CN116161250B - Hip-knee drivable bionic landing leg type six-rotor unmanned aerial vehicle and control method thereof - Google Patents
Hip-knee drivable bionic landing leg type six-rotor unmanned aerial vehicle and control method thereof Download PDFInfo
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- CN116161250B CN116161250B CN202310352122.6A CN202310352122A CN116161250B CN 116161250 B CN116161250 B CN 116161250B CN 202310352122 A CN202310352122 A CN 202310352122A CN 116161250 B CN116161250 B CN 116161250B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
- B64C25/24—Operating mechanisms electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/58—Arrangements or adaptations of shock-absorbers or springs
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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Abstract
The invention discloses a hip-knee drivable bionic landing leg type six-rotor unmanned aerial vehicle and a control method thereof, relates to the field of six-rotor unmanned aerial vehicles, and can perform stable self-adaptive lifting under complex terrains. The unmanned aerial vehicle is provided with a mounting platform, four bionic landing legs are connected to the mounting platform, and each bionic landing leg comprises a hip joint group, a hip knee joint connection group, a knee ankle connection group, an ankle foot connection group, a foot pad, a hip joint motor, a knee joint motor and a buffer. The invention has the advantages that the self-adaptive landing capability of the six-rotor unmanned aerial vehicle in a natural complex terrain environment is improved through the bionic landing leg structure driven by the hip and knee, the environmental adaptability of the unmanned aerial vehicle is expanded, and meanwhile, the landing strength requirement of the large unmanned aerial vehicle is met through the use of the buffer joint group.
Description
Technical Field
The invention relates to the field of six-rotor unmanned aerial vehicle, in particular to a hip-knee-drivable bionic buffer landing leg type six-rotor unmanned aerial vehicle and a control method thereof.
Background
Nowadays, the multi-rotor unmanned aerial vehicle has extremely high use frequency and wide use field, is wider in military and civil fields, and particularly has wider and wider application working range due to the outstanding characteristics of small size, convenience and easiness in operation, but the use condition of the multi-rotor unmanned aerial vehicle is often influenced by various natural geographic conditions, has certain limitation in rising and falling on slopes and uneven ground, and has adverse effect on the execution of tasks.
At present, the landing gear of the rotorcraft mainly adopts a sledge type landing gear and a strut type landing gear. And mainly adopt fixed mounting at the belly mode of fuselage during the installation, the structure is relatively fixed, the degree of freedom is low, though structure weight is lighter, increased duration, but make its adaptability to complicated topography weaken, because lack topography self-adaptation's ability, when taking off and land on complicated ground, often need control personnel additionally regulate and control according to experience and control the technique, greatly increased the degree of difficulty of taking off, when the ground information that many rotor unmanned aerial vehicle's take off and land can't be obtained in the obstructed unable of operating personnel sight, even can take place unmanned aerial vehicle unable landing or turn on one's side the accident that damages.
In order to solve the problem that the unmanned aerial vehicle with complex terrain is difficult to finish landing, in the unmanned aerial vehicle design scheme of the prior publication, the unmanned aerial vehicle type capable of adapting to the terrain is less, and the prior art provides the following scheme: the utility model provides a take four independent telescopic pole structures as topography self-adaptation scheme of unmanned aerial vehicle undercarriage in a plant protection unmanned aerial vehicle complex topography self-adaptation undercarriage of publication number CN 209274889U. By adopting the structure, each supporting leg can only change the height of the landing point of the foot end, the plane position of the landing point of the foot end cannot be changed, and the self-adaption capability in the transverse direction is not excellent. The multi-joint double-motor structure used in the invention solves the problem of small movement range of landing legs to a certain extent.
All-terrain self-adaptive landing gear proposed in an all-terrain self-adaptive unmanned aerial vehicle vertical take-off and landing gear with a patent number of CN109204785A, wherein each bearing column can only move on a guide rail, the movable range is limited, and the selectable landing point is limited. The hip-knee drivable multi-joint double-motor structure provided by the invention can adjust the posture of the landing leg in real time in a larger range, improves the landing stability and safety of the unmanned aerial vehicle in natural environments such as uneven and slopes, and simultaneously improves the impact resistance of the unmanned aerial vehicle after the weight and sinking speed of the unmanned aerial vehicle are increased through the triangular movable joint group.
