Cycloidal propeller detection control device and method based on panoramic photography

Abstract

The invention discloses a cycloidal propeller detection control device and method based on panoramic photography. The detection control device is composed of a panoramic camera, an image processor, calibration stripes, two permanent magnets, an eccentric circular ring and a controllable electromagnet installed on a cycloidal propeller disc. The panoramic camera and the image processor are fixed toa propeller disc center shaft extending support and synchronously rotate along with the propeller disc to collect position information of the space where the eccentric circular ring and the propellerdisc are located and convert the image information into a calculated digital image. The two permanent magnets and a plurality of control pull rods are arranged on the side face, close to the propeller disc, of the eccentric circular ring; the linear segment calibration stripes passing through the 1# permanent magnet are arranged on the eccentric circular ring in the radial direction; an eccentriccircular ring control mechanism controls the position of the eccentric circular ring by adjusting repulsive force between the electromagnets and the permanent magnets. The structure is simple, and control precision is high. According to the eccentric circular ring position detection algorithm, a parameter constraint method is utilized, the dimension of a to-be-searched parameter space is reduced,and the real-time performance of the algorithm is enhanced.

Description

technical field [0001] The invention relates to visual detection and control technology, in particular to a detection and control device and method for a cycloidal propeller based on panoramic photography. Background technique [0002] The cycloidal propeller, also known as the roller propeller, is a special propulsion device whose blades span parallel to the axis of rotation. The cycloidal propeller blades can also revolve around their respective beams while revolving with the paddle disc. Do periodic pitch swings to generate dynamic lift. The "Hot Wheels" UAV developed by Northwestern Polytechnical University in 2011 has realized the hovering and controllable flight of UAVs with cycloidal propellers as the main lift source, which has attracted widespread attention at home and abroad. Wind tunnel experiments and actual flight experiments show that the blades of cycloidal propellers do periodic pitching swings around their main girder while revolving with the blade disc, an...

AI Technical Summary

Problems solved by technology

However, the special unsteady aerodynamic characteristics of the cycloidal propeller and the interference effect between the blades make it difficult to achieve controllable flight with the rough closed-loop control mentioned above. There are often severe ups and downs in the experiment

Patent CN102582830A discloses a cycloidal propeller that changes the pitch and thrust direction by controlling the eccentric ring, which fully utilizes the flexible vector thrust advantage of the cycloidal propeller; however, the eccentric ring of the propeller It is also mainly controlled by mechanical pull rods and most of them are not equipped with positioning devices; the friction model of mechanical pull rods and their connecting mechanisms is complex, which has serious defects such as increasing the load of the carrier and increasing the uncertainty of the system

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