CN111319759A - Spatial six-degree-of-freedom independent controllable multi-rotor unmanned flight control method - Google Patents
Spatial six-degree-of-freedom independent controllable multi-rotor unmanned flight control method Download PDFInfo
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- 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
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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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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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
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Abstract
The invention discloses a space six-degree-of-freedom independent controllable multi-rotor unmanned flight control method, which comprises a fuselage, a horn, a motor and an undercarriage; the machine arms are distributed on the machine body at equal intervals on a horizontal plane; a driving motor is fixed at the tail end of each horn, and a rotor wing is positioned at the other end of the driving motor; the rotating shaft of the driving motor is at an angle thetakIs fixed in an inclined way relative to the plane of the machine body; generating a six-degree-of-freedom kinetic equation of the multi-rotor unmanned aerial vehicle by using an unmanned line kinetic equation and an angular kinetic equation, and outputting the six-degree-of-freedom kinetic equation of the space of the multi-rotor unmanned aerial vehicleThe input signals are converted into rotating speed commands of motors with corresponding numbers, and the rotating speed commands are combined through rotating speed movement of the rotor wings, so that the aircraft tracks the space six-degree-of-freedom input signals. The invention adopts the layout of multi-rotor wing arrangement, and the motor and the fuselage form a certain inclination angle to form inward-inclination and outward-inclination arrangement, thus realizing independent and controllable linear motion and angular motion of the multi-rotor wing unmanned aerial vehicle and improving the control performance of the multi-rotor wing unmanned aerial vehicle.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a control technology of a space six-degree-of-freedom independently controllable multi-rotor unmanned aerial vehicle, and specifically belongs to the technical field of unmanned aerial vehicle flight mechanics and control.
Background
The multi-rotor unmanned aerial vehicle can realize flying in any direction and hovering in the air by utilizing a plurality of rotors, has higher maneuverability, and can complete various tasks. If utilize many rotor unmanned aerial vehicle to carry on camera, distancer, perhaps various special installation, accomplish tasks such as aerial photography, location, topography scanning, cargo handling. Nowadays, unmanned vehicles have been widely used in agriculture, meteorology, disaster early warning, logistics transportation, rescue and other fields.
At present, most of multi-rotor unmanned aerial vehicles provide lift and torque by adopting thrust and thrust combination generated by rotation of rotors, and because the thrust generated by rotation of the rotors of most of multi-rotor unmanned aerial vehicles is the same direction, the resultant thrust force generated by the rotors is in a single fixed direction relative to the fuselage, so that the direction of the resultant thrust force needs to be changed in order to realize linear motions of the forward direction, the backward direction, the left direction and the right direction, namely, the change of the attitude of the fuselage is required. When carrying out line motion fuselage and need constantly incline, the stability of flight receives the influence, and the instrument and equipment that carries on the fuselage also can receive the influence of rocking, and especially direct fixation will be difficult to reach best effect on the fuselage instrument and equipment. In order to eliminate the influence of the shaking of the aircraft body, instrument equipment is generally carried on the stability augmentation cloud platform, and then the stability augmentation cloud platform is fixed on the aircraft body, so that the complexity of the structure is increased, the requirement on a control system is higher, and the complexity of the aircraft is increased. In addition, because the control of the required power of fuselage line motion can not directly be carried out, consequently reduced accuracy and the promptness of this type of many rotor unmanned aerial vehicle line motion, influenced the use of many rotor unmanned aerial vehicle in narrow and small space.
Disclosure of Invention
The invention provides a space six-degree-of-freedom independently controllable multi-rotor unmanned aerial vehicle and a control method thereof, aiming at realizing the problem of multi-dimensional independent control in a narrow space.
