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Multi-rotor unmanned aerial vehicle based on pulling force measurement and flight control method thereof

A multi-rotor UAV and tensile force measurement technology, applied in the field of UAV flight, can solve the problems of not being able to provide and not reaching the three expected torque values ​​of the total tensile force, and achieve the effect of avoiding insufficient lift and shortening the attitude control process.

Inactive Publication Date: 2017-02-15
北京韦加智能科技股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In this case, although the rotation speed feedback scheme is adopted to make the rotation speed of the motor reach the desired rotation speed, it cannot provide the expected lift force, and the result is that the initial total pulling force and the expected values ​​of the three torques are still not reached.

Method used

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  • Multi-rotor unmanned aerial vehicle based on pulling force measurement and flight control method thereof
  • Multi-rotor unmanned aerial vehicle based on pulling force measurement and flight control method thereof
  • Multi-rotor unmanned aerial vehicle based on pulling force measurement and flight control method thereof

Examples

Experimental program
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Effect test

Embodiment 1

[0036] This embodiment provides a multi-rotor UAV based on tension measurement, which includes a body, a plurality of arms, a motor, an elastic body base, and a rotor arranged on the motor;

[0037] The motors are in one-to-one correspondence with the rotors;

[0038] The elastic body base is arranged on the machine arm, the motor is arranged on the elastic body base, and a deformation measurement sensor is arranged on the elastic deformation zone of the elastic body base to detect the movement of the motor. pull.

[0039] If the traditional multi-rotor UAV does not use speed feedback, the actual lift of the UAV is affected by two factors: ① the actual speed of the motor does not reach the desired speed, ② the air flow generated by the front propeller when the UAV moves horizontally efficiency is reduced. If the traditional multi-rotor UAV adopts speed feedback, the actual lift of the UAV will be affected by a factor, that is, the efficiency reduction caused by the air flow ...

Embodiment 2

[0042] Such as figure 1 As shown, the multi-rotor UAV based on tension measurement provided in this embodiment includes a body 1, a plurality of arms 2, a motor 5, an elastomer base 4 and a rotor 3 arranged on the motor 5; The motor 5 is in one-to-one correspondence with the rotor 3; the elastomer base 4 is arranged on the arm 2, the motor 5 is arranged on the elastomer base 4, and the elastomer base 4 A deformation measurement sensor is arranged on the elastic deformation zone of the elastic deformation zone to detect the pulling force of the motor 5 .

[0043] Wherein the machine arm 2 can be multiple, and a plurality of machine arms 2 are evenly arranged around the body 1, preferably four or six, when there are four machine arms 2, the four machine arms 2 can be distributed in a cross or X shape Distribution, each arm 2 is provided with a rotor 3, or two rotors 3.

[0044] Such as figure 2As shown, the elastic body base 4 is a strip structure, and one end of the elastic...

Embodiment 3

[0048] Based on the multi-rotor UAV based on tension measurement described in the above-mentioned embodiment one or two, this embodiment provides a flight control method of a multi-rotor UAV based on tension measurement, such as Figure 6 , 7 shown, where Figure 6 It is the schematic diagram of the multi-rotor unmanned aerial vehicle flight control method of the present embodiment, as Figure 7 Shown, the flight control method of this multi-rotor UAV comprises:

[0049] S1, using the deformation measurement sensor to synchronously collect the pulling force of each motor;

[0050] S2, according to the total pulling force of the motor and the torque of the motor in the three directions of X, Y and Z in the body coordinate system, calculate the expected speed of each of the motors and the expected lift of each of the motors;

[0051] S3. Comparing the collected pulling force of each of the motors with the expected lift of each of the motors to obtain a lift error;

[0052] S...

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Abstract

The invention relates to a multi-rotor unmanned aerial vehicle based on pulling force measurement and a flight control method thereof. The multi-rotor unmanned aerial vehicle based on pulling force measurement comprises a vehicle body, a plurality of vehicle arms, motors, an elastomer pedestal and rotors arranged on the motors. The motors and the rotors form one-to-one correspondence. The elastomer pedestal is arranged on the vehicle arms. The motors are arranged on the elastomer pedestal. An elastic deformation section of the elastomer pedestal is provided with a deformation measurement sensor so as to detect a pulling force of each motor. By using the unmanned aerial vehicle and the flight control method provided in the invention, a principle is simple and realization and popularization are easy, and an actual lift force of the unmanned aerial vehicle can reach an expected lift force and is not influenced by factors of the motors, a propeller, air-flow field disturbance and the like.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a multi-rotor unmanned aerial vehicle based on tension measurement and a flight control method thereof. Background technique [0002] The control method of multi-rotor UAV is generally based on the position and attitude requirements and decomposed according to a certain control algorithm to obtain the total tension and three torque commands in the body coordinate system, and then distribute the corresponding allocation matrix according to the specific configuration of the multi-rotor Decompose to obtain the square command of the rotational speed of each motor, and then obtain the rotational speed command of each motor. Finally, the speed of the motor is controlled by the motor governor. [0003] However, due to the motor, propeller, or other reasons, the actual speed of the motor is inconsistent with the expected speed, so that the actual lift provided by the pr...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 罗兵胡宝军祝晓才逯亮清钱勇何磊
Owner 北京韦加智能科技股份有限公司
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