Lifting device posture stability control method and electronic device

Abstract

The application discloses a lifting device posture stability control method and electronic equipment, the method comprises the following steps: acquiring a quadrotor posture lifting target thrust and a previous time transient posture lifting target thrust, determining the absolute difference of the quadrotor posture lifting target thrust; determining the percentage of the total absolute difference of the quadrotor posture lifting target thrust and the posture lifting total target thrust of the quadrotor; acquiring the maximum value of the allowable thrust change of the quadrotor per unit time, determining the maximum value of the allowable thrust change of the quadrotor in a task cycle, the total step number of the change of the quadrotor posture lifting target thrust, the minimum synchronization number, the single-step theoretical maximum change amount, the single-step actual change amount, the current time transient posture lifting target thrust, and updating the previous time transient posture lifting target thrust, through the iteration of the task cycle, the current time transient posture lifting target thrust of the quadrotor is equal to the posture lifting target thrust.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, specifically to a method and electronic device for attitude stabilization control of a lifting device. Background Technology

[0002] With the development of automobiles, cars are increasingly equipped with drones, among which quadcopter drones are an important type. The ascent and descent of a quadcopter are controlled by manipulating the aerodynamic thrust of its quadrotors. The magnitude of the quadrotor's thrust is crucial to the drone's attitude stability. If the thrust cannot simultaneously reach the set target thrust during changes, the drone may lose stability. Furthermore, the thrust of a quadcopter cannot change too rapidly, otherwise it may lead to rotor breakage and reduced operational lifespan. Summary of the Invention

[0003] The purpose of this invention is to overcome the above-mentioned technical deficiencies and provide a method and electronic device for stabilizing the attitude of a lifting device, thereby solving the technical problems in the prior art where rapid changes in thrust of a quadcopter UAV lead to rotor breakage and reduced service life.

[0004] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution:

[0005] In a first aspect, the present invention provides a method for stabilizing the attitude of a lifting device, comprising the following steps:

[0006] Obtain the target thrust of the quadcopter's attitude lift and the target thrust of the transient attitude lift at the previous moment. Based on the target thrust of the attitude lift and the target thrust of the transient attitude lift at the previous moment, determine the absolute difference of the target thrust of the quadcopter's attitude lift. Based on the target thrust of the attitude lift and the absolute difference of the target thrust of the attitude lift, determine the percentage of the total absolute difference of the target thrust of the quadcopter's attitude lift to the total target thrust of the quadcopter's attitude lift.

[0007] The maximum allowable thrust variation that the quadrotor can withstand per unit time is obtained to determine the maximum allowable thrust variation that the quadrotor can withstand during the mission cycle.

[0008] Based on the maximum allowable thrust change of the quadrotor during the mission cycle and the absolute difference of the attitude rise and fall target thrust, the total number of steps of the quadrotor attitude rise and fall target thrust change is determined, and then the minimum number of synchronizations of the quadrotor attitude rise and fall target thrust change is obtained. Based on the absolute difference of the attitude rise and fall target thrust and the minimum number of synchronizations of the quadrotor attitude rise and fall target thrust change, the theoretical maximum single-step change of the quadrotor attitude rise and fall target thrust is determined.

[0009] Based on the total absolute difference of the quadrotor attitude lift target thrust and the percentage of the quadrotor attitude lift target thrust, the theoretical maximum change of the attitude lift target thrust in a single step, and the absolute difference of the attitude lift target thrust, the actual change of the quadrotor attitude lift target thrust in a single step is determined.

[0010] Based on the single-step actual change of the attitude rise and fall target thrust and the transient attitude rise and fall target thrust at the previous moment, after determining the transient attitude rise and fall target thrust of the quadrotor at the current moment, the transient attitude rise and fall target thrust of the quadrotor at the previous moment is updated.

[0011] Through the iteration of the mission cycle, the target thrust of the quadrotor's transient attitude rise and fall at the current moment is made equal to the target thrust of the quadrotor's attitude rise and fall.

[0012] In some embodiments, the quadcopter includes at least a left front rotor, a right front rotor, a left rear rotor, and a right rear rotor, and the absolute difference in the thrust of the quadcopter's attitude lift target is calculated as follows:

[0013]

[0014] Among them, F fl The target thrust for attitude rise and fall of the left front rotor, F fr For the attitude control of the right front rotor, the target thrust, F rl For the target thrust of attitude rise and fall of the left rear rotor, F rr F(k-1) represents the target thrust for attitude rise and fall of the right rear rotor. fl F(k-1) represents the target thrust for transient attitude rise and fall of the left front rotor at the previous instant. fr F(k-1) represents the target thrust for the transient attitude rise and fall of the right front rotor at the previous instant. rl F(k-1) represents the target thrust for the transient attitude rise and fall of the left rear rotor at the previous instant. rr Let ΔF(k) be the target thrust for the transient attitude rise and fall of the right rear rotor at the previous instant. fl ΔF(k) represents the absolute difference in thrust between the left front rotor's attitude elevation and descent targets. fr ΔF(k) represents the absolute difference in thrust between the target elevation and descent of the right front rotor. rl ΔF(k) represents the absolute difference in thrust between the left rear rotor's attitude rise and fall. rr This represents the absolute difference in thrust between the target and the attitude elevation of the right rear rotor.

[0015] In some embodiments, the percentage of the total absolute difference in the quadrotor's attitude lift target thrust to the total attitude lift target thrust of the quadrotor is calculated as follows:

[0016]

[0017] Wherein, γ(k) is the percentage of the total absolute difference of the target thrust for attitude rise and fall of the quadrotor to the total target thrust for attitude rise and fall of the quadrotor.

