CN106843245A - A kind of UAV Attitude control method, device and unmanned plane - Google Patents
A kind of UAV Attitude control method, device and unmanned plane Download PDFInfo
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- CN106843245A CN106843245A CN201611088682.1A CN201611088682A CN106843245A CN 106843245 A CN106843245 A CN 106843245A CN 201611088682 A CN201611088682 A CN 201611088682A CN 106843245 A CN106843245 A CN 106843245A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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Abstract
The invention discloses a kind of UAV Attitude control method, device and unmanned plane, it is related to unmanned air vehicle technique field, method therein includes：It is N number of angular speed control interval by the adjustment interval division of attitude angular displacement it is determined that needing the attitude angular displacement of adjustment, pose adjustment angular speed is controlled according to the corresponding relation corresponding with N number of angular speed control interval in adjustment.UAV Attitude control method of the invention, device and unmanned plane, it is multiple angular speed control intervals by the adjustment interval division of attitude angular displacement, can be controlled using quick ratio at the pose adjustment initial stage, accelerate response speed, quickly eliminate error, inverted parabolic curve control algolithm is used in the pose adjustment later stage, overshoot can be reduced, the stability of UAV Attitude adjustment and flight can be improved, the safety coefficient of flight is improved, it is possible to increase Consumer's Experience.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly to a kind of UAV Attitude control method, device and unmanned plane.
Background technology
UAV referred to as " unmanned plane ", is manipulated using radio robot and the presetting apparatus provided for oneself
Not manned aircraft.Manipulator adjusts the angle of pitch, roll angle attitude and the rotor of unmanned plane using the control-rod of remote terminal
Angle of inclination, make unmanned plane obtain acceleration, it is also possible to by the angle for adjusting the rotor of unmanned plane so that unmanned plane is being bowed
Face upward or longitudinal direction and horizontal crabbing are realized in the case that roll attitude is constant.At present, when the attitude to unmanned plane is controlled,
The gesture stability loop of unmanned plane is calculated desired attitude angle and the attitude of the unmanned plane for obtaining is resolved by attitude heading reference system
The difference at angle, using this difference as attitude angular displacement under earth axes, and obtains under earth axes by proportional controller
Desired pose adjustment angular speed, attitude angle is adjusted using this pose adjustment angular speed.In use ratio controller to attitude
When adjustment angular speed is controlled, if scale parameter is excessive, pose adjustment angular speed is too high so that the response of pose adjustment
Speed is fast but easy overshoot causes low-frequency oscillation, if scale parameter is too small, pose adjustment angular speed is too small, can reduce overshoot
The response speed of amount but pose adjustment is slow, influences the performance of unmanned plane and reduces Consumer's Experience.
The content of the invention
In view of this, the invention solves the problems that a technical problem be to provide a kind of UAV Attitude control method, device
And unmanned plane.
According to an aspect of the present invention, there is provided a kind of UAV Attitude control method, including：Needed to adjust according to unmanned plane
Whole targeted attitude angle, and the current actual attitude angle of unmanned plane determines to need the attitude angular displacement of adjustment；
It is N number of angular speed control interval by the adjustment interval division of the attitude angular displacement, and determines in each angular speed
The corresponding relation of pose adjustment angular speed and attitude angle deviation in control interval；Wherein, the N is more than or equal to 2；By nobody
The attitude angle of machine is adjusted to the targeted attitude angle, wherein, basis and N number of angular speed control interval phase in adjustment
Corresponding corresponding relation is controlled to the pose adjustment angular speed.
Alternatively, the corresponding relation includes：Proportion function relation, inverted parabolic curve functional relation.
Alternatively, the adjustment interval division by the attitude angular displacement includes for N number of angular speed control interval：By institute
The numerical intervals for stating attitude angular displacement are divided into continuous first angular speed control interval and the second angular speed control interval, its
In, the absolute value of the attitude angle deviation in the first angular speed control interval is less than in the second angular speed control interval
Attitude angle deviation absolute value；Pose adjustment angular speed and attitude angle of the determination in each angular speed control interval
The corresponding relation of deviation includes：In the first angular speed control interval, determine the pose adjustment angular speed with it is described
Attitude angle deviation is proportion function relation；In the second angular speed control interval, the pose adjustment angular speed is determined
It is inverted parabolic curve functional relation with the attitude angle deviation.
