WO2024012000A1 - 一种基于倾转旋翼的直线型多旋翼植保无人机结构及控制方法 - Google Patents

一种基于倾转旋翼的直线型多旋翼植保无人机结构及控制方法 Download PDF

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Publication number
WO2024012000A1
WO2024012000A1 PCT/CN2023/090241 CN2023090241W WO2024012000A1 WO 2024012000 A1 WO2024012000 A1 WO 2024012000A1 CN 2023090241 W CN2023090241 W CN 2023090241W WO 2024012000 A1 WO2024012000 A1 WO 2024012000A1
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WIPO (PCT)
Prior art keywords
fixed
main
tilting
control
carbon
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2023/090241
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English (en)
French (fr)
Inventor
沈跃
储金城
施志翔
沈亚运
张凌飞
刘铭晖
王德伟
李奕岑
孙志伟
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Jiangsu University
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Jiangsu University
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Application filed by Jiangsu University filed Critical Jiangsu University
Priority to GB2314658.2A priority Critical patent/GB2623883B/en
Priority to US18/283,233 priority patent/US12084210B1/en
Publication of WO2024012000A1 publication Critical patent/WO2024012000A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
    • B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
    • B64C1/061—Frames
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/32—Rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
    • B64D1/02—Dropping, ejecting, or releasing articles
    • B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
    • B64D1/12—Releasing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02—Aircraft characterised by the type or position of power plants
    • B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force

Definitions

  • the invention relates to the fields of drone control and agricultural plant protection, and is a linear multi-rotor plant protection drone that adjusts its posture by tilting the rotor and a control method.
  • plant protection drones are mainly quad-rotor drones, fixed-wing drones, helicopters, etc.
  • Multi-rotor UAVs are driven by electric motors. Although their costs are low, they are unable to meet the needs of efficient and precise operations due to their small size, poor carrying capacity, narrow operating spray width, and obvious turbulence between rotors, resulting in poor operating efficiency.
  • Fixed-wing plant protection UAVs have high flight heights and long airborne durations, but have small downward pressure wind fields, poor droplet penetration, and low adhesion rates. At the same time, fixed wings require professionally trained pilots and are generally not available to individual growers.
  • the plant protection helicopter is fuel-driven, which can make up for the shortcomings of the first two to a certain extent, but its cost is higher, the later maintenance price is high, the overall quality of the pilot is required to be higher, and the economic pressure on farmers is greater.
  • the linear multi-rotor plant protection aircraft proposed in the patent CN202023305357.0 uses a linear structure to effectively expand the operating spray width and reduce The small rotor has a spoiler effect, but it is difficult to control. It requires multiple attitude adjustment motors to maintain the aircraft's attitude stability, and the energy utilization rate is poor.
  • the present invention proposes a linear tilting-wing plant protection UAV and a control method, which utilizes a tilting structure to effectively combine the advantages of a linear aircraft with a wide operating spray width and a fixed-wing high energy utilization rate, and satisfies the needs of modern agriculture.
  • the straight-line mechanical structure directly increases the spray area of the UAV.
  • the "one"-shaped rotor layout effectively reduces interference, allows the wind field under the rotor to operate evenly and fully, and reduces pesticide waste caused by repeated operations.
  • the tilt-wing structure motor has high energy utilization rate and flexible flight attitude changes, which can ensure smoother and more accurate drone operations.
  • the invention discloses a linear multi-rotor plant protection drone based on a tilting rotor.
  • This plant protection drone is mainly aimed at my country's dispersed planting plots.
  • the one-time operation has a large spray width and high operation efficiency.
  • the technical solution of the present invention includes: a linear multi-rotor plant protection UAV structure based on a tilting rotor, including a main lifting power structure, a tilting power structure, and a main frame structure; the main frame structure is located in the middle section; The power structure is distributed at the left and right ends of the main frame structure, and the tilting power structure is symmetrically distributed between the main frame mechanism and the main lifting power structure;
  • the main lift power structure includes main lift blade 1, main lift motor 2, main lift motor fixed plate 3, main lift ESC 4, first pipe clamp, centrifugal nozzle 6, sub-control fixed plate 7, main lift sub-control circuit board 8.
  • Main rod 9; main lift blade 1 is fixed to main lift motor 2 through screws, main lift motor 2 is fixed to main lift motor fixed plate 3 through screws, and then clamped by the first pipe clamp. It is fixed on the main rod 9 together with the centrifugal nozzle 6 at the lower end; the main lift ESC 4 and the main lift sub-control board 8 are respectively fixed on the two sub-control fixed plates 7, and are fixed to the main rod 9 through the first pipe clamp.
  • the rising sub-control board 8 receives the command from the control board 26 and sends a signal to the main rising ESC 4 to drive the main rising motor 2 to rotate.
  • the centrifugal nozzle 6 has an integrated motor ESC inside, which can be directly received by the main rising sub-control circuit board. 8 PWM signals drive speed regulation;
  • the tilting power structure includes a tilting carbon plate 10, a tilting sub-control circuit board 11, a steering gear fixed aluminum part 12, a steering gear 13, a tilting ESC 14, a clamping aluminum part 15, a second pipe clamp, and a tilting motor.
  • the upper part of the tilt carbon plate 10 is fixed with screws to the tilt sub-control board 11 and the tilt ESC. 14;
  • the upper parts of the two tilting carbon plates 10 are fixed on the main rod 9 through the first pipe clamp; a tilting carbon tube 19 is provided in the middle of the lower end of the tilting carbon plate 10, and the two ends of the tilting carbon tube 19 pass through two bearings. 20.
  • Two second pipe clamps are fixed.
  • the bearing fixing aluminum part 18 is used to fix the bearing 20.
  • the two clamping aluminum parts 15 jointly hold the tilting carbon tube 19.
  • there is a Perforation so that the fixed position of the clamping aluminum part 15 is relatively consistent;
  • a steering gear fixing aluminum part 12 is provided near one end of the tilting carbon tube 19, the steering gear fixing aluminum part 12 fixes the steering gear 13, and the output shaft of the steering gear 13 is nested in The groove of the aluminum part 15 is clamped to drive the entire tilting carbon tube 19 to rotate;
  • the tilting motor 21 is fixed with a nut on the tilting blade 22;
  • the mounting hole of the tilting motor 21 on the tilting motor fixing plate 17 can be Connect two second pipe clamps and fix them on the tilting carbon tube 19;
  • the main frame structure includes a level 23, an inertial navigation module 24, a shock absorbing pad 25, a control panel 26, a GPS antenna 27, a burner 28, a remote control receiver 29, a tee 30, a small battery 31, and a small battery fixing plate 32 , water pump fixing plate 33, water pump 34, on-board battery 35.
  • the remote control receiver 28, the remote control receiver 29, and the water level gauge 42 are connected to the control panel 26 through the interface on the control panel 26 and transmit data to the control panel 26.
  • the small battery 31 passes through the battery interface on the control panel 26 to provide the control panel 26 and the above-mentioned data.
  • the sensor is powered; the level 23, the shock pad 25, the control board 26, the GPS antenna 27, the burner 28, and the receiver 29 are hard-connected through screws and fixed carbon plates 44; the two tripod carbon tubes 40 are connected through the tee 30 Fixed on the main rod 9; two fixed carbon plates 44 are fixed on the main rod 9 through four first pipe clamps, screws and nuts; the water pump fixing plate 33 is fixed on the tripod carbon tube 40 through two first pipe clamps, which There are positioning mounting holes for the water pump 34 to facilitate the fixation of the water pump 34; the small battery 31 is bound to the small battery fixing plate 32 through battery ties and can be quickly replaced; the small battery fixing plate 32 is fixed to the small battery fixing plate 32 through two first pipe clamps On the main rod 9; the latch plate 38 and the water tank fixing plate 39 have the same pipe clamp positioning holes, and are fixed on the cross bar 37 through four first pipe clamps.