[0018] In some embodiments, the maximum allowable thrust variation that the quadrotor can withstand during the mission cycle is calculated using the following formula:

[0019]

[0020] Where, ΔF flmax ΔF represents the maximum permissible thrust variation that the left front rotor can withstand during the mission cycle. frmax The maximum permissible thrust variation that the right front rotor experiences during the mission cycle, ΔF rlmax ΔF represents the maximum permissible thrust variation that the left rear rotor can withstand during the mission cycle. rrmax ΔF represents the maximum permissible thrust variation that the right rear rotor can withstand during the mission cycle. flmaxone ΔF represents the maximum permissible thrust variation experienced by the left front rotor per unit time. frmaxone ΔF represents the maximum permissible thrust variation that the right front rotor can withstand per unit time. rlmaxone ΔF represents the maximum permissible thrust variation experienced by the left rear rotor per unit time. rrmaxone Δtime represents the maximum allowable thrust variation that the right rear rotor can withstand per unit time, and Δtime is the mission cycle.

[0021] In some embodiments, the formula for calculating the total number of steps of the change in thrust of the quadcopter attitude lift target is as follows:

[0022]

[0023] Where, b(k) fl Let b(k) be the total number of steps representing the change in thrust during the attitude change of the left front rotor. fr Let b(k) be the total number of steps representing the change in thrust during the attitude change of the right front rotor. rl Let b(k) be the total number of steps representing the change in thrust during the left rear rotor attitude change. rr The total number of steps representing the change in thrust for the target attitude elevation of the right rear rotor;

[0024] The minimum number of synchronizations required to calculate the change in thrust of the rotor attitude lift target is:

[0025] b(k) min =max(b(k)) fl ,b(k) fr ,b(k) rl ,b(k) rr ),

[0026]

[0027] Where, b(k) min Let b(k) be the minimum number of synchronizations required to change the thrust of the rotor attitude rise and fall target. min It equals the maximum value of the total number of steps of the thrust change of the target for attitude rise and fall of the left front rotor, the right front rotor, the left rear rotor, and the right rear rotor.

[0028] In some embodiments, the theoretical maximum change in the thrust of the quadcopter attitude lift target in a single step is calculated as follows:

[0029]

[0030] Where, ΔF1(k) fl ΔF1(k) represents the theoretical maximum change in thrust for the left front rotor during attitude control and elevation adjustments. fr ΔF1(k) represents the theoretical maximum single-step change in thrust for the right front rotor during attitude control and elevation adjustments. rl ΔF1(k) represents the theoretical maximum change in thrust for the left rear rotor during attitude control and elevation. rr Let b(k) be the theoretical maximum single-step change in thrust for the right rear rotor attitude control during ascent and descent. min The minimum number of synchronizations required to achieve the change in thrust for the rotor attitude rise and fall target.

[0031] In some embodiments, the formula for calculating the single-step actual change in the thrust of the quadcopter attitude lift target is as follows:

[0032]

[0033]

[0034] Where, ΔF2(k) fl ΔF2(k) represents the actual single-step change in thrust for the left front rotor during attitude control and elevation. fr ΔF2(k) represents the actual single-step change in thrust for the right front rotor during attitude control and elevation adjustments. rl ΔF2(k) represents the actual single-step change in thrust for the left rear rotor during attitude control and elevation. rr s(ΔF(k)) represents the single-step actual change in thrust for the right rear rotor attitude control during ascent and descent. fl ) represents the positive or negative sign of the absolute difference in thrust between the left front rotor attitude and elevation targets, s(ΔF(k) fr ) represents the positive or negative sign of the absolute difference in thrust between the right front rotor's attitude and elevation targets, s(ΔF(k)). rl ) represents the positive or negative sign of the absolute difference in thrust between the left rear rotor attitude and elevation targets, s(ΔF(k) rr) is the sign of the absolute difference in the attitude lift target thrust of the right rear rotor, and min(γ(k),1) is the smaller value of the total absolute difference in the attitude lift target thrust of the quadrotor compared with the percentage of the total attitude lift target thrust of the quadrotor by 1.

[0035] In some embodiments, the formula for calculating the target thrust of the quadcopter during transient attitude rise and fall at the current moment is:

[0036]

[0037] Where, F(k) fr F(k) represents the target thrust for the transient attitude rise and fall of the left front rotor at the current moment. fr F(k) represents the target thrust for the transient attitude rise and fall of the right front rotor at the current moment. rl F(k) represents the target thrust for the transient attitude rise and fall of the left rear rotor at the current moment. rr The thrust is the target thrust for the transient attitude rise and fall of the right rear rotor at the current moment.

[0038] In some embodiments, the formula for calculating the instantaneous attitude lift target thrust of the quadrotor at the current moment to the corresponding quadrotor attitude lift target thrust is as follows:

[0039]

[0040] Among them, F fl The target thrust for attitude rise and fall of the left front rotor, F fr For the attitude control of the right front rotor, the target thrust, F rl For the target thrust of attitude rise and fall of the left rear rotor, F rr F(k) represents the target thrust for attitude rise and fall of the right rear rotor. fr F(k) represents the target thrust for the transient attitude rise and fall of the left front rotor at the current moment. fr F(k) represents the target thrust for the transient attitude rise and fall of the right front rotor at the current moment. rl F(k) represents the target thrust for the transient attitude rise and fall of the left rear rotor at the current moment. rr The thrust is the target thrust for the transient attitude rise and fall of the right rear rotor at the current moment.

[0041] In a second aspect, the present invention also provides an electronic device, comprising: a processor and a memory;

[0042] The memory stores a computer-readable program that can be executed by the processor;

[0043] When the processor executes the computer-readable program, it implements the steps in the lifting device attitude stabilization control method described above.

