WO2022193075A1

WO2022193075A1 - Unmanned aerial vehicle control method, unmanned aerial vehicle, and storage medium

Info

Publication number: WO2022193075A1
Application number: PCT/CN2021/080815
Authority: WO
Inventors: 王晓亮; 王璐; 贾向华
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-03-15
Filing date: 2021-03-15
Publication date: 2022-09-22
Also published as: CN116848485A

Abstract

An unmanned aerial vehicle control method, an unmanned aerial vehicle, and a storage medium, capable of ensuring the aerodynamic balance of an unmanned aerial vehicle and ensuring that the unmanned aerial vehicle continues to perform subsequent actions in a stable attitude. A plurality of motors are mounted on the unmanned aerial vehicle. The method comprises: obtaining power output information corresponding to each of the plurality of motors (101); determining, according to the power output information corresponding to each motor, whether a failed motor in which power output fails exists in the plurality of motors (102); when a failed motor in which the power output fails exists in the plurality of motors, obtaining power information required by the unmanned aerial vehicle to maintain a preset attitude (103); and controlling, according to the power information, motors in the plurality of motors other than the failed motor to perform power output (104).

Description

Unmanned aerial vehicle control method, unmanned aerial vehicle and storage medium

technical field

The present application relates to the technical field of unmanned aerial vehicles, and in particular, to a control method of an unmanned aerial vehicle, an unmanned aerial vehicle and a storage medium.

Background technique

Unmanned aerial vehicles typically have multiple power shafts, each powered by a corresponding motor. When the power output of the motor fails, the corresponding power shaft also fails. If the power output of a single or multiple motors of the unmanned aerial vehicle fails, it will cause the attitude of the unmanned aerial vehicle to become unstable, which will cause the aircraft to explode and cause certain property losses to the user.

When the power output of the single motor of the unmanned aerial vehicle fails, the unmanned aerial vehicle can maintain a certain attitude stability, but the heading of the unmanned aerial vehicle will drift. Heading drift will cause problems in the speed and position control of the UAV, which is not conducive to the UAV to perform subsequent actions, such as allowing the UAV to make a safe forced landing or continue to complete the remaining flight tasks. When the power output of multiple motors of the unmanned aerial vehicle fails, the unmanned aerial vehicle cannot maintain the attitude stability, and the unmanned aerial vehicle will explode due to the instability of the attitude.

Application content

Embodiments of the present application provide an unmanned aerial vehicle control method, an unmanned aerial vehicle, and a storage medium, which can ensure that the unmanned aerial vehicle continues to perform subsequent actions in a stable attitude when the power output of a single or multiple motors of the unmanned aerial vehicle fails.

In a first aspect, an embodiment of the present application provides a method for controlling an unmanned aerial vehicle. The unmanned aerial vehicle is equipped with a plurality of motors, and the method includes:

obtaining power output information corresponding to each of the plurality of motors;

Determine, according to the power output information corresponding to each motor, whether there is a failed motor with power output failure in the plurality of motors;

When there is a motor with a power output failure among the plurality of motors, acquiring power information required by the unmanned aerial vehicle to maintain a preset attitude;

According to the power information, other motors in the plurality of motors except the failed motor are controlled to output power.

Optionally, the number of the failed motors is single, and according to the power information, controlling other motors in the plurality of motors except the failed motors to perform power output, including:

determining a coaxial motor of the plurality of motors that is disposed on the same preset axis as the failed motor;

According to the power information, the motors other than the failed motor and the coaxial motor among the plurality of motors are controlled to output power.

Optionally, the power information includes a required torque matrix for maintaining the preset attitude, and the motors other than the failed motor and the coaxial motor among the plurality of motors are controlled according to the power information. Power takeoff, including:

determining a preset configuration corresponding to the setting positions of the motors other than the failed motor and the coaxial motor;

obtaining a mixing control mapping matrix corresponding to the preset configuration;

determining a power output value corresponding to each of the motors except the failed motor and the coaxial motor according to the required torque matrix and the mixing control mapping matrix;

The motors other than the failed motor and the coaxial motor are controlled to perform power output according to the corresponding power output value.

Optionally, the determining, according to the demand torque matrix and the mixing control mapping matrix, a power output value corresponding to each of the motors except the failed motor and the coaxial motor, includes:

determining the setting position of the failed motor in the unmanned aerial vehicle;

According to the setting position of the failed motor, according to the required torque matrix and the mixing control mapping matrix, a power output value corresponding to each of the motors except the failed motor and the coaxial motor is determined.

Optionally, according to the setting position of the failed motor, according to the required torque matrix and the mixing control mapping matrix, each motor in the motors except the failed motor and the coaxial motor is determined. Corresponding power output values, including:

If the installation positions of the motors other than the failed motor and the coaxial motor can form the preset configuration, the product of the required torque matrix and the mixing control mapping matrix is used as the addition to the failure The power output value corresponding to each motor in the motor and the motors other than the coaxial motor.

