WO2021078259A1 - Flight control method, aircraft and flight system - Google Patents

Flight control method, aircraft and flight system Download PDF

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Publication number
WO2021078259A1
WO2021078259A1 PCT/CN2020/123306 CN2020123306W WO2021078259A1 WO 2021078259 A1 WO2021078259 A1 WO 2021078259A1 CN 2020123306 W CN2020123306 W CN 2020123306W WO 2021078259 A1 WO2021078259 A1 WO 2021078259A1
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Prior art keywords
attitude
control
aircraft
command
angular rate
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PCT/CN2020/123306
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French (fr)
Chinese (zh)
Inventor
张添保
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深圳市道通智能航空技术有限公司
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Publication of WO2021078259A1 publication Critical patent/WO2021078259A1/en

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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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

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  • the invention relates to the technical field of flight control, in particular to a flight control method, an aircraft and a flight system.
  • Rotorcraft has a lightweight, compact and simple structure and flexible flight control methods. It has strong adaptability to complex terrain and small spaces. In recent years, it has been widely used in various fields such as disaster rescue, power inspection, and express transportation.
  • the flight control system of a rotary-wing aircraft realizes various flight attitudes, ascent and descent of the aircraft by changing the speed and direction of rotation of the motor.
  • the flight control system is a multi-variable, strongly coupled, and unstable complex nonlinear system.
  • the complexity of the flight control system presents a variety of control methods for rotorcraft, such as PID control strategies.
  • the invention provides a flight control method, an aircraft and a flight system, and aims to provide a flight control method with high control accuracy, stability and strong anti-disturbance performance.
  • the present invention provides a flight control method applied to an aircraft, the aircraft is in communication with a terminal device, the aircraft is provided with a power component, and the method includes:
  • attitude dynamic model Constructing an attitude dynamic model and a power distribution model of the aircraft, wherein the attitude dynamic model includes an attitude angular dynamic model and an attitude angular rate dynamic model;
  • attitude parameters of the aircraft and the first control instruction issued by the terminal device Periodically acquiring the attitude parameters of the aircraft and the first control instruction issued by the terminal device, where the attitude parameters include an attitude angle and an attitude angular rate;
  • the power component is controlled according to the current power distribution instruction and the power distribution model to adjust the flight attitude of the aircraft.
  • the first control instruction is a desired attitude angle instruction
  • acquiring a second control instruction according to the attitude angle dynamic model, the attitude parameter, and the first control instruction includes:
  • the second control instruction is a desired attitude angular rate control instruction
  • acquiring the current virtual control amount instruction according to the second control instruction, the attitude angular rate, and the third control instruction includes:
  • the parameter estimation value is obtained through online parameter identification, wherein the parameter estimation value includes the second parameter matrix estimation value and the third parameter matrix estimation value Values and estimated values of interference parameters;
  • the acquiring the current power distribution instruction according to the attitude angular rate, the current virtual control amount instruction, and the fourth control instruction includes:
  • the aircraft is provided with a power component, and the control of the aircraft to fly according to the current power distribution instruction and the power distribution model includes:
  • the output of the power assembly is controlled according to the pulse width modulation command to control the flight attitude of the aircraft.
  • the present invention also provides an aircraft, the aircraft is in communication connection with a terminal device, and the aircraft includes:
  • a model construction module used to construct an attitude dynamic model and a power distribution model of the aircraft, wherein the attitude dynamic model includes an attitude angular dynamic model and an attitude angular rate dynamic model;
  • An acquiring module configured to periodically acquire the attitude parameters of the aircraft and the first control instruction issued by the terminal device, wherein the attitude parameters include an attitude angle and an attitude angular rate;
  • the first identification module is configured to obtain a second control instruction according to the attitude angular dynamic model, the attitude parameter, and the first control instruction;
  • the second identification module is configured to obtain the current virtual control amount instruction according to the second control instruction, the attitude angular rate, and the third control instruction, where the third control instruction is a preset virtual control amount instruction or The virtual control quantity command of the previous cycle;
  • the third identification module is configured to obtain the current power distribution command according to the attitude angular rate, the current virtual control amount command, and the fourth control command, wherein the fourth control command is a preset power distribution command or The power distribution command of the previous cycle;
  • the flight control module is used to control the power component to adjust the flight attitude of the aircraft according to the current power distribution instruction and the power distribution model.
  • the first control instruction is a desired attitude angle instruction
  • the first identification module is further configured to:
  • the second control instruction is a desired attitude angular rate control instruction
  • the second identification module is further used for:
  • parameter estimation values according to the attitude angular rate dynamic model, the attitude angular rate, and the third control command, wherein the parameter estimation values include second parameter matrix estimation values, third parameter matrix estimation values, and interference parameters estimated value;
  • the present invention also provides an aircraft, the aircraft is in communication connection with a terminal device, and the aircraft includes:
  • An arm connected to the fuselage
  • the power assembly is arranged on the arm and is used to provide power for the aircraft to fly;
  • the memory is used to store the flight control program executable by the computer.
  • the processor is used to retrieve the executable flight control program stored in the memory to execute the aforementioned flight control method.
  • the present invention also provides a flying system
  • the aircraft system includes an aircraft and a terminal device communicatively connected with the aircraft, and the aircraft includes:
  • An arm connected to the fuselage
  • the power assembly is arranged on the arm and is used to provide power for the aircraft to fly;
  • the memory is used to store the flight control program executable by the computer.
  • the processor is used to retrieve the executable flight control program stored in the memory to execute the aforementioned flight control method.
  • the flight control method is applied to an aircraft, the aircraft is communicatively connected with a terminal device, and the aircraft is provided with a power component.
  • the flight control method constructs an attitude power model and a power distribution model of the aircraft, wherein the attitude power
  • the model includes an attitude angular dynamic model and an attitude angular rate dynamic model, and periodically acquires the attitude parameters of the aircraft and the first control instruction issued by the terminal device, wherein the attitude parameters include the attitude angle and the attitude angular rate.
  • the attitude parameters, and the first control instruction to obtain a second control instruction through online parameter identification.
  • the power component is controlled according to the current power distribution instruction and the power distribution model to adjust the flight attitude of the aircraft.
  • the obtained estimated value and power distribution model are used to control the flight attitude change of the aircraft, so that the aircraft has a higher performance.
  • Figure 1 is a schematic diagram of the frame structure of the flight system provided by the present invention.
  • Figure 2 is a flow chart of the flight control method provided by the present invention.
  • FIG. 3 is a detailed flowchart of step S103 in FIG. 2;
  • Figure 4 is a schematic diagram of the flight control system of the aircraft
  • FIG. 5 is a detailed flowchart of step S104 in FIG. 2;
  • FIG. 6 is a detailed flowchart of step S105 in FIG. 2;
  • FIG. 7 is a schematic diagram of a block diagram structure of an aircraft provided by the present invention.
  • Fig. 8 is a schematic diagram of a module block diagram of an aircraft provided by the present invention.
  • a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to clearly listed Instead, those steps or units listed may include other steps or units that are not clearly listed or are inherent to these processes, methods, products, or equipment.
  • the present invention provides a flight control method, an aircraft, and a flight system, wherein the flight control method is applied to an aircraft, the aircraft is communicatively connected with a terminal device, the aircraft is provided with power components, and the flight control method constructs the An attitude power model and a power distribution model of an aircraft, wherein the attitude dynamic model includes an attitude angular dynamic model and an attitude angular rate dynamic model, and periodically obtains the attitude parameters of the aircraft and the first control command issued by the terminal device , Wherein the attitude parameters include attitude angle and attitude angular rate. Using the attitude angular dynamic model, the attitude parameters, and the first control instruction to obtain a second control instruction through online parameter identification.
  • the power component is controlled according to the current power distribution instruction and the power distribution model to adjust the flight attitude of the aircraft.
  • FIG. 1 is a flight system 100 provided by the present invention.
  • the flight system 100 includes an aircraft 10 and a terminal device 20 communicatively connected with the aircraft 10, wherein the terminal device 20 is used to send flight control instructions to the aircraft 10 , So that after receiving the flight control instruction, the aircraft 10 executes corresponding flight operations according to the flight control instruction.
  • the terminal device 20 may be a remote control device, a smart phone, a tablet computer, or a notebook computer.
  • the aircraft 10 includes a fuselage 101, an arm 102, a power assembly 103, a control assembly 104 and a sensor assembly 105.
  • the arm 102 is connected to the fuselage 101
  • the power assembly 103 is arranged on the arm 102 to provide flight power for the aircraft 10.
  • the sensor component 105 is electrically connected to the control component 104, and is used to acquire sensor data of various aircraft 10 and send the acquired sensor data to the control component 104, where the sensor data includes flight attitude parameters, flight speed, flight acceleration or Any one or a combination of flying heights, etc.
  • the control component 104 learns the flight status of the aircraft 10 in time according to the acquired sensor data, and controls the actions of the electrically connected control power component 103, thereby realizing the flight control of the aircraft 10.
  • the controller component 104 includes a processor 106, an attitude angle controller 1041, an attitude angle controller 1042, and a power distribution controller 1043 electrically connected to the processor 106.
  • FIG. 2 is a flight control method provided by the present invention.
  • the flight control method is applied to an aircraft 10, and the method includes:
  • Step S101 Construct an attitude dynamic model and a power distribution model of the aircraft, wherein the attitude dynamic model includes an attitude angular dynamic model and an attitude angular rate dynamic model.
  • attitude dynamic model Construct an attitude dynamic model and a power distribution model of the aircraft 10, wherein the attitude dynamic model includes an attitude angular dynamic model And attitude angular rate dynamic model
  • attitude dynamic model of the aircraft 10 is:
  • a 1 is the first parameter matrix
  • a 2 is the second parameter matrix
  • B is the third parameter matrix
  • the attitude angle X 1 is (1)
  • the integral of the attitude angle X 1 includes the roll angle Pitch angle ⁇ and yaw angle ⁇
  • X 2 is the attitude angular rate of the aircraft 10
  • the attitude angular rate X 2 includes the roll angular rate ⁇ x , the pitch angular rate ⁇ y and the yaw angular rate ⁇ z
  • u is the three-channel virtual
  • the control quantity command, d is the model uncertainty and the external interference term, that is, the interference parameter.
  • the variables in the above formula (1) are as follows:
  • first parameter matrix A 1 the second parameter matrix A 2 and the third parameter matrix B are respectively:
  • M is the power distribution matrix.
  • a 1 , A 2 , B, and M are all unknown quantities.
  • Step S102 Periodically acquire the attitude parameters of the aircraft and the first control instruction issued by the terminal device, where the attitude parameters include an attitude angle and an attitude angular rate.
  • the control sensor assembly 105 periodically obtains the attitude parameter X of the aircraft 10 and periodically receives the first control instruction issued by the terminal device 20, where the attitude parameter X includes an attitude angle X 1 and an attitude angular rate X 2 .
  • Step S103 Obtain the second control instruction according to the attitude angle control error, the estimated value of the first parameter matrix, and the preset parameter matrix.
  • the first control command is a desired attitude angle command
  • step S103 includes:
  • Step S1031 Obtain a first parameter matrix estimation value through online parameter identification according to the attitude angular dynamic model and the attitude parameters;
  • Step S1032 Obtain an attitude angle control error according to the desired attitude angle command and the attitude angle;
  • Step S1033 Obtain the second control instruction according to the attitude angle control error, the estimated value of the first parameter matrix, and the preset parameter matrix.
