Method, system, device, and computer-readable storage medium for controlling vibration of unmanned aerial vehicle rudder surface

Abstract

The application discloses a computer-readable storage medium for controlling a control surface of an unmanned aerial vehicle, a system, and a device. Value set; determine whether the deflection angle difference between the deflection angle maximum value and the deflection angle minimum value in the deflection angle value set is greater than the preset fluctuation range; if greater, then use the deflection angle maximum value and deflection angle minimum value to obtain the deflection angle mean value ;Continuously collect the deflection angle values ​​in multiple jitter cycles per unit time, and judge whether the number of times the feedback curve crosses the mean line exceeds the preset number of pulses; if it exceeds, use the anti-shake PID program to control the rudder surface action until If the number of crossings per unit time is less than the number of pulsations, the flight control PID program is used to control the rudder surface action; this application can effectively suppress non-overshoot jitter, and the flight control PID ensures the control performance and flight performance of the UAV.

Description

technical field [0001] The invention relates to the technical field of electric servo control, and in particular to a computer-readable storage medium for a control method, system and device of a rudder surface of an unmanned aerial vehicle. Background technique [0002] In the UAV rudder system, most of the connection of the steering gear output shaft belongs to the transmission mechanism, there is a structural gap, and the steering gear also has an installation gap. This transmission gap puts forward higher requirements for the stability of the steering gear. After the steering gear drives the rudder surface, there will be a large inertia applied, and the ordinary PID control algorithm does not match the actual working conditions, causing the rudder surface to vibrate. The shaking of the rudder surface will become a hidden danger in the flight of the drone, which may not only lead to the deviation of the route, but also cause the danger of damage to the organism. [0003]...

AI Technical Summary

Problems solved by technology

[0004] The traditional way to solve the jitter is that when the error is small, the Kp executed is a small value, so it will not make the adjustment too large and cause the adjustment to oscillate back and forth near the balance position. When the aircraft is subjected to torque, the error is large, and the executed flight control In PID, K p It is a relatively large value, and there are reasons such as structural gaps in the system, which lead to jitter due to improper adjustment. At this time, the traditional rudder surface control method cannot solve the jitter caused by normal adjustment of the rudder surface angle. In order to avoid the occurrence of the above phenomenon, There is a need for a new control method for the rudder surface of the UAV, which can detect and stop the vibration in time, and at the same time ensure the technical indicators of the UAV

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