  • the cross bar 37 is connected to the tripod carbon tube 40 through the tee 30;
  • the airborne battery 35 is the main power supply module of the drone. It is fixed on the battery fixing plate 36 through battery ties.
  • the battery fixing plate 36 is connected to the latch plate 38 through the chute;
  • the water tank fixing plate 39 has a positioning and mounting hole for the water tank 41. , to facilitate the fixation of the water tank;
  • the water level gauge 42 is located at the bottom of the water tank 41, and measures the water level height of the water tank based on the principle of ultrasonic waves;
  • the two tripod carbon tubes 40 are fixedly connected to the landing carbon tube 43 through the two tees 30, and are used for UAV Floor cushioning.
  • the aluminum clamping part 15 adopts a long rudder arm structure, which can effectively reduce gear wear caused by high-frequency rotation of the steering gear 13. At the same time, there is sufficient margin space on the tilting carbon plate 10 to facilitate the connection of the steering gear 13. Clamp the 360-degree rotation of the aluminum piece 15.
  • the inertial navigation module 24 is adhered to the shock-absorbing pad 25 through three layers of shock-absorbing material; the level 23 is used to calibrate the initial angle of the UAV; the GPS antenna 27 is used for the inertial navigation module 24 to receive GNSS data; burn The recorder 28 is used for software testing of the UAV; the receiver 29 is responsible for receiving remote control instructions and transmitting data to the control board 26.
  • the latch plate 38 has a chute structure and a positioning hole for lifting the latch to facilitate quick battery replacement.
  • the structural control method of a linear multi-rotor plant protection drone based on a tilting rotor of the present invention includes the following steps:
  • Step 1 Establish the three-axis rotation and translation dynamic models of the UAV respectively;
  • Step 2 initialize the main control chip and external sensors
  • Step 3 the drone sensor self-tests. If the self-test is abnormal, the alarm will be displayed through the external light strip and repeat step 3. If it is normal, proceed to step 4;
  • Step 4 Wait for human-computer interaction to be used to unlock, and the drone switches from self-locking state to waiting for take-off state;
  • Step 5 Receive human-computer interaction data, and the drone switches tasks.
  • the tasks are specifically attitude mode, fixed altitude mode, fixed point mode and one-key landing mode.
  • the GPS signal When the GPS signal is weak or lost, it will be forced to switch from fixed point mode to fixed point mode.
  • attitude mode the UAV will read and control attitude angle and angular velocity related information; in fixed altitude mode, the UAV will read and control attitude angle, angular velocity, speed and flight altitude information; in fixed-point mode, the UAV will It will read and control attitude angle, angular velocity, speed, position information and support track planning and tracking functions; in one-click landing mode, the drone will end the current mission.
  • a composite control method that combines PID and automatic disturbance rejection controller, cascade control and parallel control is adopted; for To deal with the problem of easy loss of control signals caused by the ultra-long fuselage, a master-slave control strategy based on CAN communication is adopted;
  • Step 6 After the drone lands safely, the system control is turned off and returns to step 4.
  • the main lifting blade 1 of the present invention is a 32-inch carbon fiber composite blade, which is responsible for providing continuous and stable downward pressure wind field and lift.
  • the main lift motor 2 is fixed horizontally to provide power to the main lift blade 1. As different motor rotations are prone to coupling, set the main lifting motor 2 to have the same speed and opposite directions to eliminate coupling.
  • the tilting blades 22 of the present invention are 22-inch carbon fiber composite blades, which are responsible for providing lift for changes in pitch and yaw.
  • the tilting motor 21 is fixed on the tilting motor fixing plate 17 through screws and nuts, and is fixed on the tilting carbon tube 19 through a 25mm pipe clamp 16 to ensure that the motor and the steering gear rotate coaxially.
  • the middle part of the fuselage is equipped with a carbon tube 40 tripod to provide a stable point for takeoff and landing.
  • the onboard battery 35 is stored on the transverse carbon rod of the frame extending out of the upper end of the battery fixing plate 36, and the operating medicine box 41 is fixed on the lower end of the plane to ensure that the center of gravity of the entire machine is located in the middle and lower part of the main rod, which is conducive to balance control.
  • the present invention uses a CAN-based Interactive control of master and slave in bus communication.
  • the control board 26 is the main control board for perception, calculation and control, and the tilt sub-control circuit board 11 receives instructions from the main control board through the CAN bus and directly controls the motor and steering gear to perform corresponding actions.
  • the control method of the present invention uses a combination of PID and automatic disturbance rejection controller, cascade control and parallel A composite control method that combines level control.
  • the tilt-wing plant protection UAV can directly obtain the corresponding force by adjusting the tilt rotor in the X-axis direction, unlike ordinary multi-rotor UAVs which can only be achieved by adjusting the corresponding attitude angle.
  • This control method specifically divides the attitude control and position control of the tilt-wing plant protection UAV into two independent control systems. Each control structure is a cascade feedback control, and then the two control results are added and combined to form a parallel control system.
  • Attitude control consists of a cascade of angle controller, angular velocity controller, and angular acceleration controller.
  • the angle data and angular velocity data are estimated by the combined navigation algorithm, and the angular acceleration is estimated by the differential tracker in the active disturbance rejection control algorithm.
  • Position control is similar to attitude control and consists of a cascade of position controller, speed controller, and acceleration controller.
  • the position information and speed information are estimated by the combined navigation algorithm, and the acceleration information is estimated by the differential tracker.
  • the invention is mainly used for chemical liquid spraying and particle spreading during plant protection operations, and can satisfy multi-directional autonomous operations for various types of plains, mountains, hills and other diverse and complex terrains.
  • this invention adopts a linear flight structure that is different from traditional UAVs.
  • the two main lifting motors 2 and the two tilting motors 21 are equally spaced to ensure downwash wind.
  • the uniform distribution of the field reduces the turbulence between the rotors, allowing the droplets to produce penetrating power and adhere more evenly to the crop canopy.
  • Different working methods can be used for different working places. For small plots or rugged terrain, single-machine operation is adopted, which is manually controlled by the operator.
  • the plant protection task is directly completed by carrying a medicine box and battery that matches the plot, reflecting the flexibility of plant protection operations. and operability.
  • the length of the main pole can be adjusted according to operation needs, and the spraying width can be flexibly increased according to site specifications to improve operation efficiency.
  • the power structure is symmetrically distributed between the main frame mechanism and the main lifting power structure; it reduces the turbulence between the rotors, widens the spray width, makes the wind field under the rotors work evenly and fully, and reduces the waste of pesticides caused by repeated operations. The work is good.
  • the vector power structure allows flexible changes in flight attitude, which can ensure smoother and more accurate drone operations, improve operational efficiency, and adapt to the complex operating environment with changing domestic terrain.
  • the interactive control of the master and slave can not only ensure that long-distance communication is not susceptible to interference, but also reduce system risks through real-time monitoring and inspection algorithms.
  • Figure 1 is a schematic diagram of the overall structure of the present invention.
  • Figure 2 is a schematic diagram of the connecting parts between the main lifting rotor and the spray boom according to the present invention
  • Figure 3 is a schematic diagram of the tilting power structure of the present invention. (a) a schematic diagram of the tilting power structure of one side; (b) a schematic diagram of the tilting power structure of the other side;
  • Figure 4 is a schematic diagram of the specific structure of the upper part of the main frame structure of the present invention.
  • Figure 5 is a schematic structural diagram of the main frame of the present invention.
  • Figure 6 is a schematic diagram of interactive control of the master-slave control according to the present invention.
  • Figure 7 is a dimension diagram of the dynamic model of the present invention.
  • FIG. 8 is a block diagram of the control system of the present invention.
  • Figure 9 is a control flow chart of the present invention.
  • the structure of a linear multi-rotor plant protection drone based on a tilting rotor of the present invention includes a main lifting power structure, a tilting power structure, and a main frame structure; the main lifting power structure includes a main lifting blade 1 and a main lifting motor.
