Control method of multi-rotor unmanned aerial vehicle, system and device and electronic equipment

Abstract

The invention discloses a control method of a multi-rotor unmanned aerial vehicle, a system and a device and electronic equipment. The method comprises the following steps: when the multi-rotor unmanned aerial vehicle breaks down, acquiring a nonlinear dynamic model; acquiring a roll angle and a pitch angle of the multi-rotor unmanned aerial vehicle, and acquiring a target roll angle and a target pitch angle; according to the roll angle and the target roll angle, determining a roll attitude tracking error, and according to the pitch angle and the target pitch angle, determining a pitch attitude tracking error; determining a rolling channel input torque according to the rolling attitude tracking error by using the flight control computer, and determining a pitching channel input torque according to the pitching attitude tracking error; and adopting a flight control system to input the rolling channel input torque and the pitching channel input torque into the nonlinear dynamic model to control the attitude of the multi-rotor unmanned aerial vehicle, so that the unmanned aerial vehicle can complete self rescue in an emergency condition, and flight accidents are reduced.

Description

technical field [0001] The present application relates to the technical field of multi-rotor drones, in particular to a control method, system, device and electronic equipment for multi-rotor drones. Background technique [0002] In recent years, under the guidance of science and technology, multi-rotor UAV technology with intelligent control, autonomous navigation theory and microcontrollers, micro-sensors, and micro-electromechanical systems as the core has achieved leapfrog development. However, with the increasing complexity of UAV missions, the continuous development of anti-UAV technology, and the differences in the flight environment, UAV body structure and control performance, UAV safety accidents are increasing. Serious harm is caused to the man-machine body, ground personnel and the surrounding environment. Contents of the invention [0003] The embodiment of the present application provides a control method, system, device and electronic equipment for a multi-r...

AI Technical Summary

Problems solved by technology

However, with the increasing complexity of UAV missions, the continuous development of anti-UAV technology, and the differences in the flight environment, UAV body structure and control performance, UAV safety accidents are increasing. Serious hazards to man-machine body, ground personnel and surrounding environment

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