  • the aircraft 10 obtains a second control instruction according to the acquired attitude angle control error, the estimated value of the first parameter matrix, and the preset parameter matrix, so as to control the aircraft to perform further attitude adjustment according to the second control instruction.
  • the roll angle Attitude parameters such as the pitch angle ⁇ , the yaw angle ⁇ , the roll angle rate ⁇ x , the pitch angle rate ⁇ y, and the yaw angle rate ⁇ z can be periodically acquired by the sensor component 105.
  • Dynamic model with known attitude angle for: Dynamic model of the attitude angle Discretization processing, the single-channel discretization form can be obtained as:
  • the processor 106 can obtain the estimated value of the first parameter matrix A 1 in real time through equations (3) and (8)
  • the user When the user needs to control the aircraft 10 to adjust the attitude, he controls the terminal device 20 to issue the desired attitude angle command X 1c to the aircraft 10, and the aircraft 10 periodically obtains the desired attitude angle command X 1c issued by the terminal device 20, and according to the desired angle Command X 1c to obtain the corresponding desired attitude angle, and use the difference between the desired attitude angle and the attitude angle X 1 acquired by the aircraft 10 through the sensor assembly 105 to obtain the attitude angle control error ⁇ X 1 .
  • the attitude angle controller 1041 of the control component 104 obtains the attitude angle control error ⁇ X 1 and the estimated value of the first parameter matrix After the preset attitude angle control equation, such as equation (9), the second control command X 2c is obtained , where the attitude angle control equation is:
  • ⁇ is the preset damping matrix
  • W n is the preset bandwidth matrix
  • Step S104 Acquire the current virtual control quantity instruction according to the second control instruction, the attitude angular rate, and the third control instruction, where the third control instruction is a preset virtual control quantity instruction or the previous cycle's Virtual control quantity instruction.
  • the second control command is a desired attitude angular rate control command
  • step S104 includes:
  • Step S1041 Obtain parameter estimation values through online parameter identification according to the attitude angular rate dynamic model, the attitude angular rate and the third control command, where the parameter estimation values include the second parameter matrix estimation value, the third parameter matrix estimation value and the third parameter estimation value. Estimated value of parameter matrix and estimated value of interference parameter;
  • Step S1042 Obtain an attitude angular rate control error according to the attitude angular rate and the desired attitude angular rate control command;
  • Step S1043 Obtain a current virtual control amount command according to the attitude angular rate control error and the parameter estimation value.
  • the aircraft 10 is based on the constructed attitude angular rate dynamic model
  • the attitude angular rate X 2 obtained by the sensor assembly 10 and the third control command obtain parameter estimation values through online parameter identification, wherein the parameter estimation values include a second parameter matrix estimation value and a third parameter matrix estimation value And the estimated value of the interference parameter.
  • the third control command is a preset virtual control variable command or a virtual control variable command of the previous cycle.
  • the first control command is The three commands are preset virtual commands.
  • the aircraft 10 receives the first control instruction issued by the terminal device 10 during the flight, the third instruction is the virtual control quantity instruction of the previous cycle.
  • the known attitude angular rate dynamic model for: Dynamic model of attitude angular rate Discretization processing the single-channel discretization form can be obtained as:
  • I is the identity matrix, and the parameters can be obtained by formulas (10) and (11)
  • the further parameters can be obtained a 2i (k + 1), (k + 1), (k + 1) corresponding to the estimated value b i d i which is:
  • the parameter estimated value ⁇ can be obtained, and the parameter estimated value ⁇ includes the estimated value of the second parameter matrix A 2 Estimated value of the third parameter matrix B And the estimated value of the interference parameter d
  • the aircraft 10 obtains the corresponding desired attitude angular rate according to the desired attitude angular rate control command, and uses the difference between the desired attitude angular rate and the attitude angular rate X 2 acquired by the aircraft 10 through the sensor assembly 105 to obtain the attitude angular rate control error ⁇ X 2 .
  • the attitude angular rate controller 1042 of the control component 104 obtains the attitude angular rate control error ⁇ X 2 and the parameter estimated value ⁇ , and obtains the current virtual control quantity command u k+ after the preset control equation, as shown in equation (13) 1.
  • the preset control equation is:
  • Step S105 Acquire the current power distribution command according to the attitude angular rate, the current virtual control quantity command, and the fourth control command, where the fourth control command is a preset power distribution command or the previous cycle Power distribution instructions.
  • step S105 includes:
  • Step S1051 Obtain the estimated value of the power distribution matrix through online parameter identification according to the attitude angular rate and the fourth control instruction;
  • Step S1052 Acquire a current power distribution command according to the estimated value of the power distribution matrix and the current virtual control amount command.
  • the aircraft 10 obtains the estimated value of the power distribution matrix through online parameter identification according to the acquired attitude angular rate X 1 and the fourth control command, where the fourth control command is a preset power distribution command or a power distribution command of the previous cycle.
  • the fourth instruction is a preset power distribution instruction.
  • the fourth instruction is the power distribution instruction of the previous cycle.
  • the aircraft 10 obtains the current power distribution command according to the estimated value of the power distribution matrix and the current virtual control amount command, so as to periodically update the current power distribution command according to the power distribution command of the previous cycle.
  • the known power distribution model v is:
  • the power distribution controller 1043 of the control component 104 obtains the estimated value of the power distribution matrix And the current virtual control quantity command u k+1 to obtain the current power distribution command v k+1 .
  • Step S106 Control the power component according to the current power distribution instruction and the power distribution model to adjust the flight attitude of the aircraft.
  • step S106 includes:
  • the output of the power assembly is controlled according to the pulse width modulation command to control the flight attitude of the aircraft.
  • the aircraft 10 controls the power supplement module 1044 provided in the aircraft 10 according to the current power distribution command and the power distribution model to generate a pulse width modulation command, that is, a PWM control command, to control according to the PWM control command
  • a pulse width modulation command that is, a PWM control command
  • the power components 103 of the aircraft 10 are output, so that the flight attitude of the aircraft 10 can be controlled.
  • the aircraft 10 further includes a memory 107 and a bus 108.
  • the sensor assembly 105, the power assembly 103, and the memory 107 are electrically connected to the processor 106 through a bus 108.
  • the memory 107 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), magnetic memory, magnetic disk, and optical disk. Wait.
  • the memory 107 may be an internal storage unit of the aircraft 10 in some embodiments, for example, a hard disk of the aircraft 10. In other embodiments, the memory 107 may also be an external storage device of the aircraft 10, for example, a plug-in hard disk equipped on the aircraft 10, a smart memory card (Smart Media Card, SMC), and a Secure Digital (SD). Card, Flash Card, etc.
  • the memory 107 can be used not only to store application software and various data installed in the aircraft 10, exemplary computer-readable program codes, etc., such as a magnetometer calibration program, that is, the memory 107 can be used as a storage medium.
  • the processor 106 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chips, and the processor 106 may call program codes stored in the memory 107 or Process the data to realize the aforementioned flight control method.
  • CPU central processing unit
  • controller a controller
  • microcontroller a microcontroller
  • microprocessor or other data processing chips
  • an embodiment of the present invention also provides a storage medium.
  • the storage medium is a computer-readable storage medium.
  • the storage medium stores an executable calculation program. When the executable calculation program is executed, the aforementioned flight control is realized. method.
  • the present invention also provides an aircraft 30, the aircraft 30 is in communication connection with a terminal device, and the aircraft 30 includes:
  • the model construction module 301 is used to construct an attitude dynamic model and a power distribution model of the aircraft, wherein the attitude dynamic model includes an attitude angular dynamic model and an attitude angular rate dynamic model;
  • the acquiring module 302 is configured to periodically acquire the attitude parameters of the aircraft and the first control instruction issued by the terminal device, where the attitude parameters include an attitude angle and an attitude angular rate;
  • the first identification module 303 is configured to obtain a second control instruction according to the attitude angular dynamic model, the attitude parameter, and the first control instruction;
  • the second identification module 304 is configured to obtain the current virtual control amount instruction according to the second control instruction, the attitude angular rate, and the third control instruction, where the third control instruction is a preset virtual control amount instruction Or the virtual control quantity instruction of the previous cycle;
  • the third identification module 305 is configured to obtain the current power distribution command according to the attitude angular rate, the current virtual control amount command, and the fourth control command, where the fourth control command is a preset power distribution command Or the power distribution command from the previous cycle; and
  • the flight control module 306 is configured to control the power component to adjust the flight attitude of the aircraft according to the current power distribution instruction and the power distribution model.
  • the first control instruction is a desired attitude angle instruction
  • the first identification module 303 is further configured to:
  • the second control instruction is a desired attitude angular rate control instruction
  • the second identification module 304 is further configured to:
  • parameter estimation values according to the attitude angular rate dynamic model, the attitude angular rate, and the third control command, wherein the parameter estimation values include second parameter matrix estimation values, third parameter matrix estimation values, and interference parameters estimated value;
  • the third identification module 305 is also used to:
  • the flight control module 306 is also used to:
  • the output of the power assembly is controlled according to the pulse width modulation command to control the flight attitude of the aircraft.

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  • Radar, Positioning & Navigation (AREA)
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Abstract

A flight control method, an aircraft (10) and a flight system (100). The flight control method is applied to the aircraft (10), and comprises: constructing an attitude dynamic model and a power distribution model of the aircraft (10), the attitude dynamic model comprising an attitude angle dynamic model and an attitude angular rate dynamic model (S101); periodically acquiring attitude parameters of the aircraft (10) and a first control instruction sent by a terminal device (20), the attitude parameters comprising an attitude angle and an attitude angular rate (S102); acquiring a second control instruction according to the attitude angle dynamic model, the attitude parameters and the first control instruction (S103); acquiring a current virtual control amount instruction according to the second control instruction, the attitude angular rate, and the third control instruction (S104); acquiring a current power distribution instruction according to the attitude angular rate, the current virtual control amount instruction and the fourth control instruction (S105); and controlling a power assembly (103) according to the current power distribution instruction and the power distribution model, so as to adjust the flight attitude of the aircraft (10) (S106).

Description

一种飞行控制方法、飞行器及飞行***Flight control method, aircraft and flight system
本申请要求于2019年10月24日提交中国专利局、申请号为201911019662.2、申请名称为“一种飞行控制方法、飞行器及飞行***”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of a Chinese patent application filed with the Chinese Patent Office on October 24, 2019, the application number is 201911019662.2, and the application title is "a flight control method, aircraft, and flight system", the entire content of which is incorporated by reference In this application.
技术领域Technical field
本发明涉及飞行控制技术领域，尤其涉及一种飞行控制方法、飞行器及飞行***。The invention relates to the technical field of flight control, in particular to a flight control method, an aircraft and a flight system.
背景技术Background technique
旋翼飞行器具有轻便、小巧简单的结构以及灵活的飞行控制方式，对复杂地形以及狭小的空间具有很强的适应性，近年来广泛应用于灾难救援、电力巡检、快递运输等各个领域。Rotorcraft has a lightweight, compact and simple structure and flexible flight control methods. It has strong adaptability to complex terrain and small spaces. In recent years, it has been widely used in various fields such as disaster rescue, power inspection, and express transportation.
