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Multi-type power system control distribution method and related device

A power system and control distribution technology, applied in the field of aircraft control, can solve the problems of dynamic response without special processing, response speed, power system early saturation and large output, etc., to avoid premature saturation or excessive large output, improve Robustness, effect of maintaining response accuracy

Active Publication Date: 2018-04-20
CHENGDU JOUAV AUTOMATION TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, for this type of multi-rotor aircraft with special layout and different power system specifications, the static tension and dynamic response characteristics of different power systems must be considered in the control distribution link, and the dynamic response of power systems with different specifications has not been specially dealt with in the prior art. , there is a problem of premature saturation of the power system with a fast response speed or an excessively large output

Method used

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  • Multi-type power system control distribution method and related device
  • Multi-type power system control distribution method and related device
  • Multi-type power system control distribution method and related device

Examples

Experimental program
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Effect test

no. 1 example

[0027] Please refer to figure 2 , figure 2 A flow chart of the multi-standard power system control allocation method provided by the first embodiment of the present invention is shown. The multi-specification power system control allocation method includes the following steps:

[0028] Step S101, obtaining system parameters and position parameters corresponding to each power system.

[0029] In the embodiment of the present invention, the system parameters corresponding to each power system may be parameters reflecting the characteristics of the power system, and the system parameters of the power system include a power system force data table and a first-order inertial time constant.

[0030]The powertrain force data table can indicate the ability of the power system to generate pulling force and rotational resistance torque. The direction of the rotational resistance torque is opposite to the propeller rotation direction of the power system. The power system force data t...

Embodiment approach

[0047] As an implementation, the control torque can be estimated using the following formula:

[0048] ΔT i =T i_hover_+10％ -T i_hover

[0049] ΔL i =ΔT i ·L i_motor_Y

[0050] ΔM i =ΔT i · L i_motor_X

[0051] D. i =V i .A i / ω i

[0052] ΔD i =D i_hover_+10％ -D i_hover

[0053] ΔN i =ΔD i

[0054] Among them, i_hover_+10% means that the positive direction of the hover control command representation corresponding to any power system increases by 10%, Δ represents the increment generated by the 10% increase in the positive direction of the hover control command representation, T i , L i , M i ,N i Respectively represent the tension, roll, pitch and yaw moments generated by a 10% increase in the positive direction of the hover control command corresponding to any power system.

[0055] It should be noted that i_hover_+10% is just an example, and users can flexibly choose between 5% and 30% according to needs in practical applications.

[0056] Sub-ste...

no. 2 example

[0073] Please refer to Figure 5 , Figure 5 A schematic block diagram of the multi-standard power system control distribution device 200 provided by the second embodiment of the present invention is shown. The multi-standard power system control allocation device 200 includes a parameter acquisition module 210 , a control allocation matrix acquisition module 220 , an expected control torque acquisition module 230 and a control command acquisition module 240 .

[0074] The parameter acquisition module 210 is configured to acquire system parameters and position parameters corresponding to each power system.

[0075] In the embodiment of the present invention, the parameter acquiring module 210 may be used to execute step S101.

[0076] The control allocation matrix obtaining module 220 is configured to input the system parameters and position parameters corresponding to each power system into the preset power system estimation model to obtain the control allocation matrix.

...

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Abstract

The embodiment of the invention relates to the technical field of aircraft control, and provides a multi-type power system control distribution method and a related device. The method and device are used for a multi-rotor-wing aircraft comprising a plurality of types of power systems. The method comprises the steps: obtaining the system parameters and position parameters of each power system, inputting the system parameters and position parameters of each power system into a preset power system estimation model, obtaining a control distribution matrix which gives consideration to the static pull force and dynamic response characteristics of different types of power systems; obtaining an expected control moment of the multi-rotor-wing aircraft, inputting the expected control moment into thecontrol distribution matrix, obtaining a control instruction of each power system, thereby preventing the power system with the higher response speed from being saturated prematurely or performing excessive-amplitude output while maintaining the overall response precision of the power system, and improving the overall robustness of the power system.

Description

technical field [0001] The present invention relates to the technical field of aircraft control, in particular to a multi-standard power system control distribution method and a related device. Background technique [0002] A multi-rotor aircraft is an aircraft that coordinates and distributes multiple power systems installed at different positions on the body to generate the pulling force, rolling moment, pitching moment, and yaw moment required for flight. It has the characteristics of simple structure and low cost. Become the most widely used aircraft. All power systems of most multi-rotor aircraft use uniform specifications, and these specifications include propeller diameter, pitch, paddle shape, and motor power and KV value, etc. [0003] For some special application scenarios, the multi-rotor layout will use power systems of different specifications. For example, the "HoverLite" of the Israeli IAI Group adopts the layout of two large ducted power systems in the cente...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 王进刘述超任斌
Owner CHENGDU JOUAV AUTOMATION TECH
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