UAV power distribution method, device, UAV and storage medium

Abstract

The application discloses a power distribution method and device of a UAV, the UAV and a storage medium. The power distribution method of the UAV comprises the following steps: obtaining an operation control instruction of the UAV, wherein the operation control instruction comprises a desired torque instruction for controlling the UAV; obtaining power distribution constraint information of a motor of the UAV; determining an actual torque instruction of the UAV according to the desired torque instruction and the power distribution constraint information; and calculating a motor instruction of the UAV according to the actual torque instruction. The application determines the actual torque instruction of each motor of the UAV according to the power distribution constraint information of the motor of the UAV, and then distributes the motor power of the UAV. When the motor instruction of the UAV touches the upper and lower boundaries of the motor control instruction, the stability of the attitude of the aircraft can be ensured by sacrificing the heading control ability and the vertical control ability of the aircraft, the accident rate caused by the unstable attitude of the UAV due to sudden disturbance or other reasons is reduced, and the performance boundary of the aircraft is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a power distribution method and device for unmanned aerial vehicles, an unmanned aerial vehicle, and a storage medium. BACKGROUND

[0002] A quadrotor unmanned aerial vehicle is widely used in many fields such as aerial photography / surveying / pest control / security / logistics, etc. due to its simple operation and high flexibility. The quadrotor unmanned aerial vehicle controls the attitude and height of the aircraft by controlling the rotation speed of four motors to generate roll moment L / pitch moment M / yaw moment N and vertical tension T of the aircraft body. The mapping between L / M / N / T and the four motor speed instructions is power distribution.

[0003] A common control distribution method is to convert the moment and force instructions into motor instructions through linear mapping. This method is simple and reliable, and can achieve optimal results for unconstrained distribution. However, for a quadrotor, it is a constrained power distribution, and the performance of this method will sharply decrease when exceeding the constraint boundary, which may even cause the aircraft to lose stability and crash. SUMMARY

[0004] The embodiments of the present application provide a power distribution method and device for unmanned aerial vehicles, an unmanned aerial vehicle, and a storage medium, which can reduce the accident rate caused by unstable attitude of the unmanned aerial vehicle due to sudden disturbance or other reasons, and improve the performance boundary of the aircraft

[0005] In one aspect, the present application provides a power distribution method for an unmanned aerial vehicle, which comprises:

[0006] obtaining an operation control instruction of the unmanned aerial vehicle, wherein the operation control instruction comprises a desired moment instruction for controlling the unmanned aerial vehicle;

[0007] obtaining power distribution constraint information of a motor of the unmanned aerial vehicle;

[0008] determining an actual moment instruction of the unmanned aerial vehicle according to the desired moment instruction and the power distribution constraint information;

[0009] calculating a motor instruction of the unmanned aerial vehicle according to the actual moment instruction.

[0010] In some embodiments of the present application, the desired moment instruction comprises an initial roll moment instruction, an initial pitch moment instruction, an initial yaw moment instruction, and an initial tension value of the unmanned aerial vehicle;

[0011] The determination of the actual moment instruction of the unmanned aerial vehicle according to the desired moment instruction and the power distribution constraint information comprises:

[0012] Normalizing the desired torque command, mapping the initial tension value of the drone to a first interval, and mapping the initial rolling torque command, the initial pitching torque command, and the initial yaw torque command to a second interval to obtain a normalized power command;

[0013] determining an actual torque command of the UAV according to the normalized power command and the power distribution constraint information;

[0014] The normalized power instructions include a normalized rolling moment instruction, a normalized pitching moment instruction, a normalized yaw moment instruction, and a normalized UAV pulling force value.

[0015] In some embodiments of the present application, the power distribution constraint information includes the roll torque control reachable set;

[0016] Determining the actual torque command of the UAV according to the normalized power command and the power distribution constraint information includes:

[0017] The normalized roll torque command is linearly mapped into a roll torque control reachable set to obtain the constrained roll torque command value, and the actual torque command includes the constrained roll torque command value.

[0018] In some embodiments of the present application, the power distribution constraint information includes the pitching moment control reachable set;

[0019] The determining of the actual torque command of the UAV according to the normalized power command and the power distribution constraint information further includes:

[0020] The normalized pitching moment command is linearly mapped into the pitching moment control reachable set to obtain a constrained pitching moment command value, and the actual torque command includes the constrained pitching moment command value.

[0021] In some embodiments of the present application, determining the actual torque command of the UAV based on the normalized power command and the power distribution constraint information further includes:

[0022] Obtaining the normalized maximum thrust value and minimum thrust value of each motor of the drone;

[0023] The normalized maximum thrust value and minimum thrust value of each motor, the constrained rolling torque instruction and the constrained pitching torque instruction are input into a preset normalized control quantity control distribution model to determine the upward pulling force instruction of the drone.

[0024] In some embodiments of the present application, determining the actual torque command of the UAV based on the normalized power command and the power distribution constraint information further includes:

[0025] According to the constrained rolling moment command, the constrained pitching moment command, and the upward pulling force command of the UAV, a preset normalized control quantity control distribution model is input to derive the yaw moment command value of the UAV.

[0026] In some embodiments of the present application, calculating the motor command of the drone according to the actual torque command includes:

[0027] For each command value in the actual torque command, a pseudo-inverse method is used to solve the motor command of the drone.