旋翼飞行器的飞控***是通过改变电机的转速以及旋转方向来实现飞行器的各种飞行姿态以及上升和下降，该飞控***是一种多变量、强耦合、不稳定的复杂非线性***，由于飞控***的复杂性，对旋翼飞行器的控制方法呈现出多样性，如PID控制策略。The flight control system of a rotary-wing aircraft realizes various flight attitudes, ascent and descent of the aircraft by changing the speed and direction of rotation of the motor. The flight control system is a multi-variable, strongly coupled, and unstable complex nonlinear system. The complexity of the flight control system presents a variety of control methods for rotorcraft, such as PID control strategies.
然而，传统飞行控制方法的控制精度低、稳定性及抗扰动性能差，因此，如何提供一种控制精度高、稳定性及抗扰动性能强的飞行控制方法，是本领域技术人员亟待解决的技术问题。However, traditional flight control methods have low control accuracy, poor stability, and poor anti-disturbance performance. Therefore, how to provide a flight control method with high control accuracy, high stability, and strong anti-disturbance performance is an urgent technology for those skilled in the art. problem.
发明内容Summary of the invention
本发明提供一种飞行控制方法、飞行器及飞行***，旨在提供一种控制精度高、稳定性及抗扰动性能强的飞行控制方法。The invention provides a flight control method, an aircraft and a flight system, and aims to provide a flight control method with high control accuracy, stability and strong anti-disturbance performance.
为实现上述目的，本发明提供一种飞行控制方法，应用于飞行器，所述飞行器与终端设备通信连接，所述飞行器设置有动力组件，所述方法包括：In order to achieve the above objective, the present invention provides a flight control method applied to an aircraft, the aircraft is in communication with a terminal device, the aircraft is provided with a power component, and the method includes:
构建所述飞行器的姿态动力模型以及动力分配模型，其中，所述姿态动力模型包括姿态角动力模型和姿态角速率动力模型；Constructing an attitude dynamic model and a power distribution model of the aircraft, wherein the attitude dynamic model includes an attitude angular dynamic model and an attitude angular rate dynamic model;
周期性获取所述飞行器的姿态参数以及所述终端设备发出的第一控制指令，其中，所述姿态参数包括姿态角以及姿态角速率；Periodically acquiring the attitude parameters of the aircraft and the first control instruction issued by the terminal device, where the attitude parameters include an attitude angle and an attitude angular rate;
根据所述姿态角动力模型、所述姿态参数以及所述第一控制指令获取第二控制指令；Acquiring a second control instruction according to the attitude angle dynamic model, the attitude parameter, and the first control instruction;
根据所述第二控制指令、所述姿态角速率以及第三控制指令获取当前的虚拟控制量指令，其中，所述第三控制指令为预设的虚拟控制量指令或前一周期的虚拟控制量指令；Acquire the current virtual control quantity instruction according to the second control instruction, the attitude angular rate, and the third control instruction, where the third control instruction is a preset virtual control quantity instruction or the virtual control quantity of the previous cycle instruction;
根据所述姿态角速率、所述当前的虚拟控制量指令以及第四控制指令获取当前的动力分配指令，其中，所述第四控制指令为预设的动力分配指令或前一周期的动力分配指令；Acquire the current power distribution command according to the attitude angular rate, the current virtual control amount command, and the fourth control command, where the fourth control command is a preset power distribution command or a power distribution command of the previous cycle ；
根据所述当前的动力分配指令和所述动力分配模型控制所述动力组件以调整所述飞行器的飞行姿态。The power component is controlled according to the current power distribution instruction and the power distribution model to adjust the flight attitude of the aircraft.
优选地，所述第一控制指令为期望姿态角指令，所述根据所述姿态角动力模型、所述姿态参数以及所述第一控制指令获取第二控制指令，包括：Preferably, the first control instruction is a desired attitude angle instruction, and acquiring a second control instruction according to the attitude angle dynamic model, the attitude parameter, and the first control instruction includes:
根据所述姿态角动力模型以及所述姿态参数通过在线参数辨识获取第一参数矩阵估计值；Obtaining a first parameter matrix estimated value through online parameter identification according to the attitude angular dynamic model and the attitude parameters;
根据所述期望姿态角指令以及所述姿态角获取姿态角控制误差；Acquiring an attitude angle control error according to the desired attitude angle command and the attitude angle;
根据所述姿态角控制误差、所述第一参数矩阵估计值以及预设参数矩阵，获取所述第二控制指令。Obtain the second control instruction according to the attitude angle control error, the estimated value of the first parameter matrix, and the preset parameter matrix.
优选地，所述第二控制指令为期望姿态角速率控制指令，所述根据所述第二控制指令、所述姿态角速率以及第三控制指令获取当前的虚拟控制量指令，包括：Preferably, the second control instruction is a desired attitude angular rate control instruction, and acquiring the current virtual control amount instruction according to the second control instruction, the attitude angular rate, and the third control instruction includes:
根据所述姿态角速率动力模型、所述姿态角速率以及所述第三控制指令通过在线参数辨识获取参数估计值，其中，所述参数估计值包括第二参数矩阵估计值、第三参数矩阵估计值以及干扰参数估计值；According to the attitude angular rate dynamic model, the attitude angular rate, and the third control command, the parameter estimation value is obtained through online parameter identification, wherein the parameter estimation value includes the second parameter matrix estimation value and the third parameter matrix estimation value Values and estimated values of interference parameters;
根据所述姿态角速率和所述期望姿态角速率控制指令获取姿态角速率控制误差；Acquiring an attitude angular rate control error according to the attitude angular rate and the desired attitude angular rate control command;
根据所述姿态角速率控制误差和所述参数估计值获取当前的虚拟控制量指令。Obtain a current virtual control amount command according to the attitude angular rate control error and the parameter estimation value.
优选地，所述根据所述姿态角速率、所述当前的虚拟控制量指令以及第四控制指令获取当前的动力分配指令，包括：Preferably, the acquiring the current power distribution instruction according to the attitude angular rate, the current virtual control amount instruction, and the fourth control instruction includes:
根据所述姿态角速率和所述第四控制指令通过在线参数辨识获取动力分配矩阵估计值；Obtaining the estimated value of the power distribution matrix through online parameter identification according to the attitude angular rate and the fourth control instruction;
根据所述动力分配矩阵估计值和所述当前的虚拟控制量指令获取当前的 动力分配指令。Acquire the current power distribution command according to the estimated value of the power distribution matrix and the current virtual control amount command.
优选地，所述飞行器设置有动力组件，所述根据所述当前的动力分配指令和所述动力分配模型控制所述飞行器飞行，包括：Preferably, the aircraft is provided with a power component, and the control of the aircraft to fly according to the current power distribution instruction and the power distribution model includes:
根据所述当前的动力分配指令和所述动力分配模型生成脉冲宽度调制指令；Generating a pulse width modulation command according to the current power distribution command and the power distribution model;
根据所述脉冲宽度调制指令控制所述动力组件的输出，以控制所述飞行器的飞行姿态。The output of the power assembly is controlled according to the pulse width modulation command to control the flight attitude of the aircraft.
为实现上述目的，本发明还提供一种飞行器，所述飞行器与终端设备通信连接，所述飞行器包括：To achieve the above objective, the present invention also provides an aircraft, the aircraft is in communication connection with a terminal device, and the aircraft includes:
模型构建模块，用于构建所述飞行器的姿态动力模型以及动力分配模型，其中，所述姿态动力模型包括姿态角动力模型和姿态角速率动力模型；A model construction module, used to construct an attitude dynamic model and a power distribution model of the aircraft, wherein the attitude dynamic model includes an attitude angular dynamic model and an attitude angular rate dynamic model;
获取模块，用于周期性获取所述飞行器的姿态参数以及所述终端设备发出的第一控制指令，其中，所述姿态参数包括姿态角以及姿态角速率；An acquiring module, configured to periodically acquire the attitude parameters of the aircraft and the first control instruction issued by the terminal device, wherein the attitude parameters include an attitude angle and an attitude angular rate;
第一辨识模块，用于根据所述姿态角动力模型、所述姿态参数以及所述第一控制指令获取第二控制指令；The first identification module is configured to obtain a second control instruction according to the attitude angular dynamic model, the attitude parameter, and the first control instruction;
第二辨识模块，用于根据所述第二控制指令、所述姿态角速率以及第三控制指令获取当前的虚拟控制量指令，其中，所述第三控制指令为预设的虚拟控制量指令或前一周期的虚拟控制量指令；The second identification module is configured to obtain the current virtual control amount instruction according to the second control instruction, the attitude angular rate, and the third control instruction, where the third control instruction is a preset virtual control amount instruction or The virtual control quantity command of the previous cycle;
第三辨识模块，用于根据所述姿态角速率、所述当前的虚拟控制量指令以及第四控制指令获取当前的动力分配指令，其中，所述第四控制指令为预设的动力分配指令或前一周期的动力分配指令；The third identification module is configured to obtain the current power distribution command according to the attitude angular rate, the current virtual control amount command, and the fourth control command, wherein the fourth control command is a preset power distribution command or The power distribution command of the previous cycle;
飞行控制模块，用于根据所述当前的动力分配指令和所述动力分配模型控制所述动力组件以调整所述飞行器的飞行姿态。The flight control module is used to control the power component to adjust the flight attitude of the aircraft according to the current power distribution instruction and the power distribution model.
优选地，所述第一控制指令为期望姿态角指令，所述第一辨识模块还用于：Preferably, the first control instruction is a desired attitude angle instruction, and the first identification module is further configured to:
根据所述姿态角动力模型以及所述姿态参数获取第一参数矩阵估计值；Obtaining a first parameter matrix estimated value according to the attitude angular dynamic model and the attitude parameter;
根据所述期望姿态角指令以及所述姿态角获取姿态角控制误差；Acquiring an attitude angle control error according to the desired attitude angle command and the attitude angle;
根据所述姿态角控制误差、所述第一参数矩阵估计值以及预设参数矩阵获取所述第二控制指令。Obtain the second control instruction according to the attitude angle control error, the estimated value of the first parameter matrix, and the preset parameter matrix.
优选地，所述第二控制指令为期望姿态角速率控制指令，所述第二辨识 模块还用于：Preferably, the second control instruction is a desired attitude angular rate control instruction, and the second identification module is further used for:
根据所述姿态角速率动力模型、所述姿态角速率以及所述第三控制指令获取参数估计值，其中，所述参数估计值包括第二参数矩阵估计值、第三参数矩阵估计值以及干扰参数估计值；Obtain parameter estimation values according to the attitude angular rate dynamic model, the attitude angular rate, and the third control command, wherein the parameter estimation values include second parameter matrix estimation values, third parameter matrix estimation values, and interference parameters estimated value;
根据所述姿态角速率和所述期望姿态角速率控制指令获取姿态角速率控制误差；Acquiring an attitude angular rate control error according to the attitude angular rate and the desired attitude angular rate control command;
根据所述姿态角速率控制误差和所述参数估计值获取当前的虚拟控制量指令。Obtain a current virtual control amount command according to the attitude angular rate control error and the parameter estimation value.
