Unmanned aerial vehicle maneuvering flight control method suitable for fast time-varying tasks

Abstract

The application discloses a UAV maneuvering flight control method suitable for fast time-varying tasks, wherein a UAV thrust unit model is proposed, the thrust unit model is introduced into an INDI control framework, a control input model precision is optimized, and an adjustment effect of an actuator on a control quantity is compensated in a feedback loop, a dynamic response speed to a maneuvering instruction and a state recovery speed under external disturbance are significantly improved through more accurate calculation of a control instruction, and finally, the UAV can quickly, accurately and robustly complete a maneuvering flight task.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) control, and more specifically to a UAV maneuver flight control method suitable for rapidly changing missions. Background Technology

[0002] The application fields of multi-rotor drones have been continuously expanding in recent years, especially from civilian to military-civilian integration, which has led to increasingly higher requirements for drone flight capabilities. For example, the demand for terrain reconnaissance, moving target tracking, and dynamic precision rendezvous tasks is becoming more and more apparent. Under highly maneuverable and agile flight missions, factors such as rapidly changing control commands, complex drone modes, and unpredictable external interference make it difficult for drone flight control to balance speed and robustness.

[0003] Traditional linear control methods, such as PID (Proportional-Integral-Derivative Control), H∞, and LQR (Linear Quadratic Control), are designed to be too robust to meet the requirements of fast response in order to adapt to the time-varying modal problems of UAVs. Nonlinear control methods, such as MPC (Model Predictive Control) and intelligent control methods, are difficult to achieve ideal results in practical work due to their complex structure and large amount of computation.

[0004] In recent years, incremental nonlinear dynamic inversion (INDI) control, based on sensor measurement information, has been applied to quadrotor trajectory tracking and disturbance rejection control due to its robustness and simple architecture. However, current INDI applications focus on using incremental methods to mitigate the effects of anti-model mismatch and unknown disturbances, neglecting to improve the system's response speed to maneuver commands and its adjustment speed to unknown disturbances by enhancing the accuracy of the control input model. Furthermore, since the control inputs of a UAV need to be modulated by actuators before acting on the airframe, the feedback loop of INDI should compensate for the dynamic characteristics of the actuators to achieve accurate linearization of the feedback to the current state.

[0005] Based on this, the inventors have conducted in-depth research on the control method of UAVs for fast time-varying tasks. Incremental nonlinear dynamic inversion is introduced to improve the accuracy of the control input model, thereby improving the system's response speed to maneuver commands and the adjustment speed to unknown disturbances. This reduces the estimation error of propeller thrust and torque, and improves the control accuracy and response speed of the UAV. Summary of the Invention

[0006] To overcome the above problems, the inventors conducted intensive research and designed a UAV maneuvering flight control method suitable for rapidly changing tasks. This method proposes a UAV thrust unit model and introduces it into the INDI control framework. It optimizes the accuracy of the control input model and compensates for the adjustment effect of the actuator on the control quantity in the feedback loop. By solving the control commands more accurately, it significantly improves the dynamic response speed to maneuvering commands and the state recovery speed under external disturbances. Ultimately, it ensures that the UAV can complete maneuvering flight missions quickly, accurately, and robustly, thus completing this invention.

[0007] Specifically, the purpose of this invention is to provide a method for controlling the maneuvering flight of an unmanned aerial vehicle (UAV) suitable for rapidly changing missions.

[0008] In this method, the desired acceleration command is received in real time, the total tension and the three-axis torque of the desired drone are obtained through the controller, and the motor control command is obtained accordingly to control the motor speed and respond to the desired acceleration command to control the drone flight.

[0009] The beneficial effects of this invention include:

[0010] According to the present invention, a UAV maneuvering flight control method suitable for rapidly time-varying tasks is provided. This method introduces a controller and incorporates it into a UAV acceleration control and angular acceleration control loop based on incremental nonlinear dynamic inversion. At the same time, the attitude command generation method is optimized by an incremental attitude command solver, enabling the controller to respond quickly, accurately, and robustly to rapidly time-varying commands, thereby achieving agile flight control and further expanding the applicable fields of UAVs. Attached Figure Description

[0011] Figure 1 The diagram shows the change process of pitch angle acceleration in Example 1 and Comparative Examples 1 and 2.