[0028] In another aspect, the present application provides a power distribution device for a drone, the power distribution device for the drone comprising:

[0029] A first acquisition module is configured to acquire an operation control instruction of the UAV, wherein the operation control instruction includes a desired torque instruction for controlling the UAV;

[0030] The second acquisition module is used to obtain the power distribution constraint information of the UAV motor;

[0031] a determination module, configured to determine an actual torque command of the UAV according to the desired torque command and the power distribution constraint information;

[0032] A calculation module is used to calculate the motor command of the UAV according to the actual torque command.

[0033] In some embodiments of the present application, the desired torque command includes an initial rolling torque command, an initial pitching torque command, an initial yaw torque command, and an initial pulling force value of the drone;

[0034] The determining module is specifically configured to:

[0035] Normalizing the desired torque command, mapping the initial tension value of the drone to a first interval, and mapping the initial rolling torque command, the initial pitching torque command, and the initial yaw torque command to a second interval to obtain a normalized power command;

[0036] determining an actual torque command of the UAV according to the normalized power command and the power distribution constraint information;

[0037] The normalized power instructions include a normalized rolling moment instruction, a normalized pitching moment instruction, a normalized yaw moment instruction, and a normalized UAV pulling force value.

[0038] In some embodiments of the present application, the power distribution constraint information includes the roll torque control reachable set;

[0039] The determining module is specifically configured to:

[0040] The normalized roll torque command is linearly mapped into a roll torque control reachable set to obtain the constrained roll torque command value, and the actual torque command includes the constrained roll torque command value.

[0041] In some embodiments of the present application, the power distribution constraint information includes the pitching moment control reachable set;

[0042] The determining module is specifically configured to:

[0043] The normalized pitching moment command is linearly mapped into the pitching moment control reachable set to obtain a constrained pitching moment command value, and the actual torque command includes the constrained pitching moment command value.

[0044] In some embodiments of the present application, the determining module is specifically configured to:

[0045] Obtaining the normalized maximum thrust value and minimum thrust value of each motor of the drone;

[0046] The normalized maximum thrust value and minimum thrust value of each motor, the constrained rolling torque instruction and the constrained pitching torque instruction are input into a preset normalized control quantity control distribution model to determine the upward pulling force instruction of the drone.

[0047] In some embodiments of the present application, the determining module is further configured to:

[0048] According to the constrained rolling moment command, the constrained pitching moment command, and the upward pulling force command of the UAV, a preset normalized control quantity control distribution model is input to derive the yaw moment command value of the UAV.

[0049] In some embodiments of the present application, the computing module is specifically configured to:

[0050] For each command value in the actual torque command, a pseudo-inverse method is used to solve the motor command of the drone.

[0051] On the other hand, the present application also provides a drone, comprising:

[0052] one or more processors;

[0053] Memory; and

[0054] One or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the processor to implement the power distribution method of the unmanned aerial vehicle in any one of the first aspect.

[0055] In a fourth aspect, the present application further provides a computer readable storage medium, which stores a computer program, and the computer program is loaded by a processor to execute the steps in the power distribution method of the unmanned aerial vehicle in any one of the first aspect.

[0056] In the present application, the running control instruction of the unmanned aerial vehicle is obtained, and the desired torque instruction for controlling the unmanned aerial vehicle is included in the running control instruction. The power distribution constraint information of the motor of the unmanned aerial vehicle is obtained. The actual torque instruction of the unmanned aerial vehicle is determined according to the desired torque instruction and the power distribution constraint information. The motor instruction of the unmanned aerial vehicle is calculated according to the actual torque instruction. In the present application, in the process of the flight of the unmanned aerial vehicle, the actual torque instruction of each motor of the unmanned aerial vehicle is determined through the power distribution constraint information of the motor of the unmanned aerial vehicle, and then the motor power of the unmanned aerial vehicle is distributed. Therefore, when the motor instruction of the unmanned aerial vehicle touches the upper and lower boundaries of the motor control instruction, the stability of the attitude of the aircraft can be ensured by sacrificing the heading control ability and the vertical control ability of the aircraft, the accident rate caused by the unstable attitude of the unmanned aerial vehicle due to sudden disturbance or other reasons is reduced, and the performance boundary of the aircraft is improved. BRIEF DESCRIPTION OF DRAWINGS

[0057] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0058] Figure 1 is a scene schematic diagram of the unmanned aerial vehicle system provided by the present application;

[0059] Figure 2 is an embodiment flow schematic diagram of the power distribution method of the unmanned aerial vehicle provided in the present application;

[0060] Figure 3 is an embodiment schematic diagram of the motor of the unmanned aerial vehicle in the present application;

[0061] Figure 4 is a structural schematic diagram of the power distribution device of the unmanned aerial vehicle in the present application;

[0062] Figure 5 is an embodiment structural schematic diagram of the unmanned aerial vehicle provided in the present application. DETAILED DESCRIPTION

[0063] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0064] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present application, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0065] In this application, the word "exemplary" is used to mean "serving as an example, illustration, or illustration." Any embodiment described in this application as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is given to enable any person skilled in the art to implement and use the present application. In the following description, details are listed for the purpose of explanation. It should be understood that one of ordinary skill in the art can recognize that the present application can be implemented without using these specific details. In other instances, well-known structures and processes are not elaborated in detail to avoid obscuring the description of the present application with unnecessary details. Therefore, the present application is not intended to be limited to the embodiments shown, but is consistent with the widest scope consistent with the principles and features disclosed in this application.