为实现上述目的，本发明还提供一种飞行器，所述飞行器与终端设备通信连接，所述飞行器包括：To achieve the above objective, the present invention also provides an aircraft, the aircraft is in communication connection with a terminal device, and the aircraft includes:
机身；body;
机臂，与所述机身相连；An arm, connected to the fuselage;
动力组件，设于所述机臂，用于给所述飞行器提供飞行的动力；The power assembly is arranged on the arm and is used to provide power for the aircraft to fly;
存储器，用于存储计算机可执行的飞行控制程序；及The memory is used to store the flight control program executable by the computer; and
处理器，用于调取存储在所述存储器中的可执行的飞行控制程序，以执行前述的飞行控制方法。The processor is used to retrieve the executable flight control program stored in the memory to execute the aforementioned flight control method.
为实现上述目的，本发明还提供一种飞行***，所述飞行器***包括飞行器以及与所述飞行器通信连接的终端设备，所述飞行器包括：In order to achieve the above objective, the present invention also provides a flying system, the aircraft system includes an aircraft and a terminal device communicatively connected with the aircraft, and the aircraft includes:
机身；body;
机臂，与所述机身相连；An arm, connected to the fuselage;
动力组件，设于所述机臂，用于给所述飞行器提供飞行的动力；The power assembly is arranged on the arm and is used to provide power for the aircraft to fly;
存储器，用于存储计算机可执行的飞行控制程序；及The memory is used to store the flight control program executable by the computer; and
处理器，用于调取存储在所述存储器中的可执行的飞行控制程序，以执行前述的飞行控制方法。The processor is used to retrieve the executable flight control program stored in the memory to execute the aforementioned flight control method.
与现有技术相比，本发明提供的飞行控制方法、飞行器及飞行***具有以下优点：Compared with the prior art, the flight control method, aircraft and flight system provided by the present invention have the following advantages:
该飞行控制方法，应用于飞行器，所述飞行器与终端设备通信连接，所述飞行器设置有动力组件，该飞行控制方法通过构建所述飞行器的姿态动力模型以及动力分配模型，其中，所述姿态动力模型包括姿态角动力模型和姿态角速率动力模型，并周期性获取所述飞行器的姿态参数以及所述终端设备 发出的第一控制指令，其中，所述姿态参数包括姿态角以及姿态角速率。利用所述姿态角动力模型、所述姿态参数以及所述第一控制指令通过在线参数辨识获取第二控制指令。利用所获取的第二控制指令、所述姿态角速率以及第三控制指令通过在线参数辨识获取当前的虚拟控制量指令，其中，所述第三控制指令为预设的虚拟控制量指令或前一周期的虚拟控制量指令。利用获取的所述姿态角速率、所述当前的虚拟控制量指令以及第四控制指令通过在线参数辨识获取当前的动力分配指令，其中，所述第四控制指令为预设的动力分配指令或前一周期的动力分配指令。最后根据所述当前的动力分配指令和所述动力分配模型控制所述动力组件以调整所述飞行器的飞行姿态。The flight control method is applied to an aircraft, the aircraft is communicatively connected with a terminal device, and the aircraft is provided with a power component. The flight control method constructs an attitude power model and a power distribution model of the aircraft, wherein the attitude power The model includes an attitude angular dynamic model and an attitude angular rate dynamic model, and periodically acquires the attitude parameters of the aircraft and the first control instruction issued by the terminal device, wherein the attitude parameters include the attitude angle and the attitude angular rate. Using the attitude angular dynamic model, the attitude parameters, and the first control instruction to obtain a second control instruction through online parameter identification. Use the acquired second control instruction, the attitude angular rate, and the third control instruction to obtain the current virtual control amount instruction through online parameter identification, where the third control instruction is a preset virtual control amount instruction or the previous one Periodic virtual control quantity instruction. Use the acquired attitude angular rate, the current virtual control quantity command, and the fourth control command to obtain the current power distribution command through online parameter identification, where the fourth control command is a preset power distribution command or previous One-cycle power distribution command. Finally, the power component is controlled according to the current power distribution instruction and the power distribution model to adjust the flight attitude of the aircraft.
通过利用多次在线参数辨识获得多个估计值，以全面地逼近开环模型中各个参数的实际值，利用所获得的估计值和动力分配模型控制飞行器的飞行姿态改变，从而使得飞行器具有更高的控制经度，更好的操控稳定性能及抗扰动性能。By using multiple online parameter identification to obtain multiple estimated values to fully approximate the actual value of each parameter in the open-loop model, the obtained estimated value and power distribution model are used to control the flight attitude change of the aircraft, so that the aircraft has a higher performance. The longitude of control, better control stability and anti-disturbance performance.
附图说明Description of the drawings
图1为本发明提供的飞行***框架结构示意图；Figure 1 is a schematic diagram of the frame structure of the flight system provided by the present invention;
图2为本发明提供的飞行控制方法的流程图；Figure 2 is a flow chart of the flight control method provided by the present invention;
图3为图2中步骤S103的细节流程图；FIG. 3 is a detailed flowchart of step S103 in FIG. 2;
图4为飞行器的飞行控制***原理图；Figure 4 is a schematic diagram of the flight control system of the aircraft;
图5为图2中步骤S104的细节流程图；FIG. 5 is a detailed flowchart of step S104 in FIG. 2;
图6为图2中步骤S105的细节流程图；FIG. 6 is a detailed flowchart of step S105 in FIG. 2;
图7为本发明提供的飞行器的框图结构示意图；FIG. 7 is a schematic diagram of a block diagram structure of an aircraft provided by the present invention;
图8为本发明提供的飞行器的模块框图示意图。Fig. 8 is a schematic diagram of a module block diagram of an aircraft provided by the present invention.
具体实施方式Detailed ways
为了使本发明的目的、技术方案及优点更加清楚明白，如下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。In order to make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not used to limit the present invention.
本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第 三”、“第四”等(如果存在)是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的实施例能够以除了在这里图示或描述的内容以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，示例性地，包含了一系列步骤或单元的过程、方法、***、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。The terms "first", "second", "third", "fourth", etc. (if any) in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not need to be used To describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments described herein can be implemented in a sequence other than the content illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusion. Illustratively, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to clearly listed Instead, those steps or units listed may include other steps or units that are not clearly listed or are inherent to these processes, methods, products, or equipment.
需要说明的是，在本发明中涉及“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本发明要求的保护范围之内。It should be noted that the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. . Therefore, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on what can be achieved by a person of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be achieved, it should be considered that such a combination of technical solutions does not exist. , Is not within the protection scope of the present invention.
本发明提供一种飞行控制方法、飞行器及飞行***，其中，该飞行控制方法，应用于飞行器，所述飞行器与终端设备通信连接，所述飞行器设置有动力组件，该飞行控制方法通过构建所述飞行器的姿态动力模型以及动力分配模型，其中，所述姿态动力模型包括姿态角动力模型和姿态角速率动力模型，并周期性获取所述飞行器的姿态参数以及所述终端设备发出的第一控制指令，其中，所述姿态参数包括姿态角以及姿态角速率。利用所述姿态角动力模型、所述姿态参数以及所述第一控制指令通过在线参数辨识获取第二控制指令。利用所获取的第二控制指令、所述姿态角速率以及第三控制指令通过在线参数辨识获取当前的虚拟控制量指令，其中，所述第三控制指令为预设的虚拟控制量指令或前一周期的虚拟控制量指令。利用获取的所述姿态角速率、所述当前的虚拟控制量指令以及第四控制指令通过在线参数辨识获取当前的动力分配指令，其中，所述第四控制指令为预设的动力分配指令或前一周期的动力分配指令。最后根据所述当前的动力分配指令和所述动力分配模型控制所述动力组件以调整所述飞行器的飞行姿态。The present invention provides a flight control method, an aircraft, and a flight system, wherein the flight control method is applied to an aircraft, the aircraft is communicatively connected with a terminal device, the aircraft is provided with power components, and the flight control method constructs the An attitude power model and a power distribution model of an aircraft, wherein the attitude dynamic model includes an attitude angular dynamic model and an attitude angular rate dynamic model, and periodically obtains the attitude parameters of the aircraft and the first control command issued by the terminal device , Wherein the attitude parameters include attitude angle and attitude angular rate. Using the attitude angular dynamic model, the attitude parameters, and the first control instruction to obtain a second control instruction through online parameter identification. Use the acquired second control instruction, the attitude angular rate, and the third control instruction to obtain the current virtual control amount instruction through online parameter identification, where the third control instruction is a preset virtual control amount instruction or the previous one Periodic virtual control quantity instruction. Use the acquired attitude angular rate, the current virtual control quantity command, and the fourth control command to obtain the current power distribution command through online parameter identification, where the fourth control command is a preset power distribution command or previous One-cycle power distribution command. Finally, the power component is controlled according to the current power distribution instruction and the power distribution model to adjust the flight attitude of the aircraft.
利用多次在线参数辨识获得多个估计值，以全面地逼近开环模型中各个 参数的实际值，利用所获得的估计值和动力分配模型控制飞行器的飞行姿态改变，从而使得飞行器具有更高的控制经度，更好的操控稳定性能及抗扰动性能。Use multiple online parameter identification to obtain multiple estimated values to fully approximate the actual values of each parameter in the open-loop model, and use the obtained estimated values and power distribution model to control the flight attitude changes of the aircraft, so that the aircraft has a higher Control longitude, better control stability and anti-disturbance performance.
请参阅图1，图1为本发明提供的一种飞行***100，该飞行***100包括飞行器10以及与飞行器10通信连接的终端设备20，其中，终端设备20用于向飞行器10发送飞行控制指令，以使飞行器10接收到该飞行控制指令后，根据该飞行控制指令执行相应的飞行操作，该终端设备20可以是遥控装置、智能手机、平板电脑或笔记本电脑等。Please refer to FIG. 1. FIG. 1 is a flight system 100 provided by the present invention. The flight system 100 includes an aircraft 10 and a terminal device 20 communicatively connected with the aircraft 10, wherein the terminal device 20 is used to send flight control instructions to the aircraft 10 , So that after receiving the flight control instruction, the aircraft 10 executes corresponding flight operations according to the flight control instruction. The terminal device 20 may be a remote control device, a smart phone, a tablet computer, or a notebook computer.
具体地，该飞行器10包括机身101、机臂102、动力组件103、控制组件104以及传感器组件105。其中，机臂102与机身101连接，动力组件103设置于机臂102，用于为飞行器10提供飞行动力。传感器组件105与控制组件104电连接，用于获取多种飞行器10的传感数据并将获取的传感数据发送给控制组件104，其中，传感数据包括飞行姿态参数、飞行速度、飞行加速度或飞行高度等中的任意一者或多者组合。控制组件104根据获取的传感数据及时获知飞行器10的飞行状态，以控制之电连接的控制动力组件103动作，从而实现飞行器10的飞行控制。其中，控制器组件104包括处理器106以及与处理器106电连接的姿态角控制器1041、姿态角控制器1042以及动力分配控制器1043。Specifically, the aircraft 10 includes a fuselage 101, an arm 102, a power assembly 103, a control assembly 104 and a sensor assembly 105. Wherein, the arm 102 is connected to the fuselage 101, and the power assembly 103 is arranged on the arm 102 to provide flight power for the aircraft 10. The sensor component 105 is electrically connected to the control component 104, and is used to acquire sensor data of various aircraft 10 and send the acquired sensor data to the control component 104, where the sensor data includes flight attitude parameters, flight speed, flight acceleration or Any one or a combination of flying heights, etc. The control component 104 learns the flight status of the aircraft 10 in time according to the acquired sensor data, and controls the actions of the electrically connected control power component 103, thereby realizing the flight control of the aircraft 10. The controller component 104 includes a processor 106, an attitude angle controller 1041, an attitude angle controller 1042, and a power distribution controller 1043 electrically connected to the processor 106.