The invention discloses a space six-degree-of-freedom independent controllable multi-rotor unmanned flight control method, which comprises a fuselage, a horn, a motor and an undercarriage;
the machine arms are distributed on the machine body at equal intervals on a horizontal plane; a driving motor is fixed at the tail end of each horn, and a rotor wing is positioned at the other end of the driving motor;
the rotating shaft of the driving motor is at an angle thetakIs fixed in an inclined way relative to the plane of the machine body; the six-degree-of-freedom dynamic equation of the multi-rotor unmanned aerial vehicle is generated by the linear motion dynamic equation and the angular motion dynamic equation of the unmanned aerial vehicle, the space six-degree-of-freedom input signals of the aerial vehicle are converted into rotating speed instructions of a plurality of motors, and the rotating speed motions of the rotors are combined to enable the aerial vehicle to track the space six-degree-of-freedom input signals.
Further, the method comprises the following steps:
wherein i is the number of the rotor, thetakThe angle of inclination of the motor relative to the body, fi(ωi) Number i of the rotor at a speed of ωiThrust force generated in the process, filIs fi(ωi) Component in the direction of the horn, fivIs fi(ωi) A component perpendicular to the plane of the fuselage;
The linear motion dynamics equation in step 2.1 is:
wherein X is [ u, v, w ]]TWherein u, v, w are linear velocity components under the axis system of the aircraft body, F (F)i) For all rotor thrust fiThe space six-degree-of-freedom independent controllable multi-rotor unmanned aerial vehicle comprises a space six-degree-of-freedom independent controllable multi-rotor unmanned aerial vehicle, a space six-degree-of-freedom independent controllable multi-rotor unmanned aerial vehicle and a space six-degree-of-freedom independent controllable multi-rotor unmanned aerial vehicle, wherein A is a row full-rank;
the angular motion kinetic equation in step 2.2 is as follows:
wherein Y is [ p, q, r ═ p, q, r]TWherein p, q and r are angular velocity components under an aircraft body shafting, B is determined by the structural characteristics of the space six-degree-of-freedom independently controllable multi-rotor unmanned aerial vehicle, and B is a row full-rank matrix;
the full-drive kinetic equation in step 2.3 is as follows:
wherein Z ═ XT,YT]TWherein Z is linear velocity and angular velocity components under the shafting of the aircraft body, and C is [ A ]T,BT]TAnd C is a row full rank matrix;
and step 3, the relation equation of the six-degree-of-freedom speed and the rotor rotation speed of the multi-rotor unmanned aerial vehicle is as follows:
in the formula, C-Is a generalized inverse matrix of C and is a row full rank matrix.
Furthermore, the rotation directions of two adjacent pairs of motors are opposite.
Further, the driving motor tilting manner is divided into inward tilting and outward tilting.
Further, the lift generated by the rotor can be decomposed into a lift perpendicular to the plane of the fuselage and a thrust parallel to the horn.
Furthermore, the lift generated by all the rotors can generate the thrust of forward, backward, left, right and upward movement of the airframe through combination.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
(1) the layout of 8 rotor wing arrangements is adopted, and the motor and the airframe form a certain inclination angle to form an inward inclination arrangement and an outward inclination arrangement, so that the independent controllability of the linear motion and the angular motion of the multi-rotor wing unmanned aerial vehicle is realized, and the control performance of the multi-rotor wing unmanned aerial vehicle is improved;
(2) all motors are fixed on the machine arm, and an additional device for flexibly changing the postures of the motors is not needed, so that the complexity is reduced;
(3) the carrying equipment does not need to additionally use the cradle head, is a stable platform and has the functions of carrying various kinds of equipment and completing various tasks.
Drawings
FIG. 1 is a front view of a spatial six-degree-of-freedom independently controllable multi-rotor unmanned aerial vehicle;
FIG. 2 is a top view of a spatial six-degree-of-freedom independently controllable multi-rotor unmanned aerial vehicle;
FIG. 3 shows the driving motor and the arm tilted outward;
FIG. 4 shows the driving motor and the arm tilting mode divided into inward tilting;
FIG. 5 is a graph of a multi-rotor UAV flying from coordinates (0,0,0) to coordinates (15,15, 15);
fig. 6 is a diagram of position (x, y, z) and attitude (phi, theta, psi) information for a multi-rotor drone.