[0012] Figure 2 The diagram shows the change process of pitch angle acceleration in Example 2, Comparative Example 3, and Comparative Example 4;

[0013] Figure 3 The diagram shows the change process of linear acceleration in Example 4 and Comparative Example 5;

[0014] Figure 4 The diagram shows the change process of the attitude angle in Example 4 and Comparative Example 5. Detailed Implementation

[0015] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Through these descriptions, the features and advantages of the present invention will become clearer and more apparent.

[0016] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments. Although various aspects of embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated otherwise.

[0017] This application provides a UAV maneuvering flight control method suitable for rapidly changing missions. In this method, a desired acceleration command is received in real time. The total thrust and the three-axis torques expected to act on the UAV are obtained through a controller. A high-fidelity thrust unit model is then used to obtain motor control commands, thereby controlling the motor speed and responding to the desired acceleration command to control the UAV's flight. The acceleration command in this application is generated in real time by the guidance module on the UAV, based on the UAV's mission.

[0018] In a preferred embodiment, in the high-fidelity thrust unit module, the motor control command is obtained by the following formula (a):

[0019]

[0020] Among them, thr c4×1 This indicates a motor control command, thr c4×1 =[thr 1c ,thr 2c ,thr 3c ,thr 4c ] T ,thr ic (i = 1, 2, 3, 4) represents the control command for the i-th motor on the UAV, and is a dimensionless constant in the range [0, 1].

[0021] This represents the controller's estimated value;

[0022] G Mix This represents the UAV hybrid control matrix; the specific value of the UAV hybrid control matrix is ​​only related to the structural layout configuration of the UAV. When the UAV configuration is "X":

[0023]

[0024] When the drone is configured in a cross shape:

[0025]

[0026] T c This represents the expected total tension force acting on the drone.

[0027] M cThis represents the expected three-axis torques acting on the drone.

[0028] Preferably, the desired blade tension T c The expected triaxial torque M experienced by the drone c We obtain it through the following formula (ii):

[0029]

[0030] Where d represents the distance from any motor of the drone to the geometric center of all motors on the drone;

[0031] T p This represents the estimated thrust of the drone propeller;

[0032] Q p This represents the estimated propeller torque of the drone.

[0033] Preferably, the estimated UAV propeller thrust T p and estimated drone propeller torque Q p We obtain it through the following formula (iii):

[0034]

[0035] Where ρ represents air density;

[0036] R represents the radius of the drone's propeller blades;

[0037] Ω represents the required rotational speed of the propeller;

[0038] C T Indicates the tension coefficient of the drone propeller blades;

[0039] C Q This indicates the torque coefficient of the drone propeller blades.

[0040] Preferably, the thrust coefficient C of the UAV propeller blades T and the torque coefficient C of the drone propeller blades Q We obtain it through the following formula (iv):

[0041]

[0042] Among them, t1, t2, t3, t4, t5, q1, q2, q3, and q4 each represent design parameters independently. In practice, the above design parameters will vary for different UAV propellers, and the specific values ​​can be obtained through wind tunnel experiments.

[0043] μ and ν each independently represent dimensionless parameters;

[0044] Preferably,

[0045] v z This represents the velocity vector perpendicular to the propeller disk;

[0046] v x This represents the velocity vector parallel to the propeller disk.

[0047] Preferably, the v z and v x Obtained through the following formula (5):

[0048]

[0049] Where V represents the drone's flight speed;

[0050] θ represents the pitch angle of the UAV flight, which can be directly measured and output by the UAV's integrated navigation components.

[0051] Preferably, the required rotational speed Ω of the propeller is obtained by the following formula (vi):

[0052]

[0053] Where thr′ represents the motor control command obtained at the previous moment, which is a dimensionless number of [0,1]. In this application, each propeller has an independent required speed, that is, the speed of each propeller is calculated independently and is obtained by solving the motor control command at its previous moment. At the initial moment, the value of the motor control command at the previous moment is 1.

[0054] s represents a complex variable, used to represent a complex plane variable in the frequency domain. It has no specific value and is only used for signal conversion and transmission in UAV flight control.

[0055] τ a This represents the time delay constant of the drone's motor.

[0056] Preferably, the τ a We obtain it through the following formula (VII):

[0057]

[0058] Where, r a This represents the equivalent resistance of the equivalent circuit of a brushless motor.