请参阅图2，图2为本发明提供的一种飞行控制方法，该飞行控制方法应用于飞行器10，该方法包括：Please refer to FIG. 2. FIG. 2 is a flight control method provided by the present invention. The flight control method is applied to an aircraft 10, and the method includes:
步骤S101：构建所述飞行器的姿态动力模型以及动力分配模型，其中，所述姿态动力模型包括姿态角动力模型和姿态角速率动力模型。Step S101: Construct an attitude dynamic model and a power distribution model of the aircraft, wherein the attitude dynamic model includes an attitude angular dynamic model and an attitude angular rate dynamic model.
构建飞行器10的姿态动力模型以及动力分配模型，其中，所述姿态动力模型包括姿态角动力模型
Figure PCTCN2020123306-appb-000001
和姿态角速率动力模型
Figure PCTCN2020123306-appb-000002
Construct an attitude dynamic model and a power distribution model of the aircraft 10, wherein the attitude dynamic model includes an attitude angular dynamic model
Figure PCTCN2020123306-appb-000001
And attitude angular rate dynamic model
Figure PCTCN2020123306-appb-000002
示例性地，构建飞行器10的姿态动力模型为：Exemplarily, constructing the attitude dynamic model of the aircraft 10 is:
Figure PCTCN2020123306-appb-000003
Figure PCTCN2020123306-appb-000003
其中，A 1为第一参数矩阵，A 2为第二参数矩阵、B为第三参数矩阵，姿态角X 1为(1)式中
Figure PCTCN2020123306-appb-000004
的积分，该姿态角X 1包括滚转角
Figure PCTCN2020123306-appb-000005
俯仰角θ及偏航 角ψ；X 2为飞行器10的姿态角速率，该姿态角速率X 2包括滚转角速率ω x、俯仰角速率ω y及偏航角速率ω z，u为三通道虚拟控制量指令，d为模型不确定性以及外界干扰项，即干扰参数，由上式(1)中各个变量如下： Among them, A 1 is the first parameter matrix, A 2 is the second parameter matrix, B is the third parameter matrix, and the attitude angle X 1 is (1) where
Figure PCTCN2020123306-appb-000004
The integral of the attitude angle X 1 includes the roll angle
Figure PCTCN2020123306-appb-000005
Pitch angle θ and yaw angle ψ; X 2 is the attitude angular rate of the aircraft 10, the attitude angular rate X 2 includes the roll angular rate ω x , the pitch angular rate ω y and the yaw angular rate ω z , u is the three-channel virtual The control quantity command, d is the model uncertainty and the external interference term, that is, the interference parameter. The variables in the above formula (1) are as follows:
Figure PCTCN2020123306-appb-000006
Figure PCTCN2020123306-appb-000006
设第一参数矩阵A 1、第二参数矩阵A 2及第三参数矩阵B分别为： Suppose the first parameter matrix A 1 , the second parameter matrix A 2 and the third parameter matrix B are respectively:
Figure PCTCN2020123306-appb-000007
Figure PCTCN2020123306-appb-000007
构建动力分配模型v：Build a power distribution model v:
u＝Mv，即
Figure PCTCN2020123306-appb-000008
u=Mv, namely
Figure PCTCN2020123306-appb-000008
其中，M为动力分配矩阵。Among them, M is the power distribution matrix.
若飞行器10的动力组件104有n个电机，则有：If the power component 104 of the aircraft 10 has n motors, there are:
Figure PCTCN2020123306-appb-000009
Figure PCTCN2020123306-appb-000009
其中，A 1、A 2、B、M均为未知量。 Among them, A 1 , A 2 , B, and M are all unknown quantities.
步骤S102：周期性获取所述飞行器的姿态参数以及所述终端设备发出的第一控制指令，其中，所述姿态参数包括姿态角以及姿态角速率。Step S102: Periodically acquire the attitude parameters of the aircraft and the first control instruction issued by the terminal device, where the attitude parameters include an attitude angle and an attitude angular rate.
以T为周期，控制传感器组件105周期性获取飞行器10的姿态参数X以及周期性接收终端设备20发出的第一控制指令，其中，所述姿态参数X包括姿态角X 1以及姿态角速率X 2。 Taking T as the period, the control sensor assembly 105 periodically obtains the attitude parameter X of the aircraft 10 and periodically receives the first control instruction issued by the terminal device 20, where the attitude parameter X includes an attitude angle X 1 and an attitude angular rate X 2 .
步骤S103：根据所述姿态角控制误差、所述第一参数矩阵估计值以及预设参数矩阵获取所述第二控制指令。Step S103: Obtain the second control instruction according to the attitude angle control error, the estimated value of the first parameter matrix, and the preset parameter matrix.
请参阅图3在部分实施例中，所述第一控制指令为期望姿态角指令，步骤S103，包括：Please refer to FIG. 3 in some embodiments, the first control command is a desired attitude angle command, and step S103 includes:
步骤S1031：根据所述姿态角动力模型以及所述姿态参数通过在线参数辨识获取第一参数矩阵估计值；Step S1031: Obtain a first parameter matrix estimation value through online parameter identification according to the attitude angular dynamic model and the attitude parameters;
步骤S1032：根据所述期望姿态角指令以及所述姿态角获取姿态角控制 误差；Step S1032: Obtain an attitude angle control error according to the desired attitude angle command and the attitude angle;
步骤S1033：根据所述姿态角控制误差、所述第一参数矩阵估计值以及预设参数矩阵，获取所述第二控制指令。Step S1033: Obtain the second control instruction according to the attitude angle control error, the estimated value of the first parameter matrix, and the preset parameter matrix.
飞行器10根据所获取的姿态角控制误差、第一参数矩阵估计值以及预设参数矩阵，获取第二控制指令，以根据第二控制指令控制飞行器进行进一步姿态调整。The aircraft 10 obtains a second control instruction according to the acquired attitude angle control error, the estimated value of the first parameter matrix, and the preset parameter matrix, so as to control the aircraft to perform further attitude adjustment according to the second control instruction.
请参阅图4，示例性地，滚转角
Figure PCTCN2020123306-appb-000010
俯仰角θ、偏航角ψ、滚转角速率ω x、俯仰角速率ω y及偏航角速率ω z等姿态参数可通过传感器组件105周期性获取。 Please refer to Figure 4, exemplarily, the roll angle
Figure PCTCN2020123306-appb-000010
Attitude parameters such as the pitch angle θ, the yaw angle ψ, the roll angle rate ω x , the pitch angle rate ω y, and the yaw angle rate ω z can be periodically acquired by the sensor component 105.
已知姿态角动力模型
Figure PCTCN2020123306-appb-000011
为：
Figure PCTCN2020123306-appb-000012
将该姿态角动力模型
Figure PCTCN2020123306-appb-000013
离散化处理，可获得其单通道离散化形式为： Dynamic model with known attitude angle
Figure PCTCN2020123306-appb-000011
for:
Figure PCTCN2020123306-appb-000012
Dynamic model of the attitude angle
Figure PCTCN2020123306-appb-000013
Discretization processing, the single-channel discretization form can be obtained as:
Figure PCTCN2020123306-appb-000014
Figure PCTCN2020123306-appb-000014
其中i＝1时，
Figure PCTCN2020123306-appb-000015
X 2i＝ω x；其中i＝2时，X 1i＝θ，X 2i＝ω y；其中i＝3时，X 1i＝ψ，X 2i＝ω z，T为采样时间。 Where i=1,
Figure PCTCN2020123306-appb-000015
X 2i =ω x ; where i=2, X 1i =θ, X 2i =ω y ; where i=3, X 1i =ψ, X 2i =ω z , and T is the sampling time.
设h 1i(k)＝X 2i(k)，姿态角X 1测量值z 1i(k)＝X 1i(k+1)-X 1i(k)，则处理器106可采用预设公式(7)进行在线参数辨识，求得到参数θ 1i(k+1)的估计值
Figure PCTCN2020123306-appb-000016
即： Suppose h 1i (k)=X 2i (k), the measured value of attitude angle X 1 z 1i (k)=X 1i (k+1)-X 1i (k), then the processor 106 can use the preset formula (7 ) Perform online parameter identification to obtain the estimated value of the parameter θ 1i (k+1)
Figure PCTCN2020123306-appb-000016
which is:
Figure PCTCN2020123306-appb-000017
Figure PCTCN2020123306-appb-000017
上述公式可估计出参数
Figure PCTCN2020123306-appb-000018
i＝1，2，3…，进一步可求得参数： The above formula can estimate the parameters
Figure PCTCN2020123306-appb-000018
i=1, 2, 3..., further parameters can be obtained:
Figure PCTCN2020123306-appb-000019
Figure PCTCN2020123306-appb-000019
因此，处理器106可通过式子(3)、(8)可实时地求出了第一参数矩阵A 1的估计值
Figure PCTCN2020123306-appb-000020
Therefore, the processor 106 can obtain the estimated value of the first parameter matrix A 1 in real time through equations (3) and (8)
Figure PCTCN2020123306-appb-000020
用户在需要控制飞行器10进行姿态调整时，通过操控终端设备20向飞行器10发出通过期望姿态角指令X 1c，飞行器10期性获取终端设备20发出的期望姿态角指令X 1c，并根据该期望角指令X 1c获取对应的期望姿态角，利用期望姿态角和飞行器10通过传感器组件105获取的姿态角X 1做差以获取 姿态角控制误差△X 1。 When the user needs to control the aircraft 10 to adjust the attitude, he controls the terminal device 20 to issue the desired attitude angle command X 1c to the aircraft 10, and the aircraft 10 periodically obtains the desired attitude angle command X 1c issued by the terminal device 20, and according to the desired angle Command X 1c to obtain the corresponding desired attitude angle, and use the difference between the desired attitude angle and the attitude angle X 1 acquired by the aircraft 10 through the sensor assembly 105 to obtain the attitude angle control error ΔX 1 .
控制组件104的姿态角控制器1041获取姿态角控制误差△X 1与第一参数矩阵估计值
Figure PCTCN2020123306-appb-000021
经过预设的姿态角控制方程，如式子(9)，获取第二控制指令X 2c，其中，姿态角控制方程为： The attitude angle controller 1041 of the control component 104 obtains the attitude angle control error △X 1 and the estimated value of the first parameter matrix
Figure PCTCN2020123306-appb-000021
After the preset attitude angle control equation, such as equation (9), the second control command X 2c is obtained , where the attitude angle control equation is:
Figure PCTCN2020123306-appb-000022
Figure PCTCN2020123306-appb-000022
其中，Ξ为预设阻尼矩阵，W n为预设带宽矩阵。 Among them, Ξ is the preset damping matrix, and W n is the preset bandwidth matrix.
步骤S104：根据所述第二控制指令、所述姿态角速率以及第三控制指令获取当前的虚拟控制量指令，其中，所述第三控制指令为预设的虚拟控制量指令或前一周期的虚拟控制量指令。Step S104: Acquire the current virtual control quantity instruction according to the second control instruction, the attitude angular rate, and the third control instruction, where the third control instruction is a preset virtual control quantity instruction or the previous cycle's Virtual control quantity instruction.
