Four-rotor agricultural remote control aircraft and control method thereof

A control method and technology of aircraft, applied in the direction of attitude control, non-electric variable control, control/regulation system, etc., can solve problems such as difficulty in controlling the flight attitude of quadcopters, achieve good application prospects, enhance practical value, and reduce labor intensity Effect

Active Publication Date: 2016-09-28
ANHUI SCI & TECH UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0010] In view of the deficiencies in the prior art above, the purpose of the present invention is to provide a four-rotor agricultural remote control aircraft and its control method, aiming to solve the problem of difficulty in controlling the flight attitude of the four-axis aircraft in the prior art

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  • Four-rotor agricultural remote control aircraft and control method thereof
  • Four-rotor agricultural remote control aircraft and control method thereof
  • Four-rotor agricultural remote control aircraft and control method thereof

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specific example

[0084] First, the angular velocity information in each dimension direction is acquired through the single-axis electronic gyro sensor. Then, the angular velocity information is integrated to obtain the angle rotated in the dimensional direction in each sampling interval. Finally, the next attitude angle is calculated using the rotation matrix and the previous attitude angle.

[0085] Using such an attitude angle solution method can well guarantee the attitude measurement performance.

[0086] Further, when the four-rotor agricultural remote-controlled aerial vehicle is flying at low speed or is static, the following method is adopted: the three-axis gravity acceleration sensor is used alone to obtain acceleration information in three dimensions. Then, after performing normalization processing on the acceleration information, an inverse triangular transformation is performed to obtain the attitude angle.

[0087] Preferably, the method further includes: performing data fusion...

example

[0110] In order to simplify the debugging process and facilitate the analysis of the debugging results, the host computer software can also be used for data collection, monitoring and analysis, and it can also function as a ground control station in an emergency. The NRF2401 module is used between the host computer and the flight controller, and a custom wireless communication protocol is used to exchange data and instructions with the flight controller.

[0111] The upper computer uses Microsoft Visual Studio 2010 integrated development environment as a development tool, and is realized by C# language coding.

[0112] The upper computer software realizes the recording and analysis of the flight data of the quadcopter, records the data of each sensor of the quadcopter, and can independently control and debug the motor speed. Capable of PID parameter setting and control channel simulation.

[0113] During the debugging process, the attitude of the aircraft is fixed so that onl...

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Abstract

The invention discloses a four-rotor agricultural remote control aircraft and a control method thereof. The control method comprises the following steps: obtaining attitude angles and displacement amounts of three dimensions of the four-rotor agricultural remote control aircraft through an inertia measurement unit, and taking the attitude angles and the displacement amounts as an input quantity of double-ring controller; performing control by use of the double-ring controller of a position control ring and an attitude control ring, wherein position control of the four-rotor agricultural remote control aircraft is taken as an external ring, and attitude control is taken as an internal ring; and based on an operation output quantity of the position control ring, obtaining the attitude angles as an input quantity of the attitude control ring through decoupling, wherein control is performed in each control ring by use of a typical PID control algorithm. Based on dynamics flight analysis and the like, the attitude control method based on multi-sensor fusion is brought forward, and attitude control of the four-rotor aircraft is realized. The four-rotor agricultural remote control aircraft has a quite high practical value and can well reduce the labor intensity.

Description

technical field [0001] The invention relates to the technical field of four-rotor remote-controlled aircraft, in particular to a four-rotor agricultural remote-controlled aircraft and a control method thereof. Background technique [0002] Despite the existence of early prototypes with some success, quadcopters offer no advantages in terms of performance and specifications (range, speed, payload, etc.) over traditionally configured aircraft. Therefore, almost no manufacturers expressed interest in the development and production of quadcopters throughout the 20th century. [0003] However, in recent years, with the vigorous development of some disciplines such as new material technology and MEMS, new methods have emerged in the development and development of small quadcopters, which also makes the research of quadcopters have a new direction. In particular, the great potential value and prospect of small quadcopters in UAV research have attracted the attention of more and mo...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 乔印虎翁新宇汤永山徐鹏
Owner ANHUI SCI & TECH UNIV
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