Multi-rotor unmanned aerial vehicle control quantity distribution method

Abstract

The invention relates to a control variable distribution method for a multi-rotor unmanned aerial vehicle. The method comprises steps of obtaining a minimum value and a maximum value of the allowable rotating speed of each motor in a normal working state of the unmanned aerial vehicle, and building a relation between the rotating speed and a control variable for each motor i; constructing a control matrix based on an included angle between a motor driving direction and an unmanned aerial vehicle head direction; establishing a control quantity vector based on the height control quantity, the roll angle control quantity and the pitch angle control quantity of the unmanned aerial vehicle, and obtaining a control variable vector formed by control variables of n motors through the product of the control matrix and the control quantity vector; and the control variable vector being optimized through the control quantity of the unmanned aerial vehicle, and a flight state of the multi-rotor unmanned aerial vehicle being controlled based on the optimized control variable vector. According to the method, after the control quantity of each channel is superposed, the control quantity is effectively redistributed, the saturation burden of the motor is reduced, and the capability of an unsaturated motor is fully utilized, so performance and safety of multi-rotor flight can be ensured under some limiting conditions.

Description

technical field [0001] The invention relates to the technical field of multi-rotor UAVs, in particular to a method for allocating control quantities of multi-rotor UAVs. Background technique [0002] At present, most multi-rotor drones superimpose the control amount of each channel (pitch, roll, heading, height) of the multi-rotor through the power distribution matrix, and then input the final control amount to each motor to achieve stable flight. For example, the invention patent application with the publication number CN107368091A discloses a stable flight control method for a multi-rotor unmanned aerial vehicle based on finite-time neural dynamics. Through the real-time orientation and attitude data of the aircraft, the control process is decomposed based on differential thinking, and the motors are determined. amount of control. Although this method can realize the control quantity distribution of multi-rotor UAV, in the actual flight process, considering the limitation...

AI Technical Summary

Problems solved by technology

Although this method can realize the control quantity distribution of multi-rotor UAV, in the actual flight process, considering the limitations of flight performance and power, the control quantity input to the power system has certain upper and lower limits, so in some cases If the control amount given to one or some motors is too large or too small, it will exceed the limit, which will not achieve a good control effect or even lead to loss of control.

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