[0066] It should be noted that since the method of the embodiment of the present application is executed in a drone, the processing objects of each drone exist in the form of data or information. For example, time is actually time information. It can be understood that if size, quantity, position, etc. are mentioned in subsequent embodiments, the corresponding data exists for electronic equipment to process. The details will not be repeated here.

[0067] The embodiments of the present application provide a power distribution method and device for a drone, a drone, and a storage medium, which are described in detail below.

[0068] See also Figure 1 , Figure 1 This is a schematic diagram of a scenario of a drone system provided in an embodiment of the present application. The drone system may include a drone 100 and a control device 200. The drone 100 is integrated with a power distribution device of the drone, such as Figure 1 Drones in the.

[0069] In the embodiment of the present application, the drone 100 is mainly used to obtain the operation control instructions of the drone, which include the desired torque instructions for controlling the drone; obtain the power distribution constraint information of the drone motor; determine the actual torque instruction of the drone based on the desired torque instruction and the power distribution constraint information; and calculate the motor instruction of the drone based on the actual torque instruction.

[0070] In the embodiments of the present application, the control device 200 may be a control handle or a terminal. It is understood that the terminal used in the embodiments of the present application may be a device that includes both receiving and transmitting hardware, that is, a device that has receiving and transmitting hardware capable of performing two-way communication over a two-way communication link. Such devices may include: cellular or other communication devices that have a single-line display, a multi-line display, or a cellular or other communication device without a multi-line display. The specific terminal may be a desktop terminal or a mobile terminal, and the terminal may also be a mobile phone, a tablet computer, a laptop computer, etc.

[0071] Those skilled in the art will understand that Figure 1 The application environment shown in the figure is only one application scenario of the present application solution and does not constitute a limitation on the application scenario of the present application solution. Other application environments may also include Figure 1 More or fewer drones are shown in, e.g. Figure 1 Only one drone is shown in the figure. It is understandable that the drone system may also include one or more other services, which are not limited here.

[0072] In addition, the drone system may further include a memory for storing data, such as drone data, for example, drone flight data, etc.

[0073] It should be noted that Figure 1 The scene diagram of the drone system shown is only an example. The drone system and scene described in the embodiment of the present application are intended to more clearly illustrate the technical solution of the embodiment of the present application, and do not constitute a limitation on the technical solution provided in the embodiment of the present application. Ordinary technicians in this field can know that with the evolution of drone systems and the emergence of new business scenarios, the technical solution provided in the embodiment of the present application is also applicable to similar technical problems.

[0074] First, an embodiment of the present application provides a power distribution method for a drone, wherein the executor of the power distribution method for the drone is a power distribution device of the drone, and the power distribution device of the drone is applied to the drone. The power distribution method for the drone includes: obtaining an operation control instruction of the drone, wherein the operation control instruction includes an expected torque instruction for controlling the drone; obtaining power distribution constraint information of the drone motor; determining the actual torque instruction of the drone based on the expected torque instruction and the power distribution constraint information; and calculating the motor instruction of the drone based on the actual torque instruction.

[0075] like Figure 2 FIG. 1 is a flow chart of an embodiment of a method for distributing power to a UAV according to an embodiment of the present application. The method for distributing power to a UAV includes:

[0076] 201. Obtain an operation control instruction of a UAV, where the operation control instruction includes a desired torque instruction for controlling the UAV.

[0077] The operation control instruction of the UAV may be sent by a control device, and the operation control instruction includes a desired torque instruction for controlling the UAV.

[0078] In the embodiment of the present application, the UAV is a rotorcraft. Optionally, the UAV is a quadcopter. For a quadcopter, the power distribution is constrained. After exceeding the constraint boundary, the performance drops sharply. In extreme cases, it may cause the UAV to become unstable and crash. Therefore, a quadcopter needs more constrained power distribution.

[0079] Take the example of a quadcopter drone, e.g. Figure 3 As shown, the drone includes four propellers, each of which has a motor (the motor is also called a propeller motor), and the four motors are respectively a first motor 1, a second motor 2, a third motor 3 and a fourth motor 4, wherein the first motor 1, the second motor 2, the third motor 3 and the fourth motor 4 are motors with the same output power.

[0080] The four rotors of a typical symmetrical quadrotor usually adopt four sets of same power output devices, i.e., four sets of same specifications of propellers, electric governors, etc., and the power output characteristics of the four propellers are consistent. Taking a simplified asymmetrical quadrotor as an example, assuming that the four propellers of the quadrotor are respectively referred to as #1 propeller, #2 propeller, #3 propeller and #4 propeller. When the control device controls the quadrotor to pitch, the output power of the #1 propeller and the #3 propeller is increased by ΔF, and the output power of the #2 propeller and the #4 propeller is decreased by ΔF, so that the aircraft can be independently controlled to realize the pitching action without affecting the rolling, heading and lift of the unmanned aerial vehicle, i.e., the side where the #1 propeller and the #3 propeller are located is pitched upward. Similarly, when the control device controls the quadrotor to roll, the output power of the #2 propeller and the #3 propeller is increased by ΔF, and the output power of the #1 propeller and the #4 propeller is decreased by ΔF, so that the aircraft can be independently controlled to realize the rolling action without affecting the rolling, heading and lift of the unmanned aerial vehicle.

[0081] 202. Obtain power distribution constraint information of the unmanned aerial vehicle motor.

[0082] The power distribution constraint information is constraint information for constraining the power of the unmanned aerial vehicle motor.