Therefore, how to optimize the unmanned aerial vehicle so that the unmanned aerial vehicle can meet the requirement of self-adaptive landing of complex terrain becomes a technical problem to be solved by the person skilled in the art.
Disclosure of Invention
Aiming at the problems, the invention provides the six-rotor unmanned aerial vehicle with the hip-knee drivable bionic buffer landing legs, which can control the bionic landing legs to deform in a large range so as to meet the requirement of self-adaptive take-off and landing of complex terrains, and expands the functional range of the unmanned aerial vehicle.
The technical scheme of the invention is as follows: the unmanned aerial vehicle is provided with a mounting platform 700, four bionic landing legs 800 are connected to the mounting platform 700, and each bionic landing leg 800 comprises a hip joint group, a hip knee joint group, a knee ankle joint group, an ankle foot joint group, a foot pad 820, a hip joint motor 803, a knee joint motor 807 and a buffer 812;
the hip joint group comprises a hip joint connector 802 fixedly connected to the mounting platform 700, the hip knee joint group comprises a hip knee connector 804 hinged with the hip joint connector 802, a shell of the hip joint motor 803 is fixedly connected to the hip joint connector 802, an output shaft of the hip joint motor 803 is fixedly connected with the hip knee connector 804, and the hip joint motor 803 drives the hip knee connector 804 to reciprocally rotate;
the shell of the knee joint motor 807 is fixedly connected with the hip knee connecting piece 804, the knee ankle connecting group comprises a first knee ankle connecting piece 808 and a second knee ankle connecting piece 810 which are arranged in parallel and fixedly connected, the top ends of the first knee ankle connecting piece 808 and the second knee ankle connecting piece 810 are simultaneously hinged with the hip knee connecting piece 804 and are fixedly connected with the output shaft of the knee joint motor 807, and the knee joint motor 807 drives the knee ankle connecting group to integrally and reciprocally rotate;
the ankle-foot connecting group comprises an ankle-foot connecting piece I815 and an ankle-foot connecting piece II 817 which are arranged in parallel and fixedly connected, the top ends of the ankle-foot connecting piece I815 and the ankle-foot connecting piece II 817 are simultaneously hinged with the knee-ankle connecting group, two ends of the buffer 812 are respectively hinged with the middle part of the knee-ankle connecting group and the middle part of the ankle-foot connecting group, and good support and damping are provided when the knee-ankle connecting group and the ankle-foot connecting group relatively rotate through the buffer;
the bottom ends of the first ankle-foot connecting piece 815 and the second ankle-foot connecting piece 817 are simultaneously connected with the foot pad 820 through a spherical hinge.
Further, the bionic landing leg 800 has three joints, i.e., a hip joint, a knee joint, and an ankle joint, wherein the hip joint is formed at a connection position between the hip joint group and the hip-knee joint group, the knee joint is formed at a connection position between the hip-knee joint group and the knee-ankle joint group, and the ankle joint is formed between the knee-ankle joint group and the ankle-foot joint group.
Regarding the structure strength enhancing mechanism of the hip joint, the hip joint group further comprises a hip connection enhancing element 801, the hip connection enhancing element 802 is in an L shape, and the hip connection enhancing element 801 is in a wedge shape and is fixedly connected at the inner vertex angle of the L shape of the hip connection element 802. Thereby providing a significant enhancement to the structural strength of the hip connector 802.
Regarding the structure strength enhancing mechanism of the hip-knee joint set, the hip-knee joint set further comprises a first hip-knee reinforcement 805 and a second hip-knee reinforcement 806, two ends of the first hip-knee joint 804 are respectively hinged with the hip-joint set and the knee-ankle joint set, the first hip-knee reinforcement 805 and the second hip-knee reinforcement 806 are respectively and fixedly connected with two sides of the first hip-knee joint 804 in parallel, and two ends of the first hip-knee reinforcement 805 and the second hip-knee reinforcement 806 are respectively hinged with the hip-joint set and the knee-ankle joint set. Therefore, the connection stability and the connection strength of the hip-knee connector 804 are effectively reinforced through the first hip-knee reinforcing part 805 and the second hip-knee reinforcing part 806 on two sides, and the effective strength supplement is carried out on the part with the largest stress in the bionic landing leg.
