CN112799419B - Control method and device for double-rotor unmanned aerial vehicle, unmanned aerial vehicle and storage medium - Google Patents
Control method and device for double-rotor unmanned aerial vehicle, unmanned aerial vehicle and storage medium Download PDFInfo
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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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- 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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- 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
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Abstract
The embodiment of the invention provides a control method and device for a double-rotor unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium, and belongs to the technical field of unmanned aerial vehicles. Comprising the following steps: acquiring an actual paddle plane angle of the double-rotor unmanned aerial vehicle in the flight process, wherein the paddle plane angle is an included angle between a paddle plane and a horizontal plane; determining a deviation between the paddle plane angle and the target paddle plane angle; correcting the current rudder angle according to the deviation to obtain a target rudder angle, wherein the target rudder angle is a target angle between a paddle plane and a fuselage; and controlling the double-rotor unmanned aerial vehicle to fly according to the included angle of the target rudder. The control effect of the double-rotor unmanned aerial vehicle can be improved by adopting the scheme.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a control method and device for a double-rotor unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium.
Background
The existing double-rotor unmanned aerial vehicle and the multi-rotor unmanned aerial vehicle generally adopt the same control mode, namely, the attitude angle of the aircraft is used as a control target to control the motion of the aircraft, and the operations such as hovering, translation and the like of the aircraft are realized by controlling the attitude angle of the aircraft. However, the multi-rotor unmanned aerial vehicle can be used as a rigid body, the change of the attitude angle of the rotor inevitably represents the change of the angle of the plane of the rotor, the stress direction of the rotor is changed by changing the angle of the plane of the rotor, the control of the multi-rotor can be realized, the plane of the rotor and the machine body are not rigidly connected, and the control method of the multi-rotor unmanned aerial vehicle is adopted to control the dual-rotor unmanned aerial vehicle, so that the problem of poor control effect exists.
Disclosure of Invention
The invention aims to provide a control method and device for a double-rotor unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium, and the problem that the existing control method for the unmanned aerial vehicle is poor in control effect can be solved.
To achieve the above object, a first aspect of the present invention provides a control method for a twin-rotor unmanned aerial vehicle, including:
acquiring an actual paddle plane angle of the double-rotor unmanned aerial vehicle in the flight process, wherein the paddle plane angle is an included angle between a paddle plane and a horizontal plane;
determining a deviation between the paddle plane angle and the target paddle plane angle;
correcting the current rudder angle according to the deviation to obtain a target rudder angle, wherein the target rudder angle is a target angle between a paddle plane and a fuselage;
and controlling the double-rotor unmanned aerial vehicle to fly according to the included angle of the target rudder.
In the embodiment of the invention, acquiring the actual paddle plane angle of the double-rotor unmanned aerial vehicle in the flight process comprises the following steps: acquiring a current rudder angle and a current engine body attitude angle of the double-rotor unmanned aerial vehicle, wherein the current engine body attitude angle is a current angle between the engine body and a horizontal plane; and determining the actual pitch plane angle of the double-rotor unmanned aerial vehicle in the current flight process according to the current rudder included angle and the current body attitude angle.
In the embodiment of the invention, the actual pitch plane angle of the double-rotor unmanned aerial vehicle in the flight process is determined according to the current rudder angle and the current body attitude angle, and the method comprises the following steps: and determining the actual pitch plane angle of the double-rotor unmanned aerial vehicle in the flight process according to the sum of the current rudder included angle and the current engine body attitude angle.
In an embodiment of the invention, determining the deviation between the paddle plane angle and the target paddle plane angle comprises: and determining that the difference value between the paddle plane angle and the target paddle plane angle is deviation, or the product of the difference value and a preset coefficient is deviation.
In the embodiment of the invention, correcting the current rudder angle according to the deviation to obtain the target rudder angle comprises the following steps: and obtaining a target rudder angle based on the current rudder angle and the deviation through a PID control algorithm.
In the embodiment of the invention, correcting the current rudder angle according to the deviation to obtain the target rudder angle comprises the following steps: and taking the sum of the deviation between the plane angle of the oar and the plane angle of the target oar and the current rudder angle as the target rudder angle.
