A fully-driven coaxial rotor UAV based on rudder control and a control method thereof

Abstract

The invention discloses a fully-driven coaxial rotor UAV based on rudder surface control and a control method thereof. The UAV comprises a battery, a flight control system, an onboard computer and two coaxial power units, the two power units are respectively arranged at the upper part and the lower part of the UAV, each power unit comprises a motor, a rotor, two rudder surfaces and two steering gears, the battery is an energy source for the flight control system, the onboard computer and the power unit, the output end of the onboard computer is electrically connected to the input end of the flight control system, the output end of the flight control system is connected to the motor and the steering gear, the motor is connected to the rotor, the steering gear is connected to the rudder surface, and then the rotor and the rudder surface are driven to rotate; the rotor of the motor is used to provide translation and rotation of the UAV along the Z axis of the body, and the rudder surface is used to provide translation and rotation of the UAV along the X axis and Y axis of the body, thereby realizing full driving of the UAV.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a fully-driven coaxial rotor unmanned aerial vehicle based on rudder control and a control method thereof. Background Art

[0002] Rotary-wing UAVs have been used in material transportation, non-destructive testing, surface cleaning, etc. These application scenarios not only require the UAVs to be able to make physical contact with the environment, but also require the UAVs to be able to adapt to environmental changes and make dynamic adjustments, which poses new challenges to the design and control of UAVs.

[0003] In order to achieve effective interaction with the environment, drones not only need additional interactive equipment, such as robotic arms, grippers, ropes, etc., but also their flight platforms themselves need to be robust enough to deal with external forces. Underactuated rotor drones such as quadcopters and hexacopters are widely used due to their simple mechanical structure and dynamics. However, due to the characteristics of underactuation, when such drones are subjected to external forces, their posture must change to resist the external forces, so their anti-interference ability is weak. In contrast, fully-driven rotor drones can independently control the position and direction of the drone, can hover in a tilted state, and move horizontally while keeping the direction of the fuselage unchanged. When subjected to external forces, it can balance the external forces without adjusting the posture of the fuselage, thus having stronger anti-interference ability. These characteristics make fully-driven drones more effective in performing precise control tasks, especially in application scenarios that require physical interaction with the environment.

[0004] Therefore, when considering scenarios involving contact with the environment, a fully-driven rotor drone is a better choice.

[0005] Full-drive drones can be mainly divided into two categories: fixed-angle full-drive drones and variable-angle full-drive drones.

[0006] Fixed-tilt full-drive drones use a fixed-tilt rotor design so that the rotors are not all parallel, thus being able to generate multi-directional thrust. This design allows the drone to independently control its position and direction without changing its body attitude, achieving tilted hovering and horizontal movement. The advantage of fixed-tilt full-drive drones is that their structure and control are relatively simple, but their disadvantage is that their energy efficiency is poor in the hovering state, because when hovering, the rotors are not completely facing upwards, and part of the thrust is used to offset internal forces, so their energy efficiency is lower than that of traditional rotor drones.

[0007] The variable-tilt fully-drive UAV is a UAV system with high flexibility and precise control capabilities. Its core feature is to increase the control freedom by changing the inclination of the rotor, thereby achieving more complex flight postures and mission execution capabilities. Compared with traditional fixed-tilt UAVs, variable-tilt UAVs can dynamically adjust the rotor angle according to mission requirements, improving flight efficiency and mission adaptability. The variable-tilt fully-drive UAV can switch between full drive and underdrive to adapt to different flight and operation requirements, and its energy efficiency is high when hovering. Its disadvantage is that due to the introduction of additional tilt-steer servos and other mechanisms, the structure and control are often complex, and the fuselage size is difficult to miniaturize while it is heavy. Summary of the invention

[0008] In view of the problems existing in the prior art, the present invention proposes a fully-driven coaxial rotor UAV based on rudder control and a control method thereof, which adopts a coaxial double-rotor configuration and has a higher hovering efficiency. At the same time, its structure is simple, and only six actuators are used to realize the full-drive solution, and the overall size is compact.