Alternatively, the basis corresponding relation corresponding with N number of angular speed control interval in adjustment is to described
Pose adjustment angular speed be controlled including：In the first angular speed control interval, based on the attitude angle deviation and
The pose adjustment angular speed according to the proportion function relation pair is controlled；The attitude angle deviation is obtained in real time, when
Determine that the attitude angle deviation increases to the area of the first angular speed control interval and the second angular speed control interval
Between boundary value when, based on the attitude angle deviation and switch to the inverted parabolic curve functional relation to the pose adjustment angle
Speed is controlled.
Optionally it is determined that the proportion function relation
Ratedes=kp·Atterror；
Wherein, RatedesIt is the pose adjustment angular speed, kpIt is ratio control parameter, kp＞ 0, AtterrorIt is the appearance
State angular displacement value；Determine that the inverted parabolic curve functional relation is：
Wherein, a is the max-thresholds of rotary acceleration.
Optionally it is determined that the interval limit value
Alternatively, the targeted attitude angle and the actual attitude angle are luffing angle, yaw angle, roll angle
In one or more.
According to another aspect of the present invention, there is provided a kind of UAV Attitude control device, including：Adjustment data acquisition mould
Block, the targeted attitude angle of adjustment is needed for obtaining unmanned plane；Attitude data acquisition module, it is current for obtaining unmanned plane
Actual attitude angle；Control parameter setting module, for being determined with the actual attitude angle according to the targeted attitude angle
The attitude angular displacement of adjustment is needed, is N number of angular speed control interval by the adjustment interval division of the attitude angular displacement, and determine
The corresponding relation of pose adjustment angular speed and attitude angle deviation in each angular speed control interval；Wherein, the N is more than
Equal to 2；Attitude angle control module, for the attitude angle of unmanned plane to be adjusted into the targeted attitude angle, wherein, adjusting
The whole middle basis corresponding relation corresponding with N number of angular speed control interval is controlled to the pose adjustment angular speed.
Alternatively, the corresponding relation includes：Proportion function relation, inverted parabolic curve functional relation.
Alternatively, the control parameter setting module, including：Interval division unit, for by the attitude angular displacement
Numerical intervals are divided into continuous first angular speed control interval and the second angular speed control interval, wherein, first jiao of speed
The absolute value of the attitude angle deviation in degree control interval is less than the attitude angle deviation in the second angular speed control interval
Absolute value；Control function determining unit, in the first angular speed control interval, determining the pose adjustment angle speed
Rate is proportion function relation with the attitude angle deviation；In the second angular speed control interval, determine that the attitude is adjusted
Whole angular speed is inverted parabolic curve functional relation with the attitude angle deviation.
Alternatively, the attitude angle control module, including：First adjustment unit, in the first angular speed control
In system interval, carried out based on the attitude angle deviation and the pose adjustment angular speed according to the proportion function relation pair
Control；Second adjustment unit, for obtaining the attitude angle deviation in real time by the attitude data acquisition module, when it is determined that
The attitude angle deviation increases to the interval boundary of the first angular speed control interval and the second angular speed control interval
During limit value, based on the attitude angle deviation and the inverted parabolic curve functional relation is switched to the pose adjustment angular speed
It is controlled.
Alternatively, the control function determining unit determines the proportion function relation
Ratedes=kp·Atterror；
Wherein, RatedesIt is the pose adjustment angular speed, kpIt is ratio control parameter, kp＞ 0, AtterrorIt is the appearance
State angular displacement value；The control function determining unit determines the inverted parabolic curve functional relation
Wherein, a is the max-thresholds of rotary acceleration.
Alternatively, the control function determining unit determines the interval limit value
Alternatively, the targeted attitude angle and the actual attitude angle are luffing angle, yaw angle, roll angle
In one or more.