In the embodiment of the invention, the method for acquiring the current rudder angle and the current body attitude angle of the double-rotor unmanned aerial vehicle comprises the following steps: acquiring a current rudder angle through a first sensor on the double-rotor unmanned aerial vehicle; and acquiring the current body attitude angle through a second sensor on the double-rotor unmanned aerial vehicle.
A second aspect of the present invention provides a control device for a twin-rotor unmanned aerial vehicle, comprising: the acquisition module is used for acquiring the actual paddle plane angle of the double-rotor unmanned aerial vehicle in the flight process, wherein the paddle plane angle is the included angle between the paddle plane and the horizontal plane; a first determination module for determining a deviation between the paddle plane angle and a target paddle plane angle; the second determining module is used for correcting the current rudder angle according to the deviation to obtain a target rudder angle, wherein the target rudder angle is a target angle between the plane of the oar and the fuselage; and the control module is used for controlling the double-rotor unmanned aerial vehicle to fly according to the included angle of the target rudder.
The third aspect of the invention provides a double-rotor unmanned aerial vehicle, which comprises an unmanned aerial vehicle body, a first sensor, a second sensor and a controller, wherein the first sensor, the second sensor and the controller are arranged on the unmanned aerial vehicle body; the first sensor and the second sensor are respectively connected with the controller; the first sensor is used for detecting a rudder included angle, and the rudder included angle is an included angle between a plane of the propeller of the double-rotor unmanned aerial vehicle and a fuselage; the second sensor is used for detecting a body attitude angle, wherein the body attitude angle is an included angle between the body of the double-rotor unmanned aerial vehicle and the horizontal plane; and the controller is used for controlling the first sensor and the second sensor to work when executing a program and realizing the control method for the double-rotor unmanned aerial vehicle.
A fourth aspect of the invention provides a machine-readable storage medium having stored thereon instructions that, when executed by a processor, cause the processor to perform a control method for a dual rotor drone according to any of the preceding claims.
According to the technical scheme, the actual plane angle of the double-rotor unmanned aerial vehicle in the flight process is obtained, the deviation between the plane angle of the double-rotor unmanned aerial vehicle and the target plane angle of the target plane is determined, and the target rudder included angle is obtained according to the deviation, so that the double-rotor unmanned aerial vehicle is controlled to fly according to the target rudder included angle. According to the method, the influence of the rudder included angle on the flight process of the double-rotor unmanned aerial vehicle is considered, the double-rotor unmanned aerial vehicle is not controlled based on the attitude angle of the control body, the control quantity is changed into the rudder included angle, the angle of the plane of the propeller is controlled by controlling the included angle between the plane of the propeller and the plane of the body so as to offset external interference, the effect of stably following the given angle is achieved, the control effect of the double-rotor unmanned aerial vehicle is improved, the double-rotor unmanned aerial vehicle can realize stable flight, and the safety of the double-rotor unmanned aerial vehicle in the flight process is ensured.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain, without limitation, the embodiments of the invention. In the drawings:
Fig. 1 schematically shows a flow diagram of a control method for a twin-rotor drone according to an embodiment of the present invention;
Fig. 2 schematically shows a flow diagram of a control method for a twin-rotor drone according to another embodiment of the present invention;
fig. 3 schematically shows a block diagram of a control device for a twin-rotor drone according to an embodiment of the present invention.
Detailed Description
The following describes the detailed implementation of the embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
It is very common to control the motion of an aircraft by taking the attitude angle of the aircraft as a control target on a multi-rotor aircraft with a conventional layout, because the multi-rotor aircraft can be used as a rigid body, the change of the attitude angle of the rotor necessarily represents the change of the angle of the plane of the rotor, and the force bearing direction of the rotor is changed by changing the angle of the plane of the rotor, so that the control of the multi-rotor aircraft can be realized. But the oar plane and the organism of two rotor are not rigid connection, and the oar plane is rotated by two steering engines control, and the plane angle of oar and organism angle all can produce the change respectively when the aircraft moves, and if the attitude angle of organism is controlled, the organism can not effectively be guaranteed stably. Two examples are presented herein:
In one example, where the center of gravity of the airframe is forward, without a stick, the operator would expect the aircraft to not experience lateral movement, with a given angle of 0 degrees for flight control, to return the attitude angle of the airframe to 0 degrees, the control blade plane is rotated backwards, at which time the attitude angle stabilizes at 0 degrees, but the propeller generates a horizontal rearward component, and the aircraft would fly all the way backwards, opposite the steering logic.