Regarding the structural strength enhancing mechanism of the knee-ankle connection group, the knee-ankle connection group further comprises a first knee-ankle reinforcing piece 809 and a second knee-ankle reinforcing piece 811, wherein the first knee-ankle reinforcing piece 809 is disc-shaped and is fixedly connected between the top end of the first knee-ankle connecting piece 808 and the top end of the second knee-ankle connecting piece 810, and the first knee-ankle reinforcing piece 809 is sleeved on the output shaft of the knee-joint motor 807;
the second knee ankle reinforcing member 811 is in a strip block shape and is fixedly connected between the middle part of the first knee ankle connecting member 808 and the middle part of the second knee ankle connecting member 810; thereby effectively enhancing the structural strength of the whole knee-ankle joint set through the first knee-ankle reinforcement 809 and the second knee-ankle reinforcement 811 and providing a mounting base for the shock absorber.
With respect to the structural strength enhancing mechanism of the ankle-foot connecting set, the ankle-foot connecting set further comprises an ankle-foot reinforcing member 816, wherein the ankle-foot reinforcing member 816 is also in a strip-shaped block shape and is fixedly connected between the middle part of the first ankle-foot connecting member 815 and the middle part of the second ankle-foot connecting member 817; thereby effectively enhancing the overall structural strength of the ankle foot linkage set through the ankle foot reinforcement 816 and providing a mounting foundation for the bumper and foot pad.
Further, the cylinder of the bumper 812 is hinged to the knee ankle stiffener II 811, and the bumper piston 813 of the bumper 812 is hinged to the ankle stiffener 816.
Further, the ball joint comprises a ball joint upper segment 818 and a ball joint lower segment 819 which are rotatably connected, the ball joint upper segment 818 is fixedly connected to the bottom of the ankle foot reinforcement 816, and the ball joint lower segment 819 is fixedly connected to the foot pad 820.
In order to facilitate the position adjustment of the aircraft, a position loop controller based on a PID control method is designed; the input of the controller is the desired positionAnd feedback position->Is a difference in (2); by outputting three virtual control amounts +.>、、/>Realizing the control of the position of the aircraft;
wherein->Is->Direction control amount, ->Is->Direction control amount(s) (I/O)>Is->A directional control amount; />Is a proportional element coefficient>For the integral link coefficient, +.>Is a differential link coefficient. />The position feedback error is specifically expressed as follows:
then, the expected lift force and the attitude angle are obtained through three virtual control amounts and the expected yaw angle output by the controller:/>wherein->For the desired lift force>For the desired attitude angle->For aircraft mass>Gravitational acceleration; the rotating speed of the motor is further adjusted according to the expected lifting force and the attitude angle, so that the control of the aircraft is realized;
the aircraft can calculate the expected moment and lifting force according to the virtual control quantity output by the controller, and then calculate the expected motor rotating speed, and the transformation relation is as follows:wherein->~/>For the desired rotational speed of the six motors on the rotor arm, < >>For the desired torque of the roll torque, +.>For the desired moment of the pitching moment +.>For the desired moment of the yaw moment, +.>For the desired lift force>Is rotor wheelbase and/or rotor(s)>For the lift coefficient of the blade->Is the blade moment coefficient.
The beneficial effects of the invention are as follows:
according to the landing gear, the four-foot structure of the bionic landing legs is adopted as the landing gear of the unmanned aerial vehicle, each bionic landing leg is provided with three movable joints, so that the shape change amount of the bionic landing leg is guaranteed, meanwhile, the triangular buffer joint group is further arranged at the foot joints, the landing stability and safety of the unmanned aerial vehicle are guaranteed, and the landing of the large unmanned aerial vehicle is guaranteed. The bionic landing leg landing gear is matched with the PID controller to better adapt to take-off and landing of complex terrains. The structure of the four feet is more stable, and the four feet can be stably landed even in areas with larger gradients and larger concave-convex degrees.
