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Unmanned aerial vehicle control method and device

A control method and unmanned aerial vehicle technology, applied in the electronic field, can solve problems such as poor stability and robustness, achieve the effect of improving stability and robustness, and solving poor stability

Inactive Publication Date: 2018-06-22
EWATT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The embodiment of the present invention provides a control method and device for an unmanned aerial vehicle, which is used to solve the problem of poor stability and robustness of the control method for an unmanned aerial vehicle in the prior art

Method used

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  • Unmanned aerial vehicle control method and device
  • Unmanned aerial vehicle control method and device

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Experimental program
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Effect test

Embodiment 1

[0064] The first aspect of the present invention provides a control method for unmanned aerial vehicles, please refer to figure 1 , is a flowchart of a method for controlling a drone in an embodiment of the present invention. The method includes:

[0065] S101: Obtain a first control instruction, where the first control instruction is an original control instruction used to control the drone to fly to a target state.

[0066] Specifically, the first control command is a single or comprehensive control command used to control the state of the UAV. The comprehensive control command can be a comprehensive quantity of speed and attitude, or a comprehensive quantity of overload, angular rate and dynamic pressure, etc. The first Control instructions can control the actions of the drone.

[0067] S102: Transform the first control instruction into a second control instruction dynamically consistent with the expected response according to a preset ideal model.

[0068] In the specif...

Embodiment 2

[0103] Based on the same inventive concept as the control method of the drone in the aforementioned first aspect, Embodiment 2 of the present invention also provides a control device for the drone, such as figure 2 shown, including:

[0104] The first obtaining module 201 is used to obtain a first control instruction, and the first control instruction is an original control instruction used to control the UAV to fly to a target state;

[0105] A transformation module 202, configured to transform the first control instruction into a second control instruction that dynamically conforms to the expected response according to a preset ideal model;

[0106] A feedback module 203, configured to collect the flight state parameters of the UAV related to the second control instruction, and generate comprehensive feedback accordingly;

[0107] The second obtaining module 204 is configured to perform error control according to the second control instruction and the comprehensive feedbac...

Embodiment 3

[0122] Based on the same inventive concept as the UAV control method in the first embodiment, the third embodiment of the present invention also provides a computer-readable storage medium, such as image 3 As shown, there is stored thereon a computer program which, when executed by a processor, implements the following steps:

[0123] Obtaining a first control instruction, the first control instruction is an original control instruction used to control the UAV to fly to a target state;

[0124] converting the first control instruction into a second control instruction dynamically consistent with the expected response according to a preset ideal model;

[0125] Collecting the flight state parameters of the UAV related to the second control instruction, and generating comprehensive feedback accordingly;

[0126] performing error control according to the second control instruction and the comprehensive feedback to obtain a third control instruction;

[0127] The drone is contr...

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Abstract

An embodiment of the invention provides an unmanned aerial vehicle control method and device. The method includes the steps: acquiring a first control command which is an original control command forcontrolling an unmanned aerial vehicle to fly in a target state; transforming the first control command to a second control command conforming to an expected response dynamic; acquiring flight state parameters of the unmanned aerial vehicle related to the second control command and accordingly generating comprehensive feedback; controlling errors according to the second control command and the comprehensive feedback to obtain a third control command; controlling the unmanned aerial vehicle according to the third control command. Stability and robustness of the unmanned aerial vehicle control method are improved.

Description

technical field [0001] The invention relates to the field of electronic technology, in particular to a control method and device for an unmanned aerial vehicle. Background technique [0002] At present, drones are widely used in map surveying, forest surveying, disaster monitoring, logistics express, high-altitude photography and other fields. [0003] The aircraft is essentially a complex nonlinear system. The traditional control method is to first linearize the mathematical model of the aircraft to obtain the linearized state equations of small disturbances in different modes, and then design corresponding control laws for different flight modes and carry out Adjust the parameters, and finally connect all the flight states to form the control law in the entire envelope. In the traditional control method, if the attitude of the aircraft changes drastically or is subject to large external interference, the aircraft cannot be effectively controlled, and it may even cause the...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 赵国成余辉叶宇鹰李少坤詹福宇
Owner EWATT TECH CO LTD
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