CN114756044A - Tilting dual-rotor aircraft and attitude control method thereof - Google Patents
Tilting dual-rotor aircraft and attitude control method thereof Download PDFInfo
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- CN114756044A CN114756044A CN202210480301.3A CN202210480301A CN114756044A CN 114756044 A CN114756044 A CN 114756044A CN 202210480301 A CN202210480301 A CN 202210480301A CN 114756044 A CN114756044 A CN 114756044A
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 65
- 239000002775 capsule Substances 0.000 claims abstract description 32
- 238000004891 communication Methods 0.000 claims abstract description 7
- 238000012549 training Methods 0.000 claims description 28
- 238000005303 weighing Methods 0.000 claims description 28
- 238000003062 neural network model Methods 0.000 claims description 25
- 238000013528 artificial neural network Methods 0.000 claims description 17
- 230000009977 dual effect Effects 0.000 claims description 7
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 claims description 3
- 239000001307 helium Substances 0.000 claims description 3
- 229910052734 helium Inorganic materials 0.000 claims description 3
- SWQJXJOGLNCZEY-UHFFFAOYSA-N helium atom Chemical compound [He] SWQJXJOGLNCZEY-UHFFFAOYSA-N 0.000 claims description 3
- 239000001257 hydrogen Substances 0.000 claims description 3
- 229910052739 hydrogen Inorganic materials 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 9
- 239000002131 composite material Substances 0.000 description 3
- 238000010801 machine learning Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 241001391944 Commicarpus scandens Species 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
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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
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
- G05D1/0833—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability using limited authority control
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a tilting dual-rotor aircraft and an attitude control method thereof. The tilting dual-rotor aircraft comprises a hovering capsule body (10), a flight control module (30), a remote control module (40) and two sets of tilting rotor combined structures (20); the tilting rotor wing combined structure comprises a motor (21) and a steering engine (22) which is arranged on the hovering capsule body in a tilting manner and is connected with the motor; a propeller is arranged on the motor; the flight control module is arranged on the hovering bag body and is electrically connected with the tilting rotor wing combined structure; the remote control module is in communication connection with the flight control module. The tilting dual-rotor aircraft and the attitude control method thereof creatively adopt the dual-rotor technology with variable inclination angle, realize the moving steering with a plurality of degrees of freedom by using the least number of rotors, and balance the reliability problem caused by adopting a combined structure of two sets of tilting rotors by adopting the hovering bag body, thereby avoiding the risk of crash.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a tilting dual-rotor aircraft and an attitude control method thereof.
Background
For an aircraft with a defined movement characteristic, the greater the amount of control that can be engaged, the easier it is to achieve good control. Therefore, the more the rotors are, the tolerance of the aircraft to the failure of the power system also rises, and on the contrary, the control of the aircraft to the vector structure is troublesome, the reliability is not high, and the aircraft is easy to break down or even crash. Meanwhile, the more the rotors are, the efficiency and the cruising ability of the aircraft can be weakened, the flight is not flexible enough, and the speed is not fast enough.
Disclosure of Invention
Aiming at the technical problems, the invention provides a tilting dual-rotor aircraft and an attitude control method thereof.
The technical scheme provided by the invention is as follows:
the invention provides a tilting dual-rotor aircraft, which comprises a hovering bag body, a flight control module, a remote control module and two sets of tilting rotor composite structures, wherein the hovering bag body is provided with a first tilting rotor and a second tilting rotor;
the tilting rotor wing combined structure comprises a motor, a steering engine which is arranged on the hovering capsule body in a tilting manner, is connected with the motor and is used for tilting the motor; a propeller is arranged on the motor;
the flight control module is arranged on the hovering capsule body, is electrically connected with the tilting rotor wing combined structure and is used for controlling the tilting rotor wing combined structure to work; the remote control module is in communication connection with the flight control module and is used for sending a control instruction to the flight control module.
In the tilting dual-rotor aircraft, helium or hydrogen is filled in the hovering capsule.
In the tilting dual-rotor aircraft, the hovering capsule body is spherical, and the two sets of tilting rotor combined structures are respectively mounted on the equator of the hovering capsule body and are centrosymmetric by taking the spherical center of the hovering capsule body as a symmetric point.
