Course control device capable of changing speed, of flexible-wing unmanned aerial vehicle, and method

Abstract

The invention discloses a course control device of a flexible-wing unmanned aerial vehicle. The course control device can realize the high-efficiency control of the steering of the course of the flexible-wing unmanned aerial vehicle through controlling the matching of the pulling force and the speed of manipulation cables of a parafoil parachute. The course control device comprises a control system, an executing system and sensors, wherein each of the sensors is arranged on the corresponding manipulation cable of the parafoil parachute and is used for sensing the pulling force of the corresponding manipulation cable; the control system is used for performing treatment according to the pulling force detected by the sensors and sending a corresponding control signal to the executing mechanism; and the executing mechanism controls the corresponding manipulation speed of the manipulation cable according to the control signal, so that the purpose that the best operating speed is matched in a real time manner according to the stress of each of the manipulation cables is realized. According to the course control device and method disclosed by the invention, a control motor can have the best efficacy, and the mobile, flexible and high-efficiency course control is realized.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicles, in particular to a heading control device and method for a soft-wing unmanned aerial vehicle. Background technique [0002] The soft-wing UAV is a suspended aircraft with a parafoil as the wing. Its heading control mainly relies on the actuator to retract and release the control ropes on both sides of the parafoil to control the flight direction of the soft-wing UAV. When controlling, it is necessary to pull down the parafoil control rope on the corresponding side, turn left to pull the left side, turn right to pull the right side, and the degree of pull-down is different, and the execution force required is also different. [0003] The executive mechanism used by conventional drones is a constant speed steering gear or servo motor, which is controlled by a PWM signal, also known as a proportional steering gear. According to the amplitude width of the given PWM signal, the steering gear ro...

AI Technical Summary

Problems solved by technology

[0003] The executive mechanism used by conventional drones is a constant speed steering gear or servo motor, which is controlled by a PWM signal, also known as a proportional steering gear. According to the amplitude width of the given PWM signal, the steering gear rotates at a specified angle, and its rotation speed And the reduction ratio cannot be changed, no matter what the torque is, the speed is always constant, and in some occasions that require fast manipulation, the requirements for aircraft heading maneuverability cannot be achieved

In addition, the required torque must be designed according to the fastest speed and the largest torque, and the speed and torque cannot change, resulting in a larger size and weight of the qualified steering gear or servo motor, and greater energy consumption, resulting in excessive weight of the UAV. Large, difficult power supply

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