In another example, the operator controls the aircraft to fly forward, if the control logic of the original multi-rotor is to give the aircraft a target pitch angle to make the aircraft lower head so that the propeller generates forward component force to control the aircraft to fly forward, but the double-rotor is not subjected to lower head movement when flying forward due to factors such as reverse torque of a steering engine, namely the actual attitude angle of the aircraft and the given attitude angle are always directly and always in error, which is contrary to our control logic, if integral saturation is possibly generated in a control algorithm, and the aircraft oscillation is very easy to cause the aircraft to fly.
Fig. 1 schematically shows a flow diagram of a control method for a twin-rotor drone according to an embodiment of the present invention. As shown in fig. 1, in an embodiment of the present invention, a control method for a dual-rotor unmanned aerial vehicle is provided, and the method is described by using an application of the method to a processor as an example, and the method may include the following steps:
step S110, acquiring an actual paddle plane angle of the double-rotor unmanned aerial vehicle in the flight process, wherein the paddle plane angle is an included angle between a paddle plane and a horizontal plane.
It will be appreciated that, because the paddle plane of the twin-rotor unmanned aerial vehicle is not rigidly connected to the airframe, there may be some angle between the paddle plane and the airframe during actual flight, where the actual paddle plane angle is the angle between the paddle plane and the horizontal plane.
Specifically, the processor may obtain, via the sensor, an actual pitch angle of the dual-rotor unmanned aerial vehicle during flight, that is, an angle of the pitch plane to the horizontal plane.
In one embodiment, obtaining an actual pitch angle of the dual rotor unmanned aerial vehicle during flight comprises: acquiring a current rudder angle and a current engine body attitude angle of the double-rotor unmanned aerial vehicle, wherein the current engine body attitude angle is a current angle between the engine body and a horizontal plane; and determining the actual pitch plane angle of the double-rotor unmanned aerial vehicle in the current flight process according to the current rudder included angle and the current body attitude angle.
It can be appreciated that the twin-rotor unmanned aerial vehicle has four controllable mechanisms, specifically includes two steering engines and two motors, and two motors are used for providing lift, and two steering engines are used for changing the direction of motor force, and first sensor is installed on the steering engines for detect the contained angle of oar plane and fuselage, rudder contained angle promptly. The fuselage may be a nose or wing.
In one embodiment, the processor may obtain the current rudder angle through a first sensor on the dual-rotor unmanned aerial vehicle, where the first sensor is used to detect the current rudder angle, that is, the angle between the propeller plane and the fuselage, and further obtain the current body attitude angle through a second sensor on the dual-rotor unmanned aerial vehicle, that is, the angle between the fuselage and the horizontal plane, and further determine the actual propeller plane angle of the dual-rotor unmanned aerial vehicle in the flight according to the current rudder angle and the current body attitude angle, for example, may determine the actual propeller plane angle according to the mapping relationship between the rudder angle and the body attitude angle.
In one embodiment, the first sensor is a magnetic encoder.
It will be appreciated that the magnetic encoder may detect the angle between the plane of the paddle and the fuselage, i.e. the rudder angle.
In one embodiment, determining an actual pitch plane angle of the dual-rotor unmanned aerial vehicle during flight based on the current rudder angle and the current body attitude angle includes: and determining the actual pitch plane angle of the double-rotor unmanned aerial vehicle in the flight process according to the sum of the current rudder included angle and the current engine body attitude angle.
Specifically, the processor can add the current rudder angle and the current body attitude angle to obtain the sum of the current rudder angle and the current body attitude angle, so that the value is used as the actual pitch plane angle of the twin-rotor unmanned aerial vehicle in the flight process.
In the embodiment, the actual paddle plane angle of the double-rotor unmanned aerial vehicle in the flight process is determined to be the sum of the current rudder angle and the current body attitude angle, and two factors of the rudder angle and the body attitude angle are considered at the same time, so that the flight attitude of the double-rotor unmanned aerial vehicle can be controlled more accurately.
