Multi-rotor aircraft navigation method based on PWM (Pulse-Width Modulation) wave duty ratio
A technology for multi-rotor aircraft and quad-rotor aircraft, which is applied in navigation and calculation tools and other directions, can solve problems such as seriousness, dependence on external information, easy to be interfered by weather and terrain obstacles, etc., and achieves low cost, simple principle and easy to implement. Effect
Active Publication Date: 2018-09-25
DALIAN UNIV OF TECH
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Problems solved by technology
[0005] According to the technical problems raised above, a multi-rotor aircraft navigation method based on the PWM wave duty cycle is provided, which is used to solve the problem that the existing satellite navigation system relies heavily on external information and is easily interfered by weather and terrain obstacles , which greatly limits the application scenarios of multi-rotor aircraft
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[0039] Such as figure 1 and figure 2 Shown, a kind of multi-rotor vehicle navigation method based on PWM wave duty cycle, comprises the following steps:
[0040] S1. Through the rotor bench test, the PWM wave duty cycle and the rotor speed, lift, and moment data are tested, and the relationship between the PWM wave duty cycle and the rotor speed, lift, and moment is obtained through data processing.
[0041] In step S1, specifically, the lift force and moment generated by a single rotor are expressed as:
[0042] f i =f(ω i ) (1)
[0043] m i =h(ω i ) (2)
[0044] In the formula, ω i Indicates the duty cycle of the PWM wave of the i-th rotor, F i Indicates the lift generated by the i-th rotor, M i Indicates the moment generated by the i-th rotor;
[0045] The rotor speed Ω is expressed as
[0046] Ω i =k(ω i ) (3).
[0047] S2. According to the relationship between the duty cycle of the PWM wave and the rotor speed, lift force and torque in step 1, a dynamic eq...
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The invention discloses a multi-rotor aircraft navigation method based on a PWM (Pulse-Width Modulation) wave duty ratio. The method comprises the following steps: S1, testing the PWM wave duty ratioand the rotor speed, lifting force and moment data through a rotor bench test, and performing data processing to obtain the relation between the PWM wave duty ratio and the rotor speed, lifting forceand moment; S2, establishing a kinetic equation of a multi-rotor aircraft according to the relation between the PWM wave duty ratio and the rotor speed, lifting force and moment obtained in the step 1; and S3, resolving the kinetic equation according to the actual PWM wave duty ratio to obtain navigation information. The multi-rotor aircraft navigation method based on the PWM wave duty ratio can resolve the kinetic equation of a multi-rotor unmanned aerial vehicle through the PWM wave duty ratio to obtain the navigation information. The method realizes the autonomous navigation function of themulti-rotor aircraft, has no need of external navigation information and additional hardware equipment, and is simple in principle, easy to realize and low in cost.
Description
technical field [0001] The invention relates to the technical field of aircraft design, in particular to a multi-rotor aircraft navigation method based on PWM wave duty cycle. Background technique [0002] At present, with the development of technology, the application of multi-rotor aircraft is more and more extensive. [0003] The multi-rotor aircraft needs the navigation system to provide navigation information during the flight. At present, satellite navigation systems (GPS, Beidou, etc.) and inertial navigation systems are usually used to provide navigation information. [0004] The satellite navigation system relies heavily on external information and is easily interfered by weather and terrain obstacles, which greatly limits the application scenarios of multi-rotor aircraft. Inertial navigation requires additional inertial components for inertial measurement, which will increase the weight of the aircraft, which is not conducive to the lightweight of the rotorcraft....
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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 周文雅李论徐典李哲马宏图王泽霖
Owner DALIAN UNIV OF TECH