If the setting positions of the motors other than the failed motor and the coaxial motor fail to form the preset configuration, determine the setting positions of the motors other than the failed motor and the coaxial motor The rotation is the rotation angle of the preset configuration;

According to the rotation angle, determine the rotation matrix of the body coordinate system before rotation to the body coordinate system after rotation;

Taking the product of the rotation matrix, the demand torque matrix and the mixing control mapping matrix as a power output value corresponding to each of the motors except the failed motor and the coaxial motor.

Optionally, the power information includes a required torque matrix for maintaining the preset attitude, and according to the power information, controlling other motors in the plurality of motors except the failed motor to perform power output, including:

Get the preset weight matrix;

According to the weight matrix and the demand torque matrix, determine the power output value corresponding to each motor in the other motors except the failed motor in the plurality of motors;

Each of the other motors is controlled to output power according to the corresponding power output value.

Optionally, according to the weight matrix and the demand torque matrix, determining the power output value corresponding to each motor in the other motors except the failed motor in the plurality of motors includes:

Obtaining multiple sets of possible power output values corresponding to the multiple motors, each set of possible power output values including a power output value greater than a preset value corresponding to each of the motors in the multiple motors except the failed motor , and the power output value corresponding to the failed motor that is set to the preset value;

For any group of power output values in the multiple groups of possible power output values, taking the product of the any group of power output values and a preset mixing mapping matrix as a possible output torque matrix;

determining a difference matrix between the demand torque matrix and the possible output torque matrix;

determining the product of the go-to matrix of the difference matrix, the weight matrix and the difference matrix;

A power output value corresponding to each of the other electric machines is determined based on a set of possible power output values corresponding to the minimum product value among the plurality of sets of possible power output values.

In a second aspect, an embodiment of the present application provides an unmanned aerial vehicle, including a memory and a processor; wherein, executable code is stored on the memory, and when the executable code is executed by the processor, it is used to implement Do as follows:

Optionally, the number of the failed motors is single, and the processor is used for:

Optionally, the power information includes a required torque matrix for maintaining the preset attitude, and the processor is configured to:

According to the demand torque matrix and the mixing control mapping matrix, determine the power output value corresponding to each motor in the motors other than the failed motor and the coaxial motor;

Optionally, the processor is used for:

When the setting positions of the motors other than the failed motor and the coaxial motor can form the preset configuration, the product of the required torque matrix and the mixing control mapping matrix is used as the addition to the failure The power output value corresponding to each motor in the motor and the motors other than the coaxial motor.

Optionally, the processor is used for:

When the setting positions of the motors other than the failed motor and the coaxial motor fail to constitute the preset configuration, determine the setting positions of the motors other than the failed motor and the coaxial motor The rotation is the rotation angle of the preset configuration;

Get the preset weight matrix;

Optionally, the processor is used for:

In a third aspect, an embodiment of the present application provides a computer-readable storage medium, where the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, and the program instructions are used to implement the present application Embodiments provide a method for controlling an unmanned aerial vehicle provided in the first aspect.

In the unmanned aerial vehicle control method provided by the embodiment of the present application, when the power output of a single or multiple motors of the unmanned aerial vehicle fails, the unmanned aerial vehicle can be controlled according to the power information required by the unmanned aerial vehicle to maintain the preset attitude to eliminate the failure. Other motors other than the motor perform power output, and because other motors are controlled to perform power output according to the power information required by the UAV to maintain the preset attitude, it can ensure the aerodynamic balance of the UAV and ensure that the UAV can operate in a stable manner. The pose continues to perform subsequent actions.

Description of drawings

1 is a schematic flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present application;

2 is a schematic diagram of the arrangement of motors corresponding to each power shaft in a six-axis configuration provided by an embodiment of the present application;

3 is a schematic structural diagram of a four-axis typical configuration reconstructed in the case of a single motor failure according to an embodiment of the present application;

4 is a schematic structural diagram of reconfiguration under another single motor failure situation provided by the embodiment of the present application;

5 is a schematic diagram of a coordinate axis rotation provided by an embodiment of the present application;

FIG. 6 is a schematic diagram of failure of two adjacent motors according to an embodiment of the present application;

FIG. 7 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application.

The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. As used in the examples of this application and the appended claims, the singular forms "a," "the," and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise, "a plurality" Generally at least two are included.

Depending on the context, the words "if", "if" as used herein may be interpreted as "at" or "when" or "in response to determining" or "in response to detecting". Similarly, the phrases "if determined" or "if detected (the stated condition or event)" can be interpreted as "when determined" or "in response to determining" or "when detected (the stated condition or event)," depending on the context )" or "in response to detection (a stated condition or event)".

In addition, the sequence of steps in the following method embodiments is only an example, and is not strictly limited.

The unmanned aerial vehicle control method provided by the embodiments of the present application can be implemented in an unmanned aerial vehicle, and the unmanned aerial vehicle can be equipped with a plurality of motors. FIG. 1 is a flowchart of a method for controlling an unmanned aerial vehicle provided by an embodiment of the present application. As shown in FIG. 1 , the method includes:

101. Acquire power output information corresponding to each motor in the plurality of motors.

102. Determine, according to the power output information corresponding to each motor, whether there is a failed motor whose power output fails among the plurality of motors.