Step S120, determining a deviation between the paddle plane angle and the target paddle plane angle.
It will be appreciated that the target blade plane angle is a given blade plane angle desired by the user.
In one embodiment, after obtaining an actual blade plane angle of the dual-rotor unmanned aerial vehicle in the flight process, the processor calculates a difference between the blade plane angle and the target blade plane angle to obtain a difference value between the blade plane angle and the target blade plane angle, and the difference value is used as a deviation between the blade plane angle and the target blade plane angle.
In another embodiment, the processor may take the product of the difference and a preset coefficient as the deviation between the blade plane angle and the target blade plane angle after obtaining the difference between the blade plane angle and the target blade plane angle. The preset coefficient can be set according to actual conditions.
And step S130, correcting the current rudder angle according to the deviation to obtain a target rudder angle, wherein the target rudder angle is a target angle between the plane of the oar and the fuselage.
In one embodiment, the processor obtains the target rudder angle based on the current rudder angle and the deviation through a PID control algorithm. Specifically, the processor may input the deviation between the pitch plane angle and the target pitch plane angle and the current rudder angle into the PID controller, to obtain the target rudder angle output by the PID controller.
In another embodiment, the processor takes as the target rudder angle a sum of a current rudder angle and a deviation between the pitch plane angle and the target pitch plane angle.
In the embodiment, the calculated and determined deviation and the current rudder angle are directly added, the target rudder angle is not required to be acquired through the controller, the calculation mode of the target rudder angle can be simplified, and the calculation efficiency is improved.
And step S140, controlling the double-rotor unmanned aerial vehicle to fly according to the included angle of the target rudder.
Specifically, after the target rudder angle is obtained, the controller controls the motor of the unmanned aerial vehicle to work based on the target rudder angle.
According to the control method for the double-rotor unmanned aerial vehicle, the actual plane angle of the double-rotor unmanned aerial vehicle in the flight process is obtained, the deviation between the plane angle of the double-rotor unmanned aerial vehicle and the target plane angle of the double-rotor unmanned aerial vehicle is determined, and the target rudder included angle is obtained according to the deviation, so that the double-rotor unmanned aerial vehicle can fly according to the target rudder included angle. According to the method, the influence of the rudder included angle on the flight process of the double-rotor unmanned aerial vehicle is considered, the double-rotor unmanned aerial vehicle is not controlled based on the attitude angle of the control body, the control quantity is changed into the rudder included angle, the angle of the plane of the propeller is controlled by controlling the included angle between the plane of the propeller and the plane of the body so as to offset external interference, the effect of stably following the given angle is achieved, the control effect of the double-rotor unmanned aerial vehicle is improved, the double-rotor unmanned aerial vehicle can realize stable flight, and the safety of the double-rotor unmanned aerial vehicle in the flight process is ensured.
Fig. 2 schematically shows a flow chart of a control method for a twin-rotor drone according to another embodiment of the present invention. As shown in fig. 2, in an embodiment of the present invention, a control method for a dual-rotor unmanned aerial vehicle is provided, and the method is applied to a processor for illustration, and the method may include the following steps:
In step S210, the processor acquires the current rudder angle detected by the first sensor.
It is understood that the rudder angle is the angle between the plane of the propeller and the fuselage. The first sensor may be, for example, a magnetic encoder.
In step S220, the processor acquires the current body posture angle detected by the second sensor.
It can be understood that the attitude angle of the machine body is the included angle between the machine body and the horizontal plane.
And step S230, the processor determines the actual paddle plane angle of the double-rotor unmanned aerial vehicle in the flight process according to the sum of the current rudder angle and the current body attitude angle.
It is understood that the pitch plane angle is the angle between the pitch plane and the horizontal plane.
In step S240, the processor determines the difference between the paddle plane angle and the target paddle plane angle as a deviation.
And step S250, the processor obtains a target rudder angle based on the current rudder angle and the deviation through a PID control algorithm.
And step S260, the processor controls the double-rotor unmanned aerial vehicle to fly according to the included angle of the target rudder.
