CN117369529A - Unmanned aerial vehicle's roll gesture stable system - Google Patents
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Abstract
The invention discloses a roll attitude stabilization system of an unmanned aerial vehicle, which comprises a data acquisition module, a roll attitude stabilization analysis module and an attitude adjustment and calibration module, wherein the data acquisition module is used for acquiring attitude related data when the unmanned aerial vehicle flies, the roll attitude stabilization analysis module is used for analyzing and calculating stress conditions in the flight process of the unmanned aerial vehicle and moment data required to be controlled for achieving the roll attitude stabilization, the attitude adjustment and calibration module is used for adjusting the rotating speed of an unmanned aerial vehicle lifting oar and calibrating abnormal output values based on the analysis data, and the data acquisition module is electrically connected with the roll attitude stabilization analysis module which is electrically connected with the attitude adjustment and calibration module.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle testing, in particular to a roll attitude stabilizing system of an unmanned aerial vehicle.
Background
In recent years, a compound wing unmanned aerial vehicle is widely focused and applied, the compound wing unmanned aerial vehicle realizes the vertical lift through the rotation of four groups of paddles, and the propeller is utilized to level off; therefore, the compound wing unmanned aerial vehicle simultaneously has the advantages of the vertical take-off and landing of the four-rotor unmanned aerial vehicle and the long endurance of the fixed wing unmanned aerial vehicle. Because the composite wing propeller moves independently of the depending blades and generates more power than a single depending blade, a non-negligible reactive torque is created during the start or rapid speed change of the propeller. The reactive moment can enable the compound wing unmanned aerial vehicle to generate unnecessary rolling motion, and the traditional method counteracts through the gesture control loops of a plurality of perpendicular-up paddles, so that the cost is that the rolling stable area of the compound wing unmanned aerial vehicle is reduced, and the practicability is poor. Therefore, it is necessary to design a roll attitude stabilization system of an unmanned aerial vehicle that is convenient and practical for attitude control.
Disclosure of Invention
The invention aims to provide a roll attitude stabilizing system of an unmanned aerial vehicle, which aims to solve the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: the utility model provides a roll gesture stable system of unmanned aerial vehicle, includes data acquisition module, roll gesture stable analysis module and gesture adjustment and calibration module, data acquisition module is used for gathering unmanned aerial vehicle when flying gesture relevant data, roll gesture stable analysis module is used for analyzing and calculating unmanned aerial vehicle flight in-process atress condition and reaching the moment data that roll gesture stable needs to control, gesture adjustment and calibration module are used for adjusting unmanned aerial vehicle's rotational speed of lifting oar and calibrating abnormal output value based on analysis data, data acquisition module is connected with roll gesture stable analysis module electricity, roll gesture stable analysis module is connected with gesture adjustment and calibration module electricity.
According to the technical scheme, the data acquisition module comprises a three-dimensional torque sensor, a Y+ pressure sensor, a Y-pressure sensor, a rotating speed acquisition module, a reaction torque database and an unmanned aerial vehicle information acquisition module, wherein the three-dimensional torque sensor is used for measuring central torque generated in the flight process of the unmanned aerial vehicle, the Y+ pressure sensor and the Y-pressure sensor are respectively used for measuring stress generated at two ends of the unmanned aerial vehicle in the flight process, the rotating speed acquisition module is used for acquiring rotating speed values of propulsion paddles of the unmanned aerial vehicle, the reaction torque database stores reaction torque data under different rotating speeds of different propulsion paddles, and the unmanned aerial vehicle information acquisition module is used for acquiring basic equipment information of the current unmanned aerial vehicle.
According to the technical scheme, the roll gesture stability analysis module comprises a reaction moment calculation module, an unmanned aerial vehicle stress calculation module and a counteracting moment calculation module, wherein the reaction moment calculation module is used for calculating a reaction moment value generated by the propulsion propeller in the current state according to the analysis of the current state of the propulsion propeller, the unmanned aerial vehicle stress calculation module is used for calculating the total moment of the unmanned aerial vehicle based on the acquired data and the generated reaction moment value calculated by the analysis, and the counteracting moment calculation module is used for calculating the counteracting moment required to be provided by the unmanned aerial vehicle according to the geometric parameters of the unmanned aerial vehicle.
According to the technical scheme, the gesture adjusting and calibrating module comprises an output control module and an abnormal calibrating module, wherein the output control module is used for transmitting the calculated counteracting moment value to the rotating speed control system of the vertical propeller so as to counteract the reactive moment of the propelling propeller, and the abnormal calibrating module is used for correcting the abnormal reactive moment output by the system to the unmanned aerial vehicle.
According to the technical scheme, the running method of the roll attitude stabilization system of the unmanned aerial vehicle comprises the following steps of:
step S1: when the unmanned aerial vehicle is started, the system controls the data acquisition module to start running, and parameters and flight data of the unmanned aerial vehicle are acquired and obtained in real time;
step S2: selecting a reaction moment characteristic k of a corresponding propulsion propeller according to the acquired current state of the propulsion propeller of the unmanned aerial vehicle;
step S3: calculating a reaction torque value generated by the propeller in a current state by using the selected reaction torque characteristic;
step S4: calculating the offset moment required to be provided by the suspended blade according to the geometric parameters of the unmanned aerial vehicle and the arm of force of the suspended blade;
step S5: the counteracting moment value is used for an output control module of the vertical propeller so as to counteract the reactive moment of the propulsion propeller.
According to the above technical solution, the step S1 further includes:
step S11: measuring the central moment generated in the flight process of the unmanned aerial vehicle in real time by using a three-dimensional moment sensor;
step S12: the stress generated at two ends of induction is measured by utilizing Y+ pressure sensors and Y-pressure sensors which are symmetrically arranged on wings at two sides of the unmanned aerial vehicle respectively;
step S13: the rotating speed acquisition module acquires the rotating speed r of the propeller of the unmanned aerial vehicle, and simultaneously acquires the distance d from the mass center of the unmanned aerial vehicle to the vertical propeller and the force arm L of the vertical propeller;
step S14: and establishing a reaction moment characteristic database, and recording the reaction moment characteristics of the propellers corresponding to the propellants of the unmanned aerial vehicles into the database.
According to the above technical solution, the reaction torque calculation formula generated by the propulsion propeller in step S3 is:
；
where k is a constant value associated with the characteristics of the current propeller, and r is a current rotational speed value of the propeller;
from the equation, it is known that the torque produced by the propeller at different rotational speeds is proportional to the square of the rotational speed.
According to the above technical solution, the step S4 includes the following steps:
step S41: real-time retrieval of Y+ pressure sensor and Y-pressure sensorPressure data of the device；
Step S42: respectively calculating the moment generated by the corresponding pressure values of the Y+ pressure sensor and the Y-pressure sensor:、/>；
the Y+ pressure sensor and the Y-pressure sensor are respectively used for measuring stress generated at two ends of the unmanned aerial vehicle in the flight process;the pressure values measured by the Y+ pressure sensor and the Y-pressure sensor are respectively; />The correspondence of the Y+ pressure sensor and the Y-pressure sensor respectively>Correspondingly generated moment values under the condition of pressure values;
step S43: further distance data measured by the sensorThe method comprises the steps of carrying out a first treatment on the surface of the Where C represents the magnitude and direction of the moment on the Y-axis as an input into the roll attitude stabilization system for calculating the counteracting moment that needs to be provided by the heave blade.
According to the above technical solution, the step S4 further includes the following steps:
step S4a: the unmanned aerial vehicle atress calculation module passes through the formula:the method comprises the steps of carrying out a first treatment on the surface of the Calculating to obtain the current total moment S of the unmanned aerial vehicle;
step S4b: the counteracting moment calculation module calculates the counteracting moment by the formula:the method comprises the steps of carrying out a first treatment on the surface of the And (3) analyzing and calculating to obtain a counteracting moment E which needs to be provided by the suspended blade, wherein q is a desired roll stabilizing moment value of the unmanned aerial vehicle, and a target value is designated by a system control algorithm.
