WO2018099198A1

WO2018099198A1 - Control method and device for attitude of unmanned aerial vehicle, and unmanned aerial vehicle

Info

Publication number: WO2018099198A1
Application number: PCT/CN2017/106341
Authority: WO
Inventors: 孙勇; 刘艳光; 吴海超; 李海军; 张文凯; 郄新越
Original assignee: 北京京东尚科信息技术有限公司; 北京京东世纪贸易有限公司
Priority date: 2016-12-01
Filing date: 2017-10-16
Publication date: 2018-06-07
Also published as: CN106843245B; CN106843245A

Abstract

A control method and device for an attitude of an unmanned aerial vehicle, and an unmanned aerial vehicle, relating to the technical field of unmanned aerial vehicles. The method comprises: determining an attitude angle deviation needing to be adjusted; and dividing an adjustment interval of the attitude angle deviation into N angular speed control intervals and controlling an attitude adjustment angular rate according to correlations corresponding to the N angular speed control intervals during adjustment. According to the control method and device for an attitude of an unmanned aerial vehicle, and the unmanned aerial vehicle, by dividing an adjustment interval of the attitude angle deviation into a plurality of angular speed control intervals, control can be implemented using a rapid proportion during an initial period of attitude adjustment, the response speed is increased, and errors are rapidly eliminated; the overshoot can be reduced using an inverse parabolic control algorithm during the late period of attitude adjustment, the stability for attitude adjustment and flight of the unmanned aerial vehicle can be improved, the safety coefficient of flight is improved, and user experience can be improved.

Description

UAV attitude control method, device and drone

The present application is based on the application of the CN application number 201611088682.1, the filing date of which is the priority date of

Technical field

The present disclosure relates to the field of drone technology, and in particular, to a drone attitude control method, apparatus, and drone.

Background technique

The drone, referred to as the "unmanned aerial vehicle", is a non-manned aircraft operated by radio remote control equipment and its own program control device. The controller uses the joystick of the remote control terminal to adjust the pitch angle of the drone, the roll angle attitude and the tilt angle of the rotor, so that the drone can obtain acceleration, and the drone can also be adjusted by adjusting the angle of the rotor of the drone. Longitudinal and lateral lateral flight is achieved with the same roll attitude. At present, when controlling the attitude of the drone, the attitude control loop of the drone calculates the difference between the desired attitude angle and the attitude angle of the drone obtained by the attitude reference system, and takes the difference as The attitude angle deviation in the ground coordinate system, and the desired attitude adjustment angular rate in the ground coordinate system is obtained by the proportional controller, and the attitude angle is adjusted by the attitude adjustment angle. When using the proportional controller to control the attitude adjustment angular rate, if the proportional parameter is too large, the attitude adjustment angular rate is too high, so that the response speed of the attitude adjustment is fast but the overshoot is easy to cause low frequency oscillation. If the proportional parameter is too small, then The attitude adjustment angular rate is too small, which can reduce the overshoot amount but the response speed of the attitude adjustment is slow, which affects the performance of the drone and reduces the user experience.

Summary of the invention

One or more embodiments of the present disclosure provide a drone attitude control method, apparatus, and drone.

An embodiment of the present disclosure provides a UAV attitude control method, including: determining a posture angle deviation that needs to be adjusted according to a target attitude angle that the UAV needs to adjust, and a current actual posture angle of the UAV; The adjustment interval of the deviation is divided into N angular velocity control intervals, and the correspondence relationship between the attitude adjustment angular velocity and the attitude angular deviation value in each angular velocity control interval is determined; wherein, the N is greater than or equal to 2; The angle is adjusted to the target attitude angle, wherein the attitude adjustment angular rate is controlled according to a correspondence corresponding to the N angular velocity control intervals in the adjustment. .

Optionally, the correspondence relationship includes: a proportional function relationship and an inverse parabolic function relationship.

