A control distribution method for multi-rotor UAV

Abstract

The present invention relates to a method for distributing the control amount of a multi-rotor UAV, including obtaining the minimum and maximum allowable rotational speeds of each motor under the normal working state of the UAV, and obtaining i Establish the relationship between the speed and the control variable; construct the control matrix based on the angle between the motor drive direction and the UAV nose direction; establish the control vector based on the UAV's height control amount, roll angle control amount and pitch angle control amount, The control variable vector composed of the control variables of n motors is obtained by the product of the control matrix and the control variable vector; the control variable vector is optimized by the control variable of the UAV, and the flight of the multi-rotor UAV is controlled based on the optimized control variable vector state. The invention superimposes the control quantities of each channel, effectively redistributes the control quantities, reduces the saturation burden of the motor, and makes full use of the ability of the unsaturated motor, thereby ensuring the performance and safety of multi-rotor flight in some extreme cases .

Description

technical field [0001] The invention relates to the technical field of multi-rotor unmanned aerial vehicles, in particular to a method for distributing control quantities of multi-rotor unmanned aerial vehicles. Background technique [0002] At present, most multi-rotor UAVs superimpose the control quantities of each multi-rotor channel (pitch, roll, heading, height) through the power distribution matrix, and then input the final control quantities to each motor to achieve stable flight. For example, the invention patent application with 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 each motor is determined. amount of control. Although this method can realize the control amount distribution of the multi-rotor UAV, in the actual flig...

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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