Specifically, two first sensors (for example, magnetic encoders) are arranged at the positions of two steering engine output shafts for controlling the plane of the propeller, the included angle (namely, rudder included angle) between the plane of the propeller and the machine body is obtained through the magnetic encoders, and then the included angle is added with the attitude angle of the machine body to obtain the included angle between the plane of the propeller and the horizontal plane, wherein the angle of the plane of the propeller is the control target of flight control. In the control process, no matter how the attitude angle of the machine body changes, the flight control ensures that the plane angle of the propeller follows a given angle by adjusting the rudder included angle of the airplane.
In one example, assuming that the flight control adopts a north-east coordinate system, the angle of the control surface is positive in the forward direction and negative in the backward direction, if the aircraft is controlled to accelerate forward, the angle of a given paddle plane is negative, the given angle is assumed to be-10 degrees, the angle of the airframe is ideally kept to be 0 degree, the steering engine can lead the angle of the paddle plane to reach the given angle by only leading to 10 degrees, but in the actual situation, the airframe is oscillated due to factors such as propeller vibration, reverse torque of the steering engine rotor, wind resistance and the like, and in the case of an open loop system, the paddle plane cannot stably follow the given angle, so a closed loop control system needs to be constructed, and correction control is performed according to output feedback of a control object. In practical situations, the shaking of the machine body can cause errors between the plane angle of the propeller and the given angle, and a control algorithm in flight control can send out a new control quantity according to the errors, and the control quantity directly acts on the rudder included angle to offset external interference, so that the effect of stably following the given angle is achieved. The aircraft is assumed to execute a braking instruction in the forward uniform speed flight process, the plane angle of a given paddle is 10 degrees, the steering engine rotates backwards by 10 degrees, the body can be greatly lifted due to the pendulum effect, and the real plane angle feedback is 50 degrees at the moment in actual test, because the intervention rudder with a closed-loop control system can continuously rotate forwards to correct angle errors.
In this embodiment, the dual-rotor unmanned aerial vehicle does not affect the flight effect due to the change of the center of gravity, and the dual-rotor unmanned aerial vehicle can effectively follow a given target in a dynamic response.
Fig. 3 schematically shows a block diagram of a control device for a twin-rotor drone according to an embodiment of the present invention. As shown in fig. 3, in an embodiment of the present invention, there is provided a control apparatus 300 for a dual rotor unmanned aerial vehicle, including: an acquisition module 310, a first determination module 320, a second determination module 330, and a control module 340, wherein:
The obtaining module 310 is configured to obtain an actual paddle plane angle of the dual-rotor unmanned aerial vehicle in a flight process, where the paddle plane angle is an included angle between a paddle plane and a horizontal plane.
A first determination module 320 is configured to determine a deviation between the pitch plane angle and the target pitch plane angle.
The second determining module 330 is configured to correct the current rudder angle according to the deviation, so as to obtain a target rudder angle, where the target rudder angle is a target angle between the plane of the propeller and the fuselage.
And the control module 340 is used for controlling the double-rotor unmanned aerial vehicle to fly according to the included angle of the target rudder.
It will be appreciated that, because the paddle plane of the twin-rotor unmanned aerial vehicle is not rigidly connected to the airframe, there may be some angle between the paddle plane and the airframe during actual flight, where the actual paddle plane angle is the angle between the paddle plane and the horizontal plane. The double-rotor unmanned aerial vehicle is provided with four controllable mechanisms, and specifically comprises two steering engines and two motors, wherein the two motors are used for providing lifting force, the two steering engines are used for changing the direction of the motor force, and the first sensor is installed on the steering engines and used for detecting the included angle between the plane of the oar and the machine body, namely the rudder included angle. The target paddle plane angle is a given paddle plane angle desired by the user.
Specifically, the processor obtains the current rudder angle of the double-rotor unmanned aerial vehicle detected by the first sensor in the flight process, obtains the current engine body attitude angle detected by the second sensor, and then determines the actual paddle plane angle of the double-rotor unmanned aerial vehicle in the flight process according to the current rudder angle and the current engine body attitude angle, for example, the actual paddle plane angle can be determined according to the mapping relation between the rudder angle and the engine body attitude angle. And the processor calculates the difference between the paddle plane angle and the target paddle plane angle after obtaining the actual paddle plane angle of the double-rotor unmanned aerial vehicle in the flight process, so as to obtain the deviation between the two. The processor can input the deviation between the plane angle of the oar and the plane angle of the target oar into the controller to obtain a target rudder included angle output by the controller, and the target rudder included angle is used for controlling the double-rotor unmanned aerial vehicle to fly. The controller (not shown) may be, for example, a PID controller, which, after outputting the rudder angle control amount, controls the motor of the unmanned aerial vehicle to operate based on the rudder angle control amount.