[0083] In the embodiment of the application, the flight attitude of the unmanned aerial vehicle includes rolling around the longitudinal axis of the unmanned aerial vehicle, pitching around the lateral axis of the unmanned aerial vehicle, sailing in the direction of orientation and ascending in the vertical direction. Correspondingly, for a rotorcraft, the power includes control force and control moment, the control force is tension, and the control moment includes rolling moment, pitching moment, yawing moment, etc.

[0084] Therefore, in the embodiment of the application, the power distribution constraint information of the unmanned aerial vehicle motor can include a rolling moment control reachable set, a pitching moment control reachable set, a yawing moment control reachable set, an upward tension control reachable set of the unmanned aerial vehicle, an upward tension control reachable set of each motor of the unmanned aerial vehicle, etc.

[0085] 203. Determine an actual moment instruction of the unmanned aerial vehicle according to the expected moment instruction and the power distribution constraint information.

[0086] 204. Calculate a motor instruction of the unmanned aerial vehicle according to the actual moment instruction.

[0087] The embodiment of the present application obtains the operation control instruction of the unmanned aerial vehicle, the operation control instruction comprising a desired moment instruction for controlling the unmanned aerial vehicle; obtains power distribution constraint information of the motor of the unmanned aerial vehicle; determines an actual moment instruction of the unmanned aerial vehicle according to the desired moment instruction and the power distribution constraint information; and calculates the motor instruction of the unmanned aerial vehicle according to the actual moment instruction. In the embodiment of the present application, during the flight of the unmanned aerial vehicle, the actual moment instruction of each motor of the unmanned aerial vehicle is determined by the power distribution constraint information of the motor of the unmanned aerial vehicle, and then the motor power of the unmanned aerial vehicle is distributed, so that when the motor instruction of the unmanned aerial vehicle touches the upper and lower boundaries of the motor control reachable set, the stability of the attitude of the aircraft can be ensured by sacrificing the heading control ability and the vertical control ability of the aircraft, the accident rate caused by the unstable attitude of the unmanned aerial vehicle due to sudden disturbance or other reasons is reduced, and the performance boundary of the aircraft is improved.

[0088] In some embodiments of the present application, the desired moment instruction comprises an initial roll moment instruction, an initial pitch moment instruction, an initial yaw moment instruction and an initial tension value of the unmanned aerial vehicle.

[0089] At this time, the actual moment instruction of the unmanned aerial vehicle is determined according to the desired moment instruction and the power distribution constraint information, comprising: performing normalization processing on the desired moment instruction, mapping the initial tension value of the unmanned aerial vehicle to a first interval, and mapping the initial roll moment instruction, the initial pitch moment instruction and the initial yaw moment instruction to a second interval to obtain a normalized power instruction; determining the actual moment instruction of the unmanned aerial vehicle according to the normalized power instruction and the power distribution constraint information; wherein the normalized power instruction comprises a normalized roll moment instruction, a normalized pitch moment instruction, a normalized yaw moment instruction and a normalized tension value of the unmanned aerial vehicle.

[0090] For a rotorcraft, the most important control is the stability of the attitude, the second is the height control, and the third is the heading angle control. The priority satisfies the following relationship: L = M > T > N, that is, the priority of the pitch / roll moment is the highest, the priority of the tension is the second, and the priority of the yaw moment is the lowest. Based on this principle, the power distribution algorithm when the output is constrained can be obtained.

[0091] Further, the power distribution constraint information comprises the roll moment control reachable set; at this time, the actual moment instruction of the unmanned aerial vehicle is determined according to the normalized power instruction and the power distribution constraint information, comprising: linearly mapping the normalized roll moment instruction into the roll moment control reachable set to obtain a constrained roll moment instruction value, and the actual moment instruction comprises the constrained roll moment instruction value.

[0092] Further, the power distribution constraint information includes the pitch moment control reachable set; at this time, the actual moment instruction of the unmanned aerial vehicle is determined according to the normalized power instruction and the power distribution constraint information, and the method further includes: linearly mapping the normalized pitch moment instruction into the pitch moment control reachable set to obtain a constrained pitch moment instruction value, and the actual moment instruction includes the constrained pitch moment instruction value.

[0093] In some embodiments of the present application, the actual moment instruction of the unmanned aerial vehicle is determined according to the normalized power instruction and the power distribution constraint information, and the method further includes: obtaining the normalized maximum thrust value and the normalized minimum thrust value of each motor of the unmanned aerial vehicle; inputting the normalized maximum thrust value and the normalized minimum thrust value of each motor, the constrained roll moment instruction and the constrained pitch moment instruction into a preset control distribution model of the normalized control quantity to determine the upward pulling force instruction of the unmanned aerial vehicle.

[0094] Specifically, for the upward pulling force instruction of the unmanned aerial vehicle: according to the constrained roll moment instruction, the constrained pitch moment instruction, the control distribution model of the normalized control quantity (i.e., the power distribution model described in the following embodiments), the range of the pulling force instruction is solved through inequality transformation according to the normalized maximum and minimum values of the motor pulling force, and the initial pulling force instruction is constrained in the range to determine the upward pulling force instruction of the unmanned aerial vehicle.

[0095] In some embodiments of the present application, the actual moment instruction of the unmanned aerial vehicle is determined according to the normalized power instruction and the power distribution constraint information, and the method further includes: inputting the constrained roll moment instruction, the constrained pitch moment instruction and the upward pulling force instruction of the unmanned aerial vehicle into a preset control distribution model of the normalized control quantity to derive the yaw moment instruction value of the unmanned aerial vehicle.

