Aircraft anti-repeated-oscillation method

A technology of aircraft and propellers, which is applied in the field of aircraft control, can solve problems such as difficulty in obtaining control attitude effects, inaccurate modeling, and uncertainty of model parameters, and achieve the effects of avoiding repeated oscillations, reducing sensitivity, and stabilizing adjustments

Pending Publication Date: 2020-07-17
深圳蚁石科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] The transfer function of the automatic control theory is based on the linear time-invariant system, which studies the response of the linear and time-invariant system to any input signal. Although the PID algorithm is a reliable and effective control algorithm, but For multi-rotor unmanned aerial vehicles, due to the complexity of its dynamic model, the uncertainty of model parameters and the inaccuracy of modeling, although the parameters have been adjusted repeatedly, a relatively satisfactory flight effect has been obtained in the laboratory. , but due to its mold, material, structure, outdoor weather and other factors, it is still difficult to obtain a satisfactory control attitude effect. Therefore, we propose a method for preventing repeated vibrations of aircraft

Method used

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0023] Such as figure 1 Shown, a kind of aircraft anti-repeated shock method, comprises the following steps:

[0024] (1) Weight detection: To detect the weight of the aircraft, set a gravity sensor at the bottom of the aircraft, and set a hook at the bottom of the gravity sensor. Input it into the aircraft, and calculate the standard throttle value of each blade. The calculation of the standard throttle value includes the following steps:

[0025] (1.1) Detect the weight of the aircraft itself;

[0026] (1.2) Put the aircraft into the room, make it stably suspended at the specified height, and detect the threshold value of each blade when it rotates;

[0027] (1.3) According to the ratio of the threshold value of each blade, the load weight is distributed to each blade, and the standard throttle threshold value of the lifting force required by each blade is calculated;

[0028] (2) Flight control: place the aircraft at the designated position, start the propellers, and mak...

Embodiment 2

[0031] Such as figure 1 Shown, a kind of aircraft anti-repeated shock method, comprises the following steps:

[0032] (1) Weight detection: To detect the weight of the aircraft, set a gravity sensor at the bottom of the aircraft, and set a hook at the bottom of the gravity sensor. Input it into the aircraft, and calculate the standard throttle value of each blade. The calculation of the standard throttle value includes the following steps:

[0033] (1.1) Detect the weight of the aircraft itself;

[0034] (1.2) Put the aircraft into the room, make it stably suspended at the specified height, and detect the threshold value of each blade when it rotates;

[0035] (1.3) According to the ratio of the threshold value of each blade, the load weight is distributed to each blade, and the standard throttle threshold value of the lifting force required by each blade is calculated;

[0036] (2) Flight control: place the aircraft at the designated position, start the propellers, and mak...

Embodiment 3

[0039] Such as figure 1 Shown, a kind of aircraft anti-repeated shock method, comprises the following steps:

[0040] (1) Weight detection: To detect the weight of the aircraft, set a gravity sensor at the bottom of the aircraft, and set a hook at the bottom of the gravity sensor. Input it into the aircraft, and calculate the standard throttle value of each blade. The calculation of the standard throttle value includes the following steps:

[0041] (1.1) Detect the weight of the aircraft itself;

[0042] (1.2) Put the aircraft into the room, make it stably suspended at the specified height, and detect the threshold value of each blade when it rotates;

[0043] (1.3) According to the ratio of the threshold value of each blade, the load weight is distributed to each blade, and the standard throttle threshold value of the lifting force required by each blade is calculated;

[0044] (2) Flight control: place the aircraft at the designated position, start the propellers, and mak...

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Abstract

The invention discloses an aircraft anti-repeated-oscillation method. The method comprises the following steps: detecting the load weight of the aircraft, calculating to obtain a standard acceleratorthreshold value of each blade, placing the aircraft at a specified position, starting the blades to enable accelerators of the blades to gradually reach the standard accelerator threshold values of the blades, reducing the sensitivity of a gyroscope and the accelerator threshold values when the blades incline, and adjusting the accelerator threshold values of the blades according to the inclination direction to balance the accelerator threshold values. According to the aircraft anti-repeated-oscillation method, a gravity sensor is arranged at the bottom end of the aircraft, so the weight of the load-bearing object of the aircraft can be detected; the required minimum lifting force is calculated, so that the basic balance of the aircraft can be kept when the aircraft is not controlled; thesensitivity of the gyroscope is reduced, the high-frequency blade threshold value adjustment of the gyroscope can be avoided, and the repeated oscillation condition is adjusted; and in addition, the balance of the aircraft can be adjusted more stably in cooperation with the standard accelerator threshold value.

Description

technical field [0001] The invention relates to the technical field of aircraft control, in particular to a method for preventing repeated vibrations of an aircraft. Background technique [0002] The transfer function of the automatic control theory is based on the linear time-invariant system, which studies the response of the linear and time-invariant system to any input signal. Although the PID algorithm is a reliable and effective control algorithm, but For multi-rotor unmanned aerial vehicles, due to the complexity of its dynamic model, the uncertainty of model parameters and the inaccuracy of modeling, although the parameters have been adjusted repeatedly, a relatively satisfactory flight effect has been obtained in the laboratory. , but due to its mold, material, structure, outdoor weather and other factors, it is still difficult to obtain a satisfactory control attitude effect. Therefore, we propose a method for preventing repeated vibrations of the aircraft. Conte...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08B64D31/06
CPCG05D1/0816B64D31/06B64U10/10B64U30/20
Inventor 朱才智程煜
Owner 深圳蚁石科技有限公司
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