103. When there is a motor whose power output fails among the plurality of motors, obtain power information required by the unmanned aerial vehicle to maintain a preset attitude.

104. According to the power information, control other motors in the plurality of motors except the failed motor to perform power output.

The unmanned aerial vehicles described in the embodiments of this application include, but are not limited to, unmanned aerial vehicles of types such as agricultural machinery, industrial aircraft, etc., and the power shaft configurations of the unmanned aerial vehicle include but are not limited to four-axis configuration, six-axis configuration, eight-axis configuration, etc. Axial configuration, twelve-axis configuration, etc.

The above-mentioned power output information may include information for indicating whether the power shaft corresponding to the motor has power loss, and the severity of the power loss when the power shaft has power loss.

In practical applications, the motors in UAVs may fail, such as communication failures, mechanical failures, electrical failures, and so on. Unmanned aerial vehicles typically have multiple power shafts, each powered by a corresponding motor. If the motor fails, it will cause the corresponding power shaft to fail. Whether the power shaft fails completely can be determined by detecting whether the power shaft has power loss and the severity of the power loss when the power shaft has power loss. If the power shaft fails completely, the corresponding motor has a power output failure, and the motor is correspondingly a failed motor.

If there is a failed motor with power output failure among the multiple motors in the UAV, the use of the failed motor can be stopped, and then the power information required by the UAV to maintain the preset attitude can be obtained, and according to the power information, control the multiple motors. Other motors except the failed motor perform power output, so that the other motors continue to operate and the dynamic balance of the unmanned aerial vehicle can be guaranteed.

In the process of controlling other motors, it is necessary to know the power output value corresponding to each motor, so that other motors can be controlled to perform power output with the corresponding power output value, and at the same time, all other motors are performing power output with their corresponding power output values. In the case of power output, the dynamic balance of the UAV can be guaranteed, the attitude stability of the UAV can be maintained, and the heading drift can be prevented. Specifically, the power information may be a demand torque matrix, and then a power output value corresponding to each of the other motors may be calculated according to the demand torque matrix.

The above demand torque matrix can be expressed as u, which is composed of the corresponding demand torques in the x, y, and z axis directions and the demand lift force in the z axis direction in the body coordinate system of the unmanned aerial vehicle. Among them, the x-axis direction refers to the direction directly in front of the UAV, the y-axis direction refers to the direction directly to the right of the UAV, and the z-axis direction refers to the direction directly below the UAV. The corresponding demand torques in the directions of the x, y, and z axes can be expressed as M _x , My _y , and M _z in turn. For the convenience of calculation, M _x , My _y , and M _z can be normalized to a value between -50 and 50. in the interval. The required lift in the z-axis direction can be expressed as F, which can be normalized to a value interval of 0 to 100 for the convenience of calculation. u can be represented by M _x , _My , M _z , F, and u can be represented as [M _x , My _y , M _z , F] ^T . u can be calculated by the flight control system, so the value of u can be obtained from the flight control system.

After the value of u is obtained, the power output value corresponding to each of the other motors can be calculated according to the value of u. Control other motors to perform power output at the corresponding power output value, so that the UAV can continue to perform subsequent actions under the premise of still maintaining dynamic balance, such as allowing the UAV to make a safe forced landing or continue to complete the remaining flight tasks.

Two methods for calculating the power output values corresponding to other motors are provided in the embodiments of the present application, wherein the first calculation method is suitable for the failure of a single motor, the calculation process of this calculation method is simple, and the calculation speed is relatively fast; The calculation method is suitable for the failure of single or multiple motors, and the calculation method has strong applicability.

(1) The first method to calculate the power output value corresponding to other motors

The number of the failed motor is single, and accordingly, according to the power information, the process of controlling other motors in the multiple motors to output power except the failed motor can be implemented as follows: determining that the multiple motors and the failed motor are arranged on the same preset axis The coaxial motor; according to the power information, control the motors other than the failed motor and the coaxial motor among the multiple motors to perform power output.

In practical applications, multiple preset axes may be divided in a plane formed by the x-axis and the y-axis of the body coordinate system. Each preset axis passes through the coordinate origin of the body coordinate system, and a motor can be set at a position where the distance between the two ends of each preset axis and the coordinate origin is the preset distance. Motors set on all preset axes The distance from the coordinate origin can be a preset distance.

If any one of the multiple motors fails, the coaxial motor set on the same preset axis as the failed motor can be determined, the operation of the failed motor and the coaxial motor can be stopped, and the operation of the failed motor and the coaxial motor can be stopped, and control of the multiple motors except the failed motor and the coaxial motor Motors other than the motor run, which means that the power shaft corresponding to the motor other than the failed motor and the coaxial motor has a new N-axis configuration. For example, assuming that a single motor in a six-axis UAV fails, then in addition to the single failed motor and its corresponding coaxial motor, there are still four motors left, and the power shafts corresponding to the four motors can be combined into a New quad-axis configuration.