[0096] Specifically, for the yaw moment instruction, the constraint of the upward pulling force instruction of the unmanned aerial vehicle is added on the basis of the above-mentioned pulling force instruction determination method. For example, in the control distribution model of the normalized quantity, the constrained roll moment instruction, the constrained pitch moment instruction, the constrained upward pulling force instruction of the unmanned aerial vehicle and the normalized maximum and minimum values of the motor pulling force are used to solve the acceptable range of the yaw moment instruction through inequality transformation, and the initial yaw moment instruction is constrained in the range to derive the yaw moment instruction value of the unmanned aerial vehicle.

[0097] In some embodiments of the present application, the motor instruction of the unmanned aerial vehicle is calculated according to the actual moment instruction, and the method includes: solving the motor instruction of the unmanned aerial vehicle by using a pseudo-inverse method for each instruction value in the actual moment instruction.

[0098] ​The following is an example of a specific embodiment scenario to illustrate the power distribution of the unmanned aerial vehicle in this application, and its power distribution model is as follows: Figure 3

[0099]

[0100] Wherein, R represents the distance between No. 1 motor and No. 2 motor, km represents the torque coefficient of the motor, F i (i = 1, 2, 3, 4) represents the force generated by each motor, T represents the z-axis tension (upward), L represents the roll torque, M represents the pitch torque, and N represents the yaw torque. Normalize the above formula, map T and F i to [0, 1], and map L, M, and N to [-1, 1], to obtain the following formula:

[0101]

[0102] It should be noted that Fi is the output of the control distribution, and the normalization of it is not reflected in the calculation process, because when all other quantities are normalized values, the calculated result is naturally normalized. Here, the normalization of it is only for the convenience of understanding the whole process.

[0103] For a rotorcraft, the most important control of its attitude is the height control, and then the heading angle control. The priority meets the following relationship: L = M > T > N, that is, the priority of the pitch / roll torque is the highest, the priority of the tension is the second, and the priority of the yaw torque is the lowest. Based on this principle, the power distribution algorithm when the output is constrained can be obtained:

[0104] Map L nd and M nd linearly to their respective control reachable sets to obtain the values of the constrained roll torque and pitch torque instructions L nd_sp and M nd_sp , wherein the suffix Nd means normalized dimensionless, and the suffix sp means the instruction of the controller calculation output; according to the constraint relationship between , the range of T nd is derived, and the tension instruction value T nd_sp is determined, wherein Fmin and Fmax represent the maximum and minimum thrust of a single motor, and the specific values can be obtained from the manufacturer's website or experiments according to the actual motor model used and the size of the propeller; according to the constraint relationship between T nd_sp and , the range of N nd is derived, and the yaw torque instruction value N nd_sp is determined.For the constrained instructions, the motor instructions are solved by using the pseudo-inverse method Based on the above method, the motor command value can be obtained after the UAV power is distributed.

[0105] Furthermore, quadcopter drones are now widely used due to their ease of control, compact size, and agility. However, with their increasing use, numerous problems have also emerged. During flight, the motors and propellers rotate at high speeds, making them susceptible to failure due to issues such as aging of the actuator coils. If a quadcopter fails in a manner that does not allow for fault tolerance, it can lead to decreased stability and even loss of control, posing a threat to personal safety.

[0106] Therefore, in response to the problems existing in the prior art, the present invention further provides a solution for controlling a quadcopter drone in the event of a fault, which can ensure the controllability of the drone's attitude and height, maintain the stability of the drone's attitude, and avoid accidents when a partial failure occurs in the quadcopter drone's motor.

[0107] Specifically, the embodiments of the present application may further include: when some motors of the drone fail, obtaining fault information of the failed motor; optimizing the control allocation information of the four motors based on the fault information, so that the virtual control instructions of the four motors are linearly related to the posture and altitude to be achieved by the drone; the virtual control instructions are control instructions calculated by the drone flight control system based on user operations; the virtual control instructions of the four motors are allocated according to the optimized control allocation information to obtain actual control instructions of the four motors; and controlling the drone to reach the desired posture and altitude according to the actual control instructions.

[0108] It's important to note that the flight principle of a quadrotor drone is to change the attitude of the aircraft by varying the speed of its four motors. The motor speed is adjusted by varying the duty cycle of the PWM signal. This change in speed alters the thrust and torque generated by the motors. The positional distribution of the quadrotor's motors also determines the torque in the roll and pitch directions, as well as the counter-torque in the yaw direction. Changes in roll and pitch generate linear velocity along the aircraft's X and Y axes, while changes in the yaw angle change the aircraft's heading. Changes in thrust cause changes in the aircraft's Z axis, or altitude.

[0109] The body coordinate system is defined as follows: the origin is at the center of mass of the unmanned aerial vehicle, the coordinate system is fixed to the body; the X-axis is parallel to the longitudinal axis of the body and is in the symmetry plane of the unmanned aerial vehicle, and points to the front; the Y-axis is perpendicular to the symmetry plane of the unmanned aerial vehicle and points to the right; and the Z-axis is in the symmetry plane of the unmanned aerial vehicle and is perpendicular to the X-axis and points downward. The entire coordinate system conforms to the right-hand rule of the Euler coordinate system. The ground coordinate system, i.e., the inertial coordinate system, is defined as follows: the North-East-Down coordinate system is adopted, the XE-axis points to the north, the YE-axis points to the east, and the ZE-axis points to the center of the earth. The ground coordinate system is the coordinate system in the environment of the simulation experiment.