[0044] Compared with existing technologies, the attitude stabilization control method and electronic equipment for the lifting device provided by this invention ensure that the instantaneous attitude lifting target thrust of the quadrotor at the current moment equals the time required for it to reach the attitude lifting target thrust, and arrives at the attitude lifting target thrust simultaneously. This avoids the problem of uncoordinated changes in the instantaneous attitude lifting target thrust of the quadrotor at the current moment, which leads to dynamic instability of the UAV's attitude. The actual single-step change in the attitude lifting target thrust of the quadrotor is less than or equal to the maximum allowable thrust change that the rotor can withstand within its mission cycle, avoiding the risk of rotor breakage or damage and improving the reliability of the UAV. Attached Figure Description

[0045] Figure 1 This is a flowchart of an embodiment of the attitude stabilization control method for the lifting device provided by the present invention;

[0046] Figure 2 This is a flowchart of an embodiment of the lifting device attitude stabilization control device provided by the present invention;

[0047] Figure 3 This is a schematic diagram of the operating environment of an embodiment of the lifting device attitude stabilization control program provided by the present invention. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0049] This invention provides a method and electronic device for stabilizing the attitude of a lifting device, which can be used in a computer. The method, device, or computer-readable storage medium involved in this invention can be integrated with the aforementioned device or be relatively independent.

[0050] This invention provides a method for stabilizing the attitude of a lifting device. Figure 1 This is a flowchart of the attitude stabilization control method for the lifting device provided in an embodiment of the present invention. Please refer to [link / reference]. Figure 1 The method for stabilizing the attitude of the lifting device includes the following steps:

[0051] S100: Obtain the target thrust of the quadcopter's attitude lift and the target thrust of the transient attitude lift at the previous moment; based on the target thrust of the attitude lift and the target thrust of the transient attitude lift at the previous moment, determine the absolute difference of the target thrust of the quadcopter's attitude lift; based on the target thrust of the attitude lift and the absolute difference of the target thrust of the attitude lift, determine the percentage of the total absolute difference of the target thrust of the quadcopter's attitude lift to the total target thrust of the quadcopter's attitude lift.

[0052] S200: Obtain the maximum allowable thrust variation of the quadrotor per unit time to determine the maximum allowable thrust variation of the quadrotor within the mission cycle;

[0053] S300. Based on the maximum allowable thrust change of the quadrotor during the mission cycle and the absolute difference of the thrust of the attitude rise and fall target, the total number of steps of the quadrotor attitude rise and fall target thrust change is determined, and the minimum number of synchronizations of the quadrotor attitude rise and fall target thrust change is obtained. Based on the absolute difference of the thrust of the attitude rise and fall target and the minimum number of synchronizations of the quadrotor attitude rise and fall target thrust change, the theoretical maximum change of the quadrotor attitude rise and fall target thrust in a single step is determined.

[0054] S400. Based on the percentage of the total absolute difference of the quadrotor attitude lift target thrust to the total quadrotor attitude lift target thrust, the single-step theoretical maximum change of the attitude lift target thrust, and the absolute difference of the attitude lift target thrust, determine the single-step actual change of the quadrotor attitude lift target thrust.

[0055] S500: Based on the single-step actual change of the attitude rise and fall target thrust and the transient attitude rise and fall target thrust at the previous moment, after determining the transient attitude rise and fall target thrust of the quadrotor at the current moment, the transient attitude rise and fall target thrust of the quadrotor at the previous moment is updated.

[0056] S600: Through the iteration of the mission cycle, the thrust of the quadrotor's transient attitude rise and fall target at the current moment is made equal to the thrust of the quadrotor's attitude rise and fall target.

[0057] In this embodiment, the target thrust for quadrotor attitude lift and the transient target thrust for attitude lift at the previous moment are obtained to determine the absolute difference between the target thrusts and the percentage of the total absolute difference to the total target thrust of the quadrotor attitude lift. The maximum allowable thrust change per unit time is obtained to determine the maximum allowable thrust change within the mission cycle. After determining the total number of steps for the target thrust change, the minimum synchronization number for the change in the target thrust is obtained. Based on the absolute difference in the target thrust and the target thrust of the quadrotor attitude lift, the target thrust is then determined. The minimum number of synchronizations for the change in target thrust is used to determine the theoretical maximum change in single-step thrust of the quadrotor attitude lift target, and the actual change in single-step thrust of the quadrotor attitude lift target is determined. Based on the actual change in single-step thrust of attitude lift target and the transient attitude lift target thrust at the previous moment, the transient attitude lift target thrust of the quadrotor at the current moment is determined, and the transient attitude lift target thrust of the quadrotor at the previous moment is updated. Through the iteration of the mission cycle, the transient attitude lift target thrust of the quadrotor at the current moment is made equal to the quadrotor attitude lift target thrust, avoiding the problem of attitude instability caused by the rapid change of thrust of the quadrotor UAV.

[0058] In some embodiments, in step S100, the target thrust of the quadcopter's transient attitude lift at the previous moment is initialized. The target thrust of the quadcopter's transient attitude lift at the previous moment is initially set to zero. The target thrust of the quadcopter's attitude lift and the target thrust of the previous moment are obtained. Based on the target thrust of the quadcopter's attitude lift and the target thrust of the previous moment, the absolute difference in the target thrust of the quadcopter's attitude lift is calculated. The quadcopter includes at least a left front rotor, a right front rotor, a left rear rotor, and a right rear rotor. The formula for calculating the absolute difference in the target thrust of the quadcopter's attitude lift is:

[0059]

[0060] Among them, F fl The target thrust for attitude rise and fall of the left front rotor, F fr For the attitude control of the right front rotor, the target thrust, F rl For the target thrust of attitude rise and fall of the left rear rotor, F rr F(k-1) represents the target thrust for attitude rise and fall of the right rear rotor. fl F(k-1) represents the target thrust for transient attitude rise and fall of the left front rotor at the previous instant. fr F(k-1) represents the target thrust for the transient attitude rise and fall of the right front rotor at the previous instant. rl F(k-1) represents the target thrust for the transient attitude rise and fall of the left rear rotor at the previous instant. rr Let ΔF(k) be the target thrust for the transient attitude rise and fall of the right rear rotor at the previous instant. fl ΔF(k) represents the absolute difference in thrust between the left front rotor's attitude elevation and descent targets. fr ΔF(k) represents the absolute difference in thrust between the target elevation and descent of the right front rotor. rl ΔF(k) represents the absolute difference in thrust between the left rear rotor's attitude rise and fall. rr This represents the absolute difference in thrust between the target and the attitude elevation of the right rear rotor.