  • the lifting blade 1 is preferably a 32-inch blade, which is fixed to the main lifting motor 2 through screws.
  • the main lifting motor 2 is fixed on the main lifting motor fixing plate 3 through screws, and then clamped by a 40mm pipe clamp 5, and fixed on the main rod 9 together with the centrifugal nozzle 6.
  • the motor fixing plate 3 is compatible with most motor mounting holes on the market and has certain universality.
  • the centrifugal nozzle 6 can be applied to many types of pesticides, with adjustable atomization and quick replacement, which effectively improves the plant protection efficiency of the present invention.
  • the main lift ESC 4 and the main lift sub-control board 8 are respectively fixed on two sub-control fixed plates 7 and fixed to the main rod 9 through a 40mm pipe clamp 5 to ensure that the rotation of the main lift blade 1 will not be disturbed.
  • a single main lift sub-control board 8 can control one main lift motor 2 and one centrifugal nozzle 6.
  • the main lift sub-control board 8 receives the command from the control board 26 and sends a signal to the main lift ESC 4 to drive the main lift motor 2 to rotate.
  • the centrifugal nozzle 6 has an integrated motor and electric regulation inside, which can directly drive the speed regulation by receiving the PWM signal from the main sub-control board 8 .
  • the tilting power structure includes tilting carbon plate 10, tilting sub-control circuit board 11, steering gear fixed aluminum parts 12, steering gear 13, tilting ESC 14, clamping aluminum parts 15, 25mm pipe clamp 16, tilting motor Fixed plate 17, bearing fixed aluminum part 18, tilting carbon tube 19, bearing 20, tilting motor 21, tilting blade 22; tilting carbon plate 10 is fixed with screws on tilting sub-control board 11 and tilting ESC 14; Two tilting carbon plates 10 are fixed on the main rod 9 through 40mm pipe clamps 5; the tilting carbon tube 19 is fixed on the two tilting carbon plates through two bearings 20 and two 25mm pipe clamps (second pipe clamps) in the middle of the plate; the bearing adopts a standard bearing with an inner diameter of 25 mm and an outer diameter of 37 mm to facilitate the rotation of the steering gear 13; on the one hand, the two clamping aluminum parts 15 jointly hold the tilting carbon tube 19; on the other hand, the tilting carbon tube There is a perforation on 19 so that the fixed position of the clamping aluminum part 15 is relatively consistent; the output shaft of the steering gear 13 is
  • tilting carbon plate 10 there is enough room on the tilting carbon plate 10 to facilitate the 360-degree clamping of the aluminum part 15 connected to the rudder 13. turn; tilt The tilting blade 22 is fixed on the motor 21 through a nut; the mounting hole of the tilting motor 21 on the tilting motor fixing plate 17 can be connected to two 25mm pipe clamps 16 to be fixed on the tilting carbon tube 19.
  • the main frame structure includes a level 23, an inertial navigation module 24, a shock absorbing pad 25, a control panel 26, a GPS antenna 27, a burner 28, a remote control receiver 29, a tee 30, a small battery 31, and a small battery fixing plate 32 , Water pump fixing plate 33, Water pump 34, Airborne battery 35, Battery fixing plate 36, Cross bar 37, Latch plate 38, Water tank fixing plate 39, Tripod carbon tube 40, Water tank 41, Water level gauge 42, Lifting carbon tube 43, Fixed carbon plate 44.
  • the level 23, the shock pad 25, the control board 26, the GPS antenna 27, the burner 28, and the receiver 29 are hard-connected together with screws and fixed carbon plates 44.
  • the inertial navigation module 24 is bonded to the shock-absorbing pad 25 through three layers of shock-absorbing material; the level 23 is used to calibrate the initial angle of the UAV; the GPS antenna 27 is used for the inertial navigation module 24 to receive GNSS data; the burner 28 is used for software testing of the drone; the receiver 29 is responsible for receiving remote control instructions and transmitting data to the control board 26.
  • the two tripod carbon tubes 40 are connected and fixed on the main pole 9 through the tee 30; the two fixed carbon plates 44 are fixed on the main pole 9 through four 40mm pipe clamps 5 and screws and nuts; the water pump fixing plate 33 is connected through two 40mm pipes
  • the clip 5 is fixed on the carbon tube 40 of the tripod, and has a positioning and mounting hole for the water pump 34 on it to facilitate the fixation of the water pump 34; the small battery 31 is bound to the small battery fixing plate 32 through a battery tie, which can be quickly replaced; the small battery is fixed
  • the plate 32 is fixed on the main rod 9 through two 40mm pipe clamps 5; the latch plate 38 and the water tank fixing plate 39 have the same pipe clamp positioning holes, and are fixed on the crossbar 37 through four 40mm pipe clamps 5, and the crossbar 37 passes
  • the tee 30 is connected to the tripod carbon tube 40; the latch plate 38 has a chute structure and a positioning hole for lifting the latch, which facilitates quick replacement of the battery; the airborne battery 35 is the main power supply module of the
  • the belt is fixed on the battery fixing plate 36, the battery fixing plate 36 is connected to the latch plate 38 through the chute;
  • the water tank fixing plate 39 has the positioning and mounting holes of the water tank 41 to facilitate the fixation of the water tank;
  • the water level gauge 42 is located at the bottom of the water tank 41, measuring the water level height of the water tank based on the ultrasonic principle;
  • two tripod carbon tubes 40 is fixedly connected to the landing carbon tube 43 through two tees 30, respectively, for landing buffering of the UAV.
  • Figure 1 shows a schematic diagram of the overall structure of the present invention.
  • the present invention uses a carbon fiber tube with a length of 3 meters and a diameter of 40 mm as the main body, and is symmetrically equipped with two tilting structures perpendicular to the fuselage and facing downwards. This design improves the wind field utilization efficiency of the tilting blades 22.
  • FIG. 2 shows a schematic diagram of the main lifting power structure of the present invention.
  • the main lift blade 1 is preferably a 32-inch blade, which is the main source of lift.
  • the main lifting motor 2 is fixed on the main lifting motor fixing plate 3 through screws, and then clamped by a 40mm pipe clamp 5, and fixed on the main rod 9 together with the centrifugal nozzle 6.
  • the main lift motor fixing plate 3 is compatible with most motor mounting holes on the market and has certain universality.
  • the centrifugal nozzle 6 can be applied to many types of pesticides, with adjustable atomization and quick replacement, which effectively improves the plant protection efficiency of the present invention.
  • the main lift ESC 4 and the main lift sub-control board 8 are respectively fixed on two sub-control fixed plates 7 and fixed to the main rod 9 through a 40mm pipe clamp 5 to ensure that the rotation of the main lift blade 1 will not be disturbed.
  • a single main lift sub-control board 8 can control one main lift motor 2 and one centrifugal nozzle 6.
  • the main lift sub-control board 8 receives the command from the control board 26 and sends a signal to the main lift ESC 4 to drive the main lift motor 2 to rotate.
  • the centrifugal nozzle 6 has an integrated motor and electric regulation inside, which can directly drive the speed regulation by receiving the PWM signal from the main sub-control board 8 .
  • FIG. 3 is a schematic diagram of the tilting power structure of the present invention.
  • the tilting carbon plate 10 of the present invention is fixed with screws on the tilting sub-control board 11 and the tilting ESC 14; the two tilting carbon plates 10 pass through 40mm
  • the pipe clamp 5 is fixed on the main rod 9; the tilting carbon tube 19 is fixed between the two tilting carbon plates through two bearings 20 and two 25mm pipe clamps; the bearings adopt a standard inner diameter of 25 mm and an outer diameter of 37 mm.