Optionally, according to the power information, the process of controlling the motors other than the failed motor and the coaxial motor to output power among the plurality of motors may be implemented as follows: determining the corresponding setting positions of the motors other than the failed motor and the coaxial motor. Presetting the configuration; acquiring the mixing control mapping matrix corresponding to the preset configuration; determining the power output value corresponding to each motor in the motors except the failed motor and the coaxial motor according to the demand torque matrix and the mixing control mapping matrix; Control the motors other than the failed motor and the coaxial motor to perform power output according to the corresponding power output value.

In practical applications, multiple mixing control mapping matrices may be set, each mixing control mapping matrix corresponds to a preset configuration, and the mixing control mapping matrix may be stored in association with the preset configuration. In this way, after the preset configuration corresponding to the setting positions of the motors other than the failed motor and the coaxial motor is determined, the mixing control mapping matrix corresponding to the preset configuration can be directly obtained, and then the required torque matrix and the mixing control mapping matrix can be directly obtained. The control mapping matrix calculates the corresponding power output values of the motors except the failed motor and the coaxial motor.

For example, assuming that a single motor in an UAV in an eight-axis configuration fails, the power shafts corresponding to the motors other than the failed motor and the coaxial motor can be combined into a six-axis configuration. The mixing mapping matrix corresponding to the six-axis configuration may be (wherein, K ₆ represents the mixing mapping matrix corresponding to the six-axis configuration):

Assuming that a single motor in the UAV in the six-axis configuration fails, the power shafts corresponding to the motors other than the failed motor and the coaxial motor can be combined into a four-axis configuration. The mixing mapping matrix corresponding to the four-axis configuration can be (wherein, K ₄ represents the mixing mapping matrix corresponding to the four-axis configuration):

Optionally, the above process of determining the power output value corresponding to each motor in the motors except the failed motor and the coaxial motor according to the demand torque matrix and the mixing control mapping matrix may be implemented as follows: determining that the failed motor is in the unmanned aerial vehicle. According to the setting position of the failed motor, according to the demand torque matrix and the mixing control mapping matrix, determine the power output value corresponding to each motor except the failed motor and the coaxial motor.

In practical applications, the setting position of the failed motor directly affects the specific calculation method for calculating the power output values corresponding to the motors other than the failed motor and the coaxial motor. If the failed motor is arranged on a target axis among the plurality of preset axes, the arrangement positions of the motors other than the failed motor and the coaxial motor can constitute a preset configuration, if the failed motor is arranged on the target axis among the plurality of preset axes On an axis other than the target axis, it is difficult to form a preset configuration for the setting positions of the motors other than the failed motor and the coaxial motor. In one possible case, the target axis may be the y-axis in the body coordinate system.

Based on this, optionally, according to the setting position of the failed motor, according to the demand torque matrix and the mixing control mapping matrix, the process of determining the power output value corresponding to each of the motors except the failed motor and the coaxial motor can be realized. That is: if the setting positions of the motors other than the failed motor and the coaxial motor can form a preset configuration, the product of the required torque matrix and the mixing control mapping matrix is used as the motor except the failed motor and the coaxial motor. The corresponding power output value of each motor.

Taking the UAV with six-axis configuration as an example, it is assumed that a single motor in the UAV with six-axis configuration fails and the failed motor is set on the y-axis in the body coordinate system, except for the failed motor and the coaxial motor. The power shaft corresponding to the other motor can form a typical configuration of four shafts. Then in this case, the power output value corresponding to the motor except the failed motor and the coaxial motor can be calculated by the following formula:

T=K×u;

Among them, T is the power output value corresponding to the motors other than the failed motor and the coaxial motor, K is the mixing control mapping matrix corresponding to the preset configuration, and u is the demand torque matrix.

Assuming that the preset configuration is a six-axis typical configuration, then K can be specifically K ₆ , correspondingly, T can be expressed as [T ₁ , T ₂ , T ₃ , T ₄ , T ₅ , T ₆ ] ^T , where, T _i (i=any integer between 1 and 6) represents the power output value corresponding to the ith motor except the failed motor and the coaxial motor.

As shown in FIG. 2 , FIG. 2 is a schematic diagram of the arrangement of the motors corresponding to each power shaft in the six-axis configuration. The icons numbered 1 to 6 in the figure each represent a motor. It is assumed that a single motor in the UAV with six-axis configuration fails and the failed motor is set on the y-axis in the body coordinate system. In this figure, motors No. 3 and No. 6 are set on the y-axis in the body coordinate system. , then the failed motor is the No. 3 motor or the No. 6 motor, and the motors other than the failed motor and the coaxial motor are the No. 1, No. 2, No. 4, and No. 5 motors. As shown in Figure 3, the power shafts corresponding to the No. 1, No. 2, No. 4, and No. 5 motors can form a typical four-axis configuration, then the following formula can be used to calculate the corresponding power of the motors other than the failed motor and the coaxial motor. Power output value:

T=K ₄ ×u;

Among them, K ₄ is the mixing mapping matrix corresponding to the typical four-axis configuration, and T can be expressed as [T ₁ , T ₂ , T ₃ , T ₄ ] ^T , where T _i (any between i=1 to 4 An integer) represents the power output value corresponding to the ith motor except the failed motor and the coaxial motor.