[0061] When the left front rotor's attitude rises and falls, the target thrust F fl The thrust F(k-1) of the target during the transient attitude rise and fall of the left front rotor at the previous moment is greater than that of the target. fl When the target thrust of the left front rotor is greater than zero, the absolute difference between the target thrust of the left front rotor and the target thrust of the left front rotor is greater than zero. fl It is equal to the target thrust F(k-1) of the transient attitude rise and fall of the left front rotor at the previous moment. fl When the target thrust of the left front rotor is zero, the absolute difference between the target thrust of the left front rotor's attitude rise and fall is zero; when the target thrust F of the left front rotor's attitude rise and fall is zero... fl The target thrust F(k-1) for transient attitude rise and fall is less than that of the left front rotor at the previous instant. flThen the absolute difference in thrust between the left front rotor attitude rise and fall is less than zero; further F fr F(k-1) fr With ΔF(k) fr F rl F(k-1) rl With ΔF(k) rl F rr F(k-1) rr With ΔF(k) rr The same applies to the relationship, in which F fl F fr F rl F rr All are greater than 0.

[0062] In some embodiments, based on the target thrust of the quadcopter's attitude lift and the absolute difference between the target thrusts, the percentage of the total absolute difference in the target thrust of the quadcopter's attitude lift to the total target thrust of the quadcopter's attitude lift is determined. This percentage is equal to the absolute value of the absolute difference in the target thrust of each rotor divided by the average of the sum of the target thrusts of each rotor. The formula for calculating the percentage of the total absolute difference in the target thrust of the quadcopter's attitude lift to the total target thrust of the quadcopter's attitude lift is as follows:

[0063]

[0064] Where γ(k) is the percentage of the total absolute difference in the target thrust for attitude rise and fall of the quadrotor to the total target thrust for attitude rise and fall of the quadrotor, F fl The target thrust for attitude rise and fall of the left front rotor, F fr For the attitude control of the right front rotor, the target thrust, F rl For the target thrust of attitude rise and fall of the left rear rotor, F rr ΔF(k) represents the target thrust for attitude rise and fall of the right rear rotor. fl ΔF(k) represents the absolute difference in thrust between the left front rotor's attitude elevation and descent targets. fr ΔF(k) represents the absolute difference in thrust between the target elevation and descent of the right front rotor. rl ΔF(k) represents the absolute difference in thrust between the left rear rotor's attitude and elevation targets. rr This represents the absolute difference in thrust between the target elevation and descent of the right rear rotor.

[0065] In some embodiments, in step S200, to protect the quadrotor from the risk of rotor breakage or damage due to excessively rapid thrust changes, the maximum allowable thrust change per unit time of the quadrotor is obtained through bench testing. This maximum allowable thrust change per unit time is determined by the quadrotor's mechanical structure and represents the maximum capacity of the mechanical structure to increase thrust per unit time. Exceeding this value may lead to rotor breakage or damage. Based on the maximum allowable thrust change per unit time, the maximum allowable thrust change within the mission cycle is determined. The quadrotor's mechanical structure indicates that both the maximum allowable thrust change per unit time and the maximum allowable thrust change within the mission cycle are greater than 0. The formula for calculating the maximum allowable thrust change within the mission cycle is:

[0066]

[0067] Where, ΔF flmax ΔF represents the maximum permissible thrust variation that the left front rotor can withstand during the mission cycle. frmax The maximum permissible thrust variation that the right front rotor experiences during the mission cycle, ΔF rlmax ΔF represents the maximum permissible thrust variation that the left rear rotor can withstand during the mission cycle. rrmax ΔF represents the maximum permissible thrust variation that the right rear rotor can withstand during the mission cycle. flmaxone ΔF represents the maximum permissible thrust variation experienced by the left front rotor per unit time. frmaxone ΔF represents the maximum permissible thrust variation that the right front rotor can withstand per unit time. rlmaxone ΔF represents the maximum permissible thrust variation experienced by the left rear rotor per unit time. rrmaxone Δtime represents the maximum allowable thrust variation that the right rear rotor can withstand per unit time, where ΔF is the mission cycle. flmaxone ΔF frmaxone ΔF rlmaxone ΔF rrmaxone It is determined by the mechanical structure of the quadcopter.

[0068] In some embodiments, in step S300, based on the maximum allowable thrust variation of the quadrotor and the absolute difference between the target thrust for attitude rise and fall, the total number of steps of the target thrust variation for attitude rise and fall of the quadrotor is determined, and the formula for calculating the total number of steps of the target thrust variation for attitude rise and fall of the quadrotor is:

[0069]

[0070] Through conversion, the maximum allowable thrust variation that the quadrotor can withstand during the mission cycle can be rewritten as:

[0071]

[0072] Where, b(k) fl Let b(k) be the total number of steps representing the change in thrust during the attitude change of the left front rotor. fr Let b(k) be the total number of steps representing the change in thrust during the attitude change of the right front rotor. rl Let b(k) be the total number of steps representing the change in thrust during the left rear rotor attitude change. rr The total number of steps representing the change in thrust of the target during the attitude rise and fall of the right rear rotor.

[0073] In some embodiments, the minimum number of synchronizations for the change of the thrust of the quadrotor attitude lift target is determined based on the total number of steps of the change. The minimum number of synchronizations for the change of the thrust of the quadrotor attitude lift target is the maximum of the total number of steps of the change of the thrust of the left front rotor attitude lift target, the total number of steps of the change of the thrust of the right front rotor attitude lift target, the total number of steps of the change of the thrust of the left rear rotor attitude lift target, and the maximum of the total number of steps of the change of the thrust of the right rear rotor attitude lift target. Therefore, it can be seen that the minimum number of synchronizations for the change of the thrust of the quadrotor attitude lift target cannot be less than the maximum of the total number of steps of the change of the thrust of the quadrotor attitude lift target.