According to the invention, the leg shape is adjusted by adopting the motor, two rotating motors are arranged at the hip joint and the knee joint of the bionic landing leg, the bionic landing leg has a multi-pose deformation function, the self-adaptive take-off and landing with higher height change requirement can be completed, and the functional range of the unmanned aerial vehicle is expanded.
The invention adopts the form of the part reinforcing piece to lighten the structural weight, simultaneously more effectively increases the structural strength of the parts, simultaneously connects and installs the buffer parts through the reinforcing piece, and increases the flexibility of installation.
The invention has the advantages that the self-adaptive landing capability of the six-rotor unmanned aerial vehicle in a natural complex terrain environment is improved through the bionic landing leg structure driven by the hip and knee, the environmental adaptability of the unmanned aerial vehicle is expanded, and meanwhile, the landing strength requirement of the large unmanned aerial vehicle is met through the use of the buffer joint group.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present invention;
FIG. 2 is a schematic view of a bionic landing leg structure according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a bionic landing leg hip explosion in an embodiment of the present invention;
FIG. 4 is a schematic diagram of a bionic landing leg knee explosion in an embodiment of the present invention;
FIG. 5 is a schematic diagram of an explosion of a bionic landing leg ankle according to an embodiment of the present invention;
figure 6 is an exploded view of a rotor mounting of an embodiment of the present invention;
FIG. 7 is a schematic illustration of an embodiment of the present invention landing on uneven terrain;
FIG. 8 is a schematic diagram of a flight attitude PID control algorithm according to an embodiment of the invention;
FIG. 9 is a schematic view of a simulated landing leg of the present invention;
the device comprises a 100-rotor, a 200-motor upper cover, a 300-motor, a 400-rotor support arm, a 500-control box, a 600-mounting platform upper cover, a 700-mounting platform and 800-bionic landing legs, wherein the upper cover is arranged on the upper cover;
801-hip joint reinforcement, 802-hip joint reinforcement, 803-hip joint motor, 804-hip knee joint reinforcement, 805-hip knee reinforcement first, 806-hip knee reinforcement second, 807-knee joint motor, 808-knee ankle joint reinforcement first, 809-knee ankle reinforcement first, 810-knee ankle joint reinforcement second, 811-knee ankle reinforcement second, 812-bumper, 813-bumper piston, 814-ankle joint shaft, 815-ankle foot connection first, 816-ankle foot reinforcement, 817-ankle foot connection second, 818-spherical hinge upper segment, 819-spherical hinge lower segment, 820-foot pad.
Detailed Description
In order to clearly illustrate the technical features of the present patent, the following detailed description will make reference to the accompanying drawings.
As shown in fig. 1, the device comprises a rotor 100, a motor upper cover 200, a motor 300, a rotor arm 400, a control box 500, a mounting platform upper cover 600, a mounting platform 700 and a bionic landing leg 800.
The installation platform 700 and the installation platform upper cover 600 are axisymmetric parts, the installation platform upper cover 600 is installed at the upper end of the installation platform 700 and is used for fixing and symmetrically installing six rotor support arms 400 at the upper end of the installation platform, each rotor support arm is fixedly connected with a motor 300, a rotor 100 is fixedly connected to an output shaft of the motor 300, the center of the rotor 100 is fixedly connected to the output shaft of the motor 300 through the motor upper cover 200, and a control box 500 is further arranged at the upper end of the installation platform upper cover 600 and is used for controlling the rotating speed of the motor 300 and the rotation of a motor on the bionic landing leg 800.