[0009] According to a first aspect of an embodiment of the present application, a fully-driven coaxial rotor UAV based on control of a rudder surface is provided, comprising a battery, a flight control system, an onboard computer and two coaxial power units, the two power units being respectively arranged at the upper and lower parts of the UAV, each power unit comprising a motor, a rotor, two rudder surfaces and two steering gears, the battery being an energy source for the flight control system, the onboard computer and the power unit, the output end of the onboard computer being electrically connected to the input end of the flight control system, the output end of the flight control system being connected to the motor and the steering gear, the motor being connected to the rotor, the steering gear being connected to the rudder surface, thereby driving the rotor and the rudder surface to rotate;

[0010] The rotor of the motor is used to provide translation and rotation of the drone along the Z axis of the body, and the rudder is used to provide translation and rotation of the drone along the X axis and Y axis of the body, thereby realizing full drive of the drone.

[0011] Furthermore, the control surface is installed below the rotor, the flight control system is installed on the side of the control surface, and the onboard computer and battery are installed at the bottom of the drone.

[0012] Furthermore, it also includes a hollow cylindrical frame, and two power units are arranged along the axis of the cylindrical frame.

[0013] According to a second aspect of an embodiment of the present application, a control method for a fully-driven coaxial rotor UAV based on rudder control is provided, comprising:

[0014] Establishing a dynamic model of the fully-driven coaxial rotor UAV based on rudder control as described in the first aspect;

[0015] Based on the dynamic model, the desired three-axis thrust and the desired attitude quaternion are used, and a hierarchical feedback proportional integral differential control method is adopted to perform attitude control of the UAV. The desired position, desired attitude information and their multi-order derivatives are used, and an attitude controller is used to perform trajectory tracking control of the UAV.

[0016] Furthermore, the dynamic model of the UAV is

[0017]

[0018]

[0019] in and are the mass and inertia of the body, is the spatial position of the UAV in the world coordinate system, is the gravity along the Z axis of the world coordinate system, is the input thrust in the body coordinate system, is the rotation matrix from the body coordinate system to the world coordinate system, is the angular velocity of the body in the body coordinate system, is the input torque in the body coordinate system.

[0020] Further, based on the desired three-axis thrust and the desired attitude quaternion, the attitude control process of the UAV includes an outer attitude loop and an inner angular velocity loop;

[0021] Attitude ring to desired attitude quaternion And the actual attitude quaternion of the drone Subtract and get the quaternion difference , the quaternion difference Multiply by the scale factor , and get the expected angular velocity , and transmitted to the angular velocity loop of the inner loop;

[0022] Angular velocity loop to desired angular velocity The actual angular velocity of the drone Subtract and get the angular velocity difference , the angular velocity difference Input PID controller to get the desired torque , combined with the expected three-axis thrust Get the control quantity of the rotor and rudder in the UAV.

[0023] Furthermore, the control amount of the rotor and the control surface in the UAV is calculated by the following formula:

[0024]

[0025] in They are the thrust of the two rotors and the inclination angles of the four rudder surfaces. are the lift coefficients of the upper and lower rudder surfaces, They are the distances from the upper and lower rudder surfaces of the UAV to the center of gravity, respectively.

[0026] Furthermore, based on the expected position, expected attitude information and corresponding multi-order derivatives, the trajectory tracking control process of the UAV includes:

[0027] Difference between the expected position and the actual position of the drone and multiply by the proportional coefficient , get the speed difference;

[0028] Add the desired speed to the speed difference, subtract the actual speed of the drone and multiply by the proportional coefficient , get the acceleration difference;

[0029] Add the expected acceleration to the acceleration difference and combine it with the mass of the drone to get the expected thrust;

[0030] The desired thrust, the desired attitude and the actual attitude of the UAV are input into an attitude controller to obtain control quantities of the rotor and the rudder in the UAV.

[0031] According to a third aspect of an embodiment of the present application, there is provided an electronic device, including:

[0032] one or more processors;

[0033] A memory for storing one or more programs;

[0034] When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in the second aspect.

[0035] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, on which computer instructions are stored. When the instructions are executed by a processor, the steps of the method described in the second aspect are implemented.