  • the bearing facilitates the rotation of the steering gear 13; on the one hand, the two clamping aluminum parts 15 jointly hold the tilting carbon tube 19; on the other hand, there is a perforation on the tilting carbon tube 19, so that the fixed position of the clamping aluminum part 15 is relatively consistent;
  • the output shaft of the steering gear 13 is nested in the groove of the clamping aluminum part 15, driving the entire tilting carbon tube 19 to rotate;
  • the clamping aluminum part 15 adopts a long rudder arm structure, which can effectively reduce the high-frequency rotation of the steering gear 13
  • the gear is worn, and at the same time, there is enough space left on the tilting carbon plate 10 to facilitate the 360-degree rotation of the clamping aluminum part 15 connected to the steering gear 13;
  • the tilting motor 21 is fixed with a nut on the tilting blade 22, ;
  • the mounting hole of the tilt motor 21 on the tilt motor fixing plate 17 can be connected to two 25mm pipe clamps 16 to be fixed on the tilt carbon tube 19.
  • FIG. 4 is a schematic diagram of the specific structure of the upper part of the main frame of the present invention, showing the main control and testing modules of the present invention.
  • the level 23, the shock absorbing pad 25, the control board 26, the GPS antenna 27, the burner 28, and the receiver 29 are hard-connected to the fixed carbon plate 44.
  • the inertial navigation module 24 is bonded to the shock-absorbing pad 25 through three layers of shock-absorbing material; the level 23 is used to calibrate the initial angle of the UAV; the GPS antenna 27 is used for the inertial navigation module 24 to receive GNSS data; the burner 28 is used for software testing of the drone; the receiver 29 is responsible for receiving remote control instructions and transmitting data to the control board 26.
  • FIG. 5 is a schematic structural diagram of the main frame of the present invention.
  • the two tripod carbon tubes 40 are connected and fixed on the main pole 9 through the tee 30; the two fixed carbon plates 44 are fixed on the main pole 9 through four 40mm pipe clamps 5 and screws and nuts; the water pump fixing plate 33 is connected through two 40mm pipes
  • the clip 5 is fixed on the carbon tube 40 of the tripod, and has a positioning and mounting hole for the water pump 34 to facilitate the fixation of the water pump 34;
  • the small battery 31 is bound to the small battery fixing plate 32 through battery ties and can be quickly replaced; the small battery fixing plate 32 is fixed to the main pole 9 through two 40mm pipe clamps 5; the latch plate 38 and the water tank fixing plate 39 have the same
  • the pipe clamp positioning holes are fixed on the cross bar 37 through four 40mm pipe clamps 5, and the cross bar 37 is connected to the tripod carbon tube 40 through the tee 30; there is a chute structure on the latch plate 38, and the positioning of the lifting latch.
  • the airborne battery 35 is the main power supply module of the drone and is fixed on the battery fixing plate 36 through a battery tie.
  • the battery fixing plate 36 is connected to the latch plate 38 through the chute;
  • the water tank fixing plate 39 There are positioning and mounting holes for the water tank 41 to facilitate the fixation of the water tank;
  • the water level gauge 42 is located at the bottom of the water tank 41 and measures the water level height of the water tank based on the principle of ultrasonic waves;
  • the two tripod carbon tubes 40 are respectively fixed with the lifting carbon tube 43 through two tees 30 Connection, used for landing buffer of drone.
  • FIG. 6 is a schematic diagram of interactive control of the master-slave control according to the present invention.
  • the control board 26 is the main control board for perception, calculation and control, and the tilt sub-control circuit board 11 receives instructions from the main control board through the CAN bus and directly controls the motor and steering gear to perform corresponding actions. Real-time monitoring and inspection between the two.
  • the main control board finds that the sub-control board is missing, it will provide alarm information to the user through human-computer interaction through the upper embedded system board.
  • sub-control boards 1 and 2 main lift sub-control board 8 detect that the main control board (control board 26) is lost, they will immediately enter the protection mechanism and stop all motor and servo control to prevent malfunctions and harm to personnel. Safety.
  • Figure 7 is a dimensioned diagram of the dynamic model of the present invention.
  • the present invention uses Euler angle ⁇ , ⁇ describes the attitude of the UAV, that is, the relationship between the airborne coordinate system and the ground inertial coordinate system. angle.
  • the ground inertial coordinate system adopts the northeast celestial coordinate system, in which the center of mass of the tilt-wing plant protection UAV is the origin of the airborne coordinate system, the X-axis is perpendicular to the arm and points to the nose, and the Y-axis is parallel to the arm and points to the left side of the nose.
  • the Z-axis is vertical to the machine arm and upward.
  • the length of the tilt motor from the main rod is L 1
  • the length of the main rod from the center of gravity is L 2
  • the length of the tilt arm is L 3
  • the length of the main lift arm is L 4
  • the thickness of the motor is L 5
  • ⁇ L and ⁇ R respectively (viewed in the +Y direction, clockwise rotation is positive)
  • the total mass of the drone is m
  • the acceleration due to gravity is g.
  • K torque represents the air reaction torque coefficient, which reflects the relationship between the lift generated by the rotation of the rotor and the reaction torque generated by air friction.
  • FIG. 9 is a control flow chart of the present invention. The execution steps of the entire system are:
  • Step 1 Initialize the main control chip and the external sensors.
  • Step two the drone sensor self-tests. If the self-test is abnormal, the alarm will be displayed through the external light strip and repeat step two. If it is normal, proceed to step three.
  • Step 3 Wait for human-computer interaction to be unlocked, and the drone switches from the self-locking state to the waiting-to-take-off state.
  • Step 4 After receiving the human-computer interaction data, the drone switches tasks.
  • the tasks are specifically attitude mode, altitude mode, fixed point mode and one-click landing mode.
  • the GPS signal When the GPS signal is weak or lost, it will be forced to switch from fixed-point mode to fixed-altitude mode.
  • attitude mode the UAV will read and control attitude angle and angular velocity related information; in fixed altitude mode, the UAV will read and control attitude angle, angular velocity, speed and flight altitude information; in fixed-point mode, the UAV will It will read and control attitude angle, angular velocity, speed, and position information and support track planning and tracking functions; in one-click landing mode, the drone will end the current mission and slowly descend on the spot.
  • FIG 8 is a control system block diagram of the present invention.
  • a composite control method combining PID and automatic disturbance rejection controller, cascade control and parallel control is adopted.
  • the tilt-wing plant protection UAV can directly obtain the corresponding force by adjusting the tilt rotor in the X-axis direction, unlike ordinary multi-rotor UAVs which can only be achieved by adjusting the corresponding attitude angle.
  • This control method specifically divides the attitude control and position control of the tilt-wing plant protection UAV into two independent control systems. Each control structure is a cascade feedback control, and then the two control results are added and combined to form a parallel control system. .
  • Attitude control consists of a cascade of angle controller, angular velocity controller, and angular acceleration controller.
  • the angle data and angular velocity data are estimated by the combined navigation algorithm, and the angular acceleration is estimated by the differential tracker in the active disturbance rejection control algorithm.
  • Position control and attitude control Similarly, it is composed of a cascade of position controller, speed controller, and acceleration controller.
  • the position information and speed information are estimated by the combined navigation algorithm, and the acceleration information is estimated by the differential tracker.
  • the present invention adopts the above-mentioned master-slave control strategy based on CAN communication.
  • Step 5 After the drone lands safely, the system control is turned off and returns to step 3.

