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Navigation method of multi-rotor aircraft based on PWM wave duty cycle

A technology for multi-rotor aircraft and quad-rotor aircraft, which can be used in navigation computing tools and other directions, and can solve serious problems such as dependence on external information and limiting the application scenarios of multi-rotor aircraft.

Active Publication Date: 2021-05-14
DALIAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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

Method used

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  • Navigation method of multi-rotor aircraft based on PWM wave duty cycle
  • Navigation method of multi-rotor aircraft based on PWM wave duty cycle
  • Navigation method of multi-rotor aircraft based on PWM wave duty cycle

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Embodiment Construction

[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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Abstract

The invention discloses a multi-rotor aircraft navigation method based on the PWM wave duty ratio, comprising the following steps: S1, through the rotor bench test, testing the PWM wave duty ratio and rotor speed, lift, moment data, through data processing, The relationship between PWM wave duty cycle and rotor speed, lift force and moment is obtained. 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 equation of the multi-rotor aircraft is established. S3. According to the actual duty cycle of the PWM wave, the dynamic equation is solved to obtain the navigation information. The multi-rotor aircraft navigation method based on the PWM wave duty cycle of the present invention solves the dynamic equation of the multi-rotor UAV through the PWM wave duty cycle to obtain navigation information. Through this method, the autonomous navigation function of the multi-rotor aircraft is realized. No need for external source navigation information and additional hardware equipment; simple principle, easy to implement; low 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....

Claims

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Application Information

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Patent Type & Authority Patents(China)
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