Of course, in addition to the above examples in the embodiments of the present application, the corresponding variables in the power output value calculation formula can be adjusted according to the specific preset configuration to adapt to the calculation process of the power output value of a specific preset configuration. This will not give examples one by one.

The above describes the calculation process of the power output value when the setting positions of the motors other than the failed motor and the coaxial motor can form the preset configuration, and the setting positions of the motors other than the failed motor and the coaxial motor fail to form the calculation process. In the preset configuration, the power output value can be calculated in the following ways:

Optionally, according to the setting position of the failed motor, according to the demand torque matrix and the mixing control mapping matrix, the process of determining the power output value corresponding to each motor in the motors except the failed motor and the coaxial motor can be implemented as follows: if The setting positions of the motors other than the failed motor and the coaxial motor fail to form the preset configuration, then it is determined to rotate the setting positions of the motors other than the failed motor and the coaxial motor to the rotation angle of the preset configuration; The rotation angle determines the rotation matrix of the body coordinate system before rotation to the body coordinate system after rotation; the product of the rotation matrix, the demand torque matrix and the mixing control mapping matrix is used as the motor except the failed motor and the coaxial motor. The corresponding power output value of each motor.

In practical applications, when the setting positions of the motors other than the failed motor and the coaxial motor fail to form the preset configuration, the rotation operation of the body coordinate system can be used to make the target axis in the rotated body coordinate system and the body coordinate system. The setting positions of the failed motors are overlapped, so that the setting positions of the motors other than the failed motors and the coaxial motors can form a preset configuration again, and then the power output values corresponding to the motors other than the failed motors and the coaxial motors can be calculated. .

For example, as shown in FIG. 4 , the icons numbered 1 to 6 in the figure represent a motor respectively. In this figure, the No. 3 motor and No. 6 motor are both set on the y-axis in the body coordinate system. If one of the No. 1, No. 2, No. 4, and No. 5 motors fails, then except for the failed motor and the same motor Motors other than shaft motors are difficult to form a typical four-axis configuration. In this example, assuming that the No. 2 motor fails, the operation of the No. 2 and No. 5 motors is stopped, and the motors other than the failed motor and the coaxial motor are No. 1, No. 3, No. 4, and No. 6. At this time, as shown in Figure 5, if the x-axis or y-axis in the body coordinate system is rotated by 60°, the new body coordinate system x'-axis, y'-axis in y'-axis and No. 2 motor and No. 5 motor The axes where the motors are located are coincident, and the setting positions of No. 1, No. 3, No. 4, and No. 6 can again form a typical four-axis configuration.

In practical applications, it can be determined to rotate the setting positions of the motors except the failed motor and the coaxial motor to the rotation angle of the preset configuration, and then according to the rotation angle, it is determined that the body coordinate system before rotation is transformed into the body coordinate after rotation. The rotation matrix of the system, the rotation matrix can be expressed as R, and then the power output value can be calculated by the following formula:

T=K×R×u;

If the preset configuration is a four-axis typical configuration, the above formula can be converted to:

T=K ₄ ×R×u;

Among them, T=[T ₁ , T ₂ , T ₃ , T ₄ ] ^T , T _i (any integer between i=1 to 4) represents the i-th motor corresponding to the motor except the failed motor and the coaxial motor power output value.

(2) The second method of calculating the power output value corresponding to other motors

The method for calculating the power output value is not limited to the case where a single motor fails, and can be applied regardless of whether the failed motor is a single motor or a plurality of motors. It should be noted that if multiple motors fail and the setting positions of the multiple failed motors are adjacent, it is difficult to maintain the balance of the output torque no matter how the power output values of the other motors are set, and thus it is difficult to ensure that no one is left. The attitude of the aircraft is stable, which is not considered in the embodiments of the present application. For example, as shown in Figure 6, it is assumed that the No. 1 motor and the No. 2 motor in the six-axis UAV fail at the same time. Since the No. 1 motor and the No. 2 motor are set adjacent to each other, it is not sufficient to maintain the UAV. The condition that the attitude is stable, and then this situation is not considered.

Optionally, according to the power information, the process of controlling other motors in the multiple motors to perform power output except the failed motor may be implemented as follows: obtaining a preset weight matrix; Power output value corresponding to each motor in other motors except the failed motor; control each motor in other motors to output power according to the corresponding power output value.

The above preset weight matrix can be regarded as a constant, and can be set according to the actual control requirements of the UAV. For example, if you focus on the stability of the attitude of the unmanned aerial vehicle, you can increase the first parameter in the weight matrix and decrease other parameters accordingly. If you focus on the precise control of the altitude and heading angle of the unmanned aerial vehicle, you can increase the weight matrix. the second parameter and reduce the other parameters accordingly. After the weight matrix is determined, the weight matrix can be stored in the memory and directly obtained for use when used. Alternatively, multiple weight matrices can also be set, each weight matrix focuses on different UAV control requirements, and the weight matrix and the UAV control requirement focus information can be associated and stored, so that when the control requirements of the UAV are determined, When the emphasis is different, the UAV can be controlled through different weight matrices. In one possible implementation, the weight matrix can be set as:

where W represents the weight matrix.