[0059] J rr This represents the moment of inertia of the blades and the motor rotor housing;

[0060] U b Indicates battery voltage;

[0061] K T This represents the motor torque coefficient, which is determined by the selected motor hardware system.

[0062] B V Indicates the coefficient of viscous friction;

[0063] K A This represents the equivalent load torque coefficient when the propeller is rotating;

[0064] K e This represents the equivalent electromotive force coefficient.

[0065] In a preferred embodiment, the inverse matrix of the controller Obtained through the following formula (8):

[0066]

[0067] Example 1

[0068] A T-motor 18-inch propeller was selected to be paired with a 420kV motor for wind tunnel testing. The test conditions were as follows:

[0069] Incoming flow velocity (m / s) 0,10,20,30 Incoming flow angle (deg) 0,10,20,30,40 Throttle value (%) 40,50,60,70,80,90

[0070] The sampling frequency was set to 100Hz, and the tension and torque generated by the UAV propellers were obtained through wind tunnel experiments. The tension and torque generated by the UAV propellers were measured by the ME-K6D40 commercial six-axis force and torque sensor.

[0071] By inversely solving the correlation coefficient using equations (iii) and (iv),

[0072]

[0073]

[0074] That is, we get:

[0075] t1=-0.672, t2=-0.0224, t3=-0.0557, t4=0.01097, t5=0.02431,

[0076] q1=-0.0045, q2=0.0024, q3=-0.0018, q4=0.0023;

[0077] Select a drone equipped with the aforementioned propeller and motor; the drone's mass is 6.85 kg; the τ in the drone a The value is 0.083.

[0078] The UAV is provided with a step pitch acceleration command as shown in the following formula as the desired pitch acceleration. The expression for the pitch acceleration command changing with time is:

[0079]

[0080] in t is the pitch angle acceleration command, and t is the control time.

[0081] The UAV is controlled using the following control method:

[0082] Based on the desired pitch angle acceleration command, the controller obtains the desired total thrust and the desired three-axis torque of the UAV. Then, the controller obtains the motor control command using the high-fidelity thrust unit model through Equation (I), thereby controlling the motor speed and responding to the desired acceleration command to control the flight of the UAV.

[0083]

[0084] Wherein, the total tensile force T experienced by the desired drone c The expected triaxial torque M experienced by the drone c We obtain it through the following formula (ii):

[0085]

[0086] Estimated drone propeller thrust T p and estimated drone propeller torque Q p We obtain it through the following formula (iii):

[0087]

[0088] R is set to 22.86 cm, which is the size of a propeller with a diameter of 18 inches;

[0089] The C T and C Q Results obtained through wind tunnel testing:

[0090]

[0091]

[0092] The v z and v x Obtain directly through the following formula

[0093]

[0094] Where V represents the drone's flight speed;

[0095] θ represents the pitch angle of the drone's flight;

[0096] The required rotational speed Ω of the propeller is obtained by the following formula (VI):

[0097]

[0098] thr′ represents the motor control command obtained in the previous moment;

[0099] s represents a complex variable;

[0100] The Obtained through the following formula (8):

[0101]

[0102] The actual acceleration of the drone is monitored and obtained; the change in the drone's pitch angle acceleration response over time is as follows: Figure 1 The dashed lines in the diagram indicate the corresponding instructions. Figure 1 As shown by the solid line in the middle.

[0103] Comparative Example 1

[0104] The same UAV as in Example 1 is retrieved, and a step pitch acceleration command as shown in the following formula as in Example 1 is given to it as the desired acceleration.

[0105]

[0106] in t is the pitch angle acceleration command, and t is the control time.

[0107] The UAV is controlled using the following control method:

[0108] Based on the acceleration command, the desired total thrust and the desired three-axis torque of the UAV are obtained through the controller. Then, the motor control command is obtained through Equation (IX), and the motor speed is controlled to respond to the desired acceleration command and control the UAV to fly, so as to verify the flight control effect of the UAV under the condition of non-high-fidelity thrust unit.

[0109]

[0110] Among them, C T1 Represented as non-high-fidelity blade thrust coefficient; C p1 This represents the non-high-fidelity blade torque coefficient. In this comparative example, the thrust and torque coefficients when the blade is hovering are selected, i.e., the value is C. T1 =0.02431, C p1 =0.0023.