[0074] The minimum synchronization quantity for calculating the change in thrust of the rotor attitude lift-off target is:

[0075] b(k) min =max(b(k)) fl ,b(k) fr ,b(k) rl ,b(k) rr ),

[0076]

[0077] Where, b(k) min Let b(k) be the minimum number of synchronizations required to change the thrust of the rotor attitude rise and fall target. min It equals the maximum of the total number of steps for the change in thrust of the left front rotor attitude and the right front rotor attitude and the left rear rotor attitude and the right rear rotor attitude and thrust, and the minimum synchronization number b(k) for the change in thrust of the rotor attitude and the target. min This indicates that the number of steps representing the change in thrust of the quadcopter during attitude takeoff and landing must not be less than this value.

[0078] In some embodiments, the theoretical maximum change in the thrust of the quadrotor attitude lift target is determined based on the absolute difference in thrust of the quadrotor attitude lift target and the minimum number of synchronizations required for the change in thrust of the quadrotor attitude lift target. The formula for calculating the theoretical maximum change in thrust of the quadrotor attitude lift target is as follows:

[0079]

[0080] Where, ΔF1(k) fl ΔF1(k) represents the theoretical maximum change in thrust for the left front rotor during attitude control and elevation adjustments. fr ΔF1(k) represents the theoretical maximum single-step change in thrust for the right front rotor during attitude control and elevation adjustments. rl ΔF1(k) represents the theoretical maximum change in thrust for the left rear rotor during attitude control and elevation. rr Let b(k) be the theoretical maximum single-step change in thrust for the right rear rotor attitude control during ascent and descent. min The minimum number of synchronizations required to achieve the change in thrust for the rotor attitude rise and fall target.

[0081] By examining the relationship between the total number of steps of the change in the thrust of the quadrotor attitude lift target and the minimum number of synchronization steps of the change in the thrust of the quadrotor attitude lift target, it can be determined that the theoretical maximum change in the thrust of the quadrotor attitude lift target in a single step is less than or equal to the maximum allowable thrust change that the quadrotor can withstand within the mission cycle.

[0082] In some embodiments, in step S400, based on the percentage of the total absolute difference of the quadrotor's attitude lift target thrust to the total attitude lift target thrust of the quadrotor, the theoretical maximum change in the attitude lift target thrust in a single step, and the absolute difference of the attitude lift target thrust, the actual change in the quadrotor's attitude lift target thrust in a single step is determined, and the formula for calculating the actual change in the quadrotor's attitude lift target thrust in a single step is:

[0083]

[0084]

[0085] Where, ΔF2(k) fl ΔF2(k) represents the actual single-step change in thrust for the left front rotor during attitude control and elevation. fr ΔF2(k) represents the actual single-step change in thrust for the right front rotor during attitude control and elevation adjustments. rl ΔF2(k) represents the actual single-step change in thrust for the left rear rotor during attitude control and elevation. rr s(ΔF(k)) represents the single-step actual change in thrust for the right rear rotor attitude control during ascent and descent. fl ) represents the positive or negative sign of the absolute difference in thrust between the left front rotor attitude and elevation targets, s(ΔF(k) fr ) represents the positive or negative sign of the absolute difference in thrust between the right front rotor's attitude and elevation targets, s(ΔF(k)). rl ) represents the positive or negative sign of the absolute difference in thrust between the left rear rotor attitude and elevation targets, s(ΔF(k) rr) is the sign of the absolute difference in the attitude lift target thrust of the right rear rotor, and min(γ(k),1) is the smaller value of the total absolute difference in the attitude lift target thrust of the quadrotor compared with the percentage of the total attitude lift target thrust of the quadrotor by 1.

[0086] Based on the analysis of the calculation formula for the single-step actual change in thrust of a quadrotor attitude lift target, it can be seen that the absolute value of the single-step actual change in thrust of a quadrotor attitude lift target is less than or equal to the theoretical maximum single-step change in thrust of the quadrotor attitude lift target. The calculation formula is as follows:

[0087]

[0088] Based on the relationship between the theoretical maximum change in the thrust of a quadrotor during attitude takeoff and landing and the maximum allowable thrust change of the quadrotor within the mission cycle, it can be seen that the absolute value of the actual change in the thrust of a quadrotor during attitude takeoff and landing is less than or equal to the maximum allowable thrust change of the quadrotor within the mission cycle, i.e., its calculation formula is:

[0089]

[0090] When the actual change in thrust of the quadcopter during attitude takeoff and landing is less than or equal to the maximum allowable thrust change of the rotor during its mission cycle, rotor breakage or damage can be avoided.

[0091] In some embodiments, in step S500, the transient attitude lift target thrust of the quadrotor at the current moment is determined based on the single-step actual change in the target thrust of the quadrotor's attitude lift and the target thrust of the transient attitude lift at the previous moment. The formula for calculating the target thrust of the quadrotor's transient attitude lift at the current moment is:

[0092]

[0093] Where, F(k) fr F(k) represents the target thrust for the transient attitude rise and fall of the left front rotor at the current moment. fr F(k) represents the target thrust for the transient attitude rise and fall of the right front rotor at the current moment. rl F(k) represents the target thrust for the transient attitude rise and fall of the left rear rotor at the current moment. rr The thrust is the target thrust for the transient attitude rise and fall of the right rear rotor at the current moment.

[0094] Based on the target thrust of the quadrotor's transient attitude ascent and descent at the current moment, the target thrust of the quadrotor's transient attitude ascent and descent at the previous moment is updated. The updated formula for calculating the target thrust of the quadrotor's transient attitude ascent and descent at the previous moment is as follows:

[0095]

[0096] Where, F(k-1)fl F(k-1) represents the target thrust for transient attitude rise and fall of the left front rotor at the previous moment. fr F(k-1) represents the target thrust for the transient attitude rise and fall of the right front rotor at the previous instant. rl F(k-1) represents the target thrust for the transient attitude rise and fall of the left rear rotor at the previous instant. rr The thrust for the transient attitude rise and fall of the right rear rotor at the previous moment.