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Abstract

一种基于倾转旋翼的直线型多旋翼植保无人机结构及控制方法，包括主升动力结构、倾转动力结构、主体机架结构；主体机架结构位于中间段；主升动力结构分布在主体机架结构的左右两端，倾转动力结构对称分布在主体机架机构和主升动力结构之间；矢量式动力结构，航姿变化灵活，能够保证无人机作业更为平滑、精准，提高作业效率，同时适应国内地形多变的复杂作业环境。

Description

一种基于倾转旋翼的直线型多旋翼植保无人机结构及控制方法 技术领域
本发明涉及无人机控制和农业植保领域，是一种通过倾转旋翼调整姿态的直线型多旋翼植保无人机及控制方法。
背景技术
近年来，农业领域众多技术变革促进我国开始由农业大国向农业强国转变，集约化农业、精细化农业的提出，要求将科技融于农业之中。在农业植保领域，植保无人机的涌现预示着植保无人机代替传统喷雾机进行田间植保作业已被广泛认可。植保无人机不仅拥有更高的作业效率，还拥有比人工喷雾更好的喷洒效果，然而，现阶段植保无人机在实际应用中仍存在着诸多问题。
现阶段植保无人机主要为四旋翼无人机、固定翼无人机、直升机等。多旋翼无人机采用电机驱动，虽然成本低，但是因为体型较小、带载能力差、作业喷幅窄，并且旋翼间扰流作用明显，作业效率差，无法满足高效精细化作业的需求。固定翼植保无人机飞行高度高，滞空时间长，但是下压风场小，雾滴穿透性差、附着率低。同时，固定翼需要经过专业训练的飞手，个体种植户一般无法使用。植保直升机采用燃油驱动，在一定程度上可弥补前两者的缺陷，但其成本较高，后期维护价格高昂，对于飞手的整体素质要求更高，对农户的经济压力较大。专利CN202023305357.0中提出的直线型多旋翼植保飞行器通过直线型的结构，有效拓展作业喷幅，减 小旋翼扰流作用，但控制困难，需要多个姿态调整电机维持飞行器姿态稳定，能源利用率差。
发明内容
针对以上问题，本发明提出了一种直线型倾转翼植保无人机及控制方法，利用倾转式结构，有效结合了直线型飞行器作业喷幅宽和固定翼能源利用率高的优点，满足现代化农业的需求。直线型机械结构直接增加无人机作业喷雾面积，同时“一”字型旋翼布局有效减小干扰，使旋翼下压风场均匀充分作业，减少由于重复作业造成的农药浪费。倾转翼结构电机的能源利用率高，航姿变化灵活，能够保证无人机作业更为平滑、精准。
本发明公开一种基于倾转旋翼的直线型多旋翼植保无人机。该植保无人机主要针对我国分散型种植地块，在大面积连续作业场景，一次性作业喷幅大，作业效率高。
本发明的技术方案包括：一种基于倾转旋翼的直线型多旋翼植保无人机结构，包括主升动力结构、倾转动力结构、主体机架结构；主体机架结构位于中间段；主升动力结构分布在主体机架结构的左右两端，倾转动力结构对称分布在主体机架机构和主升动力结构之间；
主升动力结构包括主升桨叶1、主升电机2、主升电机固定板3、主升电调4、第一管夹、离心喷头6、分控固定板7、主升分控电路板8、主杆9；主升桨叶1通过螺丝和主升电机2固定，主升电机2通过螺丝固定于主升电机固定板3上，再通过第一管夹夹持， 与下端的离心喷头6一起固定在主杆9上；主升电调4和主升分控板8分别固定在两块分控固定板7上，通过第一管夹固定在主杆9，主升分控板8接收来自控制板26的命令，向主升电调4给出信号，从驱动主升电机2转动，离心喷头6内部集成电机电调，可直接通过接收主升分控电路板8的PWM信号驱动调速；
倾转动力结构包括倾转碳板10、倾转分控电路板11、舵机固定铝件12、舵机13、倾转电调14、夹持铝件15、第二管夹、倾转电机固定板17、轴承固定铝件18、倾转碳管19、轴承20、倾转电机21、倾转桨叶22；倾转碳板10上部通过螺丝固定倾转分控板11和倾转电调14；两块倾转碳板10上部通过第一管夹固定在主杆9上；倾转碳板10下端的中间部位设有倾转碳管19，倾转碳管19两端通过两个轴承20、两个第二管夹固定，轴承固定铝件18用于固定轴承20，两个夹持铝件15一方面共同箍住倾转碳管19，另一方面倾转碳管19上有一个穿孔，使夹持铝件15固定位置相对一致；靠近倾转碳管19一端的位置设有舵机固定铝件12，舵机固定铝件12固定舵机13，舵机13输出轴嵌套在夹持铝件15的凹槽内，带动整个倾转碳管19转动；倾转电机21上通过螺帽固定倾转桨叶22；倾转电机固定板17上倾转电机21的安装孔，可连接两个第二管夹固定在倾转碳管19上；
主体机架结构包括水平仪23、惯性导航模块24、减震垫25、控制板26、GPS天线27、烧录器28、遥控器接收机29、三通30、小电池31、小电池固定板32、水泵固定板33、水泵34、机载电池 35、电池固定板36、横杆37、插销板38、水箱固定板39、脚架碳管40、水箱41、水位计42、起落碳管43、固定碳板44；惯性导航模块24、烧录器28、遥控器接收机29、水位计42通过控制板26上的接口和控制板26连接，向控制板26传递数据，小电池31通过控制板26上的电池接口，给控制板26和上述传感器供电；水平仪23、减震垫25、控制板26、GPS天线27、烧录器28、接收器29一起通过螺丝和固定碳板44硬连接；两个脚架碳管40通过三通30连接固定在主杆9；两个固定碳板44通过四个第一管夹、螺丝螺母固定在主杆9上；水泵固定板33通过两个第一管夹固定在脚架碳管40上，其上有水泵34的定位安装孔，方便水泵34的固定；小电池31通过电池扎带绑定在小电池固定板32上，可快速更换；小电池固定板32通过两个第一管夹固定在主杆9上；插销板38和水箱固定板39有相同的管夹定位孔，通过四个第一管夹固定在横杆37上,横杆37通过三通30与脚架碳管40连接；机载电池35是无人机主要的供电模块，通过电池扎带固定在电池固定板36上，电池固定板36通过滑槽与插销板38连接；水箱固定板39上有水箱41的定位安装孔，便于水箱固定；水位计42位于水箱41底部，依据超声波原理测量水箱的水位高度；两个脚架碳管40通过两个三通30分别与起落碳管43固定连接，用于无人机的落地缓冲。
进一步，所述夹持铝件15采用长舵臂的结构，可有效减少舵机13高频转动的齿轮磨损，同时倾转碳板10上留有足够裕量的空间，方便舵机13连接的夹持铝件15的360度转动。
进一步，惯性导航模块24通过三层减震材料与减震垫25粘连在一起；水平仪23用来对无人机初始角度进行零偏校准；GPS天线27用于惯性导航模块24接收GNSS数据；烧录器28用来无人机的软件测试；接收器29负责接收遥控器指令，将数据传输给控制板26。
进一步，插销板38上有滑槽结构，和提拉插销的定位孔，便于电池的快速更换。
本发明的一种基于倾转旋翼的直线型多旋翼植保无人机结构控制方法，包括以下步骤：
步骤1，分别建立无人机的三轴转动和平动动力学模型；
步骤2，主控芯片初始化，外接传感器初始化；
步骤3，无人机传感器自检，若自检不正常则通过外拓灯带显示报警并重复步骤3，若正常则进行步骤4；
步骤4，等待使用人机交互解锁，无人机从自锁状态切换到等待起飞状态；