[0036] The technical solution provided by the embodiments of the present application may have the following beneficial effects:

[0037] It can be seen from the above embodiments that the present application adopts a coaxial dual-rotor configuration of a rotorcraft UAV, and uses rudders to control the lateral thrust and torque of the UAV, uses the motor rotor to provide translation and rotation of the UAV along the Z-axis of the fuselage, and uses rudders to provide translation and rotation of the UAV along the X-axis and Y-axis of the fuselage, thereby realizing full drive of the UAV; and the UAV provided by the present application has a long battery life, high energy efficiency, simple structure, compact size, strong mobility, and is suitable for a wider range of application scenarios.

[0038] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0040] Figure 1 It is a structural schematic diagram of a fully-driven coaxial rotor UAV based on rudder control;

[0041] Figure 2 This is a schematic diagram of force analysis of a fully-driven coaxial rotor UAV based on rudder control;

[0042] Figure 3 A schematic diagram of hovering attitude balance of a fully-driven coaxial rotor UAV based on rudder control;

[0043] Figure 4 The reference coordinate system and force analysis diagram of a fully-driven coaxial rotor UAV based on rudder control;

[0044] Figure 5 This is a schematic diagram of the UAV attitude control process;

[0045] Figure 6 This is a schematic diagram of the UAV trajectory tracking control process;

[0046] Figure 7 A schematic diagram of an electronic device.

[0047] Figure numerals: 1. Motor; 2. Rotor; 3. Control surface; 4. Servo; 5. Battery; 6. Flight control system; 7. Onboard computer. DETAILED DESCRIPTION

[0048] Here, exemplary embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application.

[0049] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0050] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0051] In order to improve the hovering efficiency of the drone without increasing the size of the body. This application takes the minimum circumscribed circle area of ​​the horizontal projection as the effective size of the drone, because in most path planning algorithms, the aircraft is modeled as a sphere or circle. On the other hand, this application pays more attention to the horizontal area, because in most structured and unstructured scenes, such as cities with dense buildings, narrow windows and forests, there is more vertical free space than horizontal free space. The single-rotor configuration has the highest hovering efficiency among the commonly used rotor drone configurations. The theoretical hovering efficiency of a single-rotor drone is the highest compared to other rotor drones, which is about 17% higher than that of a quadcopter drone. At the same time, the coaxially arranged dual rotors have a higher hovering efficiency than a single rotor and do not affect the horizontal space of the drone. Therefore, choosing a single rotor as the configuration of a long-endurance full-drive drone can have a relatively small size while having a long endurance.

[0052] In order to achieve full drive capability, the system requires at least 6 actuators, and here we use a dual-rotor plus four-rudder solution. Figure 1 As shown, the present application provides a fully driven coaxial rotor UAV based on rudder surface control, comprising a battery 5, a flight control system 6, an onboard computer 7 and two coaxial power units, the two power units are respectively arranged at the upper and lower parts of the UAV, each power unit comprises a motor 1, a rotor 2, two rudder surfaces 3 and two steering gears 4, the battery 5 is the energy source of the flight control system 6, the onboard computer 7 and the power unit, the output end of the onboard computer 7 is electrically connected to the input end of the flight control system 6, the output end of the flight control system 6 is connected to the motor 1 and the steering gear 4, the motor 1 is connected to the rotor 2, the steering gear 4 is connected to the rudder surface 3, thereby driving the rotor 2 and the rudder surface 3 to rotate; the rotor of the motor 1 is used to provide the UAV with translation and rotation along the Z axis of the fuselage, and the rudder surface 3 is used to provide the UAV with translation and rotation along the X and Y axes of the fuselage, thereby realizing full drive of the UAV.

[0053] Since the airflow under the rotor is more concentrated, the control surface 3 is installed under the rotor. In order to avoid blocking the airflow, the flight control system 6 is installed on the side of the control surface 3. Since the airflow speed above is slower than that below, the lift generated by the upper control surface 3 is smaller than that of the lower control surface 3 under the same inclination angle. Here, the onboard computer 7 and the battery 5 are placed under the aircraft to lower the center of gravity and increase the lift arm size of the upper control surface 3.

[0054] In one embodiment, the drone further comprises a hollow cylindrical frame, and two power units are arranged at the upper and lower parts of the frame along the axis of the cylindrical frame.