Optionally, in the process of calculating the power output values corresponding to other motors, the power output values may be calculated by solving an optimization problem. Based on this, the above process of determining the power output value corresponding to each motor in the other motors except the failed motor according to the weight matrix and the demand torque matrix can be implemented as follows: obtaining multiple sets of possible power outputs corresponding to the multiple motors. Each set of possible power output values includes a power output value greater than the preset value corresponding to each of the motors in the multiple motors except the failed motor, and the power output value corresponding to the failed motor set to a preset value ; For any group of power output values among the multiple groups of possible power output values, the product of any group of power output values and the preset mixing control mapping matrix is used as the possible output torque matrix; determine the demand torque matrix and the possible output torque matrix The difference matrix between the difference matrixes; determine the product of the go-to matrix, the weight matrix and the difference matrix of the difference matrix; The power output value corresponding to each motor in the motor.

In practical applications, the following functions can be set:

min J=(u ₀ -u) ^T W(u ₀ -u);

Among them, min J is the target value. u ₀ is the demand torque matrix. u is the possible output torque matrix. W is the weight matrix.

The above u ₀ can be directly obtained by the flight control system. u can be obtained by calculation, specifically, u can be obtained by calculation by formula u=K ^T (KK ^T ) ^-1 T. Wherein, K is the mixing control mapping matrix corresponding to the preset configuration, and T is the power output value corresponding to the multiple motors.

Under the conditions that T=[T ₁ ,...T _i ,...T _n ] ^T , 0≤T _i ≤100, T _x =0,T _y =0, 1≤x≠y≤n, The optimal solution is u that minimizes the value of J.

Among them, T _x represents the power output value corresponding to the x-th failed motor, and _Ty represents the power output value corresponding to the y-th failed motor. Since the x-th motor fails and the y-th motor fails, they cannot provide the actual power output value, so the power output value corresponding to the x-th failed motor and the power output value corresponding to the y-th failed motor can be set as 0.

In practical applications, multiple sets of possible power output values corresponding to multiple motors can be set, and then each set of possible power output values can be substituted into the formula to calculate the corresponding J. If the J calculated by substituting a certain set of possible power output values is the minimum value of all J, then the group of possible power output values is the optimal solution sought, and the group of possible power output values T _i except T _x and _{Ty y} is the final power output value of other motors .

Another exemplary embodiment of the present application provides an unmanned aerial vehicle, as shown in FIG. 7 , the unmanned aerial vehicle includes:

memory 1910 for storing executable code;

The processor 1920, when the executable code is executed by the processor 1920, is configured to implement the following operations:

Obtain the power output information corresponding to each motor in the multiple motors;

According to the power output information corresponding to each motor, determine whether there is a failed motor with power output failure in the plurality of motors;

When there is a motor with power output failure among the multiple motors, obtain the power information required by the UAV to maintain the preset attitude;

According to the power information, the other motors except the failed motor among the plurality of motors are controlled to output power.

Optionally, the number of the failed motors is single, and the processor 1920 is used for:

Determine the coaxial motor set on the same preset axis as the failed motor among the multiple motors;

Optionally, the power information includes a required torque matrix for maintaining a preset attitude, and the processor 1920 is configured to:

Determine the preset configurations corresponding to the setting positions of the motors other than the failed motor and the coaxial motor;

Obtain the mixing mapping matrix corresponding to the preset configuration;

Determine the power output value corresponding to each of the motors except the failed motor and the coaxial motor according to the demand torque matrix and the mixing control mapping matrix;

Control the motors other than the failed motor and the coaxial motor to perform power output according to the corresponding power output value.

Optionally, processor 1920 for:

Determine the setting position of the failed motor in the UAV;

According to the setting position of the failed motor, according to the demand torque matrix and the mixing control mapping matrix, the power output value corresponding to each motor in the motors except the failed motor and the coaxial motor is determined.

Optionally, processor 1920 for:

When the setting positions of the motors other than the failed motor and the coaxial motor can form a preset configuration, the product of the required torque matrix and the mixing control mapping matrix is used as each of the motors except the failed motor and the coaxial motor. The power output value corresponding to the motor.

Optionally, processor 1920 for:

When the set positions of the motors other than the failed motor and the coaxial motor fail to form the preset configuration, determine to rotate the set positions of the motors other than the failed motor and the coaxial motor to a rotation angle of the preset configuration;

The product of the rotation matrix, the demand torque matrix and the mixing control mapping matrix is used as the power output value corresponding to each motor in the motors except the failed motor and the coaxial motor.

Get the preset weight matrix;

According to the weight matrix and the demand torque matrix, determine the power output value corresponding to each motor in the multiple motors except the failed motor;

Control each of the other motors to output power according to the corresponding power output value.