[0111] The actual acceleration of the drone is monitored and obtained; the change in the drone's pitch angle acceleration response over time is as follows: Figure 1 The dotted lines are shown in the diagram.

[0112] Comparative Example 2

[0113] The same UAV as in Example 1 is retrieved, and a step pitch acceleration command as shown in the following formula as in Example 1 is given to it as the desired acceleration.

[0114]

[0115] in t is the pitch angle acceleration command, and t is the control time.

[0116] The UAV is controlled using the following control method:

[0117] Based on the expected acceleration command, the total thrust and the three-axis torque of the UAV are obtained by the controller. The motor control command is obtained by the following formula (x), and then the motor speed is controlled to respond to the expected acceleration command and control the flight of the UAV. This verifies the flight control effect of the UAV under the condition of non-high-fidelity thrust unit and without considering the time delay of the motor.

[0118]

[0119] Among them, C T1 Represented as non-high-fidelity blade thrust coefficient; C p1 This represents the non-high-fidelity blade torque coefficient. In this comparative example, the thrust and torque coefficients when the blade is hovering are selected, i.e., the value is C. T1 =0.02431, C p1 =0.0023.

[0120] The actual acceleration of the drone is monitored and obtained; the change in the drone's pitch angle acceleration response over time is as follows: Figure 1 The dotted line in the text is shown.

[0121] Example 2

[0122] The same UAV as in Example 1 is retrieved, and the UAV is provided with a sudden angular acceleration command as shown in the following formula as the desired acceleration.

[0123]

[0124] in t is the pitch angle acceleration command, and t is the control time.

[0125] The UAV is controlled using the following control method:

[0126] Based on the desired pitch angle acceleration command, the controller obtains the desired total thrust and the desired three-axis torque of the UAV. Then, the controller obtains the motor control command using the high-fidelity thrust unit model through Equation (I), thereby controlling the motor speed and responding to the desired acceleration command to control the flight of the UAV.

[0127]

[0128] Wherein, the total tensile force T experienced by the desired drone c The expected triaxial torque M experienced by the drone c We obtain it through the following formula (ii):

[0129]

[0130] Estimated drone propeller thrust T p and estimated drone propeller torque Q p We obtain it through the following formula (iii):

[0131]

[0132] R is set to 22.86 cm;

[0133] The C T and C Q Results obtained through wind tunnel testing:

[0134]

[0135]

[0136] The v z and v x Obtain directly through the following formula

[0137]

[0138] Where V is the flight speed of the drone;

[0139] θ is the pitch angle of the UAV flight;

[0140] The required rotational speed Ω of the propeller is obtained by the following formula (VI):

[0141]

[0142] thr′ represents the motor control command obtained in the previous moment;

[0143] The Obtained through the following formula (8):

[0144]

[0145] The actual acceleration of the drone is monitored and obtained; the change in the drone's pitch angle acceleration response over time is as follows: Figure 2 The dashed lines in the diagram indicate the corresponding instructions. Figure 2 As shown by the solid line in the middle.

[0146] Comparative Example 3

[0147] The same UAV as in Example 2 is retrieved, and a pitch angle angular acceleration command with a sudden change as shown in the following formula as in Example 2 is given to it as the desired acceleration.

[0148]

[0149] in t is the pitch angle acceleration command, and t is the control time.

[0150] The UAV is controlled using the following control method:

[0151] Based on the pitch angle acceleration command, the controller obtains the desired total thrust and the desired three-axis torque of the UAV. Then, the motor control command is obtained through Equation (IX), and the motor speed is controlled to respond to the desired acceleration command and control the UAV to fly, so as to verify the flight control effect of the UAV under non-high-fidelity thrust unit conditions.

[0152]

[0153] Among them, C T1 Represented as non-high-fidelity blade thrust coefficient; C p1 This represents the non-high-fidelity blade torque coefficient. In this comparative example, the thrust and torque coefficients when the blade is hovering are selected, i.e., the value is C. T1 =0.02431, C p1 =0.0023.

[0154] The actual acceleration of the drone is monitored and obtained; the change in the drone's pitch angle acceleration response over time is as follows: Figure 2 The dotted lines are shown in the diagram.