[0110] The unmanned aerial vehicle distributes the virtual control instruction generated by the user operation into actual control instructions for each motor through the control distribution information. In the case that the four motors are normal, the control distribution information is a fixed value and does not change. However, when part of the motors of the unmanned aerial vehicle fails, the motor cannot correctly respond to the distributed actual control instruction, i.e., the motor cannot adjust to the corresponding rotating speed for the same control instruction, and cannot meet the control requirement, so the control distribution information needs to be optimized and redistributed.

[0111] When part of the motors of the unmanned aerial vehicle fails, the fault information of the failed motor is first obtained, the virtual control instruction generated by the user operation is calculated through the flight control system, and the corresponding force and torque are applied to the aircraft through the actuator, so as to adjust the height and attitude of the unmanned aerial vehicle to the desired value.

[0112] In order to enable the unmanned aerial vehicle to reach the desired height and attitude, the calculated virtual control instruction and the height and attitude of the unmanned aerial vehicle can have a linear relationship. Therefore, the control distribution information is adjusted according to the fault information, so that the calculated virtual control instruction and the height and attitude of the unmanned aerial vehicle meet the linear relationship, thereby obtaining the optimized control distribution information. The virtual control instruction generated by the user operation is distributed into actual control instructions for each motor through the optimized control distribution information, so that each motor drives the unmanned aerial vehicle to reach the desired height and attitude according to the actual control instruction, thereby ensuring the controllability of the attitude and height of the unmanned aerial vehicle, maintaining the stability of the attitude of the unmanned aerial vehicle, and avoiding accidents.

[0113] Further, when part of the motors of the unmanned aerial vehicle fails, the fault information of the failed motor is obtained, specifically including: real-time detection of the four motors of the unmanned aerial vehicle; when part of the motors of the unmanned aerial vehicle fails, calculating the ratio of the output of the failed motor to the output when there is no failure, which is the fault information of the failed motor; and constructing a fault information matrix according to the fault information of the failed motor.

[0114] It should be noted that when part of the motor of the unmanned aerial vehicle fails, the output values of the four motors, i.e. the efficiencies of the motors, are obtained. The efficiency of the motor that does not fail, i.e. the normal motor, is set to 1. The efficiency of the motor that fails will decay, so that the efficiency of the failed motor is the quantized value of the output of the failed motor relative to the output at normal time, i.e. the failure information of the failed motor. The efficiencies of the four motors are represented as h 1, h 2, h 3, and h 4 respectively, thereby constructing a failure information matrix H = diag[h 1, h 2, h 3, h 4].

[0115] Further, the control allocation information of the four motors is optimized according to the failure information, so that the virtual control instructions of the four motors are in linear relationship with the attitude and height to be reached by the unmanned aerial vehicle, and specifically includes:

[0116] According to the optimization formula, the virtual control instructions of the four motors are in linear relationship with the attitude and height to be reached by the unmanned aerial vehicle, and an optimized control allocation matrix is calculated according to the control allocation matrix at normal time and the failure information matrix. The optimized control allocation matrix is the optimized control allocation information.

[0117] In order to better implement the power distribution method of the unmanned aerial vehicle in the embodiments of the present application, on the basis of the power distribution method of the unmanned aerial vehicle, the embodiments of the present application also provide a power distribution device of an unmanned aerial vehicle, as shown in Figure 4 The power distribution device 400 of the unmanned aerial vehicle includes a first acquisition module 401, a second acquisition module 402, a determination module 403, and a calculation module 404, and specifically includes:

[0118] The first acquisition module 401 is configured to acquire the operation control instruction of the unmanned aerial vehicle, wherein the operation control instruction includes a desired torque instruction for controlling the unmanned aerial vehicle.

[0119] The second acquisition module 402 is configured to acquire the power distribution constraint information of the motor of the unmanned aerial vehicle.

[0120] The determination module 403 is configured to determine the actual torque instruction of the unmanned aerial vehicle according to the desired torque instruction and the power distribution constraint information.

[0121] The calculation module 404 is configured to calculate the motor instruction of the unmanned aerial vehicle according to the actual torque instruction.

[0122] In the embodiment of the present application, a first acquisition module 401 acquires an operation control instruction for a drone, wherein the operation control instruction includes a desired torque instruction for controlling the drone; a second acquisition module 402 acquires power distribution constraint information for the drone's motors; a determination module 403 determines the drone's actual torque instruction based on the desired torque instruction and the power distribution constraint information; and a calculation module 404 calculates the drone's motor instructions based on the actual torque instruction. In the embodiment of the present application, during drone flight, the actual torque instructions for each of the drone's motors are determined based on the power distribution constraint information for the drone's motors, and the drone's motor power is then allocated. Therefore, when the drone's motor instructions reach the upper and lower boundaries of the motor control reachable set, the aircraft's attitude stability can be maintained by sacrificing the aircraft's heading control capability and vertical control capability, thereby reducing the accident rate caused by unstable attitude due to sudden disturbances or other reasons and improving the aircraft's performance boundaries.

[0123] In some embodiments of the present application, the desired torque instruction includes an initial rolling torque instruction, an initial pitching torque instruction, an initial yaw torque instruction, and an initial pulling force value of the drone.