步骤5，接收人机交互数据，无人机进行任务切换，任务具体为姿态模式、定高模式、定点模式以及一键降落模式，当GPS信号弱或丢失时，会强制从定点模式切换成定高模式。姿态模式下，无人机将读取和控制姿态角度、角速度相关信息；定高模式下，无人机将读取和控制姿态角度、角速度、速度和飞行高度信息；定点模式下，无人机将读取和控制姿态角度、角速度、速度、位置信息并支持航迹规划和跟踪功能；一键降落模式下，无人机会结束当前任 务，原地慢慢下降；根据步骤1所建立的倾转翼植保无人机动力学模型，采用PID和自抗扰控制器相结合、串级控制和并级控制相结合的复合控制方式；为应对超长机身带来的控制信号容易丢失的问题，采用基于CAN通讯的主控-分控的主从控制策略；
步骤6，无人机安全着陆后，系统控制关闭，返回步骤4。
本发明的主升桨叶1为32寸碳纤维复合桨叶，负责提供持续稳定的下压风场和升力。主升电机2水平固定向主升桨叶1提供动力。针对不同电机旋转易产生耦合，设置主升电机2转速相同、转向相反，消除耦合。本发明的倾转桨叶22为22寸碳纤维复合桨叶，负责提供俯仰和偏航变化的升力。倾转电机21通过螺丝螺母固定在倾转电机固定板17上，并通过25mm管夹16固定于倾转碳管19上，保证电机与舵机同轴转动。通过控制舵机带动电机改变转向，完成俯仰角与偏航角的变化，增加整机的灵活性和续航时间。机身中部配有脚架碳管40，提供起飞与降落稳定点。机载电池35存放在机架横向碳杆伸出电池固定板36上端，作业药箱41固定在平面下端，确保整机重心位于主杆中下方，利于平衡控制。
考虑到直线型倾转多旋翼植保无人机采用一根3米长的碳管主杆9作为主要的承载、移动平台，信号线的排布较长易受干扰，本发明采用一种基于CAN总线通讯的主发从控的交互控制。控制板26为感知、运算和控制的主控板，倾转分控电路板11则通过CAN总线接受主控板指令，直接控制电机和舵机作相应的动作。
本发明控制方式用PID和自抗扰控制器相结合、串级控制和并 级控制相结合的复合控制方式。倾转翼植保无人机在X轴方向可通过调整倾转旋翼直接获得相应的力，而不需要像寻常多旋翼无人机只能通过调整相应的姿态角来实现。该控制方式具体为将倾转翼植保无人机姿态控制与位置控制分为独立的两个控制体系，每个控制结构为串级反馈控制，然后将两个控制结果相加组合成并级控制。姿态控制由角度控制器、角速度控制器、角加速度控制器串级构成，角度数据与角速度数据由组合导航算法估计得到，角加速度由自抗扰控制算法中的微分跟踪器估计得到。位置控制与姿态控制类似，由位置控制器、速度控制器、加速度控制器串级组成，位置信息和速度信息由组合导航算法估计得到，加速度信息由微分跟踪器估计得到。
本发明主要应用于植保作业过程中的药液喷洒和颗粒播撒，针对各类平原、山地、丘陵等多样性和复杂性地形，能够满足多方向自主作业。与目前市面上多旋翼植保无人机不同，本发明采用有别于传统无人机的直线型飞行结构，两个主升电机2与两个倾转电机21等间距分布，保证了下洗风场的均匀分布，减少旋翼间扰流，使雾滴产生穿透力的同时更加均匀附着于作物冠层。对于不同作业场所可采用不同作业方式，针对小型地块或地势崎岖地形，采用单机作业，由操作员手动控制，携带与地块匹配的药箱和电池直接完成植保任务，体现植保作业的灵活性和可操作性。对于大型地块，主杆长度可根据作业需求调节，按场地规格灵活增大喷洒幅宽，提升作业效率。
本发明相比传统的植保无人机，创新点在于：
(1)“一”字形动力分布，主升动力结构、倾转动力结构、主体机架结构；主体机架结构位于中间段；主升动力结构分布在主体机架结构的左右两端，倾转动力结构对称分布在主体机架机构和主升动力结构之间；减小旋翼间的扰流作用，拓宽了喷幅，使旋翼下压风场均匀充分作业，减少由于重复作业造成的农药浪费，作业效果好。
(2)矢量式动力结构，航姿变化灵活，能够保证无人机作业更为平滑、精准，提高作业效率，同时适应国内地形多变的复杂作业环境。
(3)主发从控的交互控制，既可以保证长距离通讯不易受干扰，又可以通过实时监测与检验算法降低系统风险。
附图说明
图1为本发明整体结构示意图；
图2为本发明主升旋翼与喷杆连接部件示意图；
图3为本发明倾转动力结构示意图；(a)一面倾转动力结构示意图；(b)为另一面倾转动力结构示意图；
图4为本发明主体机架结构上部具体结构示意图；
图5为本发明主体机架结构示意图；
图6为本发明主发从控的交互控制示意图；
图7为本发明动力学模型尺寸标注图；
图8为本发明的控制系统框图；
图9为本发明的控制流程图；
图2中，1-主升桨叶、2-主升电机、3-主升电机固定板、4-主升电调、5-40mm管夹、6-离心喷头、7-分控固定板、8-主升分控板、9-主杆。
图3中，10-倾转碳板、11-倾转分控板、12-舵机固定铝件、13-舵机、14-倾转电调、15-夹持铝件、16-25mm管夹、17-倾转电机固定板、18-轴承固定铝件、19-倾转碳管、20-轴承、21-倾转电机、22-倾转桨叶。
图4中，23-水平仪、24-惯性导航模块、25-减震垫、26-控制板、27-GPS天线、28-烧录器、29-接收器。
图5中，30-三通、31-小电池、32-小电池固定板、33-水泵固定板、34-水泵、35-机载电池、36-电池固定板、37-横杆、38-插销板、39-水箱固定板、40-脚架碳管、41-水箱、42-水位计、43-起落碳管、44-固定碳板。
具体实施方式
本发明的一种基于倾转旋翼的直线型多旋翼植保无人机结构，包括主升动力结构、倾转动力结构、主体机架结构；主升动力结构包括主升桨叶1、主升电机2、主升电机固定板3、主升电调4、40mm管夹5(第一管夹)、离心喷头6、分控固定板7、主升分控电路板8、碳纤维主杆9；主升桨叶1优选32寸桨叶，通过螺丝和主升电机2固定。主升电机2通过螺丝固定于主升电机固定板3上，再通过40mm管夹5夹持，与离心喷头6一起固定在主杆9上。主升 电机固定板3兼容市场上的大部分的电机安装孔，具有一定普适性。所述离心喷头6能够适用于多品种农药，雾化可调节，快速更换，有效提高本发明的植保效率。主升电调4和主升分控板8分别固定在两块分控固定板7上，通过40mm管夹5固定在主杆9，保证主升桨叶1的旋转不会受到干扰。单个主升分控板8可以控制1个主升电机2、1个离心喷头6。主升分控板8接收来自控制板26的命令，向主升电调4给出信号，从驱动主升电机2转动。离心喷头6内部集成电机电调，可直接通过接收主升分控板8的PWM信号驱动调速。
倾转动力结构包括倾转碳板10、倾转分控电路板11、舵机固定铝件12、舵机13、倾转电调14、夹持铝件15、25mm管夹16、倾转电机固定板17、轴承固定铝件18、倾转碳管19、轴承20、倾转电机21、倾转桨叶22；倾转碳板10上通过螺丝固定倾转分控板11和倾转电调14；两块倾转碳板10通过40mm管夹5固定在主杆9上；倾转碳管19通过两个轴承20、两个25mm管夹(第二管夹)固定在两块倾转碳板中间；所述轴承采用内径25毫米，外径37毫米的标准轴承，便于舵机13转动；两个夹持铝件15一方面共同箍住倾转碳管19，另一方面倾转碳管19上有一个穿孔，使夹持铝件15固定位置相对一致；舵机13输出轴嵌套在夹持铝件15的凹槽内，带动整个倾转碳管19转动；所述夹持铝件15采用长舵臂的结构，可有效减少舵机13高频转动的齿轮磨损，同时倾转碳板10上留有足够裕量的空间，方便舵机13连接的夹持铝件15的360度转动；倾转 电机21上通过螺帽固定倾转桨叶22,；倾转电机固定板17上倾转电机21的安装孔，可连接两个25mm管夹16固定在倾转碳管19上。