According to the above technical solution, the step S5 further includes the following steps:
step S51: the output control module controls the distribution rotating speed of each vertical propeller in real time, and achieves the resultant moment required to be provided for vertical propellers in the process of counteracting the reaction moment of the propeller in real time;
step S52: in the system control vertical propeller posture adjustment process, a three-dimensional torque sensor measures central torque generated in the unmanned aerial vehicle flight process in real time, checks with a system preset stable roll posture interval, and when the period value is exceeded, the system stops the current quality output and sends an abnormal data report.
Compared with the prior art, the invention has the following beneficial effects: according to the invention, the reaction moment generated by the propeller under various conditions is measured in advance, and the tension difference required by the stroke of the suspended blade in the roll direction is calculated as the offset reaction moment. In the process of starting and accelerating the propeller, the tension difference is directly assigned to the rotating speed control system of the suspended propeller blade, so that intervention of an unmanned aerial vehicle attitude control loop is not needed, and the stable area of the unmanned aerial vehicle rolling attitude is not influenced.
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The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a schematic diagram of the system module composition of the present invention;
fig. 2 is a schematic diagram of compound wing unmanned aerial vehicle reaction torque.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-2, the present invention provides the following technical solutions: the system comprises a data acquisition module, a roll gesture stability analysis module and a gesture adjustment and calibration module, wherein the data acquisition module is used for acquiring gesture related data when the unmanned aerial vehicle flies, the roll gesture stability analysis module is used for analyzing and calculating stress conditions in the flight process of the unmanned aerial vehicle and moment data required to be controlled for achieving the roll gesture stability, the gesture adjustment and calibration module is used for adjusting the rotating speed of the unmanned aerial vehicle lifting oar and calibrating abnormal output values based on the analysis data, the data acquisition module is electrically connected with the roll gesture stability analysis module, and the roll gesture stability analysis module is electrically connected with the gesture adjustment and calibration module; the reaction moment generated by the propeller in each case is measured in advance and calculated therefrom as the difference in tension counteracting the reaction moment to the required travel of the lifting blade in the roll direction. In the process of starting and accelerating the propeller, the tension difference is directly assigned to the rotating speed control system of the suspended propeller blade, so that intervention of an unmanned aerial vehicle attitude control loop is not needed, and the stable area of the unmanned aerial vehicle rolling attitude is not influenced.
The data acquisition module comprises a three-dimensional torque sensor, a Y+ pressure sensor, a Y-pressure sensor, a rotating speed acquisition module, a reaction torque database and an unmanned aerial vehicle information acquisition module, wherein the three-dimensional torque sensor is used for measuring central torque generated in the flight process of the unmanned aerial vehicle, the Y+ pressure sensor and the Y-pressure sensor are respectively used for measuring stress generated at two ends of the unmanned aerial vehicle in the flight process, the rotating speed acquisition module is used for acquiring rotating speed values of propulsion paddles of the unmanned aerial vehicle, the reaction torque database stores reaction torque data under different rotating speeds of different propulsion paddles, and the unmanned aerial vehicle information acquisition module is used for acquiring basic equipment information of the current unmanned aerial vehicle.
The roll gesture stability analysis module comprises a reaction moment calculation module, an unmanned aerial vehicle stress calculation module and a counteracting moment calculation module, wherein the reaction moment calculation module is used for analyzing and calculating a reaction moment value generated by the propulsion propeller in the current state according to the current state of the propulsion propeller, the unmanned aerial vehicle stress calculation module is used for calculating the total moment of the unmanned aerial vehicle based on the acquired data and the generated reaction moment value calculated by analysis, and the counteracting moment calculation module is used for calculating the counteracting moment required to be provided by the unmanned aerial vehicle according to the geometric parameters of the unmanned aerial vehicle.
The attitude adjustment and calibration module comprises an output control module and an abnormal calibration module, wherein the output control module is used for transmitting the calculated counteracting moment value to a rotating speed control system of the vertical propeller so as to counteract the reactive moment of the propelling propeller, and the abnormal calibration module is used for correcting the abnormal action moment of the system to the unmanned aerial vehicle.