Above-mentioned a controlling means for two rotor unmanned aerial vehicle acquires two rotor unmanned aerial vehicle's current rudder contained angle through first sensor, acquires two rotor unmanned aerial vehicle's current organism attitude angle through the second sensor, confirms two rotor unmanned aerial vehicle's actual oar plane angle in the flight in-process according to current rudder contained angle and current organism attitude angle, and then confirms the deviation between oar plane angle and the target oar plane angle, obtains target rudder contained angle according to the deviation to according to the flight of target rudder contained angle control two rotor unmanned aerial vehicle. According to the method, the influence of the rudder included angle on the flight process of the double-rotor unmanned aerial vehicle is considered, the double-rotor unmanned aerial vehicle is not controlled based on the attitude angle of the control body, the control quantity is changed into the rudder included angle, the angle of the plane of the propeller is controlled by controlling the included angle between the plane of the propeller and the plane of the body so as to offset external interference, the effect of stably following the given angle is achieved, the control effect of the double-rotor unmanned aerial vehicle is improved, the double-rotor unmanned aerial vehicle can realize stable flight, and the safety of the double-rotor unmanned aerial vehicle in the flight process is ensured.
In one embodiment, the obtaining module 310 is further configured to obtain a current rudder angle and a current body attitude angle of the dual-rotor unmanned aerial vehicle, where the current body attitude angle is a current angle between the fuselage and a horizontal plane; and determining the actual pitch plane angle of the double-rotor unmanned aerial vehicle in the current flight process according to the current rudder included angle and the current body attitude angle.
In one embodiment, the obtaining module 310 is further configured to determine an actual pitch plane angle of the dual-rotor unmanned aerial vehicle during flight according to a sum of the current rudder angle and the current body attitude angle.
In one embodiment, the first determining module 320 is further configured to determine that a difference between the pitch plane angle and the target pitch plane angle is a deviation, or that a product of the difference and a preset coefficient is a deviation.
In one embodiment, the second determination module 330 is further configured to obtain the target rudder angle based on the current rudder angle and the deviation through a PID control algorithm.
In one embodiment, the second determination module 330 is further configured to take as the target rudder angle a sum of a current rudder angle and a deviation between the pitch plane angle and the target pitch plane angle.
In one embodiment, the obtaining module 310 is further configured to obtain the current rudder angle through a first sensor on the dual-rotor unmanned aerial vehicle; and acquiring the current body attitude angle through a second sensor on the double-rotor unmanned aerial vehicle.
The embodiment of the invention provides a double-rotor unmanned aerial vehicle, which comprises an unmanned aerial vehicle body, a first sensor, a second sensor and a controller, wherein the first sensor, the second sensor and the controller are arranged on the unmanned aerial vehicle body; the first sensor and the second sensor are respectively connected with the controller; the first sensor is used for detecting a rudder included angle, and the rudder included angle is an included angle between a plane of the propeller of the double-rotor unmanned aerial vehicle and a fuselage; the second sensor is used for detecting a body attitude angle, wherein the body attitude angle is an included angle between the body of the double-rotor unmanned aerial vehicle and the horizontal plane; and the controller is used for controlling the first sensor and the second sensor to work when executing a program and realizing the control method for the double-rotor unmanned aerial vehicle in the embodiment.
Embodiments of the present invention provide a machine-readable storage medium having instructions stored thereon, which when executed by a processor, cause the processor to perform a control method for a dual rotor drone according to the above-described embodiments.
The application also provides a computer program product comprising a computer program which, when executed by a processor, implements a control method for a twin-rotor drone according to the above embodiments.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, the device includes one or more processors (CPUs), memory, and a bus. The device may also include input/output interfaces, network interfaces, and the like.
The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.