[0055] The following explains its principle. Figure 2 As shown, the upper and lower rotors can both generate thrust upward along the Z axis of the fuselage, so the translation of the Z axis is controllable; when there is a speed difference between the upper and lower rotors, the fuselage generates a rotation torque along the Z axis, so the rotation of the Z axis is controllable; when the upper and lower rudder surfaces 3 have a tilt angle, due to Bernoulli's principle and Newton's third law, lift will be generated along the horizontal direction of the fuselage at the rudder surfaces 3. When the lift generated by the upper and lower rudder surfaces 3 is multiplied by the moment arm from the center of gravity, the fuselage can generate a rotation torque along the X axis and the Y axis, so the rotation of the X axis and the Y axis is controllable; when the torques of the upper and lower rudder surfaces 3 are the same in magnitude but opposite in direction, the torques cancel each other out, leaving only the horizontal lift, so the translation of the X axis and the Y axis is controllable. As shown Figure 3 As shown, if the drone is expected to hover in a tilted state, it is only necessary to control the total thrust of the rotor along the Z axis of the body and the lateral lift of the body generated by the control surface 3 to offset the gravity. In summary, the configuration proposed by the present invention can realize the full drive function.

[0056] Based on the above-mentioned UAV, the present application also proposes a control method for a fully-driven coaxial rotor UAV based on rudder control, which may include:

[0057] Establish the dynamic model of the above-mentioned all-drive coaxial rotor UAV based on rudder control;

[0058] Based on the dynamic model, the desired three-axis thrust and the desired attitude quaternion are used, and a hierarchical feedback proportional integral differential control method is adopted to perform attitude control of the UAV. The desired position, desired attitude information and their multi-order derivatives are used, and an attitude controller is used to perform trajectory tracking control of the UAV.

[0059] Specifically, before modeling the dynamics of the system, two reference coordinate systems for force analysis are first defined, namely the world inertial coordinate system ( ) and the body coordinate system ( ). World coordinate system is the absolute coordinate system of the system, The direction is vertical to the ground and facing upward. is the coordinate system fixed to the fuselage. Vertically facing upwards, Always face along the fuselage.

[0060] Reference coordinates and force analysis of a fully driven coaxial drone Figure 4 As shown in the figure, the control quantities of the six actuators of the drone are They are the thrust of the two rotors and the inclination of the four rudder surfaces. The lift generated by the four rudder surfaces is The distances from the upper and lower rudder surfaces to the center of gravity are .

[0061] According to the Newton-Euler equation, the dynamic model of the drone is defined as:

[0062]

[0063]

[0064] in and are the mass and inertia of the body, For the drone in the world coordinate system The spatial position below Along the Z axis of the world coordinate system Direction of gravity, is the acceleration due to gravity, From the body coordinate system Transform to world coordinate system The rotation matrix of is the body coordinate system The angular velocity of the lower body, which is related to the Euler angle of the body attitude The relationship is:

[0065]

[0066] The coordinate systems of the drone body are yaw, pitch and roll angles;

[0067] In the body coordinate system Input thrust at:

[0068]

[0069] in are the lift coefficients of the upper and lower rudder surfaces respectively. In the body coordinate system Input torque at:

[0070]

[0071] in are the torque coefficient and thrust coefficient of the rotor respectively. The relationship between the actuator control quantity and the desired thrust and torque of the three axes is as follows:

[0072]

[0073] For the attitude control of the UAV, such as Figure 5 As shown. The attitude controller adopts a hierarchical feedback PID control method, which consists of an outer attitude loop and an inner angular velocity loop. The input of the controller is the desired three-axis thrust and the desired attitude quaternion .Will Input to the attitude loop, Quaternion with the actual attitude of the drone Subtract and get the quaternion difference . Multiply by the scale factor Get the expected angular velocity The angular velocity loop transmitted to the inner loop, The actual angular velocity of the drone Difference in angular velocity . Get the desired torque through PID controller . Plus The input is given to the mixing control matrix, and the mixing control matrix outputs the control quantities of the six actuators to the drone, thereby achieving closed-loop control.

[0074] In addition to full-drive flight, the present invention can also perform under-actuated flight, that is, to move in space by tilting the attitude of the drone. Compared with full-drive flight, under-actuated flight is more energy-efficient. To achieve under-actuated flight, the attitude control method is similar to that of full-drive. It is only necessary to ensure Just set it to 0.