The biomimetic landing leg 800 includes a hip connection stiffener 801, a hip connector 802, a hip motor 803, a hip knee connector 804, a hip knee stiffener 805, a hip knee stiffener second 806, a knee motor 807, a knee ankle connector first 808, a knee ankle stiffener first 809, a knee ankle connector second 810, a knee ankle stiffener second 811, a bumper 812, a bumper piston 813, an ankle shaft 814, an ankle foot connector first 815, an ankle foot stiffener 816, an ankle foot connector second 817, a ball joint upper segment 818, a ball joint lower segment 819, and a foot pad 820. The hip joint group consisting of a hip joint reinforcing piece 801 and a hip joint connecting piece 802 is fixedly connected at the lower end of the mounting platform 700, a hip joint motor 803 is mounted on the hip joint group, a hip joint and a knee joint are connected through the hip joint connecting piece 804, the hip joint reinforcing piece 805 and the hip joint reinforcing piece 806, a knee joint motor 807 is mounted at the knee joint, the knee joint motor 807, the knee joint ankle connecting piece 808, the knee joint reinforcing piece 809, the knee joint ankle connecting piece 810 and the knee joint reinforcing piece 811 form a knee joint ankle connecting group, the hip joint motor 807 is connected with the hip joint group through a revolute pair, the outer cylinder of a buffer 812 and a buffer piston 813 are mounted on the knee joint reinforcing piece 811 and the ankle joint reinforcing piece 816 through the revolute pair, a triangular buffer group is formed, the ankle joint connecting piece 815, the ankle joint reinforcing piece 816 and the ankle joint foot connecting piece 817 form a foot connecting group, the ankle joint shaft 814 is coaxially mounted at the lower end of the knee joint connecting group, and the spherical joint upper segment 818, the spherical joint lower segment is used for connecting the spherical joint connecting piece 819 and the spherical joint connecting piece 820.
Each joint connection group comprises connecting pieces and reinforcing pieces, so that the overall weight of the bionic landing leg is reduced, meanwhile, the strength requirement of the unmanned aerial vehicle in the self-adaptive landing process is guaranteed, each connection group is connected through a revolute pair, the deformation flexibility of the leg is improved, and the flexible and stable double guarantee is achieved.
The triangular buffer group plays a role in buffering, and simultaneously plays a role in stabilizing the structure of the supporting leg, so that conditions are provided for the unmanned aerial vehicle to take off and land at a high speed.
The bionic landing leg features the arrangement of hip joint, knee joint and ankle joint, and the joints are connected via the joint groups and driven by corresponding motors.
In addition, the foot pad 820 adopts a flat-bottom structure, so that the contact area of the unmanned aerial vehicle during landing is increased, the landing stability is increased, and the foot pad 820 can stably land under the condition of inclined landing in a spherical hinge connection mode.
The control box adopts a PID control method to control the motor and the electric machine. The angle of the leg motor is controlled through PID control, and the rotating speed of the motor at the lower end of the rotor wing is controlled. The PID control algorithm control method comprises the following steps: given the expected values of the three axial directions of X, Y, Z and the expected yaw angle psi, the other two attitude angles theta and ϕ are reversely solved by the outer ring position control to serve as the expected values of the inner ring attitude control, and the outer ring position control system and the inner ring attitude system design control algorithm are used for realizing the control of the aircraft.
The control box adopts a PID control method to control the motor and the electric machine. The angle of the leg motor is controlled through PID control, and the rotating speed of the motor at the lower end of the rotor wing is controlled. To facilitate aircraft position adjustment, position loop controllers based on PID control methods are designed. The input of the controller is the desired positionAnd feedback position->Is a difference in (2); by outputting three virtual control amounts +.>Control of the aircraft position is achieved.
Wherein->Is->Direction control amount, ->Is->Direction control amount(s) (I/O)>Is->A directional control amount; />Is a proportional element coefficient>For the integral link coefficient, +.>Is a differential link coefficient. />The position feedback error is specifically expressed as follows: />Then, the expected lift force and the attitude angle are obtained through three virtual control amounts and the expected yaw angle output by the controller:wherein->For the desired lift force>For the desired attitude angle->For aircraft mass>Gravitational acceleration. And the rotating speed of the motor is adjusted according to the expected lifting force and the attitude angle, so that the control of the aircraft is realized.
The aircraft can calculate the expected moment and lifting force according to the virtual control quantity output by the controller, and then calculate the expected motor rotating speed, and the transformation relation is as follows:wherein->~/>For the desired rotational speed of the six motors on the rotor arm, < >>For the desired torque of the roll torque, +.>For the desired moment of the pitching moment +.>For the desired moment of the yaw moment, +.>For the desired lift force>Is rotor wheelbase and/or rotor(s)>For the lift coefficient of the blade->Is the blade moment coefficient. A block diagram of the controller is shown in fig. 8.