[0124] The determining module 403 is specifically configured to:

[0125] Normalizing the desired torque command, mapping the initial tension value of the drone to a first interval, and mapping the initial rolling torque command, the initial pitching torque command, and the initial yaw torque command to a second interval to obtain a normalized power command;

[0126] determining an actual torque command of the UAV according to the normalized power command and the power distribution constraint information;

[0127] The normalized power instructions include a normalized rolling moment instruction, a normalized pitching moment instruction, a normalized yaw moment instruction, and a normalized UAV pulling force value.

[0128] In some embodiments of the present application, the power distribution constraint information includes the roll torque control reachable set;

[0129] The determining module 403 is specifically configured to:

[0130] The normalized roll torque command is linearly mapped into a roll torque control reachable set to obtain the constrained roll torque command value, and the actual torque command includes the constrained roll torque command value.

[0131] In some embodiments of the present application, the power distribution constraint information includes the pitching moment control reachable set;

[0132] The determining module 403 is specifically configured to:

[0133] The normalized pitching moment command is linearly mapped into the pitching moment control reachable set to obtain a constrained pitching moment command value, and the actual torque command includes the constrained pitching moment command value.

[0134] In some embodiments of the present application, the determining module 403 is specifically configured to:

[0135] Obtaining the normalized maximum thrust value and minimum thrust value of each motor of the drone;

[0136] The normalized maximum thrust value and minimum thrust value of each motor, the constrained rolling torque instruction and the constrained pitching torque instruction are input into a preset normalized control quantity control distribution model to determine the upward pulling force instruction of the drone.

[0137] In some embodiments of the present application, the determining module 403 is further configured to:

[0138] According to the constrained rolling moment command, the constrained pitching moment command, and the upward pulling force command of the UAV, a control distribution model of a preset normalized control quantity is input to derive the yaw moment command value of the UAV.

[0139] In some embodiments of the present application, the calculation module 404 is specifically configured to:

[0140] For each command value in the actual torque command, a pseudo-inverse method is used to solve the motor command of the drone.

[0141] The present application also provides an unmanned aerial vehicle (UAV) that integrates the power distribution device of any UAV provided in the present application. The UAV includes:

[0142] one or more processors;

[0143] Memory; and

[0144] One or more applications, wherein the one or more applications are stored in the memory and configured to execute, by the processor, the steps of the power distribution method for a drone described in any of the embodiments of the power distribution method for a drone.

[0145] The embodiment of the present application also provides a drone that integrates the power distribution device of any drone provided in the embodiment of the present application. Figure 5 , which shows a schematic structural diagram of the drone involved in the embodiment of the present application, specifically:

[0146] The drone may include one or more processing core processors 501, one or more computer-readable storage media memories 502, a power supply 503, an input unit 504 and other components. It will be understood by those skilled in the art that Figure 5 The UAV structure shown in the figure does not constitute a limitation of the UAV, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0147] Processor 501 is the drone's control center, connecting all components of the drone using various interfaces and circuits. By running or executing software programs and / or modules stored in memory 502 and accessing data stored in memory 502, it performs various drone functions and processes data, thereby providing overall drone monitoring. Optionally, processor 501 may include one or more processing cores; preferably, processor 501 may integrate an application processor and a modem processor, with the application processor primarily handling the operating system, user interface, and application programs, while the modem processor primarily handles wireless communications. It is understood that the modem processor may not be integrated into processor 501.

[0148] Memory 502 can be used to store software programs and modules. Processor 501 executes various functional applications and data processing by running the software programs and modules stored in memory 502. Memory 502 may primarily include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function (such as a sound playback function), while the data storage area may store data generated based on the use of the drone. Furthermore, memory 502 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, memory 502 may also include a memory controller to provide processor 501 with access to memory 502.

[0149] The drone also includes a power supply 503 for supplying power to various components. Preferably, the power supply 503 can be logically connected to the processor 501 via a power management system, thereby enabling the power management system to manage charging, discharging, and power consumption. The power supply 503 can also include one or more DC or AC power supplies, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, and other arbitrary components.

[0150] The drone may further include an input unit 504, which may be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.

[0151] Although not shown, the drone may also include a display unit, etc., which will not be described in detail here. Specifically, in this embodiment, the processor 501 in the drone will load the executable files corresponding to one or more application processes into the memory 502 according to the following instructions, and the processor 501 will run the application stored in the memory 502 to implement various functions as follows:

[0152] Obtaining the UAV's operational control instructions, which include desired torque instructions for controlling the UAV; obtaining the power distribution constraint information of the UAV's motor; determining the UAV's actual torque instruction based on the desired torque instruction and the power distribution constraint information; and calculating the UAV's motor instruction based on the actual torque instruction.

[0153] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be accomplished by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0154] To this end, embodiments of the present application provide a computer-readable storage medium, which may include a read-only memory (ROM), random access memory (RAM), a disk, or an optical disk. A computer program is stored thereon, and the computer program is loaded by a processor to execute the steps of any of the power distribution methods for drones provided in embodiments of the present application. For example, the computer program loaded by the processor may execute the following steps:

[0155] Obtaining the UAV's operational control instructions, which include desired torque instructions for controlling the UAV; obtaining the power distribution constraint information of the UAV's motor; determining the UAV's actual torque instruction based on the desired torque instruction and the power distribution constraint information; and calculating the UAV's motor instruction based on the actual torque instruction.

