Unlock instant, AI-driven research and patent intelligence for your innovation.

A switching control method for a modular variable UAV system

A control method and technology for unmanned aerial vehicles, applied in the field of unmanned aerial vehicles, can solve the problems of insufficient load capacity, short battery life, inability to carry heavy objects, etc., to ensure rapidity and robustness, and to eliminate system chattering Effect

Active Publication Date: 2021-11-05
HUNAN UNIV
View PDF1 Cites 1 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

first, since the usable payload of the UAV is determined at design time, there will be loading problems
On the one hand, the load capacity is insufficient, that is, the multi-rotor UAV cannot carry heavy objects due to its own limitations.
On the other hand, a single UAV has a single load capacity, that is, a type of UAV can only transport objects within a certain weight range
Second, since drones are mostly powered by batteries, there is a problem of short battery life
[0005] However, the problem with existing combined UAVs is that changes in the number of UAVs when they combine or leave will bring about changes in the physical parameters and aerodynamic parameters of the overall UAV group, and such mutations often contain complex dynamic characteristics. , it is easy to seriously affect the stable flight of the UAV

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A switching control method for a modular variable UAV system
  • A switching control method for a modular variable UAV system
  • A switching control method for a modular variable UAV system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0097] Such as Figure 1-3 A modular variable unmanned aerial vehicle system is shown, including an unmanned aerial vehicle module and a platform module. The UAV module includes an outer frame and a quadrotor UAV arranged in the outer frame, the outer frame is a regular hexagonal prism frame structure; the quadrotor UAV includes a power supply, flight control, motor, machine arm and propeller, power supply The flight control is placed in the middle quadrilateral cabin cover, the motor is fixed in the arm, and the propeller is a double blade; the outer frame of the UAV module is connected with the arm of the quadrotor UAV, and a tripod is installed at the bottom of the outer frame . The platform module includes an onboard computer, an annular light strip and a docking mechanism. The platform module is a regular hexagonal prism. The onboard computer is placed in a circular cabin cover in the middle, and the annular light strip is arranged around the cabin cover. Changes to displ...

Embodiment 2

[0101] When the UAV module is flying alone, the flight is controlled by its own flight control system. When the connection between the UAV module and the platform module is completed, its control authority is delivered to the onboard computer flight control system on the platform module. And the flight control of the onboard computer and the flight control of a UAV module constitute the master-slave redundant backup flight control system. In this way, when the main flight control fails, the seamless switching of the master-slave flight control can be realized, and the safety of the overall unit can be improved.

[0102] The main-slave redundant backup flight control system includes a main flight control system and a slave flight control system, the main flight control system includes a main flight control controller and a sensor module connected to the main flight control controller; The control system includes a secondary flight control controller and a sensor module connecte...

Embodiment 3

[0111] During the flight of a UAV group composed of multiple UAV modules and platform modules, when a UAV module is low in power, the flight control system of the UAV group sends a call request to the UAV base station on the ground , and send its own location information, the UAV base station calls the UAV module with sufficient power to take off, and performs rough navigation based on GPS to make the UAV module with sufficient power fly to the side of the UAV group and enter the accompanying flight stage , through a method of air docking, replace the UAV module with insufficient power, and the UAV module with insufficient power returns to the UAV base station for charging with the remaining power, waiting for the next call. The UAV base station can be set at a certain distance. When replacing the UAV module, select the nearest base station to call the UAV module.

[0112] When the UAV unit replaces the power supply, the power management system ensures the stability of the vol...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a switching control method of a modular variable body unmanned aerial vehicle system, which utilizes the approximation characteristics of the RBF neural network to adjust the gain parameters in real time, and at the same time adopts a variety of self-learning methods in the RBF neural network learning algorithm to prevent The learning process falls into local optimization. In this way, chattering of the system can be effectively eliminated, and the rapidity and robustness of the system can be ensured. The invention transforms a complex nonlinear system into switching of several simple subsystems, and different models correspond to each subsystem of the switching system. The original control law will fail due to the sudden change of the shape. After the UAV is docked, the control law of the UAV can be switched in time, which can solve the stability control problem of the rotor UAV when the shape changes.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicles, and in particular relates to a switching control method of a modular variable unmanned aerial vehicle system. Background technique [0002] UAV is an unmanned aircraft operated by radio remote control equipment and its own program control device. With the rapid development of the UAV industry, UAVs are used in many fields, such as UAVs available in military For investigation, civilian use can be used for aerial photography, plant protection and high-altitude fire fighting. [0003] There are two problems when drones perform tasks. First, since the UAV's usable payload is determined at design time, there will be a payload problem. On the one hand, the load capacity is insufficient, that is, the multi-rotor UAV cannot carry heavy objects due to its own limitations. On the other hand, a single UAV has a single load capacity, that is, a type of UAV can only transport objects within a certai...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 江未来张创奇
Owner HUNAN UNIV