[0075] For the trajectory tracking control of UAV, such as Figure 6 As shown. The trajectory inputs the expected position, expected posture information and its multi-order derivatives . Get the actual position from the drone and actual speed , and the expected position and expected speed Subtract and multiply by the proportionality factor , get the speed difference , the expected speed Speed ​​Difference Add, minus the actual speed of the drone , multiplied by the proportionality factor , and get the acceleration difference The acceleration difference plus the expected acceleration is multiplied by the mass of the UAV to obtain the expected thrust, which is then added to the expected attitude obtained from the trajectory and input into the above attitude controller. The attitude controller outputs the control quantities of the six actuators to the UAV, thereby achieving closed-loop control.

[0076] Compared with other fully-driven drones, the present invention has the following beneficial effects:

[0077] (1) Long flight time and high energy efficiency. Compared with fixed-tilt all-drive drones, the drone of the present invention uses all thrust to offset gravity when hovering, and has higher hovering efficiency. Compared with variable-tilt all-drive drones, the present invention adopts a coaxial dual-rotor configuration, and has the highest hovering efficiency among all rotor drones, 17% higher than quad-rotor drones and about 20% higher than hexacopter drones.

[0078] (2) Simple, compact structure. Most variable-tilt full-drive drones have more than six actuators, or even 12 actuators. This not only makes the control of the system very complicated, but also makes the weight and size of the entire flight platform relatively large. The present invention uses only six actuators to achieve full-drive flight, and the overall size is compact. When using six-inch propellers (wheelbase 152mm), the wheelbase of the drone is only 250mm.

[0079] (3) Strong movement ability. Compared with other six-actuator fully-driven UAVs, the UAV of the present invention can generate greater lateral thrust and can tilt at a larger angle (20°).

[0080] (4) Wider application scenarios. The drone of the present invention is cylindrical, and the propellers are located inside the fuselage. When the fuselage collides with the environment, the propellers will not be touched, which is more suitable for human-machine interaction scenarios.

[0081] In order to verify the motion performance of the fully-driven UAV proposed in the present invention, a hovering experiment with a tilted attitude of the UAV was conducted, and a motion capture camera was used to provide external positioning. By installing a reflective ball on the UAV, the motion capture system can identify the position and attitude of the UAV and send the position information to the onboard computer 7 on the UAV. The UAV can still hover and move left and right at a tilt of about 20 degrees, which verifies that the UAV provided by the present application has full-drive capability.

[0082] In order to further verify the motion performance of the fully-driven UAV of the present invention, a lateral movement experiment of the UAV with a fixed posture was conducted, and a motion capture system was used to provide external positioning, so that the UAV tracked a planar "8"-shaped trajectory with a maximum speed of 1.2m / s. During the trajectory tracking process, the expected posture of the UAV was 0. During the actual movement of the UAV, the maximum attitude angle did not exceed 3 degrees, which further verified the fully-driven capability of the UAV provided by the present application.

[0083] Accordingly, the present application also provides an electronic device, comprising: one or more processors; a memory for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the control method of the full-drive coaxial rotor drone based on rudder control as described above. Figure 7 As shown, a hardware structure diagram of a control method of a fully-driven coaxial rotor UAV based on rudder control provided by an embodiment of the present invention is provided for any device with data processing capability, except Figure 7 In addition to the processor, memory and network interface shown, any device with data processing capability in which the apparatus in the embodiment is located may also include other hardware, generally based on the actual functions of the device with data processing capability, which will not be described in detail.

[0084] Accordingly, the present application also provides a computer-readable storage medium on which computer instructions are stored, and when the instructions are executed by the processor, the control method of the full-drive coaxial rotor drone based on rudder control as described above is implemented. The computer-readable storage medium can be an internal storage unit of any device with data processing capability described in any of the aforementioned embodiments, such as a hard disk or memory. The computer-readable storage medium can also be an external storage device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), an SD card, a flash card (Flash Card), etc. equipped on the device. Furthermore, the computer-readable storage medium can also include both an internal storage unit of any device with data processing capability and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by any device with data processing capability, and can also be used to temporarily store data that has been output or is to be output.