According to another aspect of the invention, there is provided a kind of unmanned plane, including：UAV Attitude control device as described above
In accordance with a further aspect of the present invention, there is provided a kind of UAV Attitude control device, including：Memory；And coupling
To the processor of the memory, the processor is configured as the instruction in the memory based on storage, performs as above
Described UAV Attitude control.
UAV Attitude control method of the invention, device and unmanned plane, be by the adjustment interval division of attitude angular displacement
Multiple angular speed control intervals, according to the corresponding relation corresponding with angular speed control interval to pose adjustment angle speed in adjustment
Rate is controlled, and can be controlled using quick ratio at the pose adjustment initial stage, using larger scale parameter, accelerates response speed
Degree, quickly eliminates error, and inverted parabolic curve control algolithm is used in the pose adjustment later stage, can limit the angular acceleration in adjustment,
Overshoot can be reduced, desired attitude angular rate is obtained, it is possible to increase the stability that UAV Attitude is adjusted and flown.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only
Some embodiments of the present invention, for those of ordinary skill in the art, without having to pay creative labor, also
Other accompanying drawings can be obtained according to these accompanying drawings.
Fig. 1 is the schematic flow sheet of the one embodiment according to UAV Attitude control method of the invention；
Fig. 2 is the control logic schematic diagram of the one embodiment according to UAV Attitude control method of the invention；
Fig. 3 is the module diagram of the one embodiment according to UAV Attitude control device of the invention；
Fig. 4 is the control parameter setting module in the one embodiment according to UAV Attitude control device of the invention
Module diagram；
Fig. 5 is the attitude angle control module in the one embodiment according to UAV Attitude control device of the invention
Module diagram；
Fig. 6 is the module diagram of another embodiment according to UAV Attitude control device of the invention.
Specific embodiment
The present invention is described more fully with reference to the accompanying drawings, wherein illustrating exemplary embodiment of the invention.Under
Face will combine the accompanying drawing in the embodiment of the present invention, and the technical scheme in the embodiment of the present invention is clearly and completely described, and show
So, described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Based on the reality in the present invention
Example is applied, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made all belongs to
In the scope of protection of the invention.Many descriptions are carried out to technical scheme with reference to each figure and embodiment.
" first ", " second " hereinafter etc. is only used for being distinguished in description, not other special implications.
Fig. 1 is the schematic flow sheet of the one embodiment according to UAV Attitude control method of the invention, such as Fig. 1 institutes
Show：
Step 101, obtaining unmanned plane needs the targeted attitude angle of adjustment, and the current actual attitude angle of unmanned plane
Degree.
Targeted attitude angle is the attitude angle of triple channel, i.e. luffing angle, yaw angle, roll angle with actual attitude angle
One or more in degree.The actual attitude angle of unmanned plane can be by analyzing and processing accelerometer, gyroscope and magnetic sieve
The data of the sensors such as disk collection are obtained, and the position of unmanned plane, speed can be by analyzing and processing GP, ultrasonic sensor, regarding
Feel that the data that the sensors such as sensor are obtained are obtained.
Step 102, determines to need the attitude angular displacement of adjustment according to targeted attitude angle and actual attitude angle.
The targeted attitude angle for adjusting as needed resolves the current pose angle for obtaining calculating with by attitude heading reference system
Attitude angular displacement Atterror=Attdes-Attrel, for example, in the coordinate system of attitude heading reference system, unmanned plane can be obtained in X
The luffing angle of axle, Y-axis and Z axis, yaw angle, the attitude angular displacement of roll angle.AttdesTo need the targeted attitude of adjustment
Angle is the expectation attitude angle that is obtained in proportion according to the input of remote controller operation bar or is calculated by the desired locations of unmanned plane
The targeted attitude angle for arriving, AttrelIt is actual attitude angle.The present invention does not limit the setting side of the coordinate system of attitude heading reference system
Formula.
Step 103, is N number of angular speed control interval by the adjustment interval division of attitude angular displacement, and N is more than or equal to 2, and really
The corresponding relation of the pose adjustment angular speed and attitude angle deviation that are scheduled in each angular speed control interval.