主体机架结构包括水平仪23、惯性导航模块24、减震垫25、控制板26、GPS天线27、烧录器28、遥控器接收机29、三通30、小电池31、小电池固定板32、水泵固定板33、水泵34、机载电池35、电池固定板36、横杆37、插销板38、水箱固定板39、脚架碳管40、水箱41、水位计42、起落碳管43、固定碳板44。水平仪23、减震垫25、控制板26、GPS天线27、烧录器28、接收器29一起通过螺丝和固定碳板44硬连接。惯性导航模块24通过三层减震材料与减震垫25粘连在一起；水平仪23用来对无人机初始角度进行零偏校准；GPS天线27用于惯性导航模块24接收GNSS数据；烧录器28用来无人机的软件测试；接收器29负责接收遥控器指令，将数据传输给控制板26。两个脚架碳管40通过三通30连接固定在主杆9；两个固定碳板44通过四个40mm管夹5、螺丝螺母固定在主杆9上；水泵固定板33通过两个40mm管夹5固定在脚架碳管40，其上有水泵34的定位安装孔，方便水泵34的固定；小电池31通过电池扎带绑定在小电池固定板32上，可快速更换；小电池固定板32通过两个40mm管夹5固定在主杆9上；插销板38和水箱固定板39有相同的管夹定位孔，通过四个40mm管夹5固定在横杆37上,横杆37通过三通30与脚架碳管40连接；插销板38上有滑槽结构，和提拉插销的定位孔，便于电池的快速更换；机载电池35是无人机主要的供电模块，通过电池扎带固定在电池固定板36上，电池固定板 36通过滑槽与插销板38连接；水箱固定板39上有水箱41的定位安装孔，便于水箱固定；水位计42位于水箱41底部，依据超声波原理测量水箱的水位高度；两个脚架碳管40通过两个三通30分别与起落碳管43固定连接，用于无人机的落地缓冲。
下面结合附图和实例对本发明作更进一步的说明。
图1所示的是本发明整体结构示意图。本发明采用3米长度的直径40毫米的碳纤维管作为主体，对称搭载2个垂直于机身朝下的倾转结构，该设计提高了倾转桨叶22的风场利用效率。
图2所示的是本发明的主升动力结构示意图。主升桨叶1优选32寸桨叶，是主要的升力来源。主升电机2通过螺丝固定于主升电机固定板3上，再通过40mm管夹5夹持，与离心喷头6一起固定在主杆9上。主升电机固定板3兼容市场上的大部分的电机安装孔，具有一定普适性。所述离心喷头6能够适用于多品种农药，雾化可调节，快速更换，有效提高本发明的植保效率。主升电调4和主升分控板8分别固定在两块分控固定板7上，通过40mm管夹5固定在主杆9，保证主升桨叶1的旋转不会受到干扰。单个主升分控板8可以控制1个主升电机2、1个离心喷头6。主升分控板8接收来自控制板26的命令，向主升电调4给出信号，从驱动主升电机2转动。离心喷头6内部集成电机电调，可直接通过接收主升分控板8的PWM信号驱动调速。
图3为本发明倾转动力结构示意图。本发明倾转碳板10上通过螺丝固定倾转分控板11和倾转电调14；两块倾转碳板10通过40mm 管夹5固定在主杆9上；倾转碳管19通过两个轴承20、两个25mm管夹固定在两块倾转碳板中间；所述轴承采用内径25毫米，外径37毫米的标准轴承，便于舵机13转动；两个夹持铝件15一方面共同箍住倾转碳管19，另一方面倾转碳管19上有一个穿孔，使夹持铝件15固定位置相对一致；舵机13输出轴嵌套在夹持铝件15的凹槽内，带动整个倾转碳管19转动；所述夹持铝件15采用长舵臂的结构，可有效减少舵机13高频转动的齿轮磨损，同时倾转碳板10上留有足够裕量的空间，方便舵机13连接的夹持铝件15的360度转动；倾转电机21上通过螺帽固定倾转桨叶22,；倾转电机固定板17上倾转电机21的安装孔，可连接两个25mm管夹16固定在倾转碳管19上。
图4为本发明主体机架上部具体结构示意图，展示的是本发明主要的控制与测试模块。水平仪23、减震垫25、控制板26、GPS天线27、烧录器28、接收器29一起和固定碳板44硬连接。惯性导航模块24通过三层减震材料与减震垫25粘连在一起；水平仪23用来对无人机初始角度进行零偏校准；GPS天线27用于惯性导航模块24接收GNSS数据；烧录器28用来无人机的软件测试；接收器29负责接收遥控器指令，将数据传输给控制板26。
图5为本发明主体机架结构示意图。两个脚架碳管40通过三通30连接固定在主杆9；两个固定碳板44通过四个40mm管夹5、螺丝螺母固定在主杆9上；水泵固定板33通过两个40mm管夹5固定在脚架碳管40，其上有水泵34的定位安装孔，方便水泵34的固定； 小电池31通过电池扎带绑定在小电池固定板32上，可快速更换；小电池固定板32通过两个40mm管夹5固定在主杆9上；插销板38和水箱固定板39有相同的管夹定位孔，通过四个40mm管夹5固定在横杆37上,横杆37通过三通30与脚架碳管40连接；插销板38上有滑槽结构，和提拉插销的定位孔，便于电池的快速更换；机载电池35是无人机主要的供电模块，通过电池扎带固定在电池固定板36上，电池固定板36通过滑槽与插销板38连接；水箱固定板39上有水箱41的定位安装孔，便于水箱固定；水位计42位于水箱41底部，依据超声波原理测量水箱的水位高度；两个脚架碳管40通过两个三通30分别与起落碳管43固定连接，用于无人机的落地缓冲。
图6为本发明主发从控的交互控制示意图。为应对超长机身带来的控制信号容易丢失的问题，本发明采用基于CAN通讯的主控-分控的主从控制策略，设计了实时检测、实时校验的算法，保证无人机在飞行时控制信号稳定可靠。控制板26为感知、运算和控制的主控板，倾转分控电路板11则通过CAN总线接受主控板指令，直接控制电机和舵机作相应的动作。两者之间实时监测与检验，当主控板发现分控板丢失时，会通过上层嵌入式系统板利用人机交互向使用者提供警报信息。同时分控板1、2(主升分控板8)监测到主控板(控制板26)丢失时，会立即进入保护机制，停止所有的电机和舵机控制，防止出现误动作伤害人员生命安全。
图7为本发明动力学模型尺寸标注图。本发明使用欧拉角θ、ψ描述无人机姿态，即机载坐标系与地面惯性坐标系之间的 夹角。地面惯性坐标系采用东北天坐标系，其中，倾转翼植保无人机的质心为机载坐标系原点，X轴垂直于机臂指向机头，Y轴平行于机臂指向机头左侧，Z轴垂直于机臂向上。图7中，倾转电机距离主杆的长度为L1，主杆距离重心的长度为L2，倾转力臂长度为L3，主升力臂长度为L4，电机厚度为L5，左右舵机偏离垂直位置的角度分别为θL、θR(沿+Y方向观察，顺时针旋转为正),无人机总质量为m，重力加速度为g。本发明基于机体坐标系的三轴扭矩和四个旋翼产生的升力F＝[FL2 FL1 FR1 FR2]T进行动力学分析，得到三轴转动动力学模型：
其中，Ktorque表示空气反扭矩系数，反应了旋翼转动产生的升力和空气摩擦产生的反扭矩之间的关系。
同时建立无人机的三轴平动动力学模型：
其中，是机载坐标系转地面惯性坐标系的旋转矩阵。
图9为本发明的控制流程图。整个系统的执行步骤为：
步骤一，主控芯片初始化，外接传感器初始化。
步骤二，无人机传感器自检，若自检不正常则通过外拓灯带显示报警并重复步骤二，若正常则进行步骤三。
步骤三，等待使用人机交互解锁，无人机从自锁状态切换到等待起飞状态。