[0155] Comparative Example 4

[0156] The same UAV as in Example 2 is retrieved, and a pitch angle angular acceleration command with a sudden change as shown in the following formula as in Example 2 is given to it as the desired acceleration.

[0157]

[0158] in The pitch angle acceleration command is given, and t is the control time. The following control method is used to control the UAV:

[0159] Based on the expected acceleration command, the total thrust and the three-axis torque of the UAV are obtained by the controller. The motor control command is obtained by the following formula (x), and then the motor speed is controlled to respond to the expected acceleration command and control the flight of the UAV. This verifies the flight control effect of the UAV under the condition of non-high-fidelity thrust unit and without considering the time delay of the motor.

[0160]

[0161] Among them, C T1 Represented as non-high-fidelity blade thrust coefficient; C p1 This represents the non-high-fidelity blade torque coefficient. In this comparative example, the thrust and torque coefficients when the blade is hovering are selected, i.e., the value is C. T1 =0.02431, C p1 =0.0023.

[0162] The actual acceleration of the drone is monitored and obtained; the change in the drone's pitch angle acceleration response over time is as follows: Figure 2 The dotted line in the text is shown.

[0163] Depend on Figure 1 and Figure 2 As can be seen, Comparative Examples 2 and 4 introduce severe oscillations and overshoots due to the lack of actuator dynamics compensation in the feedback loop, resulting in the system losing key damping. In contrast to Comparative Examples 1 and 3, the method provided in this application in Examples 1 and 2, by introducing the high-fidelity thrust unit model of Equation 1, can respond to pitch angle acceleration commands more quickly; simultaneously, it can more rapidly adjust and stabilize tracking for sudden changes in commands, making the UAV controlled by this method more agile.

[0164] Example 3

[0165] The same drone as in Example 1 is retrieved, and a step command as shown in the following formula is provided to the drone, and a sudden external force interference is added at 1.5s as the desired acceleration.

[0166]

[0167] Where a c This is the acceleration command, and t is the control time.

[0168] The UAV is controlled using the following control method:

[0169] Based on the desired acceleration command, the controller obtains the desired total thrust and the desired three-axis torque of the UAV. Then, the controller obtains the motor control command using the high-fidelity thrust unit model through Equation (I), thereby controlling the motor speed and responding to the desired acceleration command to control the flight of the UAV.

[0170]

[0171] Wherein, the total tensile force T experienced by the desired drone c The expected triaxial torque M experienced by the drone c We obtain it through the following formula (ii):

[0172]

[0173] Estimated drone propeller thrust T p and estimated drone propeller torque Q p We obtain it through the following formula (iii):

[0174]

[0175] R is set to 22.86 cm;

[0176] The C T and C Q Results obtained through wind tunnel testing:

[0177]

[0178]

[0179] The v z and v x The following equation (5) is used to obtain the blade modeling:

[0180] The v z and v x Obtain directly through the following formula

[0181]

[0182] Where V is the flight speed of the drone;

[0183] θ is the pitch angle of the UAV flight;

[0184] The required rotational speed Ω of the propeller is obtained by the following formula (VI):

[0185]

[0186] thr′ represents the motor control command obtained in the previous moment;

[0187] The Obtained through the following formula (8):

[0188]

[0189] The actual acceleration of the drone was monitored, and the change of the drone's linear acceleration response over time was as follows: Figure 3 The dashed lines in the diagram indicate the corresponding instructions. Figure 3 As shown by the solid line, the change in the UAV's attitude angle response over time is as follows: Figure 4 The dashed lines in the diagram indicate the corresponding instructions. Figure 4 As shown by the solid line in the middle.

[0190] Comparative Example 5

[0191] The same drone as in Example 3 is invoked, and a step command as shown in Example 3 is given to it, and a sudden external force interference is added at 1.5s as the desired acceleration.

[0192]

[0193] Where a c This is the acceleration command, and t is the control time.

[0194] The UAV is controlled using the following control method:

[0195] Based on the acceleration command, the desired total thrust and the desired three-axis torque of the UAV are obtained through the controller. Then, the motor control command is obtained through Equation (IX), and the motor speed is controlled to respond to the desired acceleration command and control the UAV to fly, so as to verify the flight control effect of the UAV under the condition of non-high-fidelity thrust unit.