The running method of the roll attitude stabilizing system of the unmanned aerial vehicle comprises the following steps:
step S1: when the unmanned aerial vehicle is started, the system controls the data acquisition module to start running, and parameters and flight data of the unmanned aerial vehicle are acquired and obtained in real time;
step S2: selecting a reaction moment characteristic k of a corresponding propulsion propeller according to the acquired current state of the propulsion propeller of the unmanned aerial vehicle;
step S3: calculating a reaction torque value generated by the propeller in a current state by using the selected reaction torque characteristic;
step S4: calculating the offset moment required to be provided by the suspended blade according to the geometric parameters of the unmanned aerial vehicle and the arm of force of the suspended blade;
step S5: the counteracting moment value is used for an output control module of the vertical propeller so as to counteract the reactive moment of the propulsion propeller; the counter moment generated by the propulsion propeller under different rotating speeds is measured, so that the counter moment which needs to be provided by the drooping propeller of the unmanned aerial vehicle is calculated, the counter moment of the drooping propeller under different rotating speeds is stored, and the influence of the rotation of the propulsion propeller on the roll gesture of the unmanned aerial vehicle is counteracted under the open loop state of the compound wing unmanned aerial vehicle. The scheme has compact structure and can integrate the functional modules, can effectively detect the reaction moment of the propulsion propeller of the compound wing unmanned aerial vehicle, and provides convenience for the stable posture control of the compound wing unmanned aerial vehicle.
Step S1 further comprises:
step S11: measuring the central moment generated in the flight process of the unmanned aerial vehicle in real time by using a three-dimensional moment sensor;
step S12: the stress generated at two ends of induction is measured by utilizing Y+ pressure sensors and Y-pressure sensors which are symmetrically arranged on wings at two sides of the unmanned aerial vehicle respectively;
step S13: the rotating speed acquisition module acquires the rotating speed r of the propeller of the unmanned aerial vehicle, and simultaneously acquires the distance d from the mass center of the unmanned aerial vehicle to the vertical propeller and the force arm L of the vertical propeller;
step S14: and establishing a reaction moment characteristic database, and recording the reaction moment characteristics of the propellers corresponding to the propellants of the unmanned aerial vehicles into the database.
In the step S3, the calculation formula of the reaction torque generated by the propulsion propeller is as follows:
；
where k is a constant value associated with the characteristics of the current propeller, and r is a current rotational speed value of the propeller;
from the equation, it is known that the torque produced by the propeller at different rotational speeds is proportional to the square of the rotational speed.
Step S4 comprises the steps of:
step S41: retrieving pressure data of the Y+ pressure sensor and the Y-pressure sensor in real time；
Step S42: respectively calculating the moment generated by the corresponding pressure values of the Y+ pressure sensor and the Y-pressure sensor:、/>；
the Y+ pressure sensor and the Y-pressure sensor are respectively used for measuring stress generated at two ends of the unmanned aerial vehicle in the flight process;the pressure values measured by the Y+ pressure sensor and the Y-pressure sensor are respectively; />The correspondence of the Y+ pressure sensor and the Y-pressure sensor respectively>Correspondingly generated moment values under the condition of pressure values;
step S43: further distance data measured by the sensorThe method comprises the steps of carrying out a first treatment on the surface of the Where C represents the magnitude and direction of the moment on the Y-axis as an input into the roll attitude stabilization system for calculating the counteracting moment that needs to be provided by the heave blade.
Step S4 further comprises the steps of:
step S4a: the unmanned aerial vehicle atress calculation module passes through the formula:the method comprises the steps of carrying out a first treatment on the surface of the Calculating to obtain the current total moment S of the unmanned aerial vehicle;
step S4b: the counteracting moment calculation module calculates the counteracting moment by the formula:the method comprises the steps of carrying out a first treatment on the surface of the Analyzing and calculating to obtain a counteracting moment E which needs to be provided by the suspended blade, wherein q is a desired roll stabilizing moment value of the unmanned aerial vehicle, and a target value is designated by a system control algorithm; through the moment balance relation, the system analyzes and calculates the offset moment required to be provided by the suspended blade, ensures the roll stability of the unmanned aerial vehicle, and effectively offsets the influence of the reaction moment of the propulsion blade by adjusting the moment of the suspended blade in real time, thereby improving the stability of the roll attitude.