[0097] In some embodiments, in step S600, steps S100 to S500 are repeated, that is, after multiple task cycle iterations, the target thrust of the quadrotor's transient attitude rise and fall at the current moment is made equal to the target thrust of the quadrotor's attitude rise and fall, thus completing the attitude stabilization control of the UAV. The calculation formula is:

[0098]

[0099] Among them, F fl The target thrust for attitude rise and fall of the left front rotor, F fr For the attitude control of the right front rotor, the target thrust, F rl For the target thrust of attitude rise and fall of the left rear rotor, F rr F(k) represents the target thrust for attitude rise and fall of the right rear rotor. fr F(k) represents the target thrust for the transient attitude rise and fall of the left front rotor at the current moment. fr F(k) represents the target thrust for the transient attitude rise and fall of the right front rotor at the current moment. rl F(k) represents the target thrust for the transient attitude rise and fall of the left rear rotor at the current moment. rr The thrust is the target thrust for the transient attitude rise and fall of the right rear rotor at the current moment.

[0100] In some embodiments, based on the absolute difference in the thrust of the rotor attitude lift target and the actual change in the thrust of the quadrotor attitude lift target in a single step, the time required for the transient attitude lift target thrust of the quadrotor at the current moment to equal its attitude lift target thrust is calculated, and the formula is as follows:

[0101]

[0102] Among them, t fl Let t be the time required for the transient attitude rise and fall target thrust of the left front rotor to equal the attitude rise and fall target thrust of the left rotor at the current moment. fr Let t be the time required for the instantaneous attitude rise and fall target thrust of the left rear rotor to equal the attitude rise and fall target thrust of the left rear rotor at the current moment. rl Let t be the time required for the instantaneous attitude rise and fall thrust of the right front rotor to equal the attitude rise and fall thrust of the right front rotor at the current moment. rrThe time required for the instantaneous attitude rise and fall target thrust of the right rear rotor to equal the attitude rise and fall target thrust of the right rear rotor at the current moment;

[0103] The relationship between the actual single-step change in thrust of a quadrotor attitude-lifting target and the theoretical maximum single-step change in thrust of a quadrotor attitude-lifting target is calculated using the following formula:

[0104]

[0105] Based on the relationship between the maximum single-step theoretical change in the thrust of a quadrotor attitude lift-up target, the absolute difference between the thrust and the minimum synchronization quantity of the thrust change, the time calculation formula is as follows:

[0106]

[0107] The simplified formula for time calculation is as follows:

[0108]

[0109] As can be seen from the above time calculation formula, the time required for the transient attitude rise and fall target thrust of the quadrotor at the current moment to be equal to the time required for its attitude rise and fall target thrust is equal. Moreover, the transient attitude rise and fall target thrust of the quadrotor at the current moment arrives at the attitude rise and fall target thrust at the same time, thus avoiding the problem of unstable attitude dynamics of the UAV caused by the non-coordination of the changes in the rate of transient attitude rise and fall target thrust of the quadrotor at the current moment.

[0110] Based on the above-described lifting device attitude stabilization control method, this invention also provides a corresponding lifting device attitude stabilization control device. Please refer to [link to relevant documentation]. Figure 2 The attitude stabilization control device 700 of the lifting device includes a percentage determination module 710, a maximum thrust change determination module 720, a single-step theoretical maximum change determination module 730, a single-step actual change determination module 740, a target thrust update module 750, and an attitude stabilization control module 760.

[0111] The percentage determination module 710 is used to obtain the target thrust of the quadrotor's attitude lift and the target thrust of the transient attitude lift at the previous moment, determine the absolute difference of the target thrust of the quadrotor's attitude lift based on the target thrust of the attitude lift and the target thrust of the transient attitude lift at the previous moment, and determine the percentage of the total absolute difference of the target thrust of the quadrotor's attitude lift to the total target thrust of the quadrotor's attitude lift based on the target thrust of the attitude lift and the absolute difference of the target thrust of the attitude lift.

[0112] The maximum thrust variation determination module 720 is used to obtain the maximum allowable thrust variation that the quadrotor can withstand per unit time, so as to determine the maximum allowable thrust variation that the quadrotor can withstand within the mission cycle.

[0113] The single-step theoretical maximum change module 730 is used to determine the total number of steps of the quadrotor attitude lift target thrust change based on the maximum allowable thrust change of the quadrotor within the mission cycle and the absolute difference of the attitude lift target thrust. Then, it obtains the minimum number of synchronizations for the change of the quadrotor attitude lift target thrust. Based on the absolute difference of the attitude lift target thrust and the minimum number of synchronizations for the change of the quadrotor attitude lift target thrust, it determines the single-step theoretical maximum change of the quadrotor attitude lift target thrust.

[0114] The single-step actual change determination module 740 is used to determine the single-step actual change of the quadrotor's attitude lift target thrust based on the percentage of the total absolute difference between the quadrotor's attitude lift target thrust and the total attitude lift target thrust of the quadrotor, the single-step theoretical maximum change of the attitude lift target thrust, and the absolute difference of the attitude lift target thrust.

[0115] The target thrust update module 750 is used to update the transient attitude lift target thrust of the quadrotor at the previous moment after determining the current transient attitude lift target thrust of the quadrotor based on the single-step actual change of the attitude lift target thrust and the transient attitude lift target thrust of the previous moment.

[0116] The attitude stabilization control module 760 is used to make the target thrust of the quadrotor's transient attitude rise and fall at the current moment equal to the target thrust of the quadrotor's attitude rise and fall through the iteration of the mission cycle.

