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Model airplane PID algorithm control method based on gravity center dynamics

A control method and dynamics technology, applied in the direction of electric controllers, controllers with specific characteristics, etc., can solve problems such as increased load, offset of UAV center of gravity, rotor UAV structure, immature control technology, etc. , to improve the stability of the

Active Publication Date: 2020-10-16
深圳汇腾信息技术服务有限公司
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Problems solved by technology

[0003] However, the control technology of rotary-wing drones is much more complicated than that of fixed-wing drones, and has higher control requirements. The research and development technology and popularity of rotary-wing drones are still not as good as those of fixed-wing drones. One of the important reasons is that the structure and control technology of the rotor UAV are not mature.
Due to flight requirements, rotor drones generally increase the load. During the flight, due to fuel consumption, attitude changes, etc., the center of gravity of the drone will shift.

Method used

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  • Model airplane PID algorithm control method based on gravity center dynamics
  • Model airplane PID algorithm control method based on gravity center dynamics
  • Model airplane PID algorithm control method based on gravity center dynamics

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Embodiment Construction

[0048] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0049] The present invention provides a PID algorithm control method for a model aircraft based on center of gravity dynamics, utilizes the advantage that the center of gravity dynamics can feed back the motion inertia of a model aircraft in real time, and combines the PID control algorithm to realize a control method for a three-rotor model aircraft, and the algorithm steps are as follows:

[0050] Step 1: Carry out kinematic modeling for the three-rotor aircraft model, and establish the coordinate system of the center of gravity of the aircraft model and the coordinate system of each rotor;

[0051]In step 1, the coordinate system of the center of gravity of the aircraft model and the coordinate system of each rotor are described in detail as follows:

[0052] Number each part of the aircraft model, the number on the ground is B 0 , the fusel...

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Abstract

The invention relates to a model airplane PID algorithm control method based on gravity center dynamics, and the method comprises the steps: firstly building a model airplane gravity center coordinatesystem and coordinate systems at all rotor wings, and solving a no-load rotor wing model airplane moment model and a loaded rotor wing model airplane moment model; calculating the gravity center momentum change rate of the model airplane through a gravity center kinetic model; and finally, dividing the resultant external force borne by the model airplane into acceleration calculation and inertiacalculation, and meanwhile, fusing gravity center dynamics and a PID control algorithm to realize the model airplane PID algorithm control method based on the gravity center dynamics, thereby reducingthe influence of gravity center shift on stable flight of the model airplane when the model airplane bears a load, and improving the flight stability of the model airplane.

Description

technical field [0001] The invention relates to the field of aircraft model control, and particularly designs an aircraft model PID algorithm control method based on center of gravity dynamics. Background technique [0002] With the continuous development of science and technology, the control technology applied to fixed-wing drones in the early days can no longer meet the control requirements of rotary-wing drones, while rotary-wing drones have excellent landing capabilities, can take off autonomously, and adapt to various flight attitudes, etc. Advantages, has a broader application prospect. [0003] However, the control technology of rotary-wing drones is much more complicated than that of fixed-wing drones, and has higher control requirements. The research and development technology and popularity of rotary-wing drones are still not as good as those of fixed-wing drones. One of the important reasons is that the structure and control technology of the rotor UAV are not m...

Claims

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Application Information

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IPC IPC(8): G05B11/42
CPCG05B11/42Y02T90/00
Inventor 郭建福
Owner 深圳汇腾信息技术服务有限公司
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