Step S5 further comprises the steps of:
step S51: the output control module controls the distribution rotating speed of each vertical propeller in real time, and achieves the resultant moment required to be provided for vertical propellers in the process of counteracting the reaction moment of the propeller in real time;
step S52: in the system control vertical propeller attitude adjustment process, a three-dimensional torque sensor measures the central torque generated in the unmanned aerial vehicle flight process in real time, checks with a stable roll attitude interval preset by the system, stops the system current quality output when exceeding a period value, and sends an abnormal data report; the three-dimensional torque sensor is used for carrying out secondary verification on the flight process of the unmanned aerial vehicle, so that the system can be realized to directly assign the tension difference to the rotating speed control system of the suspended blade in advance in the starting and accelerating process of the propulsion blade, and meanwhile, the algorithm effectiveness of the system can be effectively verified in real time, and the damage of abnormal data to the attitude stability of the unmanned aerial vehicle is avoided.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, 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.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The utility model provides an unmanned aerial vehicle's roll gesture stable system, includes data acquisition module, roll gesture stable analysis module and gesture adjustment and calibration module, its characterized in that: the system comprises a data acquisition module, a roll gesture stability analysis module, a gesture adjustment and calibration module and a calibration module, wherein the data acquisition module is used for acquiring gesture related data when the unmanned aerial vehicle flies, the roll gesture stability analysis module is used for analyzing and calculating stress conditions in the flight process of the unmanned aerial vehicle and moment data required to be controlled for achieving the roll gesture stability, the gesture adjustment and calibration module is used for adjusting the rotating speed of an unmanned aerial vehicle lifting oar and calibrating abnormal output values based on the analysis data, the data acquisition module is electrically connected with the roll gesture stability analysis module, and the roll gesture stability analysis module is electrically connected with the gesture adjustment and calibration module;
the data acquisition module comprises a three-dimensional torque sensor, a Y+ pressure sensor, a Y-pressure sensor, a rotating speed acquisition module, a reaction torque database and an unmanned aerial vehicle information acquisition module, wherein the three-dimensional torque sensor is used for measuring central torque generated in the flight process of the unmanned aerial vehicle, the Y+ pressure sensor and the Y-pressure sensor are respectively used for measuring stress generated at two ends of the unmanned aerial vehicle in the flight process, the rotating speed acquisition module is used for acquiring rotating speed values of propulsion paddles of the unmanned aerial vehicle, the reaction torque database stores reaction torque data under different rotating speeds of different propulsion paddles, and the unmanned aerial vehicle information acquisition module is used for acquiring basic equipment information of the current unmanned aerial vehicle.
2. The roll attitude stabilization system of an unmanned aerial vehicle of claim 1, wherein: the roll gesture stability analysis module comprises a reaction moment calculation module, an unmanned aerial vehicle stress calculation module and a counteracting moment calculation module, wherein the reaction moment calculation module is used for calculating a reaction moment value generated by a propulsion propeller in a current state according to the analysis of the current state of the propulsion propeller, the unmanned aerial vehicle stress calculation module is used for calculating the total moment of the unmanned aerial vehicle based on the acquired data and the generated reaction moment value calculated by the analysis, and the counteracting moment calculation module is used for calculating the counteracting moment required to be provided by the unmanned aerial vehicle according to the geometric parameters of the unmanned aerial vehicle.
3. The roll attitude stabilization system of an unmanned aerial vehicle of claim 2, wherein: the attitude adjustment and calibration module comprises an output control module and an abnormal calibration module, wherein the output control module is used for transmitting the calculated counteracting moment value to a rotating speed control system of the vertical propeller so as to counteract the reactive moment of the propelling propeller, and the abnormal calibration module is used for correcting the abnormal reactive moment output by the system to the unmanned aerial vehicle.