请参阅图5，在部分实施例中，第二控制指令为期望姿态角速率控制指令，步骤S104包括：Referring to FIG. 5, in some embodiments, the second control command is a desired attitude angular rate control command, and step S104 includes:
步骤S1041：根据所述姿态角速率动力模型、所述姿态角速率以及所述第三控制指令通过在线参数辨识获取参数估计值，其中，所述参数估计值包括第二参数矩阵估计值、第三参数矩阵估计值以及干扰参数估计值；Step S1041: Obtain parameter estimation values through online parameter identification according to the attitude angular rate dynamic model, the attitude angular rate and the third control command, where the parameter estimation values include the second parameter matrix estimation value, the third parameter matrix estimation value and the third parameter estimation value. Estimated value of parameter matrix and estimated value of interference parameter;
步骤S1042：根据所述姿态角速率和所述期望姿态角速率控制指令获取姿态角速率控制误差；Step S1042: Obtain an attitude angular rate control error according to the attitude angular rate and the desired attitude angular rate control command;
步骤S1043：根据所述姿态角速率控制误差和所述参数估计值获取当前的虚拟控制量指令。Step S1043: Obtain a current virtual control amount command according to the attitude angular rate control error and the parameter estimation value.
飞行器10根据已构建的所述姿态角速率动力模型
Figure PCTCN2020123306-appb-000023
通过传感器组件10获取的所述姿态角速率X 2以及所述第三控制指令通过在线参数辨识获取参数估计值，其中，所述参数估计值包括第二参数矩阵估计值、第三参数矩阵估计值以及干扰参数估计值，第三控制指令为预设的虚拟控制量指令或前一周期的虚拟控制量指令，当飞行器10刚启动且接收到终端设备10发出的第一控制指令飞行时，该第三指令为预设的虚拟指令。当飞行器10在飞行途中接收到终端设备10发出的第一控制指令时，该第三指令为前一周期的虚拟控制量指令。 The aircraft 10 is based on the constructed attitude angular rate dynamic model
Figure PCTCN2020123306-appb-000023
The attitude angular rate X 2 obtained by the sensor assembly 10 and the third control command obtain parameter estimation values through online parameter identification, wherein the parameter estimation values include a second parameter matrix estimation value and a third parameter matrix estimation value And the estimated value of the interference parameter. The third control command is a preset virtual control variable command or a virtual control variable command of the previous cycle. When the aircraft 10 just starts and receives the first control command issued by the terminal device 10 to fly, the first control command is The three commands are preset virtual commands. When the aircraft 10 receives the first control instruction issued by the terminal device 10 during the flight, the third instruction is the virtual control quantity instruction of the previous cycle.
飞行器10根据获取的姿态角速率X 2和期望姿态角速率控制指令X2c获取姿态角速率控制误差△X2c；并根据所述姿态角速率控制误差△X2c和所述参数估计值γ获取当前的虚拟控制量指令，以实现周期性根据前一周期的虚拟控制指令更新当前的虚拟控制量指令。 10 X 2 and desired aircraft attitude rate control command according to the attitude angular rate acquired X2c acquired attitude control error rate △ X2c; △ X2c control error and the parameter estimates and obtains the current virtual γ according to the attitude angular rate controlling The quantity command is used to periodically update the current virtual control quantity command according to the virtual control command of the previous cycle.
如图4所示，示例性地，已知姿态角速率动力模型
Figure PCTCN2020123306-appb-000024
为：
Figure PCTCN2020123306-appb-000025
将该姿态角速率动力模型
Figure PCTCN2020123306-appb-000026
离散化处理，可获得其单通道离散化形式为： As shown in Figure 4, exemplarily, the known attitude angular rate dynamic model
Figure PCTCN2020123306-appb-000024
for:
Figure PCTCN2020123306-appb-000025
Dynamic model of attitude angular rate
Figure PCTCN2020123306-appb-000026
Discretization processing, the single-channel discretization form can be obtained as:
X 2i(k+1)＝(1+Ta 2i(k))X 2i(k)+Tb i(k)u i(k)+Td i(k))  (10) X 2i (k+1)=(1+Ta 2i (k))X 2i (k)+Tb i (k)u i (k)+Td i (k)) (10)
其中i＝1时，X 2i＝ω x；其中i＝2时，X 2i＝ω y；其中i＝3时，X 2i＝ω z，T为采样时间。 When i=1, X 2i =ω x ; when i=2, X 2i =ω y ; when i=3, X 2i =ω z , and T is the sampling time.
设h 2i(k)＝[X 2i(k)，u i(k)，1]，姿态角速率X 2的测量值z 2i(k+1)＝X 2i(k+1)，θ 2i(k+1)＝[1+Ta 2i(k+1)，Tb i(k+1)，Td i(k+1)] T，则处理器106利用获取的姿态角速率X 2、第三控制指令，并采用预设公式(10)进行在线参数辨识，求得参数θ 2i(k+1)的估计值
Figure PCTCN2020123306-appb-000027
即： Suppose h 2i (k)=[X 2i (k), u i (k), 1], the measured value of attitude angular rate X 2 z 2i (k+1)=X 2i (k+1), θ 2i ( k+1)=[1+Ta 2i (k+1), Tb i (k+1), Td i (k+1)] T , then the processor 106 uses the acquired attitude angular rate X 2 , the third control Command, and use the preset formula (10) for online parameter identification to obtain the estimated value of the parameter θ 2i (k+1)
Figure PCTCN2020123306-appb-000027
which is:
Figure PCTCN2020123306-appb-000028
Figure PCTCN2020123306-appb-000028
其中，I为单位矩阵，通过公式(10)、(11)可求得参数
Figure PCTCN2020123306-appb-000029
Among them, I is the identity matrix, and the parameters can be obtained by formulas (10) and (11)
Figure PCTCN2020123306-appb-000029
则进一步可求得参数a 2i(k+1)，b i(k+1)，d i(k+1)对应的估计值
Figure PCTCN2020123306-appb-000030
即： The further parameters can be obtained a 2i (k + 1), (k + 1), (k + 1) corresponding to the estimated value b i d i
Figure PCTCN2020123306-appb-000030
which is:
Figure PCTCN2020123306-appb-000031
Figure PCTCN2020123306-appb-000031
则可得到参数估计值γ，参数估计值γ包括第二参数矩阵A 2的估计值
Figure PCTCN2020123306-appb-000032
第三参数矩阵B的估计值
Figure PCTCN2020123306-appb-000033
以及干扰参数d的估计值
Figure PCTCN2020123306-appb-000034
Then the parameter estimated value γ can be obtained, and the parameter estimated value γ includes the estimated value of the second parameter matrix A 2
Figure PCTCN2020123306-appb-000032
Estimated value of the third parameter matrix B
Figure PCTCN2020123306-appb-000033
And the estimated value of the interference parameter d
Figure PCTCN2020123306-appb-000034
飞行器10根据期望姿态角速率控制指令获取对应的期望姿态角速率，利用期望姿态角速率和飞行器10通过传感器组件105获取的姿态角速率X 2做差以获得姿态角速率控制误差△X 2。 The aircraft 10 obtains the corresponding desired attitude angular rate according to the desired attitude angular rate control command, and uses the difference between the desired attitude angular rate and the attitude angular rate X 2 acquired by the aircraft 10 through the sensor assembly 105 to obtain the attitude angular rate control error ΔX 2 .
控制组件104的姿态角速率控制器1042获取姿态角速率控制误差△X 2以及参数估计值γ，经过预设控制方程，如式子(13)所示，获取当前的虚拟控制量指令u k+1，其中，预设控制方程为： The attitude angular rate controller 1042 of the control component 104 obtains the attitude angular rate control error △X 2 and the parameter estimated value γ, and obtains the current virtual control quantity command u k+ after the preset control equation, as shown in equation (13) 1. Among them, the preset control equation is:
Figure PCTCN2020123306-appb-000035
Figure PCTCN2020123306-appb-000035
步骤S105：根据所述姿态角速率、所述当前的虚拟控制量指令以及第四 控制指令获取当前的动力分配指令，其中，所述第四控制指令为预设的动力分配指令或前一周期的动力分配指令。Step S105: Acquire the current power distribution command according to the attitude angular rate, the current virtual control quantity command, and the fourth control command, where the fourth control command is a preset power distribution command or the previous cycle Power distribution instructions.
请参阅图6，在部分实施例中，步骤S105包括：Referring to FIG. 6, in some embodiments, step S105 includes:
步骤S1051：根据所述姿态角速率和所述第四控制指令通过在线参数辨识获取动力分配矩阵估计值；Step S1051: Obtain the estimated value of the power distribution matrix through online parameter identification according to the attitude angular rate and the fourth control instruction;
步骤S1052：根据所述动力分配矩阵估计值和所述当前的虚拟控制量指令获取当前的动力分配指令。Step S1052: Acquire a current power distribution command according to the estimated value of the power distribution matrix and the current virtual control amount command.
飞行器10根据所获取的姿态角速率X 1和第四控制指令通过在线参数辨识获取动力分配矩阵估计值，其中，该第四控制指令为预设的动力分配指令或前一周期的动力分配指令。当飞行器10刚启动且接收到终端设备10发出的第一控制指令飞行时，该第四指令为预设的动力分配指令。当飞行器10在飞行途中接收到终端设备10发出的第一控制指令时，该第四指令为前一周期的动力分配指令。 The aircraft 10 obtains the estimated value of the power distribution matrix through online parameter identification according to the acquired attitude angular rate X 1 and the fourth control command, where the fourth control command is a preset power distribution command or a power distribution command of the previous cycle. When the aircraft 10 has just started and received the first control instruction issued by the terminal device 10 to fly, the fourth instruction is a preset power distribution instruction. When the aircraft 10 receives the first control instruction issued by the terminal device 10 during the flight, the fourth instruction is the power distribution instruction of the previous cycle.
飞行器10根据动力分配矩阵估计值和所述当前的虚拟控制量指令获取当前的动力分配指令，以实现周期性根据前一周期的动力分配指令更新当前的动力分配指令。The aircraft 10 obtains the current power distribution command according to the estimated value of the power distribution matrix and the current virtual control amount command, so as to periodically update the current power distribution command according to the power distribution command of the previous cycle.