Detailed Description
The technical solutions in the examples of the present invention are clearly and completely described below with reference to the drawings in the examples of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without inventive step, are within the scope of the present invention.
The present invention will be described in further detail with reference to the accompanying drawings.
Example 1
As shown in fig. 1-2, the spatial six-degree-of-freedom independently controllable multi-rotor unmanned aerial vehicle provided by the invention comprises a vehicle body 4, vehicle arms 3, motors 2 and landing gears 5, wherein the vehicle arms 3 are distributed on the vehicle body 4 at intervals of 45 degrees, a driving motor 2 is fixed at the tail end of each vehicle arm 3, and the rotor 1 is connected with the driving motor 2; the method is characterized in that: the axis of rotation of the drive motor 2 being at an angle thetakIs fixed obliquely relative to the plane of the fuselage 4.
As shown in fig. 3 to 4, the driving motor tilting manner is divided into inward tilting and outward tilting.
The lift generated by the rotor can be decomposed into a lift perpendicular to the plane of the fuselage and a thrust parallel to the horn.
The lift generated by all the rotors can generate the thrust of forward, backward, left, right and upward movement of the airframe through combination. The rotation directions of two adjacent pairs of motors are opposite.
The control method of the invention combines the linear motion kinetic equation and the angular motion kinetic equation of the unmanned aerial vehicle in parallel to generate the six-degree-of-freedom kinetic equation of the multi-rotor unmanned aerial vehicle, converts the space six-degree-of-freedom input signals of the aerial vehicle into 8 rotating speed instructions of the motors, and combines the rotating speed motions of the rotors to enable the aerial vehicle to completely track the space six-degree-of-freedom input signals.
The spatial six-degree-of-freedom independent control algorithm comprises the following specific steps:
step 1: establishing a thrust model generated by the rotation motion of a single rotor:
wherein i is the number of the rotor, thetakThe angle of inclination of the motor relative to the body, fi(ωi) Is a numberi rotor at speed ωiThrust force generated in the process, filIs fi(ωi) Component in the direction of the horn 3, fivIs fi(ωi) The component perpendicular to the plane of the fuselage 4.
wherein X is [ u, v, w ]]TWherein u, v, w are linear velocity components under the axis system of the aircraft body, F (F)i) For all rotor thrust fiThe space six-degree-of-freedom independent controllable multi-rotor unmanned aerial vehicle comprises a space six-degree-of-freedom independent controllable multi-rotor unmanned aerial vehicle body, wherein A is determined by the structural characteristics of the space six-degree-of-freedom independent controllable multi-rotor unmanned aerial vehicle body, and A is a row full-rank matrix.
The angular motion kinetic equation of the spatial six-degree-of-freedom independently controllable multi-rotor unmanned aerial vehicle is as follows:
wherein Y is [ p, q, r ═ p, q, r]TAnd p, q and r are angular velocity components under an aircraft body shafting, B is determined by the structural characteristics of the space six-degree-of-freedom independently controllable multi-rotor unmanned aerial vehicle, and B is a row full-rank matrix. The full-drive kinetic equation of the space six-degree-of-freedom independently controllable multi-rotor unmanned aerial vehicle is as follows:
wherein Z ═ XT,YT]TWherein Z is linear velocity and angular velocity components under the shafting of the aircraft body, and C is [ A ]T,BT]TAnd C is a row full rank matrix.
And step 3, the relation equation of the six-degree-of-freedom speed and the rotor rotation speed of the multi-rotor unmanned aerial vehicle is as follows:
in the formula, C-Is a generalized inverse matrix of C and is a row full rank matrix.