4. A roll attitude stabilization system for an unmanned aerial vehicle according to claim 3, wherein: the running method of the roll attitude stabilization system of the unmanned aerial vehicle comprises the following steps:
step S1: when the unmanned aerial vehicle is started, the system controls the data acquisition module to start running, and parameters and flight data of the unmanned aerial vehicle are acquired and obtained in real time;
step S2: selecting a reaction moment characteristic k of a corresponding propulsion propeller according to the acquired current state of the propulsion propeller of the unmanned aerial vehicle;
step S3: calculating a reaction torque value generated by the propeller in a current state by using the selected reaction torque characteristic;
step S4: calculating the offset moment required to be provided by the suspended blade according to the geometric parameters of the unmanned aerial vehicle and the arm of force of the suspended blade;
step S5: the counteracting moment value is used for an output control module of the vertical propeller so as to counteract the reactive moment of the propulsion propeller.
5. The roll attitude stabilization system of an unmanned aerial vehicle of claim 4, wherein: the step S1 further includes:
step S11: measuring the central moment generated in the flight process of the unmanned aerial vehicle in real time by using a three-dimensional moment sensor;
step S12: the stress generated at two ends of induction is measured by utilizing Y+ pressure sensors and Y-pressure sensors which are symmetrically arranged on wings at two sides of the unmanned aerial vehicle respectively;
step S13: the rotating speed acquisition module acquires the rotating speed r of the propeller of the unmanned aerial vehicle, and simultaneously acquires the distance d from the mass center of the unmanned aerial vehicle to the vertical propeller and the force arm L of the vertical propeller;
step S14: and establishing a reaction moment characteristic database, and recording the reaction moment characteristics of the propellers corresponding to the propellants of the unmanned aerial vehicles into the database.
6. The roll attitude stabilization system of an unmanned aerial vehicle of claim 5, wherein: the reaction moment calculation formula generated by the propulsion propeller in the step S3 is as follows:
；
where k is a constant value associated with the characteristics of the current propeller, and r is a current rotational speed value of the propeller;
from the equation, it is known that the torque produced by the propeller at different rotational speeds is proportional to the square of the rotational speed.
7. The roll attitude stabilization system of an unmanned aerial vehicle of claim 6, wherein: the step S4 includes the steps of:
step S41: retrieving pressure data of the Y+ pressure sensor and the Y-pressure sensor in real time；
Step S42: respectively calculating the moment generated by the corresponding pressure values of the Y+ pressure sensor and the Y-pressure sensor:、/>；
the Y+ pressure sensor and the Y-pressure sensor are respectively used for measuring stress generated at two ends of the unmanned aerial vehicle in the flight process;the pressure values measured by the Y+ pressure sensor and the Y-pressure sensor are respectively; />The correspondence of the Y+ pressure sensor and the Y-pressure sensor respectively>Correspondingly generated moment values under the condition of pressure values;
step S43: further distance data measured by the sensorThe method comprises the steps of carrying out a first treatment on the surface of the Where C represents the magnitude and direction of the moment on the Y-axis as an input into the roll attitude stabilization system for calculating the counteracting moment that needs to be provided by the heave blade.
8. The roll attitude stabilization system of an unmanned aerial vehicle of claim 7, wherein: the step S4 further includes the steps of:
step S4a: the unmanned aerial vehicle atress calculation module passes through the formula:the method comprises the steps of carrying out a first treatment on the surface of the Calculating to obtain the current total moment S of the unmanned aerial vehicle;
step S4b: the counteracting moment calculation module calculates the counteracting moment by the formula:the method comprises the steps of carrying out a first treatment on the surface of the And (3) analyzing and calculating to obtain a counteracting moment E which needs to be provided by the suspended blade, wherein q is a desired roll stabilizing moment value of the unmanned aerial vehicle, and a target value is designated by a system control algorithm.
9. The roll attitude stabilization system of an unmanned aerial vehicle of claim 8, wherein: the step S5 further includes the steps of:
step S51: the output control module controls the distribution rotating speed of each vertical propeller in real time, and achieves the resultant moment required to be provided for vertical propellers in the process of counteracting the reaction moment of the propeller in real time;
step S52: in the system control vertical propeller posture adjustment process, a three-dimensional torque sensor measures central torque generated in the unmanned aerial vehicle flight process in real time, checks with a system preset stable roll posture interval, and when the period value is exceeded, the system stops the current quality output and sends an abnormal data report.
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