The invention also provides an attitude control method of the tilting dual-rotor aircraft, which comprises the following steps:
Step 1, constructing a PID neural network structure, wherein the network layer number of the PID neural network structure is 3; the input layer node of the PID neural network structure adopts flight attitude information and attitude stability weighing value of the tilting dual-rotor aircraft, and the output layer node of the PID neural network structure adopts flight control parameters of the tilting dual-rotor aircraft;
step 2, collecting historical flight attitude information of the tilt dual-rotor aircraft, corresponding historical flight control parameters and historical attitude stability weighing values, and inputting the historical flight control parameters and the historical attitude stability weighing values into the PID neural network structure for training to obtain a preliminarily trained neural network model;
step 3, carry out flight control to the bispin wing aircraft that verts through the neural network model that preliminary training is good, if the deviation value that takes place to vert the real-time feedback value of the attitude stability weighing value of bispin wing aircraft surpasss when predetermineeing the PID control threshold value, then adopt the real-time feedback value of the attitude stability weighing value of the bispin wing aircraft and corresponding flight attitude information right preliminary training neural network model that preliminary training is good carries out iterative learning training, produces the flight control parameter that corresponds to adopt this flight control parameter to carry out flight control to the bispin wing aircraft that verts.
In the attitude control method of the present invention, the performing iterative learning training on the preliminarily trained neural network model by using the real-time feedback value of the attitude stability metric value of the tilt dual rotor aircraft and the corresponding flight attitude information to generate the corresponding flight control parameter, and performing flight control on the tilt dual rotor aircraft by using the flight control parameter includes:
3.1, flight control parameters generated by iterative learning training of the preliminarily trained neural network model are used for flight control of the tilting dual-rotor aircraft, so that a new attitude stability weighing value real-time feedback value is generated;
if the deviation value of the real-time feedback value of the new attitude stability weighing value does not exceed a preset PID control threshold value, performing iterative update on the preliminarily trained neural network model by using the flight control parameter generated by performing iterative learning training on the preliminarily trained neural network model; otherwise, withdrawing the flight control parameters generated by the iterative learning training of the preliminarily trained neural network model.
In the attitude control method, the flight attitude information of the tilt dual-rotor aircraft comprises geomagnetic data, gyroscope data, GPS data, barometer data, rotor angle data, rotor rotation speed data and flight speed data.
In the attitude control method of the invention, the attitude stability weighing value of the tilt dual-rotor aircraft comprises an X-axis offset value, a Y-axis offset value and a Z-axis offset value of the tilt dual-rotor aircraft.
The tilting dual-rotor aircraft and the attitude control method thereof creatively adopt the dual-rotor technology with variable inclination angle, reduce the requirement on fixed facing rotors, realize the movement steering of multiple degrees of freedom by using the least number of rotors, and adopt the hovering capsule body to ensure that the whole tilting dual-rotor aircraft obtains the hovering capability with the static lift force of 0, balance the reliability problem caused by adopting a combined structure of two sets of tilting rotors, and avoid the risk of crash.
Drawings
Fig. 1 shows a schematic structural diagram of a tilting dual-rotor aircraft according to a preferred embodiment of the invention.
Detailed Description
In order to make the technical solutions, technical objects, and technical effects of the present invention clearer, so that those skilled in the art can understand and implement the present invention, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1, a schematic diagram of a tilting dual-rotor aircraft according to a preferred embodiment of the present invention is shown in fig. 1. The tilting dual-rotor aircraft comprises a hovering capsule body 10, a flight control module 30, a remote control module 40 and two sets of tilting rotor composite structures 20;
The tilting rotor combined structure 20 comprises a motor 21, a steering engine 22 which is tiltably arranged on the hovering capsule body 10, connected with the motor 21 and used for tilting the motor 21; a propeller is arranged on the motor 21;
the flight control module 30 is installed on the hovering bladder 10, electrically connected to the tilt rotor wing assembly 20, and configured to control the tilt rotor wing assembly 20 to operate; the remote control module 40 is in communication connection with the flight control module 30, and is configured to send a control instruction to the flight control module 30.
