CN112660368A - Control method and system for flight resistance of vertical take-off and landing unmanned aerial vehicle - Google Patents
Control method and system for flight resistance of vertical take-off and landing unmanned aerial vehicle Download PDFInfo
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- CN112660368A CN112660368A CN201910977316.9A CN201910977316A CN112660368A CN 112660368 A CN112660368 A CN 112660368A CN 201910977316 A CN201910977316 A CN 201910977316A CN 112660368 A CN112660368 A CN 112660368A
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Abstract
The invention discloses a method and a system for controlling flight resistance of a vertical take-off and landing unmanned aerial vehicle, wherein the control system comprises a lift force driving module and an angle sensor; when the vertical take-off and landing unmanned aerial vehicle flies in a fixed wing cruise mode, the angle sensor is used for acquiring target angle data; the controller is used for acquiring an angle difference value according to the target angle data and the initial angle data; the controller is also used for controlling the lift force motor to drive the lift force propeller to rotate according to the angle difference value. The invention can realize that the deviation angle of the lift propeller is acquired in real time when the unmanned aerial vehicle flies in the fixed-wing cruise mode, and the lift motor is controlled to drive the lift propeller to rotate in time, so that the orientation of the lift propeller is parallel to the flight direction of the vertical take-off and landing unmanned aerial vehicle, and the lift propeller is braked and locked at the position with the minimum resistance, thereby reducing the flight resistance of the unmanned aerial vehicle to the maximum extent, reducing the cruise power and increasing the voyage and the navigation time; in addition, the interference to other equipment is also avoided.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle control, in particular to a method and a system for controlling flight resistance of a vertical take-off and landing unmanned aerial vehicle.
Background
For the vertical take-off and landing unmanned aerial vehicle, the lift propellers of the vertical take-off and landing unmanned aerial vehicle only work in the vertical take-off and landing stage and do not work under the cruise state of the fixed wings. However, during actual cruise with fixed wings, the lift propellers may move irregularly under the effect of aerodynamic forces, which may cause the following problems:
1) the whole machine resistance is increased, so that the cruising power of the unmanned aerial vehicle is increased, and the voyage are reduced;
2) other equipment normal use is disturbed easily, if the parachute in-process, the parachute cord is twined by irregular motion's lift screw easily to the condition that causes unmanned aerial vehicle parachute opening failure takes place.
Disclosure of Invention
The invention aims to overcome the defects that in the prior art, a lift propeller generates irregular motion under the action of aerodynamic force during the cruise stage of a fixed wing of a vertical take-off and landing unmanned aerial vehicle, so that the overall resistance is increased and the use of other equipment is interfered, and provides a method and a system for controlling the flight resistance of the vertical take-off and landing unmanned aerial vehicle.
The invention solves the technical problems through the following technical scheme:
the invention provides a control system for flight resistance of a vertical take-off and landing unmanned aerial vehicle, which comprises a lift force driving module and an angle sensor, wherein the lift force driving module is used for driving the lift force driving module to rotate;
the lift force driving module comprises a lift force motor and a controller;
one end of the lift motor is fixedly connected with a lift propeller of the vertical take-off and landing unmanned aerial vehicle, and the other end of the lift motor is fixedly connected with the angle sensor;
the controller is electrically connected with the lift force motor and the angle sensor respectively;
when the VTOL unmanned aerial vehicle flies in a fixed-wing cruise mode, the angle sensor is used for acquiring target angle data and sending the target angle data to the controller;
the controller is used for controlling the lift motor to drive the lift propeller to rotate according to the target angle data until the orientation of the lift propeller is parallel to the flight direction of the VTOL unmanned aerial vehicle.
Preferably, the angle sensor comprises a magnetic encoder;
the magnetic encoder comprises a magnet and an encoder chip;
the magnet is fixedly arranged at one end of a central rotating shaft of the rotor of the lift motor, the encoder chip is fixedly arranged on a stator of the lift motor, and the lift propeller is fixedly arranged at the other end of the central rotating shaft of the rotor of the lift motor;
wherein the center of rotation of the magnet coincides with the geometric center of the encoder chip.