如图4所示，示例性地，姿态角速率动力模型
Figure PCTCN2020123306-appb-000036
为： As shown in Figure 4, exemplarily, the attitude angular rate dynamic model
Figure PCTCN2020123306-appb-000036
for:
Figure PCTCN2020123306-appb-000037
Figure PCTCN2020123306-appb-000037
由于相比于Bu，A 2X 2和d的值较小，可将其舍弃得到近似模型： Since the values of A 2 X 2 and d are smaller than Bu, they can be discarded to obtain an approximate model:
Figure PCTCN2020123306-appb-000038
Figure PCTCN2020123306-appb-000038
已知动力分配模型v为：The known power distribution model v is:
Figure PCTCN2020123306-appb-000039
Figure PCTCN2020123306-appb-000039
由式子(4)、(14)可以获知：From equations (4) and (14), we can know:
Figure PCTCN2020123306-appb-000040
Figure PCTCN2020123306-appb-000040
上式子(15)的单通道离散形式为：The single-channel discrete form of the above equation (15) is:
Figure PCTCN2020123306-appb-000041
Figure PCTCN2020123306-appb-000041
其中，M i(k)＝[m i1 m i2 … m in]，设
Figure PCTCN2020123306-appb-000042
h 3i(k)＝v(k)，
Figure PCTCN2020123306-appb-000043
则处理器106利用获取的姿态角速率X 2、第四控制指令，并采样预设公式(17)进行在线参数辨识，求得θ 3i(k+1)的估计值
Figure PCTCN2020123306-appb-000044
 Wherein, M i (k) = [ m i1 m i2 ... m in], provided
Figure PCTCN2020123306-appb-000042
h 3i (k)=v(k),
Figure PCTCN2020123306-appb-000043
Then the processor 106 uses the acquired attitude angular rate X 2 , the fourth control command, and samples the preset formula (17) to perform online parameter identification, and obtains the estimated value of θ 3i (k+1)
Figure PCTCN2020123306-appb-000044
Figure PCTCN2020123306-appb-000045
Figure PCTCN2020123306-appb-000045
上式(17)计算得到了
Figure PCTCN2020123306-appb-000046
即可得到了动力分配矩阵M i(k+1)的估计值
Figure PCTCN2020123306-appb-000047
也即得到了动力分配矩阵估计值
Figure PCTCN2020123306-appb-000048
The above formula (17) calculates
Figure PCTCN2020123306-appb-000046
Then the estimated value of the power distribution matrix M i (k+1) can be obtained
Figure PCTCN2020123306-appb-000047
That is, the estimated value of the power distribution matrix
Figure PCTCN2020123306-appb-000048
控制组件104的动力分配控制器1043获取动力分配矩阵估计值
Figure PCTCN2020123306-appb-000049
和所述当前的虚拟控制量指令u k+1获取当前的动力分配指令v k+1。 The power distribution controller 1043 of the control component 104 obtains the estimated value of the power distribution matrix
Figure PCTCN2020123306-appb-000049
And the current virtual control quantity command u k+1 to obtain the current power distribution command v k+1 .
步骤S106：根据所述当前的动力分配指令和所述动力分配模型控制所述动力组件以调整所述飞行器的飞行姿态。Step S106: Control the power component according to the current power distribution instruction and the power distribution model to adjust the flight attitude of the aircraft.
在部分实施例中，步骤S106包括：In some embodiments, step S106 includes:
根据所述当前的动力分配指令和所述动力分配模型生成脉冲宽度调制指令；Generating a pulse width modulation command according to the current power distribution command and the power distribution model;
根据所述脉冲宽度调制指令控制所述动力组件的输出，以控制所述飞行器的飞行姿态。The output of the power assembly is controlled according to the pulse width modulation command to control the flight attitude of the aircraft.
如图4所示，示例性地，飞行器10根据当前的动力分配指令和动力分配模型控制设置于飞行器10的动力补充模块1044生成脉冲宽度调制指令，即PWM控制指令，以根据该PWM控制指令控制飞行器10的动力组件103输出，从而可以控制飞行器10的飞行姿态。As shown in FIG. 4, exemplarily, the aircraft 10 controls the power supplement module 1044 provided in the aircraft 10 according to the current power distribution command and the power distribution model to generate a pulse width modulation command, that is, a PWM control command, to control according to the PWM control command The power components 103 of the aircraft 10 are output, so that the flight attitude of the aircraft 10 can be controlled.
请参阅图7，在部分实施例中，飞行器10还包括存储器107以及总线108。传感器组件105、动力组件103以及存储器107通过总线108与处理器106电连接。Please refer to FIG. 7. In some embodiments, the aircraft 10 further includes a memory 107 and a bus 108. The sensor assembly 105, the power assembly 103, and the memory 107 are electrically connected to the processor 106 through a bus 108.
其中，存储器107至少包括一种类型的可读存储介质，所述可读存储介质包括闪存、硬盘、多媒体卡、卡型存储器(示例性地，SD或DX存储器等)、磁性存储器、磁盘、光盘等。存储器107在一些实施例中可以是飞行器10的内部存储单元，示例性地该飞行器10的硬盘。存储器107在另一些实施例中也可以是飞行器10的外部存储设备，示例性地飞行器10上配备的插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)等。Wherein, the memory 107 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), magnetic memory, magnetic disk, and optical disk. Wait. The memory 107 may be an internal storage unit of the aircraft 10 in some embodiments, for example, a hard disk of the aircraft 10. In other embodiments, the memory 107 may also be an external storage device of the aircraft 10, for example, a plug-in hard disk equipped on the aircraft 10, a smart memory card (Smart Media Card, SMC), and a Secure Digital (SD). Card, Flash Card, etc.
存储器107不仅可以用于存储安装于飞行器10的应用软件及各类数据，示例性地计算机可读程序的代码等，如磁力计校准程序，也即存储器107可以作为存储介质。The memory 107 can be used not only to store application software and various data installed in the aircraft 10, exemplary computer-readable program codes, etc., such as a magnetometer calibration program, that is, the memory 107 can be used as a storage medium.
处理器106在一些实施例中可以是中央处理器(Central Processing Unit,CPU)、控制器、微控制器、微处理器或其他数据处理芯片，处理器106可调用存储器107中存储的程序代码或处理数据，实现前述的飞行控制方法。In some embodiments, the processor 106 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chips, and the processor 106 may call program codes stored in the memory 107 or Process the data to realize the aforementioned flight control method.
此外，本发明实施例还提出一种存储介质，所述存储介质为计算机可读存储介质，所述存储介质存储有可执行计算程序，所述可执行计算程序被执行时，实现前述的飞行控制方法。In addition, an embodiment of the present invention also provides a storage medium. The storage medium is a computer-readable storage medium. The storage medium stores an executable calculation program. When the executable calculation program is executed, the aforementioned flight control is realized. method.
请参阅图8，本发明还提供一种飞行器30，飞行器30与终端设备通信连接，所述飞行器30包括：Referring to FIG. 8, the present invention also provides an aircraft 30, the aircraft 30 is in communication connection with a terminal device, and the aircraft 30 includes:
模型构建模块301，用于构建所述飞行器的姿态动力模型以及动力分配模型，其中，所述姿态动力模型包括姿态角动力模型和姿态角速率动力模型；The model construction module 301 is used to construct an attitude dynamic model and a power distribution model of the aircraft, wherein the attitude dynamic model includes an attitude angular dynamic model and an attitude angular rate dynamic model;
获取模块302，用于周期性获取所述飞行器的姿态参数以及所述终端设备发出的第一控制指令，其中，所述姿态参数包括姿态角以及姿态角速率；The acquiring module 302 is configured to periodically acquire the attitude parameters of the aircraft and the first control instruction issued by the terminal device, where the attitude parameters include an attitude angle and an attitude angular rate;
第一辨识模块303，用于根据所述姿态角动力模型、所述姿态参数以及所述第一控制指令获取第二控制指令；The first identification module 303 is configured to obtain a second control instruction according to the attitude angular dynamic model, the attitude parameter, and the first control instruction;
第二辨识模块304，用于根据所述第二控制指令、所述姿态角速率以及第三控制指令获取当前的虚拟控制量指令，其中，所述第三控制指令为预设的虚拟控制量指令或前一周期的虚拟控制量指令；The second identification module 304 is configured to obtain the current virtual control amount instruction according to the second control instruction, the attitude angular rate, and the third control instruction, where the third control instruction is a preset virtual control amount instruction Or the virtual control quantity instruction of the previous cycle;
第三辨识模块305，用于根据所述姿态角速率、所述当前的虚拟控制量指令以及第四控制指令获取当前的动力分配指令，其中，所述第四控制指令为预设的动力分配指令或前一周期的动力分配指令；以及The third identification module 305 is configured to obtain the current power distribution command according to the attitude angular rate, the current virtual control amount command, and the fourth control command, where the fourth control command is a preset power distribution command Or the power distribution command from the previous cycle; and
飞行控制模块306，用于根据所述当前的动力分配指令和所述动力分配模型控制所述动力组件以调整所述飞行器的飞行姿态。The flight control module 306 is configured to control the power component to adjust the flight attitude of the aircraft according to the current power distribution instruction and the power distribution model.
在部分实施例中，所述第一控制指令为期望姿态角指令，所述第一辨识模块303还用于：In some embodiments, the first control instruction is a desired attitude angle instruction, and the first identification module 303 is further configured to:
根据所述姿态角动力模型以及所述姿态参数获取第一参数矩阵估计值；Obtaining a first parameter matrix estimated value according to the attitude angular dynamic model and the attitude parameter;
根据所述期望姿态角指令以及所述姿态角获取姿态角控制误差；Acquiring an attitude angle control error according to the desired attitude angle command and the attitude angle;
根据所述姿态角控制误差、所述第一参数矩阵估计值以及预设参数矩阵 获取所述第二控制指令。Acquire the second control instruction according to the attitude angle control error, the estimated value of the first parameter matrix, and the preset parameter matrix.
在部分实施例中，所述第二控制指令为期望姿态角速率控制指令，所述第二辨识模块304还用于：In some embodiments, the second control instruction is a desired attitude angular rate control instruction, and the second identification module 304 is further configured to:
根据所述姿态角速率动力模型、所述姿态角速率以及所述第三控制指令获取参数估计值，其中，所述参数估计值包括第二参数矩阵估计值、第三参数矩阵估计值以及干扰参数估计值；Obtain parameter estimation values according to the attitude angular rate dynamic model, the attitude angular rate, and the third control command, wherein the parameter estimation values include second parameter matrix estimation values, third parameter matrix estimation values, and interference parameters estimated value;
根据所述姿态角速率和所述期望姿态角速率控制指令获取姿态角速率控制误差；Acquiring an attitude angular rate control error according to the attitude angular rate and the desired attitude angular rate control command;
根据所述姿态角速率控制误差和所述参数估计值获取当前的虚拟控制量指令。Obtain a current virtual control amount command according to the attitude angular rate control error and the parameter estimation value.
在部分实施例中，第三辨识模块305还用于：In some embodiments, the third identification module 305 is also used to:
根据所述姿态角速率和所述第四控制指令通过在线参数辨识获取动力分配矩阵估计值；Obtaining the estimated value of the power distribution matrix through online parameter identification according to the attitude angular rate and the fourth control instruction;
根据所述动力分配矩阵估计值和所述当前的虚拟控制量指令获取当前的动力分配指令。Acquire a current power distribution command according to the estimated value of the power distribution matrix and the current virtual control amount command.
在部分实施例中，飞行控制模块306还用于：In some embodiments, the flight control module 306 is also used to:
根据所述当前的动力分配指令和所述动力分配模型生成脉冲宽度调制指令；Generating a pulse width modulation command according to the current power distribution command and the power distribution model;
根据所述脉冲宽度调制指令控制所述动力组件的输出，以控制所述飞行器的飞行姿态。The output of the power assembly is controlled according to the pulse width modulation command to control the flight attitude of the aircraft.
以上仅为本发明的优选实施例，并非因此限制本发明的保护范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的保护范围内。The above are only preferred embodiments of the present invention, and do not limit the scope of protection of the present invention. Any equivalent structure or equivalent process transformation made using the content of the description and drawings of the present invention, or directly or indirectly applied to other related technical fields All the same principles are included in the protection scope of the present invention.