Optionally, processor 1920 for:

Acquiring multiple sets of possible power output values corresponding to the multiple motors, each set of possible power output values includes a power output value greater than a preset value corresponding to each of the other motors in the multiple motors except the failed motor, and the failed motor The corresponding power output value is set to the preset value;

For any group of power output values in the multiple groups of possible power output values, the product of any group of power output values and the preset mixing mapping matrix is used as the possible output torque matrix;

Determine the difference matrix between the demand torque matrix and the possible output torque matrix;

Determine the product of the go-to matrix, the weight matrix, and the difference matrix of the difference matrix;

Based on a set of possible power output values corresponding to the minimum product of the multiple sets of possible power output values, a power output value corresponding to each of the other motors is determined.

The unmanned aerial vehicle shown in FIG. 7 can execute the method of the embodiment shown in FIG. 1 to FIG. 6 . For parts not described in detail in this embodiment, reference may be made to the related description of the embodiment shown in FIG. 1 to FIG. 6 . For the execution process and technical effect of the technical solution, refer to the descriptions in the embodiments shown in FIG. 1 to FIG. 6 , which will not be repeated here.

In addition, an embodiment of the present application further provides a computer-readable storage medium, where executable codes are stored in the computer-readable storage medium, and the executable codes are used to implement the unmanned aerial vehicle control methods provided by the foregoing embodiments. .

The technical solutions and technical features in each of the above embodiments can be used alone or in combination unless they conflict with each other, as long as they are not beyond the scope of knowledge of those skilled in the art, they all belong to equivalent embodiments within the protection scope of the present application.

The above are only the embodiments of the present application, and are not intended to limit the scope of the patent of the present application. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present application, or directly or indirectly applied to other related technologies Fields are similarly included within the scope of patent protection of this application.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present application. scope.

Claims

A method for controlling an unmanned aerial vehicle, wherein the unmanned aerial vehicle is equipped with a plurality of motors, characterized in that it includes:

obtaining power output information corresponding to each of the plurality of motors;

Determine, according to the power output information corresponding to each motor, whether there is a failed motor with power output failure in the plurality of motors;

When there is a motor with a power output failure among the plurality of motors, acquiring power information required by the unmanned aerial vehicle to maintain a preset attitude;

According to the power information, other motors in the plurality of motors except the failed motor are controlled to output power.
The method according to claim 1, wherein the number of the failed motors is single, and the controlling, according to the power information, other motors except the failed motor to perform power output among the plurality of motors includes:

determining a coaxial motor of the plurality of motors that is disposed on the same preset axis as the failed motor;

According to the power information, the motors other than the failed motor and the coaxial motor among the plurality of motors are controlled to output power.
The method according to claim 2, wherein the power information includes a required torque matrix for maintaining the preset attitude, and the control of the plurality of motors except the failed motor and the motor is controlled according to the power information. Motors other than the coaxial motor perform power output, including:

determining a preset configuration corresponding to the setting positions of the motors other than the failed motor and the coaxial motor;

obtaining a mixing control mapping matrix corresponding to the preset configuration;

determining a power output value corresponding to each of the motors except the failed motor and the coaxial motor according to the required torque matrix and the mixing control mapping matrix;

The motors other than the failed motor and the coaxial motor are controlled to perform power output according to the corresponding power output value.
The method according to claim 3, characterized in that, according to the demand torque matrix and the mixing control mapping matrix, determining each motor in the motors except the failed motor and the coaxial motor Corresponding power output values, including:

determining the setting position of the failed motor in the unmanned aerial vehicle;

According to the setting position of the failed motor, according to the required torque matrix and the mixing control mapping matrix, a power output value corresponding to each of the motors except the failed motor and the coaxial motor is determined.
The method according to claim 4, wherein, according to the setting position of the failed motor, according to the demanded torque matrix and the mixing control mapping matrix, determining to remove the failed motor and the coaxial motor The power output value corresponding to each motor except the motor, including:

If the installation positions of the motors other than the failed motor and the coaxial motor can form the preset configuration, the product of the required torque matrix and the mixing control mapping matrix is used as the addition to the failure The power output value corresponding to each motor in the motor and the motors other than the coaxial motor.
The method according to claim 4, wherein, according to the setting position of the failed motor, according to the demanded torque matrix and the mixing control mapping matrix, determining to remove the failed motor and the coaxial motor The power output value corresponding to each motor except the motor, including:

If the setting positions of the motors other than the failed motor and the coaxial motor fail to form the preset configuration, determine the setting positions of the motors other than the failed motor and the coaxial motor The rotation is the rotation angle of the preset configuration;

According to the rotation angle, determine the rotation matrix of the body coordinate system before rotation to the body coordinate system after rotation;

Taking the product of the rotation matrix, the demand torque matrix and the mixing control mapping matrix as a power output value corresponding to each of the motors except the failed motor and the coaxial motor.
The method according to claim 1, wherein the power information includes a required torque matrix for maintaining the preset attitude, and the power information is used to control other motors in the plurality of motors except the failed motor. The motor performs power output, including:

Get the preset weight matrix;

According to the weight matrix and the demand torque matrix, determine the power output value corresponding to each motor in the other motors except the failed motor in the plurality of motors;

Each of the other motors is controlled to output power according to the corresponding power output value.
The method according to claim 7, wherein, according to the weight matrix and the demand torque matrix, the power output value corresponding to each motor in the other motors except the failed motor in the plurality of motors is determined ,include:

Obtaining multiple sets of possible power output values corresponding to the multiple motors, each set of possible power output values including a power output value greater than a preset value corresponding to each of the motors in the multiple motors except the failed motor , and the power output value corresponding to the failed motor that is set to the preset value;

For any group of power output values in the multiple groups of possible power output values, taking the product of the any group of power output values and a preset mixing mapping matrix as a possible output torque matrix;

determining a difference matrix between the demand torque matrix and the possible output torque matrix;

determining the product of the go-to matrix of the difference matrix, the weight matrix and the difference matrix;

A power output value corresponding to each of the other electric machines is determined based on a set of possible power output values corresponding to the minimum product value among the plurality of sets of possible power output values.
An unmanned aerial vehicle, characterized in that it includes a memory and a processor; wherein, executable code is stored on the memory, and when the executable code is executed by the processor, it is used to implement the following operations:

obtaining power output information corresponding to each of the plurality of motors;

Determine, according to the power output information corresponding to each motor, whether there is a failed motor with power output failure in the plurality of motors;

When there is a motor with a power output failure among the plurality of motors, acquiring power information required by the unmanned aerial vehicle to maintain a preset attitude;

According to the power information, other motors in the plurality of motors except the failed motor are controlled to output power.
unmanned aerial vehicle according to claim 9, is characterized in that, the quantity of described failure motor is single, and described processor is used for:

determining a coaxial motor of the plurality of motors that is disposed on the same preset axis as the failed motor;

According to the power information, the motors other than the failed motor and the coaxial motor among the plurality of motors are controlled to output power.
The unmanned aerial vehicle according to claim 10, wherein the power information includes a required torque matrix for maintaining the preset attitude, and the processor is configured to:

determining a preset configuration corresponding to the setting positions of the motors other than the failed motor and the coaxial motor;

obtaining a mixing control mapping matrix corresponding to the preset configuration;

determining a power output value corresponding to each of the motors except the failed motor and the coaxial motor according to the required torque matrix and the mixing control mapping matrix;

The motors other than the failed motor and the coaxial motor are controlled to perform power output according to the corresponding power output value.
The unmanned aerial vehicle of claim 11, wherein the processor is configured to:

determining the setting position of the failed motor in the unmanned aerial vehicle;

According to the setting position of the failed motor, according to the required torque matrix and the mixing control mapping matrix, a power output value corresponding to each of the motors except the failed motor and the coaxial motor is determined.
The unmanned aerial vehicle of claim 12, wherein the processor is configured to:

When the setting positions of the motors other than the failed motor and the coaxial motor can form the preset configuration, the product of the required torque matrix and the mixing control mapping matrix is used as the addition to the failure The power output value corresponding to each motor in the motor and the motors other than the coaxial motor.
The unmanned aerial vehicle of claim 12, wherein the processor is configured to:

When the setting positions of the motors other than the failed motor and the coaxial motor fail to constitute the preset configuration, determine the setting positions of the motors other than the failed motor and the coaxial motor The rotation is the rotation angle of the preset configuration;

According to the rotation angle, it is determined that the body coordinate system before the rotation is transformed into the rotation matrix of the body coordinate system after the rotation;

Taking the product of the rotation matrix, the demand torque matrix and the mixing control mapping matrix as a power output value corresponding to each of the motors except the failed motor and the coaxial motor.
The unmanned aerial vehicle according to claim 9, wherein the power information includes a required torque matrix for maintaining the preset attitude, and the processor is configured to:

Get the preset weight matrix;

According to the weight matrix and the demand torque matrix, determine the power output value corresponding to each motor in the other motors except the failed motor in the plurality of motors;

Each of the other motors is controlled to output power according to the corresponding power output value.
The unmanned aerial vehicle of claim 15, wherein the processor is configured to:

Obtaining multiple sets of possible power output values corresponding to the multiple motors, each set of possible power output values including a power output value greater than a preset value corresponding to each of the motors in the multiple motors except the failed motor , and the power output value corresponding to the failed motor that is set to the preset value;

For any group of power output values in the multiple groups of possible power output values, taking the product of the any group of power output values and a preset mixing mapping matrix as a possible output torque matrix;

determining a difference matrix between the demand torque matrix and the possible output torque matrix;

determining the product of the go-to matrix, the weight matrix, and the difference matrix of the difference matrix;

A power output value corresponding to each of the other electric machines is determined based on a set of possible power output values corresponding to the minimum product value among the plurality of sets of possible power output values.
A computer-readable storage medium, characterized by comprising instructions, when executed on a computer, causing the computer to implement the method for controlling an unmanned aerial vehicle according to any one of claims 1-8.