Preferably, when the VTOL UAV is produced, the angle sensor is used for acquiring initial angle data when the lifting propeller and the head of the VTOL UAV are parallel to each other and sending the initial angle data to the controller;
the controller is used for calculating an angle difference value between the target angle data and the initial angle data;
the angle difference value is an angle of the lift propeller deviating from the flight direction of the VTOL UAV;
the controller is also used for controlling the lift force motor to drive the lift force propeller to rotate according to the angle difference value until the angle difference value is zero.
Preferably, the controller is configured to drive the lift motor to rotate according to the angle difference value by using a current space vector algorithm.
Preferably, the controller is used for short-circuiting three phases of the lift motor to brake and lock the lift motor when the lift motor rotates to a target position;
when the lift motor rotates to the target position, the direction of the lift propeller is parallel to the flight direction of the VTOL unmanned aerial vehicle.
The invention also provides a control method of the flight resistance of the vertical take-off and landing unmanned aerial vehicle, which is realized by adopting the control system of the flight resistance of the vertical take-off and landing unmanned aerial vehicle, and the control method comprises the following steps:
s1, when the vertical take-off and landing unmanned aerial vehicle flies in a fixed wing cruise mode, the angle sensor acquires target angle data and sends the target angle data to the controller;
and S2, the controller controls the lift force motor to drive the lift force propeller to rotate according to the target angle data until the orientation of the lift force propeller is parallel to the flight direction of the VTOL unmanned aerial vehicle.
Preferably, step S1 is preceded by:
when the vertical take-off and landing unmanned aerial vehicle is produced, the angle sensor acquires initial angle data when the directions of the lift propeller and the head of the vertical take-off and landing unmanned aerial vehicle are parallel to each other, and sends the initial angle data to the controller;
step S2 includes:
the controller calculates an angle difference value between the target angle data and the initial angle data;
the angle difference value is an angle of the lift propeller deviating from the flight direction of the VTOL UAV;
and the controller controls the lift force motor to drive the lift force propeller to rotate according to the angle difference value until the angle difference value is zero.
Preferably, step S2 includes:
and the controller drives the lift force motor to rotate according to the angle difference value by adopting a current space vector algorithm.
Preferably, step S2 is followed by:
s3, the controller is used for short-circuiting the three phases of the lift force motor to brake and lock the lift force motor when the lift force motor rotates to a target position;
when the lift motor rotates to the target position, the direction of the lift propeller is parallel to the flight direction of the VTOL unmanned aerial vehicle.
The positive progress effects of the invention are as follows:
according to the invention, the lift propeller of the vertical take-off and landing unmanned aerial vehicle is fixedly arranged at one end of the lift motor, and the magnetic encoder is fixedly arranged at the other end of the lift motor, so that the deviation angle of the lift propeller is obtained in real time when the unmanned aerial vehicle flies in a fixed-wing cruise mode, and the lift motor is controlled to drive the lift propeller to rotate in time, so that the orientation of the lift propeller is parallel to the flight direction of the vertical take-off and landing unmanned aerial vehicle, and the lift propeller is locked at the position with the minimum resistance through the motor brake, thereby reducing the flight resistance of the unmanned aerial vehicle in the flight process to the maximum extent, reducing the cruise power and increasing; in addition, the interference to other equipment is avoided, and the device also has the advantages of simple structure, small volume, light weight and the like.
Drawings
Fig. 1 is a schematic block diagram of a control system for flight resistance of a vertical take-off and landing unmanned aerial vehicle according to embodiment 1 of the present invention.
Fig. 2 is a schematic structural view of a control system of flight resistance and a lift propeller of the vertical take-off and landing unmanned aerial vehicle in embodiment 1 of the present invention.
Fig. 3 is a schematic distribution diagram of a plurality of lift propellers of the VTOL UAV of embodiment 1 of the invention at minimum flight resistance.