Claims (10)
1. A control method for a dual rotor unmanned aerial vehicle, comprising:
Acquiring an actual paddle plane angle of the double-rotor unmanned aerial vehicle in the flight process, wherein the paddle plane angle is an included angle between a paddle plane and a horizontal plane;
determining a deviation between the paddle plane angle and a target paddle plane angle;
correcting the current rudder angle according to the deviation to obtain a target rudder angle, wherein the target rudder angle is a target angle between the plane of the oar and the fuselage;
and controlling the double-rotor unmanned aerial vehicle to fly according to the included angle of the target rudder.
2. The control method for a dual-rotor drone of claim 1, wherein the obtaining an actual pitch angle of the dual-rotor drone during flight comprises:
Acquiring a current rudder angle and a current body attitude angle of the double-rotor unmanned aerial vehicle, wherein the current body attitude angle is a current angle between the fuselage and the horizontal plane;
and determining the actual pitch plane angle of the double-rotor unmanned aerial vehicle in the current flight process according to the current rudder included angle and the current engine body attitude angle.
3. The control method for a dual-rotor unmanned aerial vehicle of claim 2, wherein the determining an actual pitch plane angle of the dual-rotor unmanned aerial vehicle during flight from the current rudder angle and the current body attitude angle comprises:
And determining the actual propeller plane angle of the double-rotor unmanned aerial vehicle in the flight process according to the sum of the current rudder included angle and the current engine body attitude angle.
4. The control method for a dual rotor drone of claim 1, wherein the determining a deviation between the blade plane angle and a target blade plane angle comprises:
and determining the difference value between the paddle plane angle and the target paddle plane angle as the deviation, or the product of the difference value and a preset coefficient as the deviation.
5. The control method for a dual-rotor unmanned aerial vehicle according to claim 1, wherein correcting the current rudder angle according to the deviation to obtain the target rudder angle comprises:
And obtaining a target rudder angle based on the current rudder angle and the deviation through a PID control algorithm.
6. The control method for a dual-rotor unmanned aerial vehicle according to claim 1, wherein correcting the current rudder angle according to the deviation to obtain the target rudder angle comprises:
and taking the sum of the deviation between the plane angle of the oar and the plane angle of the target oar and the current rudder angle as a target rudder angle.
7. The control method for a dual-rotor unmanned aerial vehicle according to claim 2, wherein the obtaining the current rudder angle and the current body attitude angle of the dual-rotor unmanned aerial vehicle comprises:
acquiring a current rudder angle through a first sensor on the double-rotor unmanned aerial vehicle;
and acquiring the current body attitude angle through a second sensor on the double-rotor unmanned aerial vehicle.
8. A control device for a twin-rotor unmanned aerial vehicle, comprising:
The acquisition module is used for acquiring the actual paddle plane angle of the double-rotor unmanned aerial vehicle in the flight process, wherein the paddle plane angle is an included angle between a paddle plane and a horizontal plane;
a first determination module for determining a deviation between the paddle plane angle and a target paddle plane angle;
The second determining module is used for correcting the current rudder angle according to the deviation to obtain a target rudder angle, wherein the target rudder angle is a target angle between the plane of the oar and the fuselage;
And the control module is used for controlling the double-rotor unmanned aerial vehicle to fly according to the included angle of the target rudder.
9. The double-rotor unmanned aerial vehicle is characterized by comprising an unmanned aerial vehicle body, a first sensor, a second sensor and a controller, wherein the first sensor, the second sensor and the controller are installed on the unmanned aerial vehicle body; the first sensor and the second sensor are respectively connected with the controller;
the first sensor is used for detecting a rudder included angle, and the rudder included angle is an included angle between a plane of the propeller of the double-rotor unmanned aerial vehicle and a fuselage;
The second sensor is used for detecting an organism attitude angle, and the organism attitude angle is an included angle between the fuselage of the double-rotor unmanned aerial vehicle and a horizontal plane;
The controller is configured to control the first sensor and the second sensor to operate when executing a program, and implement the control method for a dual rotor unmanned aerial vehicle according to any one of claims 1 to 7.
10. A machine-readable storage medium having instructions stored thereon, which when executed by a processor cause the processor to implement the control method for a twin-rotor drone of any one of claims 1 to 7.
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