Multi-rotor unmanned aerial vehicle based on pulling force measurement and flight control method thereof
A multi-rotor UAV and tensile force measurement technology, applied in the field of UAV flight, can solve the problems of not being able to provide and not reaching the three expected torque values of the total tensile force, and achieve the effect of avoiding insufficient lift and shortening the attitude control process.
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[0035] Example 1
[0036] This embodiment provides a multi-rotor UAV based on tensile force measurement, which includes a body, a plurality of arms, a motor, an elastic body base, and a rotor disposed on the motor;
[0037] The motors are in one-to-one correspondence with the rotors;
[0038] The elastic body base is arranged on the arm, the motor is arranged on the elastic body base, and a deformation measurement sensor is arranged on the elastic deformation section of the elastic body base to detect the movement of the motor. pull.
[0039] If the traditional multi-rotor UAV does not use speed feedback, the actual lift of the UAV is affected by two factors: (1) the actual speed of the motor does not reach the desired speed, and (2) the air flow generated by the front propeller when the UAV moves horizontally efficiency is reduced. If the traditional multi-rotor UAV adopts rotational speed feedback, the actual lift of the UAV will be affected by a factor, that is, the effi...
Example Embodiment
[0041] Embodiment 2
[0042] like figure 1 As shown, the multi-rotor UAV based on tensile force measurement provided in this embodiment includes a body 1, a plurality of arms 2, a motor 5, an elastic body base 4 and a rotor 3 arranged on the motor 5; The motor 5 is in one-to-one correspondence with the rotor 3; the elastic body base 4 is arranged on the arm 2, the motor 5 is arranged on the elastic body base 4, and the elastic body base 4 A deformation measuring sensor is arranged on the elastic deformation interval of the 1 to detect the pulling force of the motor 5 .
[0043] There may be multiple arms 2, and the multiple arms 2 are evenly arranged around the body 1, preferably four or six. When there are four arms 2, the four arms 2 can be distributed in a cross or X shape Distribution, each arm 2 is provided with a rotor 3, or two rotors 3.
[0044] like figure 2As shown, the elastic body base 4 is a strip-shaped structure, and one end of the elastic body base 4 has a...
Example Embodiment
[0047] Embodiment 3
[0048] Based on the tension measurement-based multi-rotor UAV described in the above-mentioned first or second embodiment, the present embodiment provides a flight control method for the tension measurement-based multi-rotor UAV, such as Image 6 , 7 shown, where Image 6 The schematic diagram of the multi-rotor unmanned aerial vehicle flight control method of the present embodiment, such as Figure 7 As shown, the flight control method of the multi-rotor UAV includes:
[0049] S1, use the deformation measurement sensor to synchronously collect the pulling force of each motor;
[0050] S2, according to the total pulling force of the motor and the torque of the motor in the three directions of X, Y, and Z in the body coordinate system, calculate the expected rotational speed of each of the motors and the expected lift of each of the motors;
[0051] S3, comparing the collected pulling force of each of the motors with the expected lift of each of the mo...
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