Fig. 4 is a flowchart of a method for controlling flight resistance of a vertical take-off and landing unmanned aerial vehicle according to embodiment 2 of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
As shown in fig. 1, the control system for the flight resistance of the vertical take-off and landing unmanned aerial vehicle of the present embodiment includes a lift force driving module 1 and an angle sensor 2;
the lift force driving module 1 comprises a lift force motor 3 and a controller 4;
the controller 4 is respectively electrically connected with the lift force motor 3 and the angle sensor 2;
wherein, lift motor 3's one end and VTOL unmanned aerial vehicle's lift screw fixed connection, lift motor 3's the other end and angle sensor 2 fixed connection.
Lift drive module 1 can set up the optional position at VTOL unmanned aerial vehicle's lift screw, and specific mounted position can be confirmed according to actual demand. Preferably, as shown in fig. 2, the lift force driving module 1 is fixedly arranged right below a lift force propeller a of the vertical take-off and landing unmanned aerial vehicle, and the lift force driving module 1 drives the lift force propeller a to rotate through a lift force motor 3;
the angle sensor 2 is fixedly arranged right below the lift force driving module 1;
specifically, the angle sensor 2 includes a magnetic encoder;
the magnetic encoder comprises a magnet and an encoder chip;
the magnet is fixedly arranged at one end of a central rotating shaft of the rotor of the lift motor, the encoder chip is fixedly arranged on a stator of the lift motor, and the lift propeller is fixedly arranged at the other end of the central rotating shaft of the rotor of the lift motor;
wherein, the rotation center of the magnet coincides with the geometric center of the encoder chip.
When magnet rotated along with the rotor, then will produce the angular difference with the encoder chip of installing on the stator, and then record lift screw relative VTOL unmanned aerial vehicle's the direction of flight deviation angle.
When the vertical take-off and landing unmanned aerial vehicle flies in a fixed wing cruise mode, the angle sensor 2 is used for acquiring target angle data and sending the target angle data to the controller 4;
the controller 4 is used for driving the lift propeller to rotate according to the target angle data until the orientation of the lift propeller is parallel to the flight direction of the VTOL UAV.
Specifically, when the vertical take-off and landing unmanned aerial vehicle is produced, the angle sensor 2 is used for acquiring initial angle data when the directions of the lift propeller and the aircraft nose of the vertical take-off and landing unmanned aerial vehicle are parallel to each other, and sending the initial angle data to the controller 4;
the controller 4 is used for calculating an angle difference value between the target angle data and the angle sensor 2;
the angle difference value is an angle of the lift propeller deviating from the flight direction of the vertical take-off and landing unmanned aerial vehicle;
and if the initial angle data is marked as zero, the target angle data obtained by the magnetic encoder is the angle of the lift propeller deviating from the flight direction of the vertical take-off and landing unmanned aerial vehicle.
The controller 4 is also used for controlling the lift motor 3 to drive the lift propeller to rotate according to the angle difference value until the angle difference value is zero, and the orientation of the lift propeller is parallel to the flight direction of the vertical take-off and landing unmanned aerial vehicle.
Specifically, the controller 4 is configured to drive the lift motor 3 to rotate to a target position according to the angle difference value by using a current space vector algorithm;
of course, other algorithms capable of driving the lift motor to rotate to the target position according to the angle difference may be adopted.
When the lift motor 3 rotates to the target position, the orientation of the lift propeller is parallel to the flight direction of the VTOL UAV.
In addition, the controller 4 is also used for short-circuiting the three phases of the lift motor 3 to brake and lock the lift motor 3 when the lift motor 3 rotates to the target position.
In particular, it is possible to use, but not limited to, field effect transistors to short-circuit the three phases of the lift motor 3 to brake the lift motor 3.
As shown in fig. 3, B represents the incoming flow direction of the vtol drone during cruising, wherein a plurality of lift propellers (e.g. 4) in the vtol drone are all parallel to the flight direction of the vtol drone, and the corresponding flight resistance is the minimum at this time.
All be equipped with lift drive module and magnetic encoder under every lift screw in this embodiment, independent control respectively between four lift screws, the flight resistance that VTOL unmanned aerial vehicle corresponds is realized to common control and is reached the minimum.