After the unmanned aerial vehicle is controlled to reach the corresponding horizontal posture in the above manner, ground information is input in advance according to the specific ground fluctuation condition of the unmanned aerial vehicle in the lifting process, the height required by landing of each bionic leg can be adjusted by calculating the corresponding joint rotation angle, and the control box 500 sends control signals to the hip joint motor 803 and the knee joint motor 807 according to the joint rotation angle to drive the hip joint group and the knee joint group to rotate to a preset angle respectively, so that posture adjustment before lifting of the bionic landing leg 800 is completed.
The mapping relation between the joint angle and the foot end is as follows: establishing a single leg coordinate system and definingIs the length of the hip joint and knee joint, +.>Is the length of knee joint and ankle joint, +.>Is the length of ankle joint and foot joint, +.>For hip joint angle>For knee joint angle, < >>Is the ankle angle, as shown in fig. 9.
The kinematic positive solution is to solve the pose of the foot end point according to the angles of all joints of the leg in a single-leg coordinate system;
inverse kinematics is the inverse process of positive kinematics analysis, and can inverse solve the angles of each joint of the leg according to the pose of the foot end point;
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the working states of the embodiment of the invention comprise a four-foot equal-height type landing state and a four-foot difference type landing state, as in the two cases of fig. 1 and 7, the four-foot equal-height type landing state is used for guaranteeing that parts such as a rotor wing and a rotor wing arm cannot collide in the flying process in the landing process, and the four-foot difference type landing state is used for landing under complex terrains such as a concave-convex ground state and a slope topography state.
While there have been described what are believed to be the preferred embodiments of the present invention, it will be apparent to those skilled in the art that many more modifications are possible without departing from the principles of the invention.
Claims (6)
1. The control method of the hip-knee drivable bionic landing leg type six-rotor unmanned aerial vehicle is characterized in that the unmanned aerial vehicle is provided with a mounting platform (700), four bionic landing legs (800) are connected to the mounting platform (700), and the bionic landing legs (800) comprise hip joint groups, hip knee joint connection groups, knee ankle connection groups, ankle foot connection groups, foot pads (820), hip joint motors (803), knee joint motors (807) and buffers (812);
the hip joint group comprises a hip connecting piece (802) fixedly connected to the mounting platform (700), the hip knee connecting group comprises a hip knee connecting piece (804) hinged with the hip connecting piece (802), a shell of the hip joint motor (803) is fixedly connected to the hip connecting piece (802), and an output shaft of the hip joint motor (803) is fixedly connected with the hip knee connecting piece (804);
the shell of the knee joint motor (807) is fixedly connected with the hip knee connector (804), the knee ankle connector group comprises a first knee ankle connector (808) and a second knee ankle connector (810) which are arranged in parallel and fixedly connected, and the top ends of the first knee ankle connector (808) and the second knee ankle connector (810) are simultaneously hinged with the hip knee connector (804) and are simultaneously fixedly connected with an output shaft of the knee joint motor (807);
the ankle and foot connecting set comprises an ankle and foot connecting piece I (815) and an ankle and foot connecting piece II (817) which are arranged in parallel and fixedly connected, the top ends of the ankle and foot connecting piece I (815) and the ankle and foot connecting piece II (817) are simultaneously hinged with the knee and ankle connecting set, and two ends of the buffer (812) are respectively hinged with the middle part of the knee and ankle connecting set and the middle part of the ankle and foot connecting set;
the bottom ends of the first ankle and foot connecting pieces (815) and the second ankle and foot connecting pieces (817) are simultaneously connected with the foot pad (820) through a spherical hinge;
in order to facilitate the position adjustment of the aircraft, a position loop controller based on a PID control method is designed; the input to the controller is the desired position [ x_ d y _ d z _d ]] T And feedback position [ x y z ]] T Is a difference in (2); by outputting three virtual control amounts U x 、U y 、U z Realizing the control of the position of the aircraft;wherein U is x For x-direction measurement, U y For controlling the quantity in y direction, U z Is the z-direction control quantity; k1, k4 and k7 are proportional link coefficients, k2, k5 and k8 are integral link coefficients, and k3, k6 and k9 are differential link coefficients; e, e x 、e y 、e z The position feedback error is specifically expressed as follows:
then, the expected lift force and the attitude angle are obtained through three virtual control amounts output by the controller and the expected yaw angle: />Wherein U is the desired lift force phi d 、θ d 、ψ d For a desired attitude angle, m is aircraft mass, g is gravitational acceleration; the rotating speed of the motor is further adjusted according to the expected lifting force and the attitude angle, so that the control of the aircraft is realized;
the aircraft can calculate the expected moment and lifting force according to the virtual control quantity output by the controller, and then calculate the expected motor rotating speed, and the transformation relation is as follows:wherein w is 1 ～w 6 For the rotational speed of six motors on the rotor arm, τ 1 τ is the desired torque of the roll torque 2 As the desired moment of the pitching moment τ 3 The yaw moment is the expected moment, U is the expected lift force, l is the rotor wing wheelbase, b is the blade lift force coefficient, and d is the blade moment coefficient;
the bionic landing leg (800) is provided with three joints, namely a hip joint, a knee joint and an ankle joint, wherein the hip joint is formed at the connection position between the hip joint group and the hip-knee connection group, the knee joint is formed at the connection position between the hip-knee connection group and the knee-ankle connection group, and the ankle joint is formed between the knee-ankle connection group and the ankle-foot connection group;
after the unmanned aerial vehicle is controlled to reach the corresponding horizontal gesture in the mode, ground information is input in advance according to the specific ground fluctuation condition of the unmanned aerial vehicle in the lifting process, and the corresponding joint rotation angle is calculated to adjust the height required by landing of each bionic leg.
2. The control method of the hip-knee drivable bionic landing leg type six-rotor unmanned aerial vehicle according to claim 1, wherein the hip joint group further comprises a hip connection reinforcing member (801), the hip connection member (802) is in an L shape, and the hip connection reinforcing member (801) is in a wedge shape and is fixedly connected at the inner top corner of the L shape of the hip connection member (802).
3. The method for controlling the six-rotor unmanned aerial vehicle with the hip and knee drivable bionic landing leg according to claim 1, wherein the hip-knee connection group further comprises a first hip-knee reinforcement member (805) and a second hip-knee reinforcement member (806), two ends of the first hip-knee reinforcement member (804) are respectively hinged with the hip-joint group and the knee-ankle connection group, the first hip-knee reinforcement member (805) and the second hip-knee reinforcement member (806) are respectively and fixedly connected with two sides of the first hip-knee reinforcement member (804) in parallel, and two ends of the first hip-knee reinforcement member (805) and the second hip-knee reinforcement member (806) are respectively hinged with the hip-joint group and the knee-ankle connection group.
4. The control method of the hip-knee drivable bionic landing leg type six-rotor unmanned aerial vehicle according to claim 1, wherein the knee-ankle connection group further comprises a first knee-ankle reinforcement (809) and a second knee-ankle reinforcement (811), the first knee-ankle reinforcement (809) is disc-shaped and fixedly connected between the top end of the first knee-ankle connection (808) and the top end of the second knee-ankle connection (810), and the first knee-ankle reinforcement (809) is sleeved on an output shaft of a knee-joint motor (807);
the knee ankle reinforcement II (811) is in a strip block shape and is fixedly connected between the middle part of the knee ankle connecting piece I (808) and the middle part of the knee ankle connecting piece II (810);
the ankle-foot connecting set further comprises an ankle-foot reinforcing member (816), wherein the ankle-foot reinforcing member (816) is also in a strip-shaped block shape and is fixedly connected between the middle part of the first ankle-foot connecting member (815) and the middle part of the second ankle-foot connecting member (817).
5. The method of claim 4, wherein the cylinder of the damper (812) is hinged to the knee-ankle stiffener (811), and the damper piston (813) of the damper (812) is hinged to the ankle-foot stiffener (816).
6. The method for controlling a six-rotor unmanned aerial vehicle with a hip and knee drivable bionic landing leg according to claim 4, wherein the ball hinge comprises a ball hinge upper section (818) and a ball hinge lower section (819) which are rotatably connected, the ball hinge upper section (818) is fixedly connected to the bottom of the ankle foot reinforcement (816), and the ball hinge lower section (819) is fixedly connected to the foot pad (820).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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