[0196]

[0197] Among them, C T1 Represented as non-high-fidelity blade thrust coefficient; C p1 This represents the non-high-fidelity blade torque coefficient. In this comparative example, the thrust and torque coefficients when the blade is hovering are selected, i.e., the value is C. T1 =0.02431, C p1 =0.0023.

[0198] The actual acceleration of the drone was monitored, and the change of the drone's linear acceleration response over time was as follows: Figure 3 The dotted lines in the diagram show the change in the UAV's attitude angle response over time as follows: Figure 4 The dotted lines are shown in the diagram.

[0199] We will no longer include comparative models with non-high-fidelity thrust units and without considering motor delay, because oscillation issues in such comparative models would cause the drone to become unstable and would not have any practical guiding significance.

[0200] from Figure 3 and Figure 4 As can be seen, for step linear acceleration commands, the method in Example 3, compared to Comparative Example 5, has a faster response speed, smaller overshoot, and shorter convergence time. The same characteristics are also evident in the pitch angle response. When subjected to external interference at 1.5s, the method in the examples ensures that the UAV can recover tracking of the desired acceleration faster and with smaller overshoot. Furthermore, in terms of attitude angle tracking, the method in the examples also demonstrates faster and more stable pitch angle adjustment capabilities.

[0201] The present invention has been described above with reference to preferred embodiments; however, these embodiments are merely exemplary and illustrative. Various substitutions and modifications can be made to the present invention based on these embodiments, all of which fall within the scope of protection of the present invention.

Claims

1. A method for controlling the maneuvering flight of an unmanned aerial vehicle (UAV) suitable for rapidly changing time-varying tasks, characterized in that, In this method, the desired acceleration command is received in real time. The total thrust and the three-axis torque expected to act on the drone are obtained through the controller. Based on this, motor control commands are obtained, and the motor speed is controlled to respond to the desired acceleration command and control the drone's flight. The motor control command is obtained through the following formula (I): (one), in, Indicates motor control commands; This represents the controller's estimated value; Represents the UAV hybrid control matrix; This represents the expected total tension force acting on the drone. This represents the desired three-axis torque experienced by the drone. The total tensile force on the desired drone and the expected triaxial torques on the drone We obtain it through the following formula (II): (two), in, This represents the distance from any motor of the drone to the geometric center of all motors on the drone. This represents the estimated thrust of the drone propeller; This represents the estimated drone propeller torque. The estimated drone propeller thrust and estimated drone propeller torque We obtain it through the following formula (iii): (three), in, Indicates air density; Indicates the radius of the drone's propeller blades; This indicates the required rotational speed of the propeller; Indicates the thrust coefficient of the drone propeller blades; This indicates the torque coefficient of the drone propeller blades.

2. The UAV maneuvering flight control method for rapidly changing tasks according to claim 1, characterized in that, The thrust coefficient of the UAV propeller blades and the torque coefficient of drone propellers We obtain it through the following formula (iv): (Four), in, Each parameter represents a design parameter independently and can be obtained through wind tunnel testing; and Each can independently represent a dimensionless parameter. , ,in This represents the velocity vector perpendicular to the propeller disk; This represents the velocity vector parallel to the propeller disk.

3. The UAV maneuvering flight control method for rapidly changing missions according to claim 2, characterized in that, The and We obtain it through the following formula (5): (five), in, Indicates the drone's flight speed; This indicates the pitch angle of the drone's flight.

4. The UAV maneuvering flight control method for rapidly changing tasks according to claim 1, characterized in that, The required rotational speed of the propeller Obtained through the following formula (VI): (six), in, This indicates the control command for the motor received at the previous moment; This represents a complex variable, used to represent complex plane variables in the frequency domain; This represents the time delay parameter of the drone's motor.

5. The UAV maneuvering flight control method for rapidly changing tasks according to claim 4, characterized in that, The time delay parameters of the UAV motor are obtained by the following formula (VII): (seven), in, This represents the equivalent resistance of the equivalent circuit of a brushless motor. This represents the moment of inertia of the blades and the motor rotor housing; Indicates battery voltage; Indicates the motor torque coefficient; Indicates the coefficient of viscous friction; This represents the equivalent load torque coefficient when the propeller is rotating; This represents the equivalent electromotive force coefficient.

6. The UAV maneuvering flight control method for rapidly changing missions according to claim 1, characterized in that, The Obtained through the following formula (8): (eight).

Images