The design of the invention applies a method for fixing the inclination of the rotor wing, so that the lift force generated by all the rotor wings on the unmanned aerial vehicle can independently generate the thrust of forward, backward, leftward, rightward and upward movement of the airframe and the torque of pitching, rolling and yawing through combination. In order to meet the requirement, the unmanned aerial vehicle at least needs more than 6 independent control input channels, for example, at least needs more than 6 independent controllable motors and rotors, and the six-degree-of-freedom independent controllable purpose of the unmanned aerial vehicle can be achieved by matching with a corresponding control algorithm.
The flight performance of the multi-rotor unmanned aerial vehicle is shown by the following example. As shown in fig. 1-2, (x, y, z) is a fixed inertial frame, and the pitch, roll, and yaw angles of the multi-rotor drone are represented by (phi, theta, psi), respectively. As shown in fig. 5, the multi-rotor unmanned aerial vehicle flies from coordinates (0,0,0) to (15,15,15), and then hovers at a fixed point, during which time the position (x, y, z) and attitude (Φ, θ, ψ) information of the multi-rotor unmanned aerial vehicle is shown in fig. 6. During 0 to 30 seconds, the position of the unmanned aerial vehicle changes, but the attitude is not affected; during 30 to 60 seconds, the attitude of the unmanned aerial vehicle changes, but the position is not affected. It can be seen that the position and attitude control of the multi-rotor unmanned aerial vehicle is independent and can be independently controllable with six degrees of freedom.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. A space six-degree-of-freedom independent controllable multi-rotor unmanned flight control method comprises a machine body (4), a machine arm (3), a motor (2) and an undercarriage (5);
the machine arms (3) are distributed on the machine body (4) at equal intervals on a horizontal plane; a driving motor (2) is fixed at the tail end of each horn (3), and the rotor wing (1) is positioned at the other end of the driving motor (2);
the method is characterized in that: the rotating shaft of the driving motor (2) is arranged according to an angle thetakIs fixed in an inclined way relative to the plane of the machine body (4); the six-degree-of-freedom dynamic equation of the multi-rotor unmanned aerial vehicle is generated by the linear motion dynamic equation and the angular motion dynamic equation of the unmanned aerial vehicle, the space six-degree-of-freedom input signals of the aerial vehicle are converted into rotating speed instructions of a plurality of motors, and the rotating speed motions of the rotors are combined to enable the aerial vehicle to track the space six-degree-of-freedom input signals.
2. The spatial six-degree-of-freedom independently controllable multi-rotor unmanned flight control method according to claim 1, characterized by comprising the following steps:
step 1, establishing a thrust model generated by the rotation motion of a single rotor wing:
wherein i is the number of the rotor, thetakThe angle of inclination of the motor relative to the body, fi(ωi) Number i of the rotor at a speed of ωiThrust force generated in the process, filIs fi(ωi) Component in the direction of the horn (3), fivIs fi(ωi) A component perpendicular to the plane of the fuselage (4);
step 2, establishing a linear motion kinetic equation, an angular motion kinetic equation and a full-drive kinetic equation of the spatial six-degree-of-freedom independently controllable multi-rotor unmanned aerial vehicle
The linear motion dynamics equation in step 2.1 is:
wherein X is [ u, v, w ]]TWherein u, v, w are linear velocity components under the axis system of the aircraft body, F (F)i) For all rotor thrust fiThe space six-degree-of-freedom independent controllable multi-rotor unmanned aerial vehicle comprises a space six-degree-of-freedom independent controllable multi-rotor unmanned aerial vehicle, a space six-degree-of-freedom independent controllable multi-rotor unmanned aerial vehicle and a space six-degree-of-freedom independent controllable multi-rotor unmanned aerial vehicle, wherein A is a row full-rank;
the angular motion kinetic equation in step 2.2 is as follows:
wherein Y is [ p, q, r ═ p, q, r]TWherein p, q and r are angular velocity components under an aircraft body shafting, B is determined by the structural characteristics of the space six-degree-of-freedom independently controllable multi-rotor unmanned aerial vehicle, and B is a row full-rank matrix;
the full-drive kinetic equation in step 2.3 is as follows:
wherein Z ═ XT,YT]TWherein Z is linear velocity and angular velocity components under the shafting of the aircraft body, and C is [ A ]T,BT]TAnd C is a row full rank matrix;
step 3, the relation equation of the six-degree-of-freedom speed and the rotor rotation speed of the multi-rotor unmanned aerial vehicle is as follows:
in the formula, C-Is a generalized inverse matrix of C and is a row full rank matrix.