Here, it has helium or hydrogen to hover to fill in the utricule 10, and through the counter weight balancing for whole two rotor crafts that vert obtain the ability of hovering that static lift is 0, balanced because of adopting two sets of rotor integrated configuration 20 that vert the reliability problem that brings, avoided the risk of crash. Meanwhile, the hovering capsule body 10 is made of soft materials, and flexible protection can be provided for the tilting dual-rotor aircraft. In addition, the present invention creatively uses variable tilt angle dual rotor technology, reducing the need for fixed facing rotors, and achieving multiple degrees of freedom of movement steering with a minimum number of rotors.
Further, the tiltrotor aircraft assembly 20 is the power source for the tiltrotor aircraft of the present invention to achieve maneuverability. Steering engine 22 is used for realizing 180 degrees of tilting of motor 21.
When the gear of the steering engine 22 is centered, the motor 21 is in a horizontal position to generate a vertical downward thrust; when the steering engine 22 gear tilts in each range of 90 degrees back and forth, the motor 21 correspondingly tilts to generate vector thrust of a corresponding angle.
In this embodiment, the hovering capsule 10 is spherical, the two sets of tilt rotor combined structures 20 are respectively hung on the equator of the hovering capsule 10, the hovering capsule 10 is centrosymmetric by taking the center of the hovering capsule 10 as a symmetric point, and the hovering capsule 10 is placed in a mirror image manner at a position 180 degrees apart from the middle of the spherical surface, so that corresponding vector synthetic thrust can be generated by controlling the thrust of the motors 21 of the two sets of tilt rotor combined structures 20 and the control angles of the steering engines 22 of the two sets of tilt rotor combined structures 20, and the flying robot is pushed to move upwards, forwards, backwards and rotationally.
Usually, the center of gravity of the hovering capsule 10 is biased to the bottom to keep the hovering capsule 10 vertically unchanged in a certain direction, and the lateral or roll operation requires a thrust difference generated by the two motors 21 to be completed, which may conflict with the vertical maintenance of the hovering capsule 10, so that the tilting dual-rotor aircraft of the present invention does not support the lateral or roll movement. In a scene needing to support rolling or lateral movement, the tilting dual-rotor aircraft disclosed by the invention supports the lateral movement by adding one set or two sets of auxiliary rotor structures, but the weight and the cost are increased.
Specifically, the specific position of the tilt rotor composite structure 20 on the hovering capsule 10 can be adjusted according to actual requirements, the shape of the hovering capsule 10, the pneumatic structure and other factors.
The flight control module 30 is a functional module for implementing flight and attitude control in the tilt dual rotor aircraft of the present invention. The flight control module 30 mainly includes a main control unit, a sensing unit, a communication unit, a power supply unit, and the like. These units may be concentrated or distributed in one or more pods at the bottom of the hovering capsule 10, so as to lower the overall center of gravity of the hovering capsule 10 to keep the vertical orientation of the hovering capsule 10 unchanged.
The main control unit outputs signals through a control algorithm to control the motors and the steering engines of the two sets of tilting rotor wing combined structures 20, so that the self postures and movements of the tilting dual-rotor wing aircraft are controlled; the sensing unit is used for monitoring various flight states and parameters of the tilting dual-rotor aircraft in the flight process, and in addition, an additional sensing unit can be additionally arranged to realize other functions, for example, a positioning module and other modules can be added according to requirements to realize the capability of autonomous flight; the communication unit is used for the communication between the main control unit and the remote control module; the size capacity of the power supply unit can be calculated and configured according to the requirements of the whole tilting dual-rotor aircraft.
The control logic of the main control unit mainly comprises basic flight control based on general PID and a flight attitude parameter adjusting algorithm based on machine learning.
According to the tilting dual-rotor aircraft, firstly, parameters obtained based on a general PID control theory are set as a baseline and used as original parameters of the tilting dual-rotor aircraft. Because the tilting dual-rotor aircraft introduces the large-scale pneumatic configuration of the hovering bag body, the tilting dual-rotor aircraft generates large changes on the specifications such as size, load and the like. In addition, in the actual flying environment, the wind speed and the wind direction have larger influence on the tilting dual-rotor aircraft than the traditional rotor unmanned aerial vehicle. Therefore, when the general PID control boundary is exceeded, the main control unit starts a parameter adjusting algorithm to further optimize the parameter setting.