In the embodiment, the lift propeller of the vertical take-off and landing unmanned aerial vehicle is fixedly arranged at one end of the lift motor, and the magnetic encoder is fixedly arranged at the other end of the lift motor, so that the deviation angle of the lift propeller is obtained in real time when the unmanned aerial vehicle flies in a fixed-wing cruise mode, the lift motor is controlled in time to drive the lift propeller to rotate, the orientation of the lift propeller is parallel to the flight direction of the vertical take-off and landing unmanned aerial vehicle, and the lift propeller is locked at the position with the minimum resistance through the motor brake, so that the flight resistance of the unmanned aerial vehicle in the flight process can be reduced to the maximum extent, the cruise power is reduced, and the; in addition, the interference to other equipment is avoided, and the device also has the advantages of simple structure, small volume, light weight and the like.
Example 2
The method for controlling the flight resistance of the VTOL UAV of this embodiment is implemented by the system for controlling the flight resistance of the VTOL UAV of embodiment 1.
As shown in fig. 4, the method for controlling the flight resistance of the vertical take-off and landing unmanned aerial vehicle of the embodiment includes:
s101, when the vertical take-off and landing unmanned aerial vehicle flies in a fixed wing cruise mode, the angle sensor acquires target angle data and sends the target angle data to the controller;
s102, the controller controls the lift force motor to drive the lift force propeller to rotate according to the target angle data until the orientation of the lift force propeller is parallel to the flight direction of the vertical take-off and landing unmanned aerial vehicle.
Specifically, step S102 includes:
when the vertical take-off and landing unmanned aerial vehicle is produced, the angle sensor acquires initial angle data when the directions of the lift propeller and the head of the vertical take-off and landing unmanned aerial vehicle are parallel to each other, and sends the initial angle data to the controller;
the controller calculates an angle difference value between the target angle data and the initial angle data;
the angle difference value is an angle of the lift propeller deviating from the flight direction of the vertical take-off and landing unmanned aerial vehicle;
the controller controls the lift motor to drive the lift propeller to rotate according to the angle difference value until the angle difference value is zero, and the orientation of the lift propeller is parallel to the flight direction of the vertical take-off and landing unmanned aerial vehicle.
And if the initial angle data is marked as zero, the target angle data obtained by the magnetic encoder is the angle of the lift propeller deviating from the flight direction of the vertical take-off and landing unmanned aerial vehicle.
In addition, step S102 further includes:
the controller is used for driving the lift force motor to rotate to a target position according to the angle difference value by adopting a current space vector algorithm;
when the lift motor rotates to the target position, the orientation of the lift propeller is parallel to the flight direction of the vertical take-off and landing unmanned aerial vehicle.
S103, when the lift motor rotates to the target position, the controller short-circuits the three phases of the lift motor to brake and lock the lift motor.
In particular, it is possible to use, but not limited to, short-circuiting the three phases of the lift motor with field effect transistors to brake the locked lift motor.
In this embodiment, can obtain the skew angle of lift screw in real time when the flight of fixed wing cruise mode, and in time control lift motor drive lift screw rotates, make the orientation of lift screw parallel with VTOL unmanned aerial vehicle's flight direction, pass through motor brake locking with the lift screw simultaneously and put at the minimum resistance position, thus the flight resistance of reduction unmanned aerial vehicle at the flight in-process that can furthest, cruise power has been reduced, voyage and time of flight have been increased.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (9)
1. The control system for the flight resistance of the vertical take-off and landing unmanned aerial vehicle is characterized by comprising a lift force driving module and an angle sensor;
the lift force driving module comprises a lift force motor and a controller;
one end of the lift motor is fixedly connected with a lift propeller of the vertical take-off and landing unmanned aerial vehicle, and the other end of the lift motor is fixedly connected with the angle sensor;
the controller is electrically connected with the lift force motor and the angle sensor respectively;
when the VTOL unmanned aerial vehicle flies in a fixed-wing cruise mode, the angle sensor is used for acquiring target angle data and sending the target angle data to the controller;
the controller is used for controlling the lift motor to drive the lift propeller to rotate according to the target angle data until the orientation of the lift propeller is parallel to the flight direction of the VTOL unmanned aerial vehicle.