Claims (10)

  1. 一种飞行控制方法，应用于飞行器，所述飞行器与终端设备通信连接，所述飞行器设置有动力组件，其特征在于，所述方法包括：A flight control method applied to an aircraft, the aircraft is in communication connection with a terminal device, and the aircraft is provided with a power component, characterized in that the method includes:
    构建所述飞行器的姿态动力模型以及动力分配模型，其中，所述姿态动力模型包括姿态角动力模型和姿态角速率动力模型；Constructing an attitude dynamic model and a power distribution model of the aircraft, wherein the attitude dynamic model includes an attitude angular dynamic model and an attitude angular rate dynamic model;
    周期性获取所述飞行器的姿态参数以及所述终端设备发出的第一控制指令，其中，所述姿态参数包括姿态角以及姿态角速率；Periodically acquiring the attitude parameters of the aircraft and the first control instruction issued by the terminal device, where the attitude parameters include an attitude angle and an attitude angular rate;
    根据所述姿态角动力模型、所述姿态参数以及所述第一控制指令获取第二控制指令；Acquiring a second control instruction according to the attitude angle dynamic model, the attitude parameter, and the first control instruction;
    根据所述第二控制指令、所述姿态角速率以及第三控制指令获取当前的虚拟控制量指令，其中，所述第三控制指令为预设的虚拟控制量指令或前一周期的虚拟控制量指令；Acquire the current virtual control quantity instruction according to the second control instruction, the attitude angular rate, and the third control instruction, where the third control instruction is a preset virtual control quantity instruction or the virtual control quantity of the previous cycle instruction;
    根据所述姿态角速率、所述当前的虚拟控制量指令以及第四控制指令获取当前的动力分配指令，其中，所述第四控制指令为预设的动力分配指令或前一周期的动力分配指令；Acquire the current power distribution command according to the attitude angular rate, the current virtual control amount command, and the fourth control command, where the fourth control command is a preset power distribution command or a power distribution command of the previous cycle ；
    根据所述当前的动力分配指令和所述动力分配模型控制所述动力组件以调整所述飞行器的飞行姿态。The power component is controlled according to the current power distribution instruction and the power distribution model to adjust the flight attitude of the aircraft.
  2. 如权利要求1所述的方法，其特征在于，所述第一控制指令为期望姿态角指令，所述根据所述姿态角动力模型、所述姿态参数以及所述第一控制指令获取第二控制指令，包括：The method according to claim 1, wherein the first control instruction is a desired attitude angle instruction, and the second control instruction is obtained according to the attitude angle dynamic model, the attitude parameter, and the first control instruction. Instructions, including:
    根据所述姿态角动力模型以及所述姿态参数通过在线参数辨识获取第一参数矩阵估计值；Obtaining a first parameter matrix estimated value through online parameter identification according to the attitude angular dynamic model and the attitude parameters;
    根据所述期望姿态角指令以及所述姿态角获取姿态角控制误差；Acquiring an attitude angle control error according to the desired attitude angle command and the attitude angle;
    根据所述姿态角控制误差、所述第一参数矩阵估计值以及预设参数矩阵，获取所述第二控制指令。Obtain the second control instruction according to the attitude angle control error, the estimated value of the first parameter matrix, and the preset parameter matrix.
  3. 如权利要求2所述的方法，其特征在于，所述第二控制指令为期望姿态角速率控制指令，所述根据所述第二控制指令、所述姿态角速率以及第三控制指令获取当前的虚拟控制量指令，包括：The method of claim 2, wherein the second control instruction is a desired attitude angular rate control instruction, and the current state is obtained according to the second control instruction, the attitude angular rate, and the third control instruction. Virtual control quantity instructions, including:
    根据所述姿态角速率动力模型、所述姿态角速率以及所述第三控制指令通过在线参数辨识获取参数估计值，其中，所述参数估计值包括第二参数矩 阵估计值、第三参数矩阵估计值以及干扰参数估计值；According to the attitude angular rate dynamic model, the attitude angular rate, and the third control command, the parameter estimation value is obtained through online parameter identification, wherein the parameter estimation value includes the second parameter matrix estimation value and the third parameter matrix estimation Values and estimated values of interference parameters;
    根据所述姿态角速率和所述期望姿态角速率控制指令获取姿态角速率控制误差；Acquiring an attitude angular rate control error according to the attitude angular rate and the desired attitude angular rate control command;
    根据所述姿态角速率控制误差和所述参数估计值获取当前的虚拟控制量指令。Obtain a current virtual control amount command according to the attitude angular rate control error and the parameter estimation value.
  4. 如权利要求3所述的方法，其特征在于，所述根据所述姿态角速率、所述当前的虚拟控制量指令以及第四控制指令获取当前的动力分配指令，包括：The method according to claim 3, wherein the obtaining the current power distribution command according to the attitude angular rate, the current virtual control amount command, and the fourth control command comprises:
    根据所述姿态角速率和所述第四控制指令通过在线参数辨识获取动力分配矩阵估计值；Obtaining the estimated value of the power distribution matrix through online parameter identification according to the attitude angular rate and the fourth control instruction;
    根据所述动力分配矩阵估计值和所述当前的虚拟控制量指令获取当前的动力分配指令。Acquire a current power distribution command according to the estimated value of the power distribution matrix and the current virtual control amount command.
  5. 如权利要求4所述的方法，其特征在于，所述飞行器设置有动力组件，所述根据所述当前的动力分配指令和所述动力分配模型控制所述飞行器飞行，包括：The method of claim 4, wherein the aircraft is provided with a power component, and the controlling the aircraft to fly according to the current power distribution instruction and the power distribution model comprises:
    根据所述当前的动力分配指令和所述动力分配模型生成脉冲宽度调制指令；Generating a pulse width modulation command according to the current power distribution command and the power distribution model;
    根据所述脉冲宽度调制指令控制所述动力组件的输出，以控制所述飞行器的飞行姿态。The output of the power assembly is controlled according to the pulse width modulation command to control the flight attitude of the aircraft.
  6. 一种飞行器，所述飞行器与终端设备通信连接，其特征在于，所述飞行器包括：An aircraft, which is in communication connection with a terminal device, characterized in that the aircraft includes:
    模型构建模块，用于构建所述飞行器的姿态动力模型以及动力分配模型，其中，所述姿态动力模型包括姿态角动力模型和姿态角速率动力模型；A model construction module, used to construct an attitude dynamic model and a power distribution model of the aircraft, wherein the attitude dynamic model includes an attitude angular dynamic model and an attitude angular rate dynamic model;
    获取模块，用于周期性获取所述飞行器的姿态参数以及所述终端设备发出的第一控制指令，其中，所述姿态参数包括姿态角以及姿态角速率；An acquiring module, configured to periodically acquire the attitude parameters of the aircraft and the first control instruction issued by the terminal device, wherein the attitude parameters include an attitude angle and an attitude angular rate;
    第一辨识模块，用于根据所述姿态角动力模型、所述姿态参数以及所述第一控制指令获取第二控制指令；The first identification module is configured to obtain a second control instruction according to the attitude angular dynamic model, the attitude parameter, and the first control instruction;
    第二辨识模块，用于根据所述第二控制指令、所述姿态角速率以及第三控制指令获取当前的虚拟控制量指令，其中，所述第三控制指令为预设的虚拟控制量指令或前一周期的虚拟控制量指令；The second identification module is configured to obtain the current virtual control amount instruction according to the second control instruction, the attitude angular rate, and the third control instruction, where the third control instruction is a preset virtual control amount instruction or The virtual control quantity command of the previous cycle;
    第三辨识模块，用于根据所述姿态角速率、所述当前的虚拟控制量指令以及第四控制指令获取当前的动力分配指令，其中，所述第四控制指令为预设的动力分配指令或前一周期的动力分配指令；The third identification module is configured to obtain the current power distribution command according to the attitude angular rate, the current virtual control amount command, and the fourth control command, wherein the fourth control command is a preset power distribution command or The power distribution command of the previous cycle;
    飞行控制模块，用于根据所述当前的动力分配指令和所述动力分配模型控制所述动力组件以调整所述飞行器的飞行姿态。The flight control module is used to control the power component to adjust the flight attitude of the aircraft according to the current power distribution instruction and the power distribution model.
  7. 如权利要求6所述的飞行器，其特征在于，所述第一控制指令为期望姿态角指令，所述第一辨识模块还用于：The aircraft according to claim 6, wherein the first control instruction is a desired attitude angle instruction, and the first identification module is further configured to:
    根据所述姿态角动力模型以及所述姿态参数获取第一参数矩阵估计值；Obtaining a first parameter matrix estimated value according to the attitude angular dynamic model and the attitude parameter;
    根据所述期望姿态角指令以及所述姿态角获取姿态角控制误差；Acquiring an attitude angle control error according to the desired attitude angle command and the attitude angle;
    根据所述姿态角控制误差、所述第一参数矩阵估计值以及预设参数矩阵获取所述第二控制指令。Obtain the second control instruction according to the attitude angle control error, the estimated value of the first parameter matrix, and the preset parameter matrix.
  8. 如权利要求7所述的飞行器，其特征在于，所述第二控制指令为期望姿态角速率控制指令，所述第二辨识模块还用于：The aircraft according to claim 7, wherein the second control instruction is a desired attitude angular rate control instruction, and the second identification module is further used for:
    根据所述姿态角速率动力模型、所述姿态角速率以及所述第三控制指令获取参数估计值，其中，所述参数估计值包括第二参数矩阵估计值、第三参数矩阵估计值以及干扰参数估计值；Obtain parameter estimation values according to the attitude angular rate dynamic model, the attitude angular rate, and the third control command, wherein the parameter estimation values include second parameter matrix estimation values, third parameter matrix estimation values, and interference parameters estimated value;
    根据所述姿态角速率和所述期望姿态角速率控制指令获取姿态角速率控制误差；Acquiring an attitude angular rate control error according to the attitude angular rate and the desired attitude angular rate control command;
    根据所述姿态角速率控制误差和所述参数估计值获取当前的虚拟控制量指令。Obtain a current virtual control amount command according to the attitude angular rate control error and the parameter estimation value.
  9. 一种飞行器，所述飞行器与终端设备通信连接，其特征在于，所述飞行器包括：An aircraft, which is in communication connection with a terminal device, characterized in that the aircraft includes:
    机身；body;
    机臂，与所述机身相连；An arm, connected to the fuselage;
    动力组件，设于所述机臂，用于给所述飞行器提供飞行的动力；The power assembly is arranged on the arm and is used to provide power for the aircraft to fly;
    存储器，用于存储计算机可执行的飞行控制程序；及The memory is used to store the flight control program executable by the computer; and
    处理器，用于调取存储在所述存储器中的可执行的飞行控制程序，以执行如权利要求1-5任一项所述的飞行控制方法。The processor is configured to retrieve an executable flight control program stored in the memory to execute the flight control method according to any one of claims 1-5.
  10. 一种飞行***，所述飞行器***包括飞行器以及与所述飞行器通信连接的终端设备，其特征在于，所述飞行器包括：A flight system, the aircraft system includes an aircraft and a terminal device communicatively connected with the aircraft, characterized in that the aircraft includes:
    机身；body;
    机臂，与所述机身相连；An arm, connected to the fuselage;
    动力组件，设于所述机臂，用于给所述飞行器提供飞行的动力；The power assembly is arranged on the arm and is used to provide power for the aircraft to fly;
    存储器，用于存储计算机可执行的飞行控制程序；及The memory is used to store the flight control program executable by the computer; and
    处理器，用于调取存储在所述存储器中的可执行的飞行控制程序，以执行如权利要求1-5任一项所述的飞行控制方法。The processor is configured to retrieve an executable flight control program stored in the memory to execute the flight control method according to any one of claims 1-5.
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