[0085] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the contents disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the art that are not disclosed in the present application.

[0086] It will be appreciated that the present application is not limited to the exact construction that has been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof.

Claims

1. A fully-driven coaxial rotor UAV based on rudder control, characterized in that: It includes a battery, a flight control system, an onboard computer and two coaxial power units, the two power units are respectively arranged at the upper and lower parts of the UAV, each power unit includes a motor, a rotor, two control surfaces and two steering gears, the battery is the energy source of the flight control system, the onboard computer and the power unit, the output end of the onboard computer is electrically connected to the input end of the flight control system, the output end of the flight control system is connected to the motor and the steering gear, the motor is connected to the rotor, the steering gear is connected to the control surface, and then the rotor and the control surface are driven to rotate; The rotor of the motor is used to provide translation and rotation of the drone along the Z axis of the body, and the rudder is used to provide translation and rotation of the drone along the X and Y axes of the body, so that six actuators are used to achieve full drive of the drone.

2. The fully-driven coaxial rotor UAV according to claim 1, characterized in that: The control surface is installed below the rotor, the flight control system is installed on the side of the control surface, and the onboard computer and battery are installed at the bottom of the drone.

3. The fully-driven coaxial rotor UAV according to claim 1, characterized in that: The utility model also comprises a hollow cylindrical frame, and two power units are arranged along the axis of the cylindrical frame.

4. A control method for a fully-driven coaxial rotor UAV based on rudder control, characterized in that: include: Establishing a dynamic model of the fully-driven coaxial rotor UAV based on rudder control as claimed in claim 1; Based on the dynamic model, the desired three-axis thrust and the desired attitude quaternion are used, and a hierarchical feedback proportional integral differential control method is adopted to perform attitude control of the UAV. The desired position, desired attitude information and their multi-order derivatives are used, and an attitude controller is used to perform trajectory tracking control of the UAV.

5. The method according to claim 4, characterized in that The dynamic model of the UAV is ， ， in and are the mass and inertia of the body, is the spatial position of the UAV in the world coordinate system, is the gravity along the Z axis of the world coordinate system, is the input thrust in the body coordinate system, is the rotation matrix from the body coordinate system to the world coordinate system, is the angular velocity of the body in the body coordinate system, is the input torque in the body coordinate system.

6. The method according to claim 4, characterized in that Based on the desired three-axis thrust and the desired attitude quaternion, the attitude control process of the UAV includes an outer attitude loop and an inner angular velocity loop; Attitude ring to desired attitude quaternion And the actual attitude quaternion of the drone Subtract and get the quaternion difference , the quaternion difference Multiply by the scale factor , and get the expected angular velocity , and transmitted to the angular velocity loop of the inner loop; Angular velocity loop to desired angular velocity The actual angular velocity of the drone Subtract and get the angular velocity difference , the angular velocity difference Input PID controller to get the desired torque , combined with the expected three-axis thrust Get the control quantity of the rotor and rudder in the UAV.

7. The method according to claim 6, characterized in that The control amount of the rotor and the rudder in the UAV is calculated by the following formula: ， in They are the thrust of the two rotors and the inclination angles of the four rudder surfaces. are the lift coefficients of the upper and lower rudder surfaces, are the distances from the upper and lower rudder surfaces of the drone to the center of gravity, are the torque coefficient and thrust coefficient of the rotor respectively.

8. The method according to claim 4, characterized in that Based on the expected position, expected attitude information and corresponding multi-order derivatives, the trajectory tracking control process of the UAV includes: Difference between the expected position and the actual position of the drone and multiply by the proportional coefficient , get the speed difference; Add the desired speed to the speed difference, subtract the actual speed of the drone and multiply by the proportional coefficient , get the acceleration difference; Add the expected acceleration to the acceleration difference and combine it with the mass of the drone to get the expected thrust; The desired thrust, the desired attitude and the actual attitude of the UAV are input into an attitude controller to obtain control quantities of the rotor and the rudder in the UAV.

9. An electronic device, characterized in that: include: one or more processors; A memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 4 to 8.

10. A computer-readable storage medium having computer instructions stored thereon, characterized in that: When the instruction is executed by a processor, the steps of the method as described in any one of claims 4 to 8 are implemented.

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