2. The control system of flight resistance of a VTOL drone of claim 1, wherein the angle sensor comprises a magnetic encoder;
the magnetic encoder comprises a magnet and an encoder chip;
the magnet is fixedly arranged at one end of a central rotating shaft of the rotor of the lift motor, the encoder chip is fixedly arranged on a stator of the lift motor, and the lift propeller is fixedly arranged at the other end of the central rotating shaft of the rotor of the lift motor;
wherein the center of rotation of the magnet coincides with the geometric center of the encoder chip.
3. The system of claim 1, wherein the angle sensor is configured to acquire initial angle data when the lift rotor and the nose orientation of the VTOL UAV are parallel to each other and send the initial angle data to the controller when the VTOL UAV is produced;
the controller is used for calculating an angle difference value between the target angle data and the initial angle data;
the angle difference value is an angle of the lift propeller deviating from the flight direction of the VTOL UAV;
the controller is also used for controlling the lift force motor to drive the lift force propeller to rotate according to the angle difference value until the angle difference value is zero.
4. The system of claim 3, wherein the controller is configured to drive the lift motor to rotate according to the angular difference using a current space vector algorithm.
5. The control system of flying resistance of a VTOL UAV of claim 4, wherein the controller is to short circuit three phases of the lift motor to brake lock the lift motor when the lift motor rotates to a target position;
when the lift motor rotates to the target position, the direction of the lift propeller is parallel to the flight direction of the VTOL unmanned aerial vehicle.
6. A method for controlling flight resistance of a VTOL UAV, wherein the method is implemented by the system for controlling flight resistance of a VTOL UAV of any one of claims 1 to 5, the method comprising:
s1, when the vertical take-off and landing unmanned aerial vehicle flies in a fixed wing cruise mode, the angle sensor acquires target angle data and sends the target angle data to the controller;
and S2, the controller controls the lift force motor to drive the lift force propeller to rotate according to the target angle data until the orientation of the lift force propeller is parallel to the flight direction of the VTOL unmanned aerial vehicle.
7. The method of controlling the flight resistance of a VTOL UAV of claim 6, wherein step S1 is preceded by:
when the vertical take-off and landing unmanned aerial vehicle is produced, the angle sensor acquires initial angle data when the directions of the lift propeller and the head of the vertical take-off and landing unmanned aerial vehicle are parallel to each other, and sends the initial angle data to the controller;
step S2 includes:
the controller calculates an angle difference value between the target angle data and the initial angle data;
the angle difference value is an angle of the lift propeller deviating from the flight direction of the VTOL UAV;
and the controller controls the lift force motor to drive the lift force propeller to rotate according to the angle difference value until the angle difference value is zero.
8. The method of controlling the flight resistance of a VTOL UAV of claim 7, wherein step S2 comprises:
and the controller drives the lift force motor to rotate according to the angle difference value by adopting a current space vector algorithm.
9. The method for controlling the flight resistance of a VTOL UAV of claim 8, wherein step S2 is followed by further comprising:
s3, the controller is used for short-circuiting the three phases of the lift force motor to brake and lock the lift force motor when the lift force motor rotates to a target position;
when the lift motor rotates to the target position, the direction of the lift propeller is parallel to the flight direction of the VTOL unmanned aerial vehicle.
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Cited By (4)
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| CN113277076A (en) * | 2021-07-22 | 2021-08-20 | 国网通用航空有限公司 | Propeller resistance reducing device of vertical take-off and landing fixed wing unmanned aerial vehicle and control method thereof |
| CN114148530A (en) * | 2020-09-04 | 2022-03-08 | 丰翼科技(深圳)有限公司 | Power device and flight equipment |
| CN114510083A (en) * | 2022-04-20 | 2022-05-17 | 沃飞长空科技(成都)有限公司 | Propeller position control system, unmanned aerial vehicle and control method |
| CN115755983A (en) * | 2022-12-19 | 2023-03-07 | 深圳市好盈科技股份有限公司 | Multi-rotor unmanned aerial vehicle propeller locking positioning method and device |
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