The tilting dual-rotor aircraft achieves the purpose of rapidly converging and setting PID parameters through a machine learning algorithm, and achieves the enhancement of hovering self-stability and wind resistance of the hovering capsule. But not limited to, the moving attitude target state of the aircraft is directly mapped to the flight control quantity, and the flight is directly controlled by a machine learning algorithm.
The invention provides an attitude control method based on the tilting dual-rotor aircraft, which comprises the following steps of:
step 1, constructing a PID neural network structure, wherein the network layer number of the PID neural network structure is 3; the input layer node of the PID neural network structure adopts flight attitude information and attitude stability weighing value of the tilting dual-rotor aircraft, and the output layer node of the PID neural network structure adopts flight control parameters of the tilting dual-rotor aircraft;
in this step, the hidden layer nodes of the PID neural network structure are selected in relation to the input layer nodes and the output layer nodes, and the weighting coefficients of each layer of the PID neural network structure are random values.
In this step, the flight attitude information of the tilt dual-rotor aircraft includes, but is not limited to, geomagnetic data, gyroscope data, GPS data, barometer data, rotor angle data, rotor speed data, and flight speed data;
attitude stability metrics for tiltrotor dual-rotor aircraft include, but are not limited to, X-axis offset values, Y-axis offset values, and Z-axis offset values for tiltrotor dual-rotor aircraft;
flight control parameters of the tilting dual-rotor aircraft include but are not limited to motion control parameters when the tilting dual-rotor aircraft performs pitching and yawing attitude motions.
Step 2, collecting historical flight attitude information of the tilt dual-rotor aircraft, corresponding historical flight control parameters and historical attitude stability weighing values, and inputting the historical flight control parameters and the historical attitude stability weighing values into the PID neural network structure for training to obtain a preliminarily trained neural network model;
step 3, carry out flight control to the bispin wing aircraft that verts through the neural network model that preliminary training is good, if the deviation value that takes place to vert the real-time feedback value of the attitude stability weighing value of bispin wing aircraft surpasss when predetermineeing the PID control threshold value, then adopt the real-time feedback value of the attitude stability weighing value of the bispin wing aircraft and corresponding flight attitude information right preliminary training neural network model that preliminary training is good carries out iterative learning training, produces the flight control parameter that corresponds to adopt this flight control parameter to carry out flight control to the bispin wing aircraft that verts.
In this step, the deviation value of the attitude stability weighing value real-time feedback value of the tilt dual-rotor aircraft is the deviation value of the attitude stability weighing value real-time feedback value of the tilt dual-rotor aircraft relative to the attitude stability weighing value flight control predicted value of the tilt dual-rotor aircraft.
The attitude stability weighing value flight control predicted value of the tilt double-rotor aircraft refers to an attitude stability weighing value corresponding to flight attitude information of the tilt double-rotor aircraft when the tilt double-rotor aircraft is subjected to flight control through a preliminarily trained neural network model.
Adopt the attitude stability weighing value real-time feedback value and the corresponding flight attitude information of dual rotor aircraft that verts right the neural network model that preliminary training is good carries out iterative learning training, produces the flight control parameter that corresponds to adopt this flight control parameter to carry out flight control to the dual rotor aircraft that verts and include:
3.1, flight control parameters generated by iterative learning training of the preliminarily trained neural network model are used for flight control of the tilting dual-rotor aircraft, so that a new attitude stability weighing value real-time feedback value is generated;
if the deviation value of the real-time feedback value of the new attitude stability weighing value does not exceed the preset PID control threshold value, performing iterative update on the preliminarily trained neural network model by using the flight control parameter generated by performing iterative learning training on the preliminarily trained neural network model; otherwise, withdrawing the flight control parameters generated by the iterative learning training of the preliminarily trained neural network model.