3. The spatial six-degree-of-freedom independently controllable multi-rotor unmanned flight control method according to claim 1, characterized in that: the rotation directions of two adjacent pairs of motors are opposite.
4. The spatial six-degree-of-freedom independently controllable multi-rotor unmanned flight control method according to claim 1, characterized in that: the inclination mode of the driving motor is divided into inward inclination and outward inclination.
5. The spatial six-degree-of-freedom independently controllable multi-rotor unmanned flight control method according to claim 1, characterized in that: the lift generated by the rotor can be decomposed into a lift perpendicular to the plane of the fuselage and a thrust parallel to the horn.
6. The spatial six-degree-of-freedom independently controllable multi-rotor unmanned flight control method according to claim 1, characterized in that: the lift generated by all the rotors can generate the thrust of forward, backward, left, right and upward movement of the airframe through combination.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112158329A (en) * | 2020-10-16 | 2021-01-01 | 福州大学 | High-fault-tolerance deformable four-rotor aircraft and control method |
| CN112208759A (en) * | 2020-11-11 | 2021-01-12 | 福州大学 | Eight-rotor aircraft with wind disturbance resistant tiltable rotor and control method |
| WO2022000154A1 (en) * | 2020-06-28 | 2022-01-06 | 拓攻（南京）机器人有限公司 | Determination methods for motor inclination angle and installation tolerance constraints of multi-rotor unmanned aerial vehicle |
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| CN106647783A (en) * | 2016-11-22 | 2017-05-10 | 天津大学 | Tilting type tri-rotor unmanned aerial vehicle attitude and height adaptive robust control method |
| CN106892094A (en) * | 2017-01-22 | 2017-06-27 | 南京航空航天大学 | A kind of individually controllable four rotor unmanned aircraft of space six degree of freedom and its control method |
| CN107797567A (en) * | 2017-12-11 | 2018-03-13 | 福州大学 | A kind of intrinsic deflection formula on-plane surface six rotorcraft and control method |
| CN110371303A (en) * | 2019-08-14 | 2019-10-25 | 深圳市道通智能航空技术有限公司 | A kind of unmanned vehicle |
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2020
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| CN106647783A (en) * | 2016-11-22 | 2017-05-10 | 天津大学 | Tilting type tri-rotor unmanned aerial vehicle attitude and height adaptive robust control method |
| CN106892094A (en) * | 2017-01-22 | 2017-06-27 | 南京航空航天大学 | A kind of individually controllable four rotor unmanned aircraft of space six degree of freedom and its control method |
| CN107797567A (en) * | 2017-12-11 | 2018-03-13 | 福州大学 | A kind of intrinsic deflection formula on-plane surface six rotorcraft and control method |
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| WO2022000154A1 (en) * | 2020-06-28 | 2022-01-06 | 拓攻（南京）机器人有限公司 | Determination methods for motor inclination angle and installation tolerance constraints of multi-rotor unmanned aerial vehicle |
| CN112158329A (en) * | 2020-10-16 | 2021-01-01 | 福州大学 | High-fault-tolerance deformable four-rotor aircraft and control method |
| CN112208759A (en) * | 2020-11-11 | 2021-01-12 | 福州大学 | Eight-rotor aircraft with wind disturbance resistant tiltable rotor and control method |
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| CN111319759B (en) | 2023-09-22 |
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