[0117] like Figure 3 As shown, based on the posture stabilization control method of the lifting device, the present invention also provides an electronic device, which can be a mobile terminal, desktop computer, laptop, handheld computer, server, or other computing device. The electronic device includes a processor 10, a memory 20, and a display 30. Figure 3 Only some components of the electronic device are shown; however, it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0118] In some embodiments, memory 20 may be an internal storage unit of the electronic device, such as a hard disk or memory. In other embodiments, memory 20 may be an external storage device of the electronic device, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, etc. Furthermore, memory 20 may include both internal and external storage units. Memory 20 is used to store application software and various types of data installed on the electronic device, such as program code installed on the electronic device. Memory 20 may also be used to temporarily store data that has been output or will be output. In one embodiment, memory 20 stores a lifting device attitude stabilization control program 40, which can be executed by processor 10 to implement the lifting device attitude stabilization control method of various embodiments of the present invention.

[0119] In some embodiments, processor 10 may be a central processing unit (CPU), microprocessor or other data processing chip, used to run program code stored in memory 20 or process data, such as a lifting device attitude stabilization control method.

[0120] In some embodiments, display 30 may be an LED display, a liquid crystal display, a touch-screen liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 30 is used to display information regarding the attitude stabilization control of the lifting device and to display a visual user interface. Components 10-30 of the electronic device communicate with each other via a system bus.

[0121] In some embodiments, when the processor 10 executes the lifting device attitude stabilization control program 40 in the memory 20, it implements each step of the lifting device attitude stabilization control method as described in the above embodiments. Since the lifting device attitude stabilization control method has been described in detail above, it will not be repeated here.

[0122] In summary, the attitude stabilization control method and electronic device for the lifting device provided by this invention firstly acquires the target thrust of the quadrotor's attitude lifting and the target thrust of the transient attitude lifting and the target thrust of the previous moment to determine the absolute difference of the target thrust of the quadrotor's attitude lifting and the percentage of the total absolute difference of the target thrust of the quadrotor's attitude lifting and the total target thrust of the quadrotor's attitude lifting and the target thrust of the quadrotor; then, it acquires the maximum allowable thrust change that the quadrotor can withstand per unit time to determine the maximum allowable thrust change that the quadrotor can withstand within the mission cycle; after determining the total number of steps of the change in the target thrust of the quadrotor's attitude lifting and the target thrust, it obtains the minimum synchronization number of the change in the target thrust of the quadrotor's attitude lifting and the target thrust of the quadrotor, based on the absolute difference of the target thrust of the attitude lifting and the target thrust. The minimum number of synchronizations for the changes in the target thrust of the quadrotor's attitude lift is used to determine the theoretical maximum change in the target thrust of the quadrotor's attitude lift in a single step, and then the actual change in the target thrust of the quadrotor's attitude lift in a single step. Next, based on the actual change in the target thrust of the attitude lift in a single step and the transient target thrust of the quadrotor at the previous moment, the transient target thrust of the quadrotor at the current moment is determined, and then the transient target thrust of the quadrotor at the previous moment is updated. Finally, through iteration of the mission cycle, the transient target thrust of the quadrotor at the current moment is made equal to the target thrust of the quadrotor's attitude lift in a single step, thus avoiding the problem of dynamic instability in the attitude caused by excessively rapid changes in the thrust of the quadrotor UAV.

[0123] Of course, those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware (such as a processor, controller, etc.). The program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The storage medium can be a memory, magnetic disk, optical disk, etc.

[0124] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A posture stability control method for an elevator device, characterized by, The method comprises the following steps: acquiring a quadrotor attitude lifting target thrust and a previous momentary attitude lifting target thrust, determining an absolute difference of the quadrotor attitude lifting target thrust based on the attitude lifting target thrust and the previous momentary attitude lifting target thrust, determining a total absolute difference of the quadrotor attitude lifting target thrust and a percentage of a total attitude lifting target thrust of the quadrotor based on the attitude lifting target thrust and the absolute difference of the attitude lifting target thrust; acquiring a maximum value of a permissible thrust change of the quadrotor per unit time to determine a maximum value of the permissible thrust change of the quadrotor in a task cycle; determining a minimum synchronous number of changes of the quadrotor attitude lifting target thrust based on the maximum value of the permissible thrust change of the quadrotor in the task cycle and the absolute difference of the attitude lifting target thrust, and determining a single-step theoretical maximum change amount of the quadrotor attitude lifting target thrust based on the absolute difference of the attitude lifting target thrust and the minimum synchronous number of changes of the quadrotor attitude lifting target thrust; determining a single-step actual change amount of the quadrotor attitude lifting target thrust based on the percentage of the total absolute difference of the quadrotor attitude lifting target thrust and the total attitude lifting target thrust of the quadrotor, the single-step theoretical maximum change amount of the attitude lifting target thrust, and the absolute difference of the attitude lifting target thrust; updating the previous momentary attitude lifting target thrust of the quadrotor based on the single-step actual change amount of the attitude lifting target thrust and the previous momentary attitude lifting target thrust to determine a current momentary attitude lifting target thrust of the quadrotor; iterating the task cycle to make the current momentary attitude lifting target thrust of the quadrotor equal to the quadrotor attitude lifting target thrust.

2. The attitude-stabilizing control method for an elevator device according to claim 1, characterized by The quadrotor at least comprises a left front rotor, a right front rotor, a left rear rotor, and a right rear rotor, and the absolute difference of the quadrotor attitude lifting target thrust is calculated by the following formula: where F fl is the attitude-lift target thrust of the left front rotor, F fr is the attitude-lift target thrust of the right front rotor, F rl is the attitude-lift target thrust of the left rear rotor, F rr is the attitude-lift target thrust of the right rear rotor, F(k-1) fl is the previous-time transient attitude-lift target thrust of the left front rotor, F(k-1) fr is the previous-time transient attitude-lift target thrust of the right front rotor, F(k-1) rl is the previous-time transient attitude-lift target thrust of the left rear rotor, F(k-1) rr is the previous-time transient attitude-lift target thrust of the right rear rotor, ΔF(k) fl is the absolute difference of the left front rotor attitude-lift target thrust, ΔF(k) fr is the absolute difference of the right front rotor attitude-lift target thrust, ΔF(k) rl is the absolute difference of the left rear rotor attitude-lift target thrust, ΔF(k) rr is the absolute difference of the right rear rotor attitude-lift target thrust.

