A dynamic counterweight balancing system and balancing method for UAV stabilization

Abstract

The invention discloses a dynamic counterweight balancing system for autostability of an unmanned aerial vehicle and a balancing method thereof; the dynamic counterweight balancing system uses a firstmetal gear ring, a second metal gear ring, a micro direct-current motor, a counterweight motor sleeve, a rolling sleeve and a connecting rod to jointly form a movable counterweight; during normal use, the gravity center autobalance of the unmanned aerial vehicle is realized, so that the burden of a flight control system balancing a fuselage can be reduced, and the flight control performance of the unmanned aerial vehicle can be enhanced; meanwhile, self-adaptive balance of the unmanned aerial vehicle is achieved through a high-reliability mechanical device without depending on an external sensor; when a flight control sensor system of the unmanned aerial vehicle fails, an attitude angle of the unmanned aerial vehicle can still be kept stable through the balancing system; the unmanned aerial vehicle is kept in a hovering state, and therefore the unmanned aerial vehicle can be safely recycled.

Description

technical field [0001] The invention relates to unmanned aerial vehicle flight control technology, in particular to a dynamic control counterweight balancing system and a balancing method for stabilizing an unmanned aerial vehicle. Background technique [0002] With the rapid development and popularization of drone technology, the application scenarios continue to expand, and are widely used in aerial photography, agricultural plant protection, national defense and security, etc. At the same time, the upper limit of the load that the UAV can currently withstand is constantly increasing. As a platform for specific tools, it often faces changes in the size, weight, and shape of the load. When the UAV is equipped with a pan-tilt camera, the rotation of the camera makes the center of gravity shift. When the drone transports the express delivery, the load of the goods delivered varies, resulting in an uneven weight distribution. The weight distribution of the drone is often symm...

AI Technical Summary

Problems solved by technology

At the same time, the upper limit of the load that the UAV can currently withstand is constantly increasing. As a platform for specific tools, it often faces changes in the size, weight, and shape of the load. When the UAV is equipped with a pan-tilt camera, the rotation of the camera makes the center of gravity shift. When the UAV transports the express delivery, the load of the transported goods varies, resulting in an uneven weight distribution

The weight distribution of the drone is often symmetrical, but the weight distribution of the load is always asymmetrical, making the center of gravity of the drone away from the position of the rotor lift, which in turn makes the angle of the drone deflected, making it impossible for the drone to hover , producing bumps

At the same time, the overweight and asymmetrical load is likely to cause the UAV to lose stability in flight. The asymmetrical load makes the UAV be pulled and shaken by the load when dealing with strong winds, updrafts and other bad weather, even in the face of some disturbances. Due to the irregular weight distribution of the load, it is more difficult for the UAV to control its own stability, and it is easy to overturn and crash

However, the existing drones often temporarily adjust the installation position of the counterweight load before take-off, which takes a long time and is not accurate enough; or rely on the flight control system to adjust the rotation of the propeller for balance, so as to avoid the instability of the drone , the rotation situation, which increases the burden on the existing flight control system

Moreover, the flight control of the UAV relies on the feedback information from the on-board sensors, and in the face of some sudden accidents such as collisions, etc., the sensors will fail, which can seriously cause the UAV to crash.

Therefore, there are still two problems to be solved: one is the safety of drones, how to control the accident risk probability of drones within a reasonable range, the current technology cannot fully guarantee the reliability of flight and fault recovery; the other is stability Similar to civil aviation passenger planes or cargo planes, drones, especially small drones, are more sensitive to weather effects, whether it is visible wind, rain, snow, fog and other large-scale weather factors, or clear sky wind shear, sudden airflow Unforeseen circumstances and other unforeseen circumstances will have a greater impact on drones

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