Intelligent out-of-control protection system and method for rotary wing type unmanned aerial vehicle
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A protection system and UAV technology, which is applied in the field of rotor UAV intelligent out-of-control protection system, can solve the problems that cannot meet the protection requirements of rotor UAV, the consequences are unimaginable, and difficult to control, so as to reduce the research and experiment cost, improved stability and safety, and reduced flight hazards
Active Publication Date: 2016-09-21
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology
[0002] The protection of the out-of-control state of the rotor UAV has always been a hot issue in the research field of the rotor UAV. The rotor UAV has the characteristics of multi-variable, nonlinear, strong coupling, etc., and it is difficult to control, and the UAV is in flight. It is easy to encounter various uncertain and unexpected failures such as wind disturbance and motor vibration. If any part of the drone fails or makes mistakes, the consequences will be unimaginable
The existing out-of-control return-to-home protection method can only protect UAVs in the presence of GPS signals, and cannot meet the protection requirements for rotary-wing UAVs
Method used
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Embodiment 1
[0052] Embodiment 1. An intelligent out-of-control protection system for a rotor-type UAV, including a power supply, a control chip, an attitude sensor, a height sensor, a first steering gear, a second steering gear, a catapult, a self-throwing parachute, and shock-absorbing automatic inflation Air cushion and automatic inflation device.
[0053] The power supply is used to supply power to the control chip, the attitude sensor, the height sensor, the first steering gear, the second steering gear and the catapult. Such as figure 1 A specific implementation method is given. The 6V power supply is composed of four 1.5V rechargeable batteries, which are responsible for supplying power to the entire system. In practice, any power supply that can supply power to the system can be used. In this embodiment, in order to ensure The system uses a separate power supply.
[0054] The attitude sensor and height sensor are used to obtain the attitude data and height data of the rotor UAV, ...
Embodiment 2
[0074] Embodiment 2, a kind of rotor type unmanned aerial vehicle intelligent out-of-control protection method, comprises the following steps:
[0075] The first step: establishing the intelligent out-of-control protection system of the rotor type unmanned aerial vehicle as claimed in claim 1, 2 or 3;
[0076] The second step: According to the flight motion law of the rotor UAV, through the actual flight test, obtain the threshold information of the attitude data of the rotor UAV during flight, including the threshold information of angle, angular velocity and acceleration;
[0077] Such as Figure 12 It is the determination of the out-of-control threshold of the rotor UAV angle, and then it can be obtained that when the rotor aircraft is flying normally, its pitch angle and roll angle are between -40 degrees - +40 degrees, so the out-of-control threshold angle is determined as 40 Spend.
[0078] Such as Figure 13 It is the determination of the angle out-of-control thresho...
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Abstract
The invention discloses an intelligent out-of-control protection system for a rotary wing type unmanned aerial vehicle. The intelligent out-of-control protection system comprises the following equipment of a power source, an attitude sensor, a height sensor, a control chip, a first steering engine, a second steering engine, a shock absorption autoinflation air cushion, a catapult and a self-throwing type parachute, wherein the power source is used for supplying power to the control chip, the attitude sensor, the height sensor, the first steering engine, the second steering engine and the catapult; the attitude sensor and the height sensor are used for acquiring attitude data and height data of the rotary wing type unmanned aerial vehicle and sending the attitude data and the height data to the control chip; the control chip is used for analyzing the attitude data and the height data and sending out a control signal to the first steering engine and the second steering engine; the first steering engine is used for controlling the catapult to be started and stopped; the second steering engine is used for controlling an autoinflation device to inflate air into the shock absorption autoinflation air cushion; the shock absorption autoinflation air cushion is installed at the bottom of the rotary wing type unmanned aerial vehicle; the catapult is fixed to the top of the rotary wing type unmanned aerial vehicle; and the self-throwing type parachute is installed inside the catapult.
Description
technical field [0001] The invention belongs to the field of control and protection of a rotary-wing unmanned aerial vehicle, and relates to an intelligent out-of-control protection system and a method thereof for a rotary-wing unmanned aerial vehicle. Background technique [0002] The protection of the out-of-control state of the rotor UAV has always been a hot issue in the research field of the rotor UAV. The rotor UAV has the characteristics of multi-variable, nonlinear, strong coupling, etc., and it is difficult to control, and the UAV is in flight. It is easy to encounter various uncertain and unexpected failures such as wind disturbance and motor vibration. If any part of its drone fails or makes mistakes, the consequences will be unimaginable. The existing out-of-control return-to-home protection methods can only protect UAVs in the presence of GPS signals, and cannot meet the protection requirements for rotary-wing UAVs. [0003] The self-throwing parachute and shoc...
Claims
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Application Information
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