Control method and device based on enzyme number value structure and readable storage medium

A control method and membrane structure technology, applied in the field of drones, can solve problems such as long data processing time, delay of drones, flight control cycle growth, etc., to achieve the effect of reducing the control cycle and shortening the processing time

Inactive Publication Date: 2018-03-16
XIHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, as more data is collected, the time to process the data will be longer, which will lead to an increase in the control cycle of the flight control, and cause a delay in the control of the UAV.

Method used

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  • Control method and device based on enzyme number value structure and readable storage medium
  • Control method and device based on enzyme number value structure and readable storage medium
  • Control method and device based on enzyme number value structure and readable storage medium

Examples

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no. 1 example

[0032] see figure 1 , the first embodiment of the present invention provides a UAV control device 100, the UAV control device 100 is installed on a UAV, so as to control the UAV based on the UAV control device 100. The UAV control device 100 includes: a power supply module 110 , a multi-data acquisition module 120 , a data processing module 130 , a multi-channel drive module 140 and a data download module 150 . Wherein, the multi-channel drive module 140 is electrically connected with the multi-data acquisition module 120 and the data processing module 130 respectively, the power supply module 110 is connected with the multi-data acquisition module 120 and the data processing module 130 respectively, and the data download module 150 is then connected with the data processing module 130 connect.

[0033] The power supply module is used to obtain the electric energy input by the external power supply, stabilize the electric energy to a voltage suitable for each module, and then...

no. 2 example

[0058] see Figure 8 , the second embodiment of the present invention provides a control method based on an enzyme numerical membrane structure, the method can be applied to unmanned aerial vehicles, specifically applied to the unmanned aerial vehicle control device of the unmanned aerial vehicle, in the unmanned aerial vehicle control device The FPGA is used to execute the entire control operation flow of the method.

[0059] In this embodiment, the internal structure of FPGA is as Figure 9As shown, there are a large number of programmable logic block resources (CLB) inside the FPGA, and there are rich programmable interconnection interface resources (PI) between programmable logic blocks. Using the Verilog programming language, different circuits can be flexibly designed to achieve different functions. . Different functional circuits can be distributed in different arrays inside the FPGA, and each array can be performed in parallel. Therefore, in this embodiment, the pro...

no. 3 example

[0108] see Figure 11 The third embodiment of the present invention provides a control device 200 based on an enzyme numerical membrane structure, and the control device 200 based on an enzyme numerical membrane structure is applied to an FPGA of an unmanned aerial vehicle. The control device 200 based on the enzyme numerical membrane structure comprises:

[0109] The first calculation module 210 is used to calculate each current attitude data among the plurality of current attitude data and the target attitude data corresponding to each current attitude data through a corresponding first-level preset enzyme numerical membrane operation model. To obtain a corresponding attitude PID control data, a plurality of attitude PID control data are obtained in parallel, and the target attitude data is used to represent the target flight attitude that the UAV needs to adjust to.

[0110] The second calculation module 220 is used to obtain the current PWM control signal of each motor in...

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Abstract

The embodiment of the invention provides a control method and device based on an enzyme number value structure and a readable storage medium and belongs to the technical field of unmanned aerial vehicles. The method comprises the steps that current attitude data in multiple pieces of current attitude data and target attitude data corresponding to the current attitude data are operated through a corresponding first-level preset enzyme number value membrane operation model to obtain corresponding attitude PID control data, multiple pieces of attitude PID control data are obtained in parallel, wherein the target attitude data is used for representing target flight attitudes needed to reach by an unmanned aerial vehicle through adjustment; the multiple pieces of attitude PID control data is operated through a second-level preset enzyme number value membrane operation model, current PWM control signals of multiple motors are parallelly obtained to make the unmanned aerial vehicle adjust thecurrent flight attitude to a target flight attitude according to the current PWM control signals of the motors. Therefore, data processing time is shortened through parallel data operation, and thusa control period of the unmanned aerial vehicle is shortened.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a control method, device and readable storage medium based on an enzyme numerical membrane structure. Background technique [0002] With the continuous development and progress of science and technology, power electronic equipment has been greatly developed, thus making unmanned aerial vehicles widely used. [0003] At present, the flight attitude control of the UAV is generally to sample various sensors for data collection, and to control the flight attitude of the UAV by analyzing and processing the collected data. When using the above-mentioned flight attitude control method, the more types of sensors, that is, the more data collected, the better the flight attitude control effect. However, as more data is collected, the time to process the data will be longer, which will lead to an increase in the control cycle of the flight control and cause a delay in the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10G05D1/08
CPCG05D1/0808G05D1/101
Inventor 杨帆
Owner XIHUA UNIV
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