[0156] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, please refer to the detailed description of other embodiments above and will not be repeated here.

[0157] In specific implementation, the above units or structures can be implemented as independent entities, or can be arbitrarily combined to implement as the same or several entities. The specific implementation of the above units or structures can refer to the previous method embodiments and will not be repeated here.

[0158] The specific implementation of the above operations can be found in the previous embodiments and will not be repeated here.

[0159] The above is a detailed introduction to the power distribution method, device, drone and storage medium for a drone provided in the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application; at the same time, for technical personnel in this field, based on the ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A power distribution method for a UAV, characterized in that: The method comprises: Obtaining an operation control instruction of the UAV, wherein the operation control instruction includes a desired torque instruction for controlling the UAV; Obtain the power distribution constraint information of the UAV motor; determining an actual torque command of the UAV according to the desired torque command and the power distribution constraint information; Calculating a motor command of the UAV according to the actual torque command; The desired torque command includes an initial rolling torque command, an initial pitching torque command, an initial yaw torque command and an initial pulling force value of the UAV; The power distribution constraint information includes a roll moment control reachable set and a pitch moment control reachable set: The actual torque instruction includes: a constrained roll torque command value, wherein the constrained roll torque command value is determined based on the initial roll torque command and the roll torque control reachable set; a constrained pitching moment command value, wherein the constrained pitching moment command value is determined based on the initial pitching moment command and the pitching moment control reachable set; An upward pulling force instruction, wherein the upward pulling force instruction is determined based on an initial pulling force value of the UAV, the constrained rolling moment instruction value, and the constrained pitching moment instruction value; A yaw moment command is determined based on the constrained roll moment command, the constrained pitch moment command, and an upward pull command of the UAV.

2. The power distribution method for a UAV according to claim 1, characterized in that: Determining the actual torque command of the UAV according to the expected torque command and the power distribution constraint information includes: Normalizing the desired torque command, mapping the initial tension value of the drone to a first interval, and mapping the initial rolling torque command, the initial pitching torque command, and the initial yaw torque command to a second interval to obtain a normalized power command; determining an actual torque command of the UAV according to the normalized power command and the power distribution constraint information; The normalized power command includes a normalized rolling moment command, a normalized pitching moment command, a normalized yaw moment command and a normalized UAV pulling force value.

3. The power distribution method for a UAV according to claim 2, characterized in that: Determining the actual torque command of the UAV according to the normalized power command and the power distribution constraint information includes: The normalized roll torque command is linearly mapped into a roll torque control reachable set to obtain the constrained roll torque command value, and the actual torque command includes the constrained roll torque command value.

4. The power distribution method for a UAV according to claim 2, characterized in that: The determining of the actual torque command of the UAV according to the normalized power command and the power distribution constraint information further includes: The normalized pitching moment command is linearly mapped into the pitching moment control reachable set to obtain a constrained pitching moment command value, and the actual torque command includes the constrained pitching moment command value.

5. The power distribution method for a UAV according to claim 2, characterized in that: The determining of the actual torque command of the UAV according to the normalized power command and the power distribution constraint information further includes: Obtaining the normalized maximum thrust value and minimum thrust value of each motor of the drone; The normalized maximum thrust value and minimum thrust value of each motor, the constrained rolling torque instruction and the constrained pitching torque instruction are input into a preset normalized control quantity control distribution model to determine the upward pulling force instruction of the drone.

6. The power distribution method for a UAV according to claim 5, characterized in that: The determining of the actual torque command of the UAV according to the normalized power command and the power distribution constraint information further includes: According to the constrained rolling moment command, the constrained pitching moment command, and the upward pulling force command of the UAV, a preset normalized control quantity control distribution model is input to derive the yaw moment command value of the UAV.

7. The power distribution method for a UAV according to claim 1, characterized in that: The calculating of the motor command of the UAV according to the actual torque command includes: For each command value in the actual torque command, a pseudo-inverse method is used to solve the motor command of the UAV.

8. A power distribution device for a UAV, characterized in that: The power distribution device of the UAV includes: A first acquisition module is configured to acquire an operation control instruction of the UAV, wherein the operation control instruction includes a desired torque instruction for controlling the UAV; The second acquisition module is used to obtain the power distribution constraint information of the UAV motor; a determination module, configured to determine an actual torque command of the UAV according to the desired torque command and the power distribution constraint information; A calculation module, configured to calculate a motor command of the UAV according to the actual torque command; The desired torque command includes an initial rolling torque command, an initial pitching torque command, an initial yaw torque command and an initial pulling force value of the UAV; The power distribution constraint information includes a roll moment control reachable set and a pitch moment control reachable set: The actual torque instruction includes: a constrained roll torque command value, wherein the constrained roll torque command value is determined based on the initial roll torque command and the roll torque control reachable set; a constrained pitching moment command value, wherein the constrained pitching moment command value is determined based on the initial pitching moment command and the pitching moment control reachable set; An upward pulling force instruction, wherein the upward pulling force instruction is determined based on an initial pulling force value of the UAV, the constrained rolling moment instruction value, and the constrained pitching moment instruction value; A yaw moment command is determined based on the constrained roll moment command, the constrained pitch moment command, and an upward pull command of the UAV.

9. A drone, characterized in that: The drone includes: one or more processors; Memory; and One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the power distribution method for the drone according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that A computer program is stored thereon, and the computer program is loaded by a processor to execute the steps in the power distribution method for a drone according to any one of claims 1 to 7.

Images