controller 113 is configured to control the rotational speed of the at least one motor 120 based on a control signal acquired by the flight controller 112.
  • the motor controller 113 includes two motor control units 114, each of which is configured to control the rotational speeds of the two motors 120 in accordance with control signals.
  • the motor controller 113 may also include only one motor control unit for simultaneously controlling the rotational speeds of the four motors 120.
  • the motor controller 113 may further include four motor control units, and the four motor control units are respectively used to control the rotational speeds of the four motors.
  • the aircraft is further provided with an LED lamp (not shown) for indicating the flight state of the aircraft
  • the controller 110 may further include an LED lamp for controlling the LED lamp disposed on the main body 111.
  • the control unit has the same number of LED light control units as the number of LED lights, that is, one LED light control unit controls one LED light, or one LED light control unit controls at least two LED lights.
  • the controller 110 is integrated with a flight controller 112 for controlling aircraft flight and a motor controller 113 for controlling motor speed, so that flight control is performed.
  • the device 112 and the motor controller 113 are integrated on one chip, thereby overcoming the conventional separation structure of the two, which can save cost and reduce the volume of the aircraft.
  • step S11, step S13 in FIG. 1, step S51, step S52, step S53 in FIG. 5, and step S521 and step S522 in FIG. I will not repeat them here.
  • Embodiments of the present application provide a non-transitory computer readable storage medium storing computer-executable instructions that are executed by one or more processors, such as in FIG. a processor 91, wherein the one or more processors may perform the control method of the aircraft in any of the above method embodiments, for example, perform the method steps S11 and S13 in FIG. 1 described above, in FIG. Method step S51, step S52 and step S53, method step S521 and step S522 shown in FIG. 6, acquisition module 71 and signal determination module 73 shown in FIG. 7, acquisition module 81 and motor determination module 82 in FIG. And the function of the signal determination module 83, the detection unit 821 and the motor determination unit 822 in FIG.
  • the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

Abstract

Un procédé de commande d'un véhicule aérien consiste à : obtenir des informations de commande de vol pour commander le vol d'un véhicule aérien; et déterminer un signal de commande d'au moins un moteur en fonction des informations de commande de vol, de façon à commander la vitesse de rotation dudit au moins un moteur. Par ce procédé, le vol d'un véhicule aérien peut être commandé aisément, la fiabilité du véhicule aérien peut être améliorée; le véhicule aérien peut être miniaturisé, les coûts de fabrication peuvent être réduits, et la capacité de résistance aux interférences peut être améliorée. L'invention concerne également un dispositif de commande d'un véhicule aérien, et le véhicule aérien.
PCT/CN2017/106565 2016-10-20 2017-10-17 Procédé et dispositif de commande de véhicule aérien, et véhicule aérien WO2018072693A1 (fr)

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CN201610919471.1 2016-10-20
CN201610919471.1A CN106347683B (zh) 2016-10-20 2016-10-20 飞行器的控制方法、装置及飞行器

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