Optionally, the dividing the adjustment interval of the attitude angle deviation into N angular velocity control intervals includes: The numerical interval of the attitude angle deviation is divided into a continuous first angular velocity control interval and a second angular velocity control interval, wherein an absolute value of the attitude angular deviation value in the first angular velocity control interval is smaller than the second angular velocity control interval An absolute value of the attitude angle deviation value; the determining the correspondence between the attitude adjustment angular rate and the attitude angle deviation value in each angular velocity control interval includes: determining the posture adjustment angular rate in the first angular velocity control interval And the attitude angle deviation value is a proportional function relationship; in the second angular velocity control interval, determining that the attitude adjustment angular rate and the posture angle deviation value are inverse parabolic function relations.

Optionally, the controlling the attitude adjustment angular rate according to the correspondence relationship corresponding to the N angular velocity control intervals in the adjusting comprises: in the first angular velocity control interval, based on the posture angular deviation And controlling the attitude adjustment angular rate according to the proportional function relationship; acquiring the attitude angle deviation value in real time, and determining that the posture angle deviation value is increased to the first angular velocity control interval and the first In the interval limit value of the two-angle speed control section, the attitude adjustment angular rate is controlled based on the attitude angle deviation value and switching to the inverse parabola function relationship.

Optionally, determining the proportional function relationship

Rate _des = k _p · Att _error ;

Where, Rate _des is the angular rate of the attitude adjustment, k _p is a proportional control parameter, k _p >0, and Att _error is the attitude angle deviation value; determining the inverse parabolic function relationship is:

Where a is the maximum threshold of the rotational acceleration.

Optionally, determining the interval threshold value

Optionally, the target attitude angle and the actual posture angle are one or more of a pitch angle, a yaw angle, and a roll angle.

An embodiment of the present disclosure provides a UAV attitude control apparatus, including: an adjustment data acquisition module, configured to acquire a target attitude angle that the UAV needs to adjust; and an attitude data acquisition module, configured to acquire a current actual posture of the UAV An angle parameter control module is configured to determine an attitude angle deviation that needs to be adjusted according to the target attitude angle and the actual posture angle, and divide the adjustment interval of the attitude angle deviation into N angular speed control intervals, and determine Each Corresponding relationship between the attitude adjustment angular rate and the attitude angle deviation value in the angular velocity control interval; wherein the N is greater than or equal to 2; the attitude angle control module is configured to adjust the attitude angle of the drone to the target posture angle, wherein The attitude adjustment angular rate is controlled according to a correspondence relationship corresponding to the N angular velocity control intervals in the adjustment.

Optionally, the control parameter setting module includes: a section dividing unit, configured to divide the numerical interval of the attitude angle deviation into a continuous first angular velocity control interval and a second angular velocity control interval, where the An absolute value of the attitude angle deviation value in the one angular velocity control interval is smaller than an absolute value of the attitude angular deviation value in the second angular velocity control interval; and a control function determining unit configured to determine in the first angular velocity control interval The attitude adjustment angular rate and the attitude angle deviation value are proportional to a function relationship; in the second angular velocity control interval, determining that the attitude adjustment angular rate and the attitude angle deviation value are inverse parabolic function relationships.

Optionally, the attitude angle control module includes: a first adjustment unit, configured to adjust the posture according to the attitude angle deviation value according to the proportional function relationship in the first angular velocity control interval The angular rate is controlled; the second adjusting unit is configured to acquire the attitude angle deviation value in real time by using the attitude data acquiring module, and determine that the posture angle deviation value is increased to the first angular speed control interval and the first In the interval limit value of the two-angle speed control section, the attitude adjustment angular rate is controlled based on the attitude angle deviation value and switching to the inverse parabola function relationship.

Optionally, the control function determining unit determines the proportional function relationship

Rate _des = k _p · Att _error ;

Wherein, Rate _des adjusts the angular rate for the posture, k _p is a proportional control parameter, k _p >0, and Att _error is the attitude angle deviation value; and the control function determining unit determines the inverse parabolic function relationship

Where a is the maximum threshold of the rotational acceleration.

Optionally, the control function determining unit determines the interval threshold value

An embodiment of the present disclosure provides a drone, including the drone attitude control device of any of the above.

An embodiment of the present disclosure provides a drone attitude control apparatus including: a memory; and a processor coupled to the memory, the processor configured to execute the above based on an instruction stored in the memory The UAV attitude control described.

An embodiment of the present disclosure provides a computer readable storage medium having stored thereon computer program instructions that, when executed by one or more processors, implement the steps of any of the methods described above.

It can be seen from the above proposal that the UAV attitude control method, device and UAV provided by the present disclosure divide the adjustment interval of the attitude angle deviation into a plurality of angular velocity control intervals, and according to the corresponding relationship with the angular velocity control interval in the adjustment Controlling the attitude adjustment angular rate, you can use the fast proportional control at the initial stage of the attitude adjustment, use the larger proportional parameters, speed up the response speed, and quickly eliminate the error. In the later stage of the attitude adjustment, the anti-parabolic control algorithm can be used to limit the angular acceleration during the adjustment. It can reduce the overshoot and obtain the desired attitude angular velocity, which can improve the attitude adjustment of the drone and the stability of flight.

Other features of the present disclosure and its advantages will be apparent from the following detailed description of exemplary embodiments.

DRAWINGS

The drawings described herein are provided to provide a further understanding of the present disclosure, which is a part of the present disclosure, and the description of the present disclosure and the description thereof are not intended to limit the disclosure. In the drawing:

1 is a flow chart showing an embodiment of a drone attitude control method according to the present disclosure;

2 is a control logic diagram of one embodiment of a drone attitude control method according to the present disclosure;

3 is a block diagram of an embodiment of a drone attitude control device in accordance with the present disclosure;

4 is a block diagram showing a control parameter setting module in one embodiment of a drone attitude control device according to the present disclosure;

5 is a block diagram of a posture angle control module in one embodiment of a drone attitude control device according to the present disclosure;

6 is a block diagram of another embodiment of a drone attitude control device in accordance with the present disclosure.

detailed description

The technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present disclosure. It is apparent that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present disclosure without departing from the inventive scope are the scope of the disclosure.

Hereinafter, "first", "second", and the like are merely used to describe the difference in the upper phase, and have no other special meaning.

1 is a schematic flow chart of an embodiment of a UAV attitude control method according to the present disclosure, as shown in FIG. 1:

Step 101: Obtain a target attitude angle that the drone needs to adjust, and a current actual attitude angle of the drone.

The target attitude angle and the actual attitude angle are three-channel attitude angles, that is, one or more of a pitch angle, a yaw angle, and a roll angle. The actual attitude angle of the drone can be obtained by analyzing and processing data collected by sensors such as accelerometers, gyroscopes, and magnetic compasses. The position and speed of the drone can be obtained by analyzing and processing data obtained by sensors such as GP, ultrasonic sensors, and vision sensors. .

Step 102: Determine an attitude angle deviation that needs to be adjusted according to the target posture angle and the actual posture angle.

According to the target attitude angle adjusted and the current attitude angle calculated by the attitude reference system, the attitude angle deviation Att _error =Att _des -Att _{rel is} calculated. For example, in the coordinate system of the attitude reference system, the drone can be acquired. The attitude angle deviation of the pitch angle, the yaw angle, and the roll angle of the X-axis, the Y-axis, and the Z-axis. Att _des is the target attitude angle that needs to be adjusted. It is the desired attitude angle obtained according to the input of the remote control lever or the target attitude angle calculated by the desired position of the drone. Att _rel is the actual attitude angle. The present disclosure does not limit the manner in which the coordinate system of the azimuth reference system is set.

Step 103: The adjustment interval of the attitude angle deviation is divided into N angular velocity control intervals, N is greater than or equal to 2, and the correspondence relationship between the attitude adjustment angular velocity and the attitude angular deviation value in each angular velocity control interval is determined.

Based on the coordinate system of the attitude reference system, the attitude angle deviation can be positive or negative. The adjustment interval of the attitude angle deviation is a numerical interval of the attitude angle deviation in the process of adjusting the attitude angle of the drone to the target posture angle. For example, if the attitude angle deviation is positive 20 degrees, [0, 20] is an adjustment interval of the attitude angle deviation. The adjustment interval [0, 20] of the attitude angle deviation is divided into three angular velocity control intervals, which are [0, 5], [0, 10], [10, 20], respectively, and the angular velocity control interval [0, 5] is determined. Correspondence between the attitude adjustment angular rate and the attitude angle deviation value in [0, 10], [10, 20]. Correspondence relationships can be a variety of functional relationships, such as proportional function relationships, inverse parabolic function relationships, and the like.

Step 104: In the adjustment, the attitude adjustment angular rate is controlled according to the correspondence relationship corresponding to the N angular velocity control sections, and the attitude angle of the drone is adjusted to the target posture angle.

During the flight of the drone, the attitude angle adjustment of the drone is realized by controlling the throttle rudder amount, the aileron rudder amount, the rudder amount and the rudder amount of the drone, and the pitch angle, the yaw angle and the roll are adjusted. The corner adjusts the attitude angle of the drone to the target attitude angle so that the drone conforms to the current flight action that needs to be performed.

In one embodiment, the numerical interval of the attitude angle deviation is divided into a continuous first angular velocity control interval and a second angular velocity control interval, and the absolute value of the attitude angular deviation value in the first angular velocity control interval is smaller than the second angular velocity control interval. The absolute value of the attitude angle deviation value. In the first angular velocity control interval, it is determined that the attitude adjustment angular rate and the attitude angle deviation value are proportional function relationships. For example, the determined proportional function relationship is:

Rate _des = k _p · Att _error ;

Rate _des is the attitude adjustment angular rate, k _p is the proportional control parameter, k _p >0, and Att _error is the attitude angle deviation value. The value of kp can be selected according to the aircraft power system, the take-off quality of the aircraft, etc., taking a six-axis drone as an example, the aircraft take-off weight is 32 kg, and the single-propeller pull force is 5.4 kg, then kp=4.0.

In the second angular velocity control interval, it is determined that the attitude adjustment angular rate and the attitude angle deviation value are inverse parabolic function relationships. For example, the determined inverse parabolic function relationship is:

a is the maximum threshold of rotational acceleration, the unit is m/s ² , a>0, a is related to the quality of the aircraft. For example, for a six-axis drone, a=1000deg/s ^{2 can be taken} .

In the first angular velocity control section, the attitude adjustment angular rate is controlled based on the attitude angle deviation value and based on the proportional function relationship. The attitude angle deviation value is obtained in real time, and when the posture angle deviation value is determined to increase to the interval threshold value of the first angular velocity control interval and the second angular velocity control interval, the attitude adjustment angle is switched based on the attitude angle deviation value and switched to the inverse parabolic function relationship The rate is controlled.

The attitude angle deviations of the pitch angle, the yaw angle, and the roll angle need to be adjusted respectively, and the adjustment intervals of the three attitude angle deviations are respectively divided into the angular velocity control intervals, and the attitude adjustment angular rate in each angular velocity control interval is determined. Correspondence with the deviation value of the attitude angle. In the adjustment, the attitude adjustment angular rate of the pitch angle, the yaw angle, and the roll angle is controlled according to the corresponding relationship corresponding to the angular velocity control section of the pitch angle, the yaw angle, and the roll angle.

As shown in FIG. 2, taking the adjustment of the pitch angle in the attitude angle as an example, the abscissa Att_err in the figure is the attitude angle deviation, that is, the deviation of the pitch angle, the deviation of the pitch angle is greater than 0, and the ordinate Rate_des is the attitude adjustment angle. The rate, the attitude of the pitch angle, adjusts the angular rate. Set two angular velocity control intervals to determine the interval limit value:

The angular velocity control interval for the pitch angle adjustment of the drone, and the corresponding relationship between the attitude adjustment angular velocity and the attitude angle deviation value are:

It can be seen from the above that the slope of the linear function is kp, which is the proportional control parameter of the design. kp>0, the larger the kp, the more the line flutters, and the physical meaning is that the response of the attitude adjustment angular rate (ordinate) is faster, but Too fast will lead to a large overshoot. When the intersection with the anti-parabola is reached, the mode is switched to the anti-parabolic control mode, and the desired attitude adjustment angular rate is smoothly achieved without overshoot.

The UAV attitude control method provided by the above embodiment divides the adjustment interval of the attitude angle deviation into a plurality of angular velocity control intervals, and controls the attitude adjustment angular rate according to the correspondence relationship corresponding to the angular velocity control interval during the adjustment, which may be In the initial stage of attitude adjustment, fast proportional control is used, which uses large proportional parameters to speed up the response and quickly eliminate the error. In the later stage of attitude adjustment, the anti-parabolic control algorithm can be used to limit the angular acceleration during adjustment, which can reduce the overshoot and obtain the expectation. The angular rate of the gesture.

In one embodiment, as shown in FIG. 3, the present disclosure provides a UAV attitude control device 30, including: an adjustment data acquisition module 31, an attitude data acquisition module 32, a control parameter setting module 33, and a posture angle control module. 34 and so on. The adjustment data acquisition module 31 acquires a target attitude angle that the drone needs to adjust. The attitude data acquisition module 32 acquires the current actual attitude angle of the drone.

The control parameter setting module 33 determines the attitude angle deviation that needs to be adjusted according to the target attitude angle and the actual posture angle, divides the adjustment interval of the attitude angle deviation into N angular velocity control intervals, and determines the posture adjustment angle in each angular velocity control interval. Correspondence between the rate and the attitude angle deviation value, where N is greater than or equal to 2. The attitude angle control module 34 adjusts the attitude angle of the drone to the target attitude angle, wherein the attitude adjustment angular rate is controlled according to the correspondence relationship corresponding to the N angular velocity control sections in the adjustment. Correspondence relationships include: proportional function relationships, inverse parabolic function relationships, and so on. The target attitude angle and the actual attitude angle are one or more of a pitch angle, a yaw angle, and a roll angle.

As shown in FIG. 4, the control parameter setting module 33 includes an interval dividing unit 331 and a control function determining unit 332. The section dividing unit 331 divides the numerical interval of the attitude angle deviation into a continuous first angular velocity control interval and a second angular velocity control interval, wherein the absolute value of the posture angular deviation value in the first angular velocity control interval is smaller than the second angular velocity control The absolute value of the attitude angle deviation value in the interval. The control function determining unit 332 determines, in the first angular velocity control section, a proportional function relationship between the attitude adjustment angular rate and the attitude angle deviation value. In the second angular velocity control interval, it is determined that the attitude adjustment angular rate and the attitude angle deviation value are inverse parabolic function relationships.

The control function determining unit 332 determines the proportional function relationship as:

Rate _des = k _p · Att _error ;

Rate _des is the attitude adjustment angular rate, k _p is the proportional control parameter, k _p >0, and Att _error is the attitude angle deviation value.

The control function determining unit 332 determines that the inverse parabolic function relationship is:

Where a is the maximum threshold of the rotational acceleration.

The control function determines 332 the unit to determine the interval limit value:

As shown in FIG. 5, the attitude angle control module 34 includes a first adjustment unit 341 and a second adjustment unit 342. The first adjustment unit 341 controls the attitude adjustment angular rate based on the attitude angle deviation value and based on the proportional function relationship in the first angular velocity control section. The second adjusting unit 342 acquires the attitude angle deviation value in real time through the attitude data acquiring module, and when determining that the posture angle deviation value is increased to the interval threshold value of the first angular velocity control interval and the second angular velocity control interval, based on the attitude angle deviation value, and Switching to an anti-parabolic function relationship controls the attitude adjustment angular rate.

In one embodiment, the present disclosure provides a drone comprising: the drone attitude control device as above.

6 is a block diagram of another embodiment of a drone attitude control device in accordance with the present disclosure. As shown in FIG. 6, the apparatus can include a memory 61, a processor 62, a communication interface 63, and a bus 64. The memory 61 is for storing instructions, the processor 62 is coupled to the memory 61, and the processor 62 is configured to perform the above-described drone attitude control method based on the instructions stored by the memory 61.

The memory 61 may be a high speed RAM memory, a non-volatile memory, or the like, and the memory 61 may be a memory array. The memory 61 may also be partitioned, and the blocks may be combined into a virtual volume according to certain rules. The processor 62 may be a central processing unit CPU, or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the drone attitude control method of the present disclosure.

The functional unit modules described above may be implemented as a general purpose processor, a Programmable Logic Controller (PLC), and a Digital Signal Processor (Digital Signal Processor) for performing the functions described in the present disclosure. DSP), Application Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component Or any suitable combination thereof.

The unmanned aerial vehicle attitude control method and device and the unmanned aerial vehicle provided by the above embodiments divide the adjustment interval of the attitude angle deviation into a plurality of angular velocity control intervals, and adjust the attitude according to the correspondence relationship corresponding to the angular velocity control interval during the adjustment. Rate control, which can use fast proportional control at the initial stage of attitude adjustment, use larger proportional parameters, speed up response, and quickly eliminate errors. In the later stage of attitude adjustment, the anti-parabolic control algorithm can limit the angular acceleration during adjustment and can reduce The overshoot amount and the desired attitude angular rate can improve the attitude adjustment of the drone and the stability of the flight, improve the flight safety factor, and improve the user experience.

In one embodiment, the present disclosure further provides a computer readable storage medium, wherein the computer readable storage medium stores computer instructions that, when executed by the processor, implement the drone attitude control method of any of the above embodiments. Those skilled in the art will appreciate that embodiments of the present disclosure may be provided as a method, apparatus, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware aspects. Moreover, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code. .

The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus, and computer program products according to embodiments of the present disclosure. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine for the execution of instructions for execution by a processor of a computer or other programmable data processing device. Means for implementing the functions specified in one or more of the flow or in a block or blocks of the flow chart.

The present disclosure has been described in detail so far. In order to avoid obscuring the concepts of the present disclosure, some details known in the art are not described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein according to the above description.

The methods and systems of the present disclosure may be implemented in a number of ways. For example, via software, hardware, firmware or Any combination of software, hardware, firmware, to implement the methods and systems of the present disclosure. The above-described sequence of steps for the method is for illustrative purposes only, and the steps of the method of the present disclosure are not limited to the order specifically described above unless otherwise specifically stated. Moreover, in some embodiments, the present disclosure may also be embodied as programs recorded in a recording medium, the programs including machine readable instructions for implementing a method in accordance with the present disclosure. Thus, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.

The description of the present disclosure has been presented for purposes of illustration and description. Many modifications and variations will be apparent to those skilled in the art. The embodiment was chosen and described in order to best explain the principles and embodiments of the embodiments of the invention

Claims

A UAV attitude control method includes:

Determining the attitude angle deviation that needs to be adjusted according to the target attitude angle that the drone needs to adjust, and the current actual attitude angle of the drone;

Dividing the adjustment interval of the attitude angle deviation into N angular velocity control intervals, and determining a correspondence relationship between the attitude adjustment angular rate and the attitude angle deviation value in each angular velocity control interval; wherein, the N is greater than or equal to 2;

Adjusting the attitude angle of the drone to the target attitude angle, wherein the attitude adjustment angular rate is controlled according to a correspondence relationship corresponding to the N angular velocity control sections in the adjustment.
The method of claim 1 wherein

The corresponding relationship includes: a proportional function relationship and an inverse parabolic function relationship.
The method of claim 2, wherein the dividing the adjustment interval of the attitude angle deviation into N angular velocity control intervals comprises:

Dividing the numerical interval of the attitude angle deviation into a continuous first angular velocity control interval and a second angular velocity control interval, wherein an absolute value of the attitude angular deviation value in the first angular velocity control interval is smaller than the second angular velocity control The absolute value of the attitude angle deviation value in the interval;

The determining the correspondence between the attitude adjustment angular rate and the attitude angle deviation value in each angular velocity control interval includes:

Determining, in the first angular velocity control interval, a proportional function relationship between the attitude adjustment angular rate and the attitude angle deviation value;

In the second angular velocity control interval, it is determined that the attitude adjustment angular rate and the attitude angular deviation value are inverse parabolic function relationships.
The method of claim 3, wherein controlling the attitude adjustment angular rate according to a correspondence corresponding to the N angular velocity control intervals in the adjusting comprises:

In the first angular velocity control interval, controlling the attitude adjustment angular rate based on the attitude angle deviation value and according to the proportional function relationship;

Obtaining the attitude angle deviation value in real time, and when determining that the posture angle deviation value is increased to a section boundary value of the first angular velocity control interval and the second angular velocity control interval, based on the posture angle deviation value, and Switching to the inverse parabolic function relationship controls the attitude adjustment angular rate.
The method of claim 3, wherein

Determining the proportional function relationship

Rate des = k p · Att error ;

Where, Rate des is the angular rate of the attitude adjustment, k p is a proportional control parameter, k p >0, and Att error is the attitude angle deviation value;

Determining the inverse parabolic function relationship

Where a is the maximum threshold of the rotational acceleration.
The method of claim 5, wherein

Determining the interval threshold
The method of claim 1 wherein

The target attitude angle and the actual posture angle are one or more of a pitch angle, a yaw angle, and a roll angle.
A UAV attitude control device includes:

Adjusting a data acquisition module for acquiring a target attitude angle that the drone needs to adjust;

An attitude data acquisition module, configured to acquire a current actual attitude angle of the drone;

a control parameter setting module, configured to determine an attitude angle deviation that needs to be adjusted according to the target attitude angle and the actual posture angle, and divide the adjustment interval of the attitude angle deviation into N angular speed control intervals, and determine each Corresponding relationship between the attitude adjustment angular rate and the attitude angle deviation value in the angular velocity control interval; wherein, the N is greater than or equal to 2;

An attitude angle control module, configured to adjust an attitude angle of the drone to the target attitude angle, wherein the posture adjustment angular rate is controlled according to a correspondence relationship corresponding to the N angular velocity control intervals in the adjustment .
The device of claim 8 wherein

The corresponding relationship includes: a proportional function relationship and an inverse parabolic function relationship.
The device of claim 9, wherein the control parameter setting module comprises:

a section dividing unit, configured to divide the numerical interval of the attitude angle deviation into a continuous first angular velocity control interval and a second angular velocity control interval, wherein an absolute value of the posture angular deviation value in the first angular velocity control interval is smaller than An absolute value of the attitude angle deviation value in the second angular velocity control interval;

a control function determining unit, configured to determine, in the first angular velocity control interval, a proportional function relationship between the attitude adjustment angular rate and the attitude angle deviation value; and in the second angular velocity control interval, determining the posture The adjustment angular rate and the attitude angle deviation value are inverse parabolic function relationships.
The apparatus of claim 10, wherein the attitude angle control module comprises:

a first adjusting unit, configured to control, according to the attitude angle deviation value, the attitude adjustment angular rate according to the attitude function relationship in the first angular velocity control interval;

a second adjusting unit, configured to acquire the attitude angle deviation value in real time by using the posture data acquiring module, and determine that the posture angle deviation value is increased to the first angular speed control interval and the second angular speed control interval In the interval limit value, the attitude adjustment angular rate is controlled based on the attitude angle deviation value and switching to the inverse parabolic function relationship.
The device of claim 10 wherein:

The control function determining unit determines the proportional function relationship

Rate des = k p · Att error ;

Where, Rate des is the angular rate of the attitude adjustment, k p is a proportional control parameter, k p >0, and Att error is the attitude angle deviation value;

The control function determining unit determines the inverse parabolic function relationship

Where a is the maximum threshold of the rotational acceleration.
The device of claim 12 wherein:

The control function determining unit determines the interval threshold value
Apparatus according to any one of claims 8 to 13 wherein:

The target attitude angle and the actual posture angle are one or more of a pitch angle, a yaw angle, and a roll angle.
A drone, characterized in that it comprises:

The UAV attitude control device according to any one of claims 8 to 14.
A UAV attitude control device, comprising:

a processor coupled to the memory, the processor configured to perform the drone attitude control method according to any one of claims 1 to 7 based on an instruction stored in the memory .
A computer readable storage medium having stored thereon computer program instructions which, when executed by one or more processors, implement the steps of the method of any one of claims 1 to 7.