While the present invention has been described with reference to the particular illustrative embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but is intended to cover various modifications, equivalent arrangements, and equivalents thereof, which may be made by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. A tilting dual-rotor aircraft is characterized by comprising a hovering capsule (10), a flight control module (30), a remote control module (40) and two sets of tilting rotor combined structures (20);
the tilting rotor combined structure (20) comprises a motor (21), a steering engine (22) which is tiltably arranged on the hovering capsule body (10), is connected with the motor (21) and is used for tilting the motor (21); a propeller is arranged on the motor (21);
the flight control module (30) is installed on the hovering capsule body (10), is electrically connected with the tilting rotor wing combined structure (20), and is used for controlling the tilting rotor wing combined structure (20) to work; the remote control module (40) is in communication connection with the flight control module (30) and is used for sending a control instruction to the flight control module (30).
2. Tilting dual rotor aircraft according to claim 1, wherein the hovering bladder (10) is filled with helium or hydrogen.
3. The tilting dual-rotor aircraft according to claim 1, wherein the hovering capsule (10) is spherical, and the two sets of tilting rotor combined structures (20) are respectively hung on the equator of the hovering capsule (10) and are centrosymmetric by taking the spherical center of the hovering capsule (10) as a symmetric point.
4. A method of attitude control for a tiltrotor aircraft according to any one of claims 1-3, comprising the steps of:
step 1, constructing a PID neural network structure, wherein the network layer number of the PID neural network structure is 3; the input layer node of the PID neural network structure adopts flight attitude information and attitude stability weighing value of the tilting dual-rotor aircraft, and the output layer node of the PID neural network structure adopts flight control parameters of the tilting dual-rotor aircraft;
step 2, collecting historical flight attitude information of the tilt dual-rotor aircraft, corresponding historical flight control parameters and historical attitude stability weighing values, and inputting the historical flight control parameters and the historical attitude stability weighing values into the PID neural network structure for training to obtain a preliminarily trained neural network model;
step 3, carry out flight control to the bispin wing aircraft that verts through the neural network model that preliminary training is good, if the deviation value that takes place to vert the real-time feedback value of the attitude stability weighing value of bispin wing aircraft surpasss when predetermineeing the PID control threshold value, then adopt the real-time feedback value of the attitude stability weighing value of the bispin wing aircraft and corresponding flight attitude information right preliminary training neural network model that preliminary training is good carries out iterative learning training, produces the flight control parameter that corresponds to adopt this flight control parameter to carry out flight control to the bispin wing aircraft that verts.
5. The attitude control method according to claim 4, wherein the iterative learning training of the preliminarily trained neural network model using the attitude stability metric value real-time feedback value of the tilt dual-rotor aircraft and the corresponding flight attitude information generates corresponding flight control parameters, and the performing of the flight control of the tilt dual-rotor aircraft using the flight control parameters includes:
3.1, flight control parameters generated by iterative learning training of the preliminarily trained neural network model are used for flight control of the tilting dual-rotor aircraft, so that a new attitude stability weighing value real-time feedback value is generated;
if the deviation value of the real-time feedback value of the new attitude stability weighing value does not exceed a preset PID control threshold value, performing iterative update on the preliminarily trained neural network model by using the flight control parameter generated by performing iterative learning training on the preliminarily trained neural network model; otherwise, withdrawing the flight control parameters generated by the iterative learning training of the preliminarily trained neural network model.
6. The attitude control method of claim 4, wherein the flight attitude information for tiltrotor aircraft includes geomagnetic data, gyroscope data, GPS data, barometer data, rotor angle data, rotor speed data, and flight speed data.
7. The attitude control method of claim 4, wherein the attitude stability metrics of the tiltrotor dual-rotor aircraft include an X-axis offset value, a Y-axis offset value, and a Z-axis offset value of the tiltrotor dual-rotor aircraft.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210480301.3A CN114756044A (en) | 2022-05-05 | 2022-05-05 | Tilting dual-rotor aircraft and attitude control method thereof |
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| CN202210480301.3A CN114756044A (en) | 2022-05-05 | 2022-05-05 | Tilting dual-rotor aircraft and attitude control method thereof |
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