步骤四，接收人机交互数据，无人机进行任务切换，任务具体为姿态模式、定高模式、定点模式以及一键降落模式。当GPS信号弱或丢失时，会强制从定点模式切换成定高模式。姿态模式下，无人机将读取和控制姿态角度、角速度相关信息；定高模式下，无人机将读取和控制姿态角度、角速度、速度和飞行高度信息；定点模式下，无人机将读取和控制姿态角度、角速度、速度、位置信息并支持航迹规划和跟踪功能；一键降落模式下，无人机会结束当前任务，原地慢慢下降。
图8为本发明的控制系统框图，根据图7所建立的倾转翼植保无人机动力学模型，采用PID和自抗扰控制器相结合、串级控制和并级控制相结合的复合控制方式。倾转翼植保无人机在X轴方向可通过调整倾转旋翼直接获得相应的力，而不需要像寻常多旋翼无人机只能通过调整相应的姿态角来实现。该控制方式具体为将倾转翼植保无人机姿态控制与位置控制分为独立的两个控制体系，每个控制结构为串级反馈控制，然后将两个控制结果相加组合成并级控制。姿态控制由角度控制器、角速度控制器、角加速度控制器串级构成，角度数据与角速度数据由组合导航算法估计得到，角加速度由自抗扰控制算法中的微分跟踪器估计得到。位置控制与姿态控制 类似，由位置控制器、速度控制器、加速度控制器串级组成，位置信息和速度信息由组合导航算法估计得到，加速度信息由微分跟踪器估计得到。为应对超长机身带来的控制信号容易丢失的问题，本发明采用上述提到的基于CAN通讯的主控-分控的主从控制策略。
步骤五，无人机安全着陆后，系统控制关闭，返回步骤三。

Claims (5)

  1. 一种基于倾转旋翼的直线型多旋翼植保无人机结构，其特征在于，包括主升动力结构、倾转动力结构、主体机架结构；主体机架结构位于中间段；主升动力结构分布在主体机架结构的左右两端，倾转动力结构对称分布在主体机架机构和主升动力结构之间；
    主升动力结构包括主升桨叶1、主升电机2、主升电机固定板3、主升电调4、第一管夹、离心喷头6、分控固定板7、主升分控电路板8、主杆9；主升桨叶1通过螺丝和主升电机2固定，主升电机2通过螺丝固定于主升电机固定板3上，再通过第一管夹夹持，与下端的离心喷头6一起固定在主杆9上；主升电调4和主升分控板8分别固定在两块分控固定板7上，通过第一管夹固定在主杆9，主升分控板8接收来自控制板26的命令，向主升电调4给出信号，从驱动主升电机2转动，离心喷头6内部集成电机电调，可直接通过接收主升分控电路板8的PWM信号驱动调速；
    倾转动力结构包括倾转碳板10、倾转分控电路板11、舵机固定铝件12、舵机13、倾转电调14、夹持铝件15、第二管夹、倾转电机固定板17、轴承固定铝件18、倾转碳管19、轴承20、倾转电机21、倾转桨叶22；倾转碳板10上部通过螺丝固定倾转分控板11和倾转电调14；两块倾转碳板10上部通过第一管夹固定在主杆9上；倾转碳板10下端的中间部位设有倾转碳管19，倾转碳管19两端通过两个轴承20、两个第二管夹固定，轴承固定铝件18用于固定轴承20，两个夹持铝件15一方面共同箍住倾转碳管19，另一方面倾 转碳管19上有一个穿孔，使夹持铝件15固定位置相对一致；靠近倾转碳管19一端的位置设有舵机固定铝件12，舵机固定铝件12固定舵机13，舵机13输出轴嵌套在夹持铝件15的凹槽内，带动整个倾转碳管19转动；倾转电机21上通过螺帽固定倾转桨叶22；倾转电机固定板17上倾转电机21的安装孔，可连接两个第二管夹固定在倾转碳管19上；
    主体机架结构包括水平仪23、惯性导航模块24、减震垫25、控制板26、GPS天线27、烧录器28、遥控器接收机29、三通30、小电池31、小电池固定板32、水泵固定板33、水泵34、机载电池35、电池固定板36、横杆37、插销板38、水箱固定板39、脚架碳管40、水箱41、水位计42、起落碳管43、固定碳板44；惯性导航模块24、烧录器28、遥控器接收机29、水位计42通过控制板26上的接口和控制板26连接，向控制板26传递数据，小电池31通过控制板26上的电池接口，给控制板26和上述传感器供电；水平仪23、减震垫25、控制板26、GPS天线27、烧录器28、接收器29一起通过螺丝和固定碳板44硬连接；两个脚架碳管40通过三通30连接固定在主杆9；两个固定碳板44通过四个第一管夹、螺丝螺母固定在主杆9上；水泵固定板33通过两个第一管夹固定在脚架碳管40上，其上有水泵34的定位安装孔，方便水泵34的固定；小电池31通过电池扎带绑定在小电池固定板32上，可快速更换；小电池固定板32通过两个第一管夹固定在主杆9上；插销板38和水箱固定板39有相同的管夹定位孔，通过四个第一管夹固定在横杆37上, 横杆37通过三通30与脚架碳管40连接；机载电池35是无人机主要的供电模块，通过电池扎带固定在电池固定板36上，电池固定板36通过滑槽与插销板38连接；水箱固定板39上有水箱41的定位安装孔，便于水箱固定；水位计42位于水箱41底部，依据超声波原理测量水箱的水位高度；两个脚架碳管40通过两个三通30分别与起落碳管43固定连接，用于无人机的落地缓冲。
  2. 根据权利要求1所述的一种基于倾转旋翼的直线型多旋翼植保无人机结构，其特征在于，所述夹持铝件15采用长舵臂的结构，可有效减少舵机13高频转动的齿轮磨损，同时倾转碳板10上留有足够裕量的空间，方便舵机13连接的夹持铝件15的360度转动。
  3. 根据权利要求1所述的一种基于倾转旋翼的直线型多旋翼植保无人机结构，其特征在于，惯性导航模块24通过三层减震材料与减震垫25粘连在一起；水平仪23用来对无人机初始角度进行零偏校准；GPS天线27用于惯性导航模块24接收GNSS数据；烧录器28用来无人机的软件测试；接收器29负责接收遥控器指令，将数据传输给控制板26。
  4. 根据权利要求1所述的一种基于倾转旋翼的直线型多旋翼植保无人机结构，其特征在于，插销板38上有滑槽结构，和提拉插销的定位孔，便于电池的快速更换。
  5. 根据权利要求1所述的一种基于倾转旋翼的直线型多旋翼植保无人机结构控制方法，其特征在于，包括以下步骤：
    步骤1，分别建立无人机的三轴转动和平动动力学模型；
    步骤2，主控芯片初始化，外接传感器初始化；
    步骤3，无人机传感器自检，若自检不正常则通过外拓灯带显示报警并重复步骤3，若正常则进行步骤4；
    步骤4，等待使用人机交互解锁，无人机从自锁状态切换到等待起飞状态；
    步骤5，接收人机交互数据，无人机进行任务切换，任务具体为姿态模式、定高模式、定点模式以及一键降落模式，当GPS信号弱或丢失时，会强制从定点模式切换成定高模式；姿态模式下，无人机将读取和控制姿态角度、角速度相关信息；定高模式下，无人机将读取和控制姿态角度、角速度、速度和飞行高度信息；定点模式下，无人机将读取和控制姿态角度、角速度、速度、位置信息并支持航迹规划和跟踪功能；一键降落模式下，无人机会结束当前任务，原地慢慢下降；根据步骤1所建立的倾转翼植保无人机动力学模型，采用PID和自抗扰控制器相结合、串级控制和并级控制相结合的复合控制方式；为应对超长机身带来的控制信号容易丢失的问题，采用基于CAN通讯的主控-分控的主从控制策略；
    步骤6，无人机安全着陆后，系统控制关闭，返回步骤4。
PCT/CN2023/090241 2022-07-15 2023-04-24 一种基于倾转旋翼的直线型多旋翼植保无人机结构及控制方法 Ceased WO2024012000A1 (zh)

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