Flight power distribution method and system for overhigh forward speed of unmanned aerial vehicle
By adjusting the flight status on the Y-axis and Z-axis in the drone, the waste of power resources and excessive flight time caused by excessive forward speed is solved, and the flight performance is optimized, the endurance and control accuracy are improved, and the flight safety and stability are improved.
Patent Information
- Application Number
- CN202510215072.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-26
- Publication Date
- 2025-05-30
AI Technical Summary
When the forward motion speed of the drone is too high, it is necessary to slow down to match the adjustment of different flight attitudes, resulting in wasted power resources or excessive flight time, affecting flight stability and safety.
Without changing the forward speed, the flight performance is optimized by calling its own flight power to adjust the flight state on the Y-axis and Z-axis. The specific steps include determining whether the current forward flight speed is greater than the set threshold when receiving the command of the next flight target point. If so, the forward speed remains unchanged and adjusting the flight state on the Y-axis and Z-axis, including acceleration, uniform speed and deceleration movement.
Through this method, energy consumption and wear can be reduced, the endurance of the drone can be improved, control accuracy and response speed can be enhanced, thereby improving flight safety and stability.
Smart Images
Figure CN120066079A_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the technical field of UAV flight power distribution, and relates to a flight power distribution method for an unmanned aerial vehicle with excessive forward speed. Background Art
[0002] With the widespread use of unmanned aerial vehicles (UAVs) in fields such as cartography, agriculture, logistics, public safety, and military, the optimization of their flight performance has become particularