WO2020237528A1

WO2020237528A1 - Flight control method and device for vertical take-off and landing unmanned aerial vehicle, and vertical take-off and landing unmanned aerial vehicle

Info

Publication number: WO2020237528A1
Application number: PCT/CN2019/089006
Authority: WO
Inventors: 吕熙敏; 徐威; 林灿龙
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-05-29
Filing date: 2019-05-29
Publication date: 2020-12-03
Also published as: CN111699451A

Abstract

Embodiments of the invention provide a flight control method and device for a vertical take-off and landing unmanned aerial vehicle, and a vertical take-off and landing unmanned aerial vehicle. The method comprises: acquiring a lateral velocity error or a lateral offset distance error of a vertical take-off and landing unmanned aerial vehicle in the process of switching from a rotary-wing flight mode to a fixed-wing flight mode; determining a target attitude angle of the vertical take-off and landing unmanned aerial vehicle according to the lateral velocity error or the lateral offset distance error; and controlling, according to the target attitude angle, an attitude of the vertical take-off and landing unmanned aerial vehicle in the process of switching from the rotary-wing flight mode to the fixed-wing flight mode. The method improves the reliability and the control performance of the vertical take-off and landing unmanned aerial vehicle in the process of switching from the rotary-wing flight mode to the fixed-wing flight mode.

Description

Vertical take-off and landing drone flight control method, equipment and vertical take-off and landing drone

Technical field

The present invention relates to the field of control technology, in particular to a flight control method and equipment for a vertical take-off and landing drone, and a vertical take-off and landing drone.

Background technique

Vertical Take-Off and Landing (VTOL) UAV is a new type of aircraft that has developed rapidly in recent years. It also has the vertical take-off and landing of rotorcraft and the ability to hover in the air and fly at low speeds. The ability of the wing aircraft to fly at a high speed with low energy consumption has strong industrial application value.

During the flight of the vertical take-off and landing drone, it is necessary to switch between the rotor flight mode and the fixed-wing flight mode. At present, the vertical take-off and landing drone often produces a large lateral speed when switching the flight mode in a crosswind environment. The error results in a larger side margin. Therefore, how to more effectively control the vertical take-off and landing UAV for flight mode switching is of great significance.

Summary of the invention

The embodiment of the present invention provides a flight control method and equipment for a vertical take-off and landing drone, and a vertical take-off and landing drone, which improves the switching of the vertical take-off and landing drone from the rotor flight mode to the fixed wing flight mode during the flight. The reliability and control performance.

In the first aspect, an embodiment of the present invention provides a flight control method for a vertical take-off and landing drone, including:

Acquiring the lateral speed error or the side offset error in the process of switching the vertical take-off and landing drone from the rotor flight mode to the fixed wing flight mode;

Determine the target attitude angle of the vertical take-off and landing UAV according to the lateral velocity error or the lateral offset error;

The attitude of the vertical take-off and landing drone during the process of switching from the rotor flight mode to the fixed wing flight mode is controlled according to the target attitude angle.

In the second aspect, an embodiment of the present invention provides a flight control device, including a memory and a processor;

The memory is used to store program instructions;

The processor is configured to call the program instructions, and when the program instructions are executed, to perform the following operations:

In the third aspect, embodiments of the present invention provide a vertical take-off and landing drone, including:

body;

The power system configured on the fuselage is used to provide the moving power for the vertical take-off and landing drone;

The flight control device as described in the above second aspect.

In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium that stores a computer program that, when executed by a processor, implements the method described in the first aspect.

In the embodiment of the present invention, the flight control device may determine the vertical take-off and landing based on the acquired lateral speed error or side offset error during the process of switching from the rotor flight mode to the fixed-wing flight mode of the vertical take-off and landing drone. The target attitude angle of the drone is lowered, and the attitude of the vertical take-off and landing drone during the process of switching from the rotor flight mode to the fixed-wing flight mode is controlled according to the target attitude angle, thereby improving the vertical take-off and landing unmanned The reliability and control performance of the aircraft in the process of switching to the fixed-wing flight mode.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, without creative work, other drawings can be obtained from these drawings.

Figure 1 is a configuration diagram of a vertical take-off and landing drone provided by an embodiment of the present invention;

2 is a schematic diagram of lateral speed control of a vertical take-off and landing drone provided by an embodiment of the present invention;

FIG. 3 is a schematic diagram of the side offset control of a vertical take-off and landing drone provided by an embodiment of the present invention;

4 is a schematic diagram of attitude control of a vertical take-off and landing drone provided by an embodiment of the present invention;

Figure 5 is a schematic diagram of another vertical take-off and landing drone attitude control provided by an embodiment of the present invention;

6 is a schematic structural diagram of a flight control system for a vertical take-off and landing drone provided by an embodiment of the present invention;

FIG. 7 is a schematic flowchart of a flight control method for a vertical take-off and landing drone provided by an embodiment of the present invention;

8 is a schematic flowchart of another flight control method for a vertical take-off and landing drone provided by an embodiment of the present invention;

FIG. 9 is a schematic structural diagram of a flight control device according to an embodiment of the present invention;

Fig. 10 is a schematic diagram of a flight route in the process of switching flight modes according to an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

The flight control method of a vertical take-off and landing drone provided in the embodiment of the present invention may be executed by a flight control system of a vertical take-off and landing drone. Wherein, the flight control system of the vertical take-off and landing drone includes a flight control device and a vertical take-off and landing drone. In some embodiments, the flight control device can be installed on the vertical take-off and landing drone. In some embodiments, the flight control device may be spatially independent from the vertical take-off and landing drone. In some embodiments, the flight control device may be a component of the vertical take-off and landing drone, that is, the vertical take-off and landing drone. Take-off and landing drones include flight control equipment.

In some embodiments, the vertical take-off and landing drones include composite, tilt-rotor, rotary wing, tailstock and other drones. Among them, a typical composite vertical take-off and landing fixed-wing unmanned aircraft The model is shown in FIG. 1, which is a configuration diagram of a vertical take-off and landing drone provided by an embodiment of the present invention. As shown in FIG. 1, this configuration includes a set of multi-rotor power system 11 and a set of fixed wing power 12. When hovering, only the rotor power system 11 works; when it needs to switch to the fixed-wing flight mode, the fixed-wing power system 12 is turned on, and the vertical take-off and landing UAV accelerates forward; when the forward flight speed reaches the preset speed range, it is fixed The wing power system 12 takes over the vertical take-off and landing UAV, and the rotor power system 11 is closed.

In one embodiment, when the vertical take-off and landing drone is switched from the rotor flight mode to the fixed-wing flight mode, the main purpose is to allow the vertical take-off and landing drone to obtain sufficient flight speed. The chance is to fly a distance along the nose, thus smoothly switching to the fixed-wing flight mode.

In one embodiment, when the vertical take-off and landing drone accelerates to a preset speed range, and the flying height error of the vertical take-off and landing drone is less than the preset error value, it can be determined that the vertical take-off and landing drone The drone successfully switched to the fixed-wing flight mode.

For example, if the preset speed range is 7m/s-8m/s, the current speed of the vertical take-off and landing drone is 3m/s, if the vertical take-off and landing drone is switched to the fixed-wing flight mode In the process of accelerating to within the range of 7m/s-8m/s, and the flying height error of the vertical take-off and landing drone is less than the preset error value of 0.5m, it can be determined that the vertical take-off and landing drone successfully The flight mode is switched to the fixed-wing flight mode.

In one embodiment, when the thrust of the rotor motor of the vertical take-off and landing drone is less than the preset thrust value within the preset time range, and the flying height error of the vertical take-off and landing drone is less than the preset error value It can be determined that the vertical take-off and landing UAV has successfully switched to the fixed-wing flight mode.

For example, assuming that the preset thrust value is 5 Newtons, if the vertical take-off and landing drone is less than the preset thrust value of 5 Newtons within 1 minute of the preset time range, and the flying height error of the vertical take-off and landing drone is less than the expected When the error value is set to 0.5 m, it can be determined that the vertical take-off and landing UAV has successfully switched from the rotor flight mode to the fixed wing flight mode.

The flight control device in the flight control system for the vertical take-off and landing drone provided in the embodiment of the present invention can acquire the said vertical take-off and landing drone during the process of switching from the rotor flight mode to the fixed-wing flight mode. The lateral speed error or the side offset error in the process of the vertical take-off and landing UAV switching from the rotor flight mode to the fixed-wing flight mode, and the vertical start-up is determined according to the lateral speed error or the side offset error. The target attitude angle of the drone is lowered, so as to control the attitude of the vertical take-off and landing drone during the process of switching from the rotor flight mode to the fixed wing flight mode according to the target attitude angle. In some embodiments, the target attitude angle may include, but is not limited to, one or more of a target roll angle and a target yaw angle. For example, the target attitude angle is the target roll angle. Through this implementation manner, the side margin or lateral speed error during the switching of the vertical take-off and landing drone from the rotor flight mode to the fixed-wing flight mode can be reduced, and the target of the vertical take-off and landing drone can be reduced. The error between the route and the actual route improves the reliability and control performance of the vertical take-off and landing UAV switching from the rotor flight mode to the fixed wing flight mode.

In one embodiment, when the vertical take-off and landing drone is switched from the rotor flight mode to the fixed-wing flight mode, the flight control device may calculate according to the lateral speed error of the vertical take-off and landing drone The target attitude angle of the vertical take-off and landing drone is obtained, and the attitude of the vertical take-off and landing drone during the process of switching from the rotor flight mode to the fixed wing flight mode is controlled according to the target attitude angle. In some embodiments, the lateral velocity error may be the difference between the desired lateral velocity of the vertical take-off and landing drone and the actual lateral velocity. In some embodiments, the desired lateral velocity is zero.

In an embodiment, the flight control device may determine the attitude angle error of the vertical take-off and landing drone based on the target attitude angle and the actual attitude angle, and then fly the vertical take-off and landing drone from the rotor. When the mode is switched to the fixed-wing flight mode, the attitude of the vertical take-off and landing drone is controlled according to the attitude angle error.

Specifically, Figure 2 can be taken as an example. Figure 2 is a schematic diagram of the lateral speed control of a vertical take-off and landing drone provided by an embodiment of the present invention. As shown in Figure 2, the flight control device can obtain the vertical take-off and landing unmanned aerial vehicle. The actual lateral speed of the engine 23 is calculated based on the actual lateral velocity and the desired lateral velocity to obtain the lateral velocity error, and the lateral velocity error is sent to the lateral controller 21 so that the lateral controller 21 calculates The target roll angle of the vertical take-off and landing drone. The flight control device can obtain the actual roll angle of the vertical take-off and landing UAV, and determine the roll angle error according to the target roll angle and the actual roll angle. The roll angle error is sent to the attitude controller 22 so that the attitude controller 22 controls the attitude of the vertical take-off and landing drone 23 according to the roll angle error.

By controlling the attitude of the vertical take-off and landing drone in the process of switching from the rotor flight mode to the fixed-wing flight mode, the error between the actual lateral speed and the desired lateral speed can be reduced, and the The lateral speed control accuracy of the vertical take-off and landing drone when switching to a fixed-wing flight mode in a crosswind environment.

In one embodiment, when the vertical take-off and landing drone is switched from the rotor flight mode to the fixed-wing flight mode, the flight control device may calculate the side offset error of the vertical take-off and landing drone The target attitude angle of the vertical take-off and landing drone is obtained, and the attitude of the vertical take-off and landing drone during the process of switching from the rotor flight mode to the fixed wing flight mode is controlled according to the target attitude angle. In some embodiments, the side offset error may be the distance between the target course of the vertical take-off and landing drone and the actual course.

Specifically, Figure 3 can be taken as an example. Figure 3 is a schematic diagram of the side offset control of a vertical take-off and landing drone provided by an embodiment of the present invention. As shown in Figure 3, the flight control device can obtain the vertical take-off and landing unmanned aerial vehicle. The actual route of the aircraft 33 is calculated according to the actual route and the target route to obtain the side offset error, and the side offset error is sent to the lateral controller 31 so that the lateral controller 31 calculates the vertical takeoff and landing The target roll angle of the man-machine. Among them, calculating the side skew error based on the actual route and the target route includes: calculating the side skew error according to the current position of the drone in the actual route and the target route. The flight control device can obtain the actual roll angle of the vertical take-off and landing UAV, and determine the roll angle error according to the target roll angle and the actual roll angle. The roll angle error is sent to the attitude controller 32 so that the attitude controller 32 controls the attitude of the vertical take-off and landing drone 33 according to the roll angle error.

By controlling the attitude of the vertical take-off and landing drone in the process of switching from the rotor flight mode to the fixed-wing flight mode, the vertical take-off and landing drone can be improved to switch to the fixed-wing flight mode in a crosswind environment. The lateral position accuracy in the wing flight mode reduces the error between the actual flight path and the target flight path when the vertical UAV is switched to the fixed wing flight mode.

In one embodiment, the flight control device may determine the preset pitch angle according to the lift coefficient and drag coefficient of the vertical take-off and landing drone and the dynamic pressure distribution strategy of the rotor motor of the vertical take-off and landing drone. Optimization rules. When the vertical take-off and landing drone is switched from the rotor flight mode to the fixed-wing flight mode, the flight control device can use the preset pitch angle optimization rule, according to the flight speed and fixed-wing power of the vertical take-off and landing drone. The throttle value of the system and the throttle value of the rotor power system determine the target pitch angle. The flight control device may determine the pitch angle error according to the target pitch angle and the actual pitch angle of the vertical take-off and landing drone, and determine the pitch angle error of the vertical take-off and landing drone according to the pitch angle error. Control the attitude when the flight mode is switched to the fixed-wing flight mode.

Specific examples can be illustrated in Figure 4, which is a schematic diagram of the attitude control of a vertical take-off and landing drone provided by an embodiment of the present invention. As shown in Figure 4, the flight control device can obtain the vertical take-off and landing unmanned aerial vehicle. The flight speed of the aircraft 43, the throttle value of the fixed-wing power system and the throttle value of the rotor power system, and according to the flight speed, the throttle value of the fixed-wing power system and the throttle value of the rotor power system, pass the pitch angle offline optimization module 41 The preset pitch angle optimization rule determines the target pitch angle, and calculates the pitch angle error according to the target pitch angle and the actual pitch angle of the vertical take-off and landing UAV 43, and sends the pitch angle error to the attitude control The device 42 enables the attitude controller 42 to control the attitude of the vertical take-off and landing drone 33 according to the pitch angle error.

UAVs experience different resistances when accelerating at different pitch angles. For example, when the UAV's wings are flattened, the drag it receives is the least and the acceleration is the fastest. Through this implementation method of controlling the attitude of the vertical take-off and landing UAV through the error between the target pitch angle and the actual pitch angle, the UAV can be controlled to fly at the target pitch angle to accelerate to the preset speed in the shortest time. Range, realize the switch from rotor flight mode to fixed wing flight mode.

In one embodiment, when the vertical take-off and landing drone is switched from the rotor flight mode to the fixed-wing flight mode, due to the installation error of the fixed-wing forward pull motor, the vertical take-off and landing drone will be affected. The additional head-up (ie, elevation angle) or head-down (top-down angle) moment affects the pitch angle control accuracy of the vertical take-off and landing drone. In the process of switching from the rotor flight mode to the fixed wing flight mode, the rotating rotor propeller (that is, the rotor power system) will generate additional pitching moment under the influence of the airflow. This part of the pitching moment will also affect the vertical take-off and landing. The pitch angle control accuracy of the man-machine has an impact.

In view of the above-mentioned problems, the embodiment of the present invention is based on the actual pitch angle and the target pitch angle of the vertical take-off and landing drone, when the vertical take-off and landing drone is switched from the rotor flight mode to the fixed-wing flight mode. When the attitude is controlled, the compensation torque of the vertical take-off and landing UAV can be determined according to the flight speed of the vertical take-off and landing UAV, the throttle value of the fixed-wing power system, and the throttle value of the rotor power system. The pitching moment and the compensation moment control the attitude of the vertical take-off and landing drone when it switches from the rotor flight mode to the fixed wing flight mode. In some embodiments, the pitch moment is determined based on the pitch angle error.

It can be specifically illustrated in Figure 5 as an example. Figure 5 is a schematic diagram of another vertical take-off and landing drone attitude control provided by an embodiment of the present invention. As shown in Figure 5, the flight control device can obtain the vertical take-off and landing. The flight speed of the man-machine 53, the throttle value of the fixed wing power system and the throttle value of the rotor power system, and the pitch angle feedforward compensation according to the flight speed, the throttle value of the fixed wing power system and the throttle value of the rotor power system The module 51 looks up a control table to obtain the compensation torque; in some embodiments, the control table includes the corresponding relationship between the flight speed, the throttle value information, and the compensation torque. The flight control device can calculate the pitch angle error according to the target pitch angle and the actual pitch angle of the vertical take-off and landing UAV 53, and send the pitch angle error to the attitude controller 52, so that the attitude controller 52 can be The pitch angle error generates a pitch moment, so that the attitude of the vertical take-off and landing drone 53 is controlled according to the pitch moment and the compensation moment.

Through this embodiment, in the pitch angle feedforward compensation algorithm for switching from the rotor flight mode to the fixed wing flight mode, the motor installation error and the additional torque generated by the rotating rotor are calculated and compensated, thereby improving the vertical take-off and landing. The control accuracy of the pitch angle of the UAV during the process of switching from the rotor flight mode to the fixed wing flight mode, and the performance of the vertical take-off and landing UAV for switching from the rotor flight mode to the fixed wing flight mode is improved.

The following is a schematic description of the flight control system for a vertical take-off and landing drone provided by an embodiment of the present invention with reference to FIG. 6.

Please refer to FIG. 6. FIG. 6 is a schematic structural diagram of a flight control system for a vertical take-off and landing unmanned aerial vehicle according to an embodiment of the present invention, and FIG. 6 is a schematic structural diagram in the front view direction. The flight control system of the vertical take-off and landing drone includes: a flight control device 61 and a vertical take-off and landing drone 62. The vertical take-off and landing drone 62 includes a power system 621, and the power system 621 is used to provide the vertical take-off and landing drone 62 with moving power. In some embodiments, the flight control device 61 is provided in the vertical take-off and landing drone 62, and can establish a communication connection with other devices (such as the power system 621) in the vertical take-off and landing drone through a wired communication connection. In other embodiments, the vertical take-off and landing drone 62 and the flight control device 61 are independent of each other. For example, the flight control device 61 is set in a cloud server and establishes a communication connection with the vertical take-off and landing drone 62 through a wireless communication connection. In some embodiments, the flight control device 61 may be a flight controller. The vertical take-off and landing drone 62 has a rotor flight mode and a fixed wing flight mode.

In the embodiment of the present invention, the flight control device 61 obtains the lateral velocity error or the lateral offset error in the process of switching the vertical take-off and landing drone 62 from the rotor flight mode to the fixed wing flight mode, and according to the lateral velocity Error or the side offset error, determine the target attitude angle of the vertical take-off and landing UAV 62, and switch the vertical take-off and landing UAV 62 from rotor flight mode to fixed-wing flight according to the target attitude angle The posture during the mode is controlled.

Hereinafter, the flight control method of the vertical take-off and landing drone provided by the embodiment of the present invention will be schematically described in conjunction with FIG. 7-10.

Please refer to FIG. 7 for details. FIG. 7 is a schematic flowchart of a flight control method for a vertical take-off and landing UAV according to an embodiment of the present invention. The method may be executed by a flight control device. The specific explanation of the flight control device is as As mentioned earlier. Specifically, the method of the embodiment of the present invention includes the following steps.

S701: Obtain the lateral speed error or the side offset error in the process of switching the vertical take-off and landing drone from the rotor flight mode to the fixed wing flight mode.

In the embodiment of the present invention, the flight control device can obtain the lateral speed error or the side offset error in the process of switching the vertical take-off and landing drone from the rotor flight mode to the fixed wing flight mode.

In some embodiments, when the wind direction of the ambient wind has a large angle with the direction of the nose of the vertical take-off and landing drone, the route direction of the vertical take-off and landing drone when switching flight modes may not be possible. Keep the same direction as the target route. In order to make the UAV fly along the target course when switching the flight mode, it can be based on the lateral speed error (that is, the difference between the expected lateral speed and the actual lateral speed) or the side offset error (the distance between the target course and the actual course). ) Calculate and control the target attitude angle of the UAV, so as to realize the real-time control of the UAV attitude. Through this embodiment, in a lateral wind environment, that is, when the wind direction of the ambient wind has a large angle with the nose direction of the drone, the side speed or the side offset error of the drone can be reduced, Control the drone to fly according to the target route. In some embodiments, the target course direction is consistent with the nose direction of the vertical take-off and landing drone at the initial moment of switching the flight mode.

It can be specifically illustrated in FIG. 10 as an example. FIG. 10 is a schematic diagram of the flight route during the process of switching the flight mode according to an embodiment of the present invention. As shown in FIG. 10, the drone is switched from the rotor flight mode to the fixed wing. A schematic diagram of a flight route during flight mode. Assuming that the drone switches from rotor flight mode to fixed-wing flight mode from point A, the target route for the drone to switch from rotor flight mode to fixed-wing flight mode is AB route, and the direction of the drone's nose at point A is From the direction of A to B, the angle between the wind direction of the ambient wind V1 and the AB course (that is, the direction of the nose) is 90 ^o , which satisfies a larger angle. Due to the influence of ambient wind V1, when the UAV switches from rotor flight mode to fixed-wing flight mode from point A, the actual course direction is from A to C, and the actual course is AC course. Therefore, the flight path of the UAV when switching from the rotor flight mode to the fixed-wing flight mode is deviated, and the distance between the AB flight path and the AC flight path can be determined as the side offset error, such as when the UAV flies to point D When, the side skew error is the distance d between the E point on the AB course and the D point on the AC course; and the difference between the expected lateral speed and the actual lateral speed is determined as the lateral speed error, such as the expected lateral If the speed is 0 and the actual lateral velocity is V2, the lateral velocity error can be determined as V2. Therefore, in order to make the UAV fly as far as possible along the AB route when switching from the rotor flight mode to the fixed-wing flight mode, the side speed error V2 or the side offset error (such as d) can be calculated and controlled. The target attitude angle of the man-machine (such as the roll angle) to make the UAV fly as close to the AB course as possible, reduce the side offset error between the AB course and the AC course, and control the UAV to fly according to the target course.

It can be seen that this embodiment can prevent the vertical take-off and landing UAV from being able to perform tasks such as collecting images at designated locations due to the deviation of the route during the switch from the rotor flight mode to the fixed-wing flight mode. Improve the effectiveness of vertical take-off and landing UAV missions.

It should be noted that the target route can be a line segment as shown in FIG. 10 or a ray starting from point A. That is, there is no need to limit the position of the end point of the target route.

In some embodiments, the lateral velocity error is the difference between the expected lateral velocity and the actual lateral velocity of the vertical take-off and landing drone, and the lateral deviation error is the vertical take-off and landing unmanned The distance between the aircraft’s target route and the actual route. In some embodiments, the target route is a pre-set route for the vertical take-off and landing drone, which is used to control the vertical take-off and landing drone to fly according to the target route; in some embodiments Wherein, the actual route is the route actually flew by the vertical take-off and landing drone under the influence of the external environment and the like.

In one embodiment, the flight control device may acquire the flight mode switch before acquiring the lateral speed error or the side offset error in the process of switching from the rotor flight mode to the fixed-wing flight mode of the vertical take-off and landing drone. Instruction; In some embodiments, the flight mode switching instruction is used to instruct the flight mode of the vertical take-off and landing drone to switch from the rotor flight mode to the fixed-wing flight mode. In some embodiments, the flight mode switching instruction may be sent by a control terminal (such as a remote control, ground station equipment, etc.) to a flight control device; in other embodiments, the flight mode switching instruction may also be a flight control device. The vertical take-off and landing UAV is automatically generated according to the route planning strategy of automatic flight, which is not specifically limited in the embodiment of the present invention.

S702: Determine the target attitude angle of the vertical take-off and landing UAV according to the lateral velocity error or the lateral offset error.

In the embodiment of the present invention, the flight control device may determine the target attitude angle of the vertical take-off and landing UAV based on the lateral speed error or the side offset error.

In one embodiment, the corresponding relationship between the attitude angle of the vertical take-off and landing UAV and the lateral speed error or the side offset error can be established in advance, so the flight control device can be based on the lateral speed error or the The side offset error determines the target attitude angle of the vertical take-off and landing UAV. Adjust the attitude of the vertical take-off and landing UAV by determining the target attitude angle, thereby reducing the lateral speed error or the side offset error of the vertical take-off and landing UAV, and improving the side velocity error or the side deviation. Control accuracy of offset error.

S703: Control the attitude of the vertical take-off and landing drone during the process of switching from the rotor flight mode to the fixed wing flight mode according to the target attitude angle.

In the embodiment of the present invention, the flight control device can control the attitude of the vertical take-off and landing drone during the process of switching from the rotor flight mode to the fixed wing flight mode according to the target attitude angle.

In one embodiment, when the flight control device controls the attitude of the vertical take-off and landing drone in the process of switching from the rotor flight mode to the fixed-wing flight mode according to the target attitude angle, it may control the attitude according to the target attitude angle. And the actual attitude angle, determine the attitude angle error of the vertical take-off and landing drone, and when the vertical take-off and landing drone is switched from the rotor flight mode to the fixed-wing flight mode, the attitude angle error The attitude of the vertical take-off and landing drone is controlled. Through this implementation manner, it is helpful to reduce the lateral speed error or the side offset error of the vertical take-off and landing drone, and improve the control accuracy of the lateral speed error or the side offset error.

In one embodiment, the flight control device may obtain the flight speed of the vertical take-off and landing drone, and obtain the throttle information of the vertical take-off and landing drone, the throttle information including the throttle of the fixed-wing power system And the throttle value of the rotor power system, and according to the flight speed and the throttle information, control the vertical take-off and landing drone to switch from the rotor flight mode to the fixed wing flight mode. The pitch angle of the vertical take-off and landing UAV can be controlled through the flight speed and throttle information, thereby improving the control of the pitch angle during the switching of the vertical take-off and landing UAV from the rotor flight mode to the fixed-wing flight mode Accuracy reduces the time to switch from rotor flight mode to fixed-wing flight mode.

In the embodiment of the present invention, the flight control device determines the vertical take-off and landing based on the acquired lateral speed error or side-offset error in the process of switching the vertical take-off and landing drone from the rotor flight mode to the fixed-wing flight mode. The target attitude angle of the UAV, and according to the target attitude angle, the attitude of the vertical take-off and landing UAV during the process of switching from the rotor flight mode to the fixed-wing flight mode is controlled, thereby improving the vertical take-off and landing UAV Reliability and control performance during switching to fixed-wing flight mode.

Please refer to FIG. 8 for details. FIG. 8 is a schematic flowchart of another flight control method for a vertical take-off and landing drone provided by an embodiment of the present invention. The method can be executed by a flight control device. The specific explanation of the flight control device As mentioned earlier. Specifically, the method of the embodiment of the present invention includes the following steps.

S801: Obtain the flying speed of the vertical take-off and landing UAV.

In the embodiment of the present invention, the flight control device can obtain the flight speed of the vertical take-off and landing drone. The flying speed may be the speed of the vertical take-off and landing drone relative to the air, that is, the airspeed. The airspeed of the vertical take-off and landing UAV can be obtained by the airspeed meter installed on the UAV.

S802: Acquire throttle information of the vertical take-off and landing drone, where the throttle information includes the throttle value of the fixed-wing power system and the throttle value of the rotor power system.

In the embodiment of the present invention, the flight control device may obtain the throttle information of the vertical take-off and landing drone. The throttle information includes the throttle value of the fixed wing power system and the throttle value of the rotor power system. The throttle information can be expressed as a percentage, or as a decimal, fraction, or integer. The embodiment of the present invention does not specifically limit it. For example, when the throttle value of the rotor power system is 100%, it means that the power of the rotor motor reaches the maximum; For example, when the throttle value of the rotor power system is 10, it means that the power of the rotor motor has reached the maximum; another example, when the throttle value of the rotor power system is 0, it means that the power of the rotor motor has reached the minimum.

S803: According to the flight speed and the throttle information, control the vertical take-off and landing drone to switch from the rotor flight mode to the fixed wing flight mode.

In the embodiment of the present invention, the flight control device may control the vertical take-off and landing drone to switch from the rotor flight mode to the fixed wing flight mode according to the flight speed and the throttle information.

In one embodiment, when the flight control device controls the vertical take-off and landing drone to switch from the rotor flight mode to the fixed-wing flight mode according to the flight speed and the throttle information, it can be based on the flight speed , The throttle value information determines the target pitch angle of the vertical take-off and landing UAV, and based on the actual pitch angle of the UAV and the target pitch angle, Control the attitude when the rotor flight mode is switched to the fixed-wing flight mode.

In some embodiments, the target pitch angle is determined based on the flight speed, the throttle value of the fixed wing power system, and the throttle value of the rotor power system using a preset pitch angle optimization rule. In some embodiments, the preset pitch angle optimization rule is determined according to the lift coefficient and drag coefficient of the vertical take-off and landing drone, and the dynamic pressure distribution strategy of the rotor motor of the vertical take-off and landing drone. owned.

In one embodiment, when the flight control device controls the attitude of the vertical take-off and landing drone when it switches from the rotor flight mode to the fixed wing flight mode according to the actual pitch angle and the target pitch angle , It can be determined that the difference between the actual pitch angle and the target pitch angle is the pitch angle error of the vertical take-off and landing UAV, and the pitch moment of the vertical take-off and landing UAV can be determined according to the pitch angle error , So as to control the attitude of the vertical take-off and landing drone when it switches from the rotor flight mode to the fixed wing flight mode according to the pitch moment. Through this embodiment, the drone can be controlled to fly at the target pitch angle to accelerate to the preset speed range in the shortest time, and switch from the rotor flight mode to the fixed wing flight mode.

In one embodiment, the flight control device may determine the compensation moment of the vertical take-off and landing drone according to the flight speed and the throttle value information, and the compensation moment is used to compensate for the installation of the fixed-wing power system The additional pitching moment generated by the error and the additional pitching moment generated by the rotor screw power system under the influence of the airflow; and according to the pitching moment and the compensation moment, the vertical take-off and landing drone is switched from the rotor flight mode to the fixed wing Control the attitude in flight mode. In some embodiments, the pitching moment includes a pitching moment provided by a fixed wing power system and a pitching moment provided by a rotary wing power system.

In one embodiment, when the flight control device determines the compensation torque of the vertical take-off and landing drone based on the flight speed and the throttle value information, it may be based on the flight speed and the throttle value information. , Obtaining the compensation torque by looking up a control table, the control table containing the corresponding relationship between the flight speed, the throttle value information, and the compensation torque. Through this implementation manner, the control accuracy of the pitching moment of the vertical take-off and landing drone can be improved, thereby reducing the error of the vertical take-off and landing drone in the height direction.

In the embodiment of the present invention, the flight control device can obtain the flight speed of the vertical take-off and landing drone, and obtain the throttle information of the vertical take-off and landing drone, so as to control the flight speed and the throttle information according to the flight speed and the throttle information. The vertical take-off and landing UAV switches from rotor flight mode to fixed-wing flight mode. Through this implementation, the switching time for switching from the rotor flight mode to the fixed-wing flight mode can be reduced, and the attitude control accuracy of the vertical take-off and landing drone can be improved.

Please refer to FIG. 9, which is a schematic structural diagram of a flight control device according to an embodiment of the present invention. Specifically, the flight control device includes: a memory 901 and a processor 902.

In an embodiment, the flight control device further includes a data interface 903, and the data interface 903 is used to transfer data information between the flight control device and other devices.

The memory 901 may include a volatile memory (volatile memory); the memory 901 may also include a non-volatile memory (non-volatile memory); the memory 901 may also include a combination of the foregoing types of memories. The processor 902 may be a central processing unit (CPU). The processor 902 may further include a hardware chip. The aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The foregoing PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.

The memory 901 is used to store program instructions, and the processor 902 can call the program instructions stored in the memory 901 to perform the following steps:

Obtain the lateral speed error or the side offset error in the process of the vertical take-off and landing UAV switching from the rotor flight mode to the fixed wing flight mode;

Further, the lateral velocity error is the difference between the desired lateral velocity and the actual lateral velocity of the vertical take-off and landing UAV, and the side offset error is the target course of the vertical take-off and landing UAV The distance from the actual route.

Further, the processor 902 is specifically configured to: when switching the attitude of the vertical take-off and landing drone from the rotor flight mode to the fixed wing flight mode according to the target attitude angle:

Determine the attitude angle error of the vertical take-off and landing UAV according to the target attitude angle and the actual attitude angle;

When the vertical take-off and landing drone is switched from the rotor flight mode to the fixed-wing flight mode, the attitude of the vertical take-off and landing drone is controlled according to the attitude angle error.

Further, the processor 902 is further configured to:

Acquiring the flying speed of the vertical take-off and landing drone;

Acquiring throttle information of the vertical take-off and landing drone, where the throttle information includes the throttle value of the fixed wing power system and the throttle value of the rotor power system;

According to the flight speed and the throttle information, control the vertical take-off and landing drone to switch from the rotor flight mode to the fixed wing flight mode.

Further, when the processor 902 controls the vertical take-off and landing drone to switch from the rotor flight mode to the fixed wing flight mode according to the flight speed and the throttle information, it is specifically configured to:

Determine the target pitch angle of the vertical take-off and landing drone according to the flight speed and the throttle value information;

According to the actual pitch angle of the drone and the target pitch angle, the attitude when the vertical take-off and landing drone is switched from the rotor flight mode to the fixed wing flight mode is controlled.

Further, the target pitch angle is determined based on the flight speed, the throttle value of the fixed wing power system, and the throttle value of the rotor power system by using a preset pitch angle optimization rule.

Further, the preset pitch angle optimization rule is determined according to the lift coefficient and drag coefficient of the vertical take-off and landing drone, and the dynamic pressure distribution strategy of the rotor motor of the vertical take-off and landing drone.

Further, when the processor 902 controls the attitude when the vertical take-off and landing drone is switched from the rotor flight mode to the fixed wing flight mode according to the actual pitch angle and the target pitch angle, it is specifically used for :

Determining that the difference between the actual pitch angle and the target pitch angle is the pitch angle error of the vertical take-off and landing drone;

Determine the pitch moment of the vertical take-off and landing UAV according to the pitch angle error;

According to the pitching moment, the attitude of the vertical take-off and landing drone when it switches from the rotor flight mode to the fixed wing flight mode is controlled.

Further, the processor 902 is further configured to:

According to the flight speed and the throttle value information, the compensation torque of the vertical take-off and landing UAV is determined, and the compensation torque is used to compensate for the additional pitching torque generated by the installation error of the fixed-wing power system and the rotor screw power system. Extra pitching moment under the influence of airflow;

According to the pitching moment and the compensation moment, the attitude of the vertical take-off and landing drone when switching from the rotor flight mode to the fixed wing flight mode is controlled.

Further, the pitching moment includes the pitching moment provided by the fixed wing power system and the pitching moment provided by the rotor power system.

Further, when the processor 902 determines the compensation torque of the vertical take-off and landing drone according to the flight speed and the throttle value information, it is specifically configured to:

According to the flight speed and the throttle value information, the compensation torque is obtained by looking up a control table, the control table containing the corresponding relationship between the flight speed, the throttle value information and the compensation torque .

The embodiment of the present invention also provides a vertical take-off and landing drone. The vertical take-off and landing drone has a rotor flight mode and a fixed-wing flight mode. The vertical take-off and landing drone includes a fuselage; The body's power system is used to provide mobile power for the vertical take-off and landing drone; and the above-mentioned flight control equipment.

In the embodiment of the present invention, the vertical take-off and landing UAV determines the lateral speed error or the side-offset error during the process when the vertical take-off and landing UAV switches from the rotor flight mode to the fixed wing flight mode. The target attitude angle of the vertical take-off and landing drone, and the attitude of the vertical take-off and landing drone during the process of switching from the rotor flight mode to the fixed-wing flight mode is controlled according to the target attitude angle, thereby improving the vertical take-off and landing The reliability and control performance of the UAV in the process of switching to the fixed-wing flight mode.

The embodiment of the present invention also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it realizes that in the embodiment corresponding to FIG. 7 or FIG. 8 of the present invention The described method can also implement the device corresponding to the embodiment of the present invention described in FIG. 9, which will not be repeated here.

The computer-readable storage medium may be an internal storage unit of the device described in any of the foregoing embodiments, such as a hard disk or memory of the device. The computer-readable storage medium may also be an external storage device of the device, such as a plug-in hard disk equipped on the device, a Smart Media Card (SMC), or a Secure Digital (SD) card , Flash Card, etc. Further, the computer-readable storage medium may also include both an internal storage unit of the device and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the terminal. The computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

The above-disclosed are only some embodiments of the present invention, which of course cannot be used to limit the scope of rights of the present invention. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope of the present invention.

Claims

A flight control method for a vertical take-off and landing UAV is characterized in that it includes:

Obtain the lateral speed error or the side offset error in the process of the vertical take-off and landing UAV switching from the rotor flight mode to the fixed wing flight mode;

Determine the target attitude angle of the vertical take-off and landing UAV according to the lateral velocity error or the lateral offset error;

The attitude of the vertical take-off and landing drone during the process of switching from the rotor flight mode to the fixed wing flight mode is controlled according to the target attitude angle.
The method according to claim 1, wherein:

The lateral velocity error is the difference between the desired lateral velocity and the actual lateral velocity of the vertical take-off and landing UAV, and the side offset error is the target course and the actual course of the vertical take-off and landing UAV the distance between.
The method according to claim 1, wherein the controlling the attitude of the vertical take-off and landing drone during the switching from the rotor flight mode to the fixed wing flight mode according to the target attitude angle comprises:

Determine the attitude angle error of the vertical take-off and landing UAV according to the target attitude angle and the actual attitude angle;

When the vertical take-off and landing drone is switched from the rotor flight mode to the fixed-wing flight mode, the attitude of the vertical take-off and landing drone is controlled according to the attitude angle error.
The method of claim 1, wherein the method further comprises:

Acquiring the flying speed of the vertical take-off and landing drone;

Acquiring throttle information of the vertical take-off and landing drone, where the throttle information includes the throttle value of the fixed wing power system and the throttle value of the rotor power system;

According to the flight speed and the throttle information, control the vertical take-off and landing drone to switch from the rotor flight mode to the fixed wing flight mode.
The method according to claim 4, wherein the controlling the vertical take-off and landing drone to switch from the rotor flight mode to the fixed wing flight mode according to the flight speed and the throttle information comprises:

Determine the target pitch angle of the vertical take-off and landing drone according to the flight speed and the throttle value information;

According to the actual pitch angle of the drone and the target pitch angle, the attitude when the vertical take-off and landing drone is switched from the rotor flight mode to the fixed wing flight mode is controlled.
The method of claim 5, wherein:

The target pitch angle is determined based on the flight speed, the throttle value of the fixed wing power system, and the throttle value of the rotor power system by using a preset pitch angle optimization rule.
The method according to claim 6, wherein:

The preset pitch angle optimization rule is determined according to the lift coefficient and drag coefficient of the vertical take-off and landing drone, and the dynamic pressure distribution strategy of the rotor motor of the vertical take-off and landing drone.
The method according to claim 5, characterized in that, according to the actual pitch angle and the target pitch angle, the attitude of the vertical take-off and landing drone when switching from the rotor flight mode to the fixed-wing flight mode Take control, including:

Determining that the difference between the actual pitch angle and the target pitch angle is the pitch angle error of the vertical take-off and landing drone;

Determine the pitch moment of the vertical take-off and landing UAV according to the pitch angle error;

According to the pitching moment, the attitude of the vertical take-off and landing drone when it switches from the rotor flight mode to the fixed wing flight mode is controlled.
The method according to claim 8, wherein the method further comprises:

According to the flight speed and the throttle value information, the compensation torque of the vertical take-off and landing UAV is determined. The compensation torque is used to compensate for the additional pitching moment generated by the installation error of the fixed-wing power system and the rotor power system in the air flow The extra pitching moment generated under the influence;

According to the pitching moment and the compensation moment, the attitude of the vertical take-off and landing drone when switching from the rotor flight mode to the fixed wing flight mode is controlled.
The method according to claim 9, wherein:

The pitching moment includes the pitching moment provided by the fixed wing power system and the pitching moment provided by the rotor power system.
The method according to claim 9, wherein the determining the compensation torque of the vertical take-off and landing drone based on the flight speed and the throttle value information comprises:

According to the flight speed and the throttle value information, the compensation torque is obtained by looking up a control table, the control table containing the corresponding relationship between the flight speed, the throttle value information and the compensation torque .
A flight control device, characterized in that it comprises a memory and a processor;

The memory is used to store program instructions;

The processor is configured to call the program instructions, and when the program instructions are executed, to perform the following operations:

Obtain the lateral speed error or the side offset error in the process of the vertical take-off and landing UAV switching from the rotor flight mode to the fixed wing flight mode;

Determine the target attitude angle of the vertical take-off and landing UAV according to the lateral velocity error or the lateral offset error;

The attitude of the vertical take-off and landing drone during the process of switching from the rotor flight mode to the fixed wing flight mode is controlled according to the target attitude angle.
The device according to claim 12, wherein:

The lateral velocity error is the difference between the desired lateral velocity and the actual lateral velocity of the vertical take-off and landing UAV, and the side offset error is the target course and the actual course of the vertical take-off and landing UAV the distance between.
The device according to claim 12, wherein when the processor controls the attitude of the vertical take-off and landing drone during the process of switching from the rotor flight mode to the fixed wing flight mode according to the target attitude angle, Specifically used for:

Determine the attitude angle error of the vertical take-off and landing UAV according to the target attitude angle and the actual attitude angle;

When the vertical take-off and landing drone is switched from the rotor flight mode to the fixed-wing flight mode, the attitude of the vertical take-off and landing drone is controlled according to the attitude angle error.
The device according to claim 12, wherein the processor is further configured to:

Acquiring the flying speed of the vertical take-off and landing drone;

Acquiring throttle information of the vertical take-off and landing drone, where the throttle information includes the throttle value of the fixed wing power system and the throttle value of the rotor power system;

According to the flight speed and the throttle information, control the vertical take-off and landing drone to switch from the rotor flight mode to the fixed wing flight mode.
The device according to claim 15, wherein the processor controls the vertical take-off and landing drone to switch from the rotor flight mode to the fixed wing flight mode according to the flight speed and the throttle information, specifically Used for:

Determine the target pitch angle of the vertical take-off and landing drone according to the flight speed and the throttle value information;

According to the actual pitch angle of the drone and the target pitch angle, the attitude when the vertical take-off and landing drone is switched from the rotor flight mode to the fixed wing flight mode is controlled.
The device of claim 16, wherein:

The target pitch angle is determined based on the flight speed, the throttle value of the fixed wing power system, and the throttle value of the rotor power system by using a preset pitch angle optimization rule.
The device according to claim 17, wherein the processor is further configured to:

The preset pitch angle optimization rule is determined according to the lift coefficient and drag coefficient of the vertical take-off and landing drone, and the dynamic pressure distribution strategy of the rotor motor of the vertical take-off and landing drone.
The device according to claim 16, wherein the processor determines when the vertical take-off and landing drone is switched from a rotor flight mode to a fixed wing flight mode according to the actual pitch angle and the target pitch angle When controlling the attitude, it is specifically used for:

Determining that the difference between the actual pitch angle and the target pitch angle is the pitch angle error of the vertical take-off and landing drone;

Determine the pitch moment of the vertical take-off and landing UAV according to the pitch angle error;

According to the pitching moment, the attitude of the vertical take-off and landing drone when it switches from the rotor flight mode to the fixed wing flight mode is controlled.
The device according to claim 19, wherein the processor is further configured to:

According to the flight speed and the throttle value information, the compensation torque of the vertical take-off and landing UAV is determined, and the compensation torque is used to compensate for the additional pitching torque generated by the installation error of the fixed-wing power system and the rotor screw power system. Extra pitching moment under the influence of airflow;

According to the pitching moment and the compensation moment, the attitude of the vertical take-off and landing drone when switching from the rotor flight mode to the fixed wing flight mode is controlled.
The device according to claim 20, wherein:

The pitching moment includes the pitching moment provided by the fixed wing power system and the pitching moment provided by the rotor power system.
The device according to claim 20, wherein the processor is specifically configured to: when determining the compensation torque of the vertical take-off and landing drone according to the flight speed and the throttle value information:

According to the flight speed and the throttle value information, the compensation torque is obtained by looking up a control table, the control table containing the corresponding relationship between the flight speed, the throttle value information and the compensation torque .
A vertical take-off and landing drone, characterized in that the vertical take-off and landing drone has a rotor flight mode and a fixed-wing flight mode, and the vertical take-off and landing drone includes:

body;

The power system configured on the fuselage is used to provide the moving power for the vertical take-off and landing drone;

The flight control device according to any one of claims 12-22.
A computer-readable storage medium storing a computer program, wherein the computer program implements the method according to any one of claims 1 to 11 when the computer program is executed by a processor.