3. The attitude-stabilizing control method for an elevator device according to claim 2, characterized by The percentage of the total absolute difference of the quadrotor attitude lifting target thrust and the total attitude lifting target thrust of the quadrotor is calculated by the following formula: wherein γ(k) is the percentage of the total absolute difference of the quadrotor attitude lifting target thrust and the total attitude lifting target thrust of the quadrotor.

4. The attitude-stabilizing control method for an elevator device according to claim 1, characterized by The maximum value of the permissible thrust change of the quadrotor in the task cycle is calculated by the following formula: where ΔF flmax is the maximum value of allowable thrust variation for the left front rotor over the mission period, ΔF frmax is the maximum value of allowable thrust variation for the right front rotor over the mission period, ΔF rlmax is the maximum value of allowable thrust variation for the left rear rotor over the mission period, ΔF rrmax is the maximum value of allowable thrust variation for the right rear rotor over the mission period, ΔF flmaxone is the maximum value of allowable thrust variation for the left front rotor per unit time, ΔF frmaxone is the maximum value of allowable thrust variation for the right front rotor per unit time, ΔF rlmaxone is the maximum value of allowable thrust variation for the left rear rotor per unit time, ΔF rrmaxone is the maximum value of allowable thrust variation for the right rear rotor per unit time, Δtime is the mission period.

5. The attitude-stabilized control method of the lift device according to claim 4, characterized by The total step number of changes of the quadrotor attitude lifting target thrust is calculated by the following formula: where b(k) fl is the total number of steps of change in the left front rotor attitude-lift target thrust, b(k) fr is the total number of steps of change in the right front rotor attitude-lift target thrust, b(k) rl is the total number of steps of change in the left rear rotor attitude-lift target thrust, b(k) rr is the total number of steps of change in the right rear rotor attitude-lift target thrust; The minimum synchronous number of changes of the quadrotor attitude lifting target thrust is calculated by the following formula: b(k) min = max(b(k) fl , b(k) fr , b(k) rl , b(k) rr ), where b(k) min is the minimum synchronization number of changes in rotor attitude target thrust, b(k) min is the maximum of the total number of changes in left front rotor attitude target thrust, the total number of changes in right front rotor attitude target thrust, the total number of changes in left rear rotor attitude target thrust, and the total number of changes in right rear rotor attitude target thrust.

6. The attitude-stabilizing control method for an elevator device according to claim 5, characterized by The single-step theoretical maximum change amount of the quadrotor attitude lifting target thrust is calculated by the following formula: where ΔF1(k) is the single step theoretical maximum change in the left front rotor attitude-lift target thrust, fl ΔF1(k) is the single step theoretical maximum change in the right front rotor attitude-lift target thrust, fr ΔF1(k) is the single step theoretical maximum change in the right front rotor attitude-lift target thrust, rl ΔF1(k) is the single step theoretical maximum change in the right front rotor attitude-lift target thrust, rr ΔF1(k) is the single step theoretical maximum change in the right front rotor attitude-lift target thrust, min b(k) is the minimum number of synchronizations for a change in rotor attitude-lift target thrust.

7. The attitude-stabilizing control method for an elevator device according to claim 6, characterized by The single-step actual change amount of the quadrotor attitude lifting target thrust is calculated by the following formula: wherein, ΔF2(k) fl is the single-step actual change of the left front rotor attitude-lift target thrust, ΔF2(k) fr is the single-step actual change of the right front rotor attitude-lift target thrust, ΔF2(k) rl is the single-step actual change of the left rear rotor attitude-lift target thrust, ΔF2(k) rr is the single-step actual change of the right rear rotor attitude-lift target thrust, s(ΔF(k) fl ) is the sign flag of the absolute difference of the left front rotor attitude-lift target thrust, s(ΔF(k) fr ) is the sign flag of the absolute difference of the right front rotor attitude-lift target thrust, s(ΔF(k) rl ) is the sign flag of the absolute difference of the left rear rotor attitude-lift target thrust, s(ΔF(k) rr ) is the sign flag of the absolute difference of the right rear rotor attitude-lift target thrust, and min(γ(k), 1) is the smaller value of the total absolute difference of the quadcopter attitude-lift target thrust and the percentage of the total attitude-lift target thrust of the quadcopter compared to 1.

8. The attitude-stabilized control method of the lift device according to claim 7, characterized by, The current momentary attitude lifting target thrust of the quadrotor is calculated by the following formula: Where, F(k) fr F(k) represents the target thrust for the transient attitude rise and fall of the left front rotor at the current moment. fr F(k) represents the target thrust for the transient attitude rise and fall of the right front rotor at the current moment. rl F(k) represents the target thrust for the transient attitude rise and fall of the left rear rotor at the current moment. rr The thrust is the target thrust for the transient attitude rise and fall of the right rear rotor at the current moment.

9. The attitude-stabilized control method of a lift device according to claim 8, characterized by, The current momentary attitude lifting target thrust of the quadrotor is equal to the corresponding quadrotor attitude lifting target thrust, which is calculated by the following formula: where F fl is the attitude-lift target thrust for the left front rotor, F fr is the attitude-lift target thrust for the right front rotor, F rl is the attitude-lift target thrust for the left rear rotor, F rr is the attitude-lift target thrust for the right rear rotor, F(k) fr is the current-time transient attitude-lift target thrust for the left front rotor, F(k) fr is the current-time transient attitude-lift target thrust for the right front rotor, F(k) rl is the current-time transient attitude-lift target thrust for the left rear rotor, F(k) rr is the current-time transient attitude-lift target thrust for the right rear rotor.

10. An electronic device, comprising: The method comprises the following steps: a processor and a memory; the memory stores a computer readable program that can be executed by the processor; The processor, when executing the computer readable program, implements the steps in the attitude stabilizing control method of the lifting device according to any one of claims 1-9.

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