Coordinate system based on attitude heading reference system, attitude angular displacement can be positive number or negative.The adjustment of attitude angular displacement
Interval is the numerical intervals that the attitude angle of unmanned plane is adjusted to attitude angular displacement during targeted attitude angle.For example,
Attitude angular displacement is positive 20 degree, then [0,20] is the adjustment interval of attitude angular displacement.By the adjustment of attitude angular displacement it is interval [0,
20] 3 angular speed control intervals, respectively [0,5], [0,10], [10,20] are divided into, it is determined that angular speed control interval [0,
5] pose adjustment angular speed and the corresponding relation of attitude angle deviation, in [0,10], [10,20].Corresponding relation can be many
Plant functional relation, such as proportion function relation, inverted parabolic curve functional relation etc..
Step 104, according to the corresponding relation corresponding with N number of angular speed control interval to pose adjustment angle speed in adjustment
Rate is controlled, and the attitude angle of unmanned plane is adjusted into targeted attitude angle.
In the flight course of unmanned plane, by the throttle rudder amount, aileron rudder amount, elevator amount and the direction that control unmanned plane
Rudder amount etc. realizes the attitude angle adjustment to unmanned plane, by adjusting the angle of pitch, yaw angle and roll angle, by the attitude of unmanned plane
Angle adjustment is currently needed for the flare maneuver of execution to cause unmanned plane to meet to targeted attitude angle.
In one embodiment, by the numerical intervals of attitude angular displacement be divided into continuous first angular speed control interval and
Second angular speed control interval, the absolute value of the attitude angle deviation in the first angular speed control interval is less than the second angular speed control
The absolute value of the attitude angle deviation in system interval.In the first angular speed control interval, pose adjustment angular speed and appearance are determined
State angular displacement value is proportion function relation.For example, the proportion function relation for determining is：
Ratedes=kp·Atterror；
RatedesIt is pose adjustment angular speed, kpIt is ratio control parameter, kp＞ 0, AtterrorIt is attitude angle deviation.Can
With according to aircraft power system, take off quality etc. select kp value, by taking the unmanned plane of six axles as an example, take-off weight
32kg, single-blade pulling force 5.4kg, then can use kp=4.0.
In the second angular speed control interval, determine that pose adjustment angular speed is inverted parabolic curve function with attitude angle deviation
Relation.For example, the inverted parabolic curve functional relation for determining is：
A is the max-thresholds of rotary acceleration, and unit is m/s2, a ＞ 0, a is relevant with the quality of aircraft, for example, for six
Axle unmanned plane, can use a=1000deg/s2。
In the first angular speed control interval, based on attitude angle deviation and according to proportion function relation pair pose adjustment
Angular speed is controlled.Attitude angle deviation is obtained in real time, when it is determined that attitude angle deviation increases to the first angular speed control zone
Between interval limit value with the second angular speed control interval when, based on attitude angle deviation and switch to inverted parabolic curve function to close
System is controlled to pose adjustment angular speed.
Luffing angle, yaw angle, roll angle can respectively be obtained needs the attitude angular displacement of adjustment, by 3 attitudes
The adjustment interval of angular displacement is respectively divided angular velocity control interval, and determines that the attitude in each angular speed control interval is adjusted
The corresponding relation of whole angular speed and attitude angle deviation.In adjustment respectively according to and luffing angle, yaw angle, roll angle
The corresponding corresponding relation of angular speed control interval to luffing angle, yaw angle, roll angle pose adjustment angular speed
It is controlled.
As shown in Fig. 2 as a example by the adjustment of the angle of pitch in attitude angle, the abscissa Att_err in figure is attitude
The deviation of angular displacement, the i.e. angle of pitch, the deviation of the angle of pitch is more than 0, and ordinate Rate_des is pose adjustment angular speed, i.e. pitching
The pose adjustment angular speed at angle.2 angular speed control intervals are set, determine that interval limit value is：
To the angular speed control interval of the angle of pitch adjustment of unmanned plane, and pose adjustment angular speed and attitude angle deviation
Corresponding relation be：
From the foregoing, it will be observed that the slope of linear function is kp, the ratio control parameter for as designing, kp>0, kp is bigger, and straight line is got over
Tremble, its physical significance therewith can be brought larger super for the response of pose adjustment angular speed (ordinate) is also faster but too fast
Tune amount.When the intersection point with anti-parabolic is reached, inverted parabolic curve control mode is switched to, gently reach desired pose adjustment angle
Speed, without having overshoot.
The UAV Attitude control method that above-described embodiment is provided, is multiple angles by the adjustment interval division of attitude angular displacement
Speed control is interval, and pose adjustment angular speed is carried out according to the corresponding relation corresponding with angular speed control interval in adjustment
Control, can be controlled at the pose adjustment initial stage using quick ratio, using larger scale parameter, accelerate response speed, quickly
Error is eliminated, inverted parabolic curve control algolithm is used in the pose adjustment later stage, the angular acceleration in adjustment can be limited, can reduced
Overshoot, obtains desired attitude angular rate.
In one embodiment, as shown in figure 3, the present invention provides a kind of UAV Attitude control device 30, including：Adjustment
Data acquisition module 31, attitude data acquisition module 32, control parameter setting module 33 and attitude angle control module 34 etc..Adjust
Entire data acquisition module 31 obtains unmanned plane needs the targeted attitude angle of adjustment.Attitude data acquisition module 32 obtains unmanned plane
Current actual attitude angle.
Control parameter setting module 33 determines to need the attitude angle of adjustment according to targeted attitude angle and actual attitude angle
Deviation, is N number of angular speed control interval by the adjustment interval division of attitude angular displacement, and determine in each angular speed control interval
In pose adjustment angular speed and attitude angle deviation corresponding relation, wherein, N is more than or equal to 2.Attitude angle control module 34
The attitude angle of unmanned plane is adjusted to targeted attitude angle, wherein, according to relative with N number of angular speed control interval in adjustment
The corresponding relation answered is controlled to pose adjustment angular speed.Corresponding relation includes：Proportion function relation, inverted parabolic curve function are closed
System etc..Targeted attitude angle is one or more in luffing angle, yaw angle, roll angle with actual attitude angle.
As shown in figure 4, control parameter setting module 33 includes：Interval division unit 331 and control function determining unit
332.The numerical intervals of attitude angular displacement are divided into continuous first angular speed control interval and second by interval division unit 331
Angular speed control interval, wherein, the absolute value of the attitude angle deviation in the first angular speed control interval is less than the second angular speed
The absolute value of the attitude angle deviation in control interval.Control function determining unit 332 in the first angular speed control interval, really
It is proportion function relation to determine pose adjustment angular speed with attitude angle deviation.In the second angular speed control interval, attitude is determined
Adjustment angular speed is inverted parabolic curve functional relation with attitude angle deviation.
Control function determining unit 332 determines that proportion function relation is：
Ratedes=kp·Atterror；
RatedesIt is pose adjustment angular speed, kpIt is ratio control parameter, kp＞ 0, AtterrorIt is attitude angle deviation.
Control function determining unit 332 determines that inverted parabolic curve functional relation is：
Wherein, a is the max-thresholds of rotary acceleration.
Control function determines that Unit 332 determine that interval limit value is：
As shown in figure 5, attitude angle control module 34 includes：First adjustment unit 341 and the second adjustment unit 342.The
One adjustment unit 341 in the first angular speed control interval, based on attitude angle deviation and according to proportion function relation pair attitude
Adjustment angular speed is controlled.Second adjustment unit 342 obtains attitude angle deviation in real time by attitude data acquisition module, when
When determining that attitude angle deviation increases to the interval limit value of the first angular speed control interval and the second angular speed control interval, base
In attitude angle deviation and inverted parabolic curve functional relation is switched to be controlled pose adjustment angular speed.
In one embodiment, the present invention provides a kind of unmanned plane, including：As above UAV Attitude control device.
Fig. 6 is the module diagram of another embodiment according to UAV Attitude control device of the invention.Such as Fig. 6 institutes
Show, the device may include memory 61, processor 62, communication interface 63 and bus 64.Memory 61 is used for store instruction, place
Reason device 62 is coupled to memory 61, and processor 62 is configured as the instruction based on the storage of memory 61 and performs nobody that realize above-mentioned
Machine attitude control method.
Memory 61 can be high-speed RAM memory, nonvolatile memory (non-volatile memory) etc., deposit
Reservoir 61 can also be memory array.Memory 61 is also possible to by piecemeal, and block can be combined into virtually by certain rule
Volume.Processor 62 can be central processor CPU, or application-specific integrated circuit ASIC (Application Specific
Integrated Circuit), or be arranged to implement UAV Attitude control method of the invention one or more
Integrated circuit.
UAV Attitude control method, device and unmanned plane that above-described embodiment is provided, by the adjustment area of attitude angular displacement
Between be divided into multiple angular speed control intervals, in adjustment according to the corresponding relation corresponding with angular speed control interval to attitude
Adjustment angular speed is controlled, and can be controlled using quick ratio at the pose adjustment initial stage, using larger scale parameter, accelerates
Response speed, quickly eliminates error, and inverted parabolic curve control algolithm is used in the pose adjustment later stage, and the angle that can be limited in adjustment adds
Speed, can reduce overshoot, obtain desired attitude angular rate, it is possible to increase the stabilization that UAV Attitude is adjusted and flown
Property, improve the safety coefficient of flight, it is possible to increase Consumer's Experience.
The method of the present invention and system may be achieved in many ways.For example, can by software, hardware, firmware or
Software, hardware, any combinations of firmware realize the method for the present invention and system.The said sequence of the step of for method is only
Order described in detail above is not limited in order to illustrate, the step of the method for the present invention, is especially said unless otherwise
It is bright.Additionally, in certain embodiments, also the present invention can be embodied as recording program in the recording medium, these programs include
Machine readable instructions for realizing the method according to the invention.Thus, the present invention also covering storage is for performing according to this hair
The recording medium of the program of bright method.
Description of the invention is given for the sake of example and description, and is not exhaustively or by the present invention
It is limited to disclosed form.Many modifications and variations are for the ordinary skill in the art obvious.Select and retouch
State embodiment and be to more preferably illustrate principle of the invention and practical application, and one of ordinary skill in the art is managed
The solution present invention is suitable to the various embodiments with various modifications of special-purpose so as to design.
Claims (16)
1. a kind of UAV Attitude control method, it is characterised in that including：
The targeted attitude angle of adjustment, and the current actual attitude angle of unmanned plane is needed to determine to need adjustment according to unmanned plane
Attitude angular displacement；
It is N number of angular speed control interval by the adjustment interval division of the attitude angular displacement, and determines in the control of each angular speed
The corresponding relation of pose adjustment angular speed and attitude angle deviation in interval；Wherein, the N is more than or equal to 2；
The attitude angle of unmanned plane is adjusted to the targeted attitude angle, wherein, basis and N number of angular speed in adjustment
The corresponding corresponding relation of control interval is controlled to the pose adjustment angular speed.
2. the method for claim 1, it is characterised in that
The corresponding relation includes：Proportion function relation, inverted parabolic curve functional relation.
3. method as claimed in claim 2, it is characterised in that the adjustment interval division by the attitude angular displacement is N
Individual angular speed control interval includes：
The numerical intervals of the attitude angular displacement are divided into continuous first angular speed control interval and the control of the second angular speed
Interval, wherein, the absolute value of the attitude angle deviation in the first angular speed control interval is less than the second angular speed control
The absolute value of the attitude angle deviation in system interval；
The corresponding relation bag of pose adjustment angular speed and attitude angle deviation of the determination in each angular speed control interval
Include：
In the first angular speed control interval, determine that the pose adjustment angular speed and the attitude angle deviation are ratio
Functional relation；
In the second angular speed control interval, determine that the pose adjustment angular speed is anti-throwing with the attitude angle deviation
Thing line function relation.
4. method as claimed in claim 3, it is characterised in that it is described in adjustment according to and N number of angular speed control zone
Between corresponding corresponding relation the pose adjustment angular speed is controlled including：
In the first angular speed control interval, based on the attitude angle deviation and according to the proportion function relation pair
The pose adjustment angular speed is controlled；
The attitude angle deviation is obtained in real time, when it is determined that the attitude angle deviation increases to the first angular speed control zone
Between interval limit value with the second angular speed control interval when, based on the attitude angle deviation and switch to described anti-
Pose adjustment angular speed is controlled described in parabolic function relation pair.
5. method as claimed in claim 3, it is characterised in that
Determine the proportion function relation
Ratedes=kp·Atterror；
Wherein, RatedesIt is the pose adjustment angular speed, kpIt is ratio control parameter, kp＞ 0, AtterrorIt is the attitude angle
Deviation；
Determine the inverted parabolic curve functional relation
Wherein, a is the max-thresholds of rotary acceleration.
6. method as claimed in claim 5, it is characterised in that
Determine the interval limit value
7. the method for claim 1, it is characterised in that
The targeted attitude angle and the actual attitude angle be one in luffing angle, yaw angle, roll angle or
It is multiple.
8. a kind of UAV Attitude control device, it is characterised in that including：
Adjustment data acquisition module, the targeted attitude angle of adjustment is needed for obtaining unmanned plane；
Attitude data acquisition module, the actual attitude angle current for obtaining unmanned plane；
Control parameter setting module, for determining to need adjustment with the actual attitude angle according to the targeted attitude angle
Attitude angular displacement, is N number of angular speed control interval by the adjustment interval division of the attitude angular displacement, and is determined in each angle speed
The corresponding relation of pose adjustment angular speed and attitude angle deviation in degree control interval；Wherein, the N is more than or equal to 2；
Attitude angle control module, for the attitude angle of unmanned plane to be adjusted into the targeted attitude angle, wherein, in adjustment
The middle basis corresponding relation corresponding with N number of angular speed control interval is controlled to the pose adjustment angular speed.
9. device as claimed in claim 8, it is characterised in that
The corresponding relation includes：Proportion function relation, inverted parabolic curve functional relation.
10. device as claimed in claim 9, it is characterised in that
The control parameter setting module, including：
Interval division unit, for the numerical intervals of the attitude angular displacement to be divided into continuous first angular speed control interval
With the second angular speed control interval, wherein, the absolute value of the attitude angle deviation in the first angular speed control interval is less than
The absolute value of the attitude angle deviation in the second angular speed control interval；
Control function determining unit, in the first angular speed control interval, determine the pose adjustment angular speed with
The attitude angle deviation is proportion function relation；In the second angular speed control interval, the pose adjustment angle is determined
Speed is inverted parabolic curve functional relation with the attitude angle deviation.
11. devices as claimed in claim 10, it is characterised in that
The attitude angle control module, including：
First adjustment unit, in the first angular speed control interval, based on the attitude angle deviation and according to institute
Pose adjustment angular speed described in proportion function relation pair is stated to be controlled；
Second adjustment unit, for obtaining the attitude angle deviation in real time by the attitude data acquisition module, when it is determined that
The attitude angle deviation increases to the interval boundary of the first angular speed control interval and the second angular speed control interval
During limit value, based on the attitude angle deviation and the inverted parabolic curve functional relation is switched to the pose adjustment angular speed
It is controlled.
12. devices as claimed in claim 10, it is characterised in that
The control function determining unit determines the proportion function relation
Ratedes=kp·Atterror；
Wherein, RatedesIt is the pose adjustment angular speed, kpIt is ratio control parameter, kp＞ 0, AtterrorIt is the attitude angle
Deviation；
The control function determining unit determines the inverted parabolic curve functional relation
Wherein, a is the max-thresholds of rotary acceleration.
13. devices as claimed in claim 12, it is characterised in that
The control function determining unit determines the interval limit value
14. device as described in any one of claim 8 to 13, it is characterised in that
The targeted attitude angle and the actual attitude angle be one in luffing angle, yaw angle, roll angle or
It is multiple.
A kind of 15. unmanned planes, it is characterised in that including：
UAV Attitude control device as described in any one of claim 8 to 14.
A kind of 16. UAV Attitude control devices, it is characterised in that including：
Memory；And
The processor of the memory is coupled to, the processor is configured as the instruction in the memory based on storage,
Perform the UAV Attitude control as any one of claim 1 to 7.
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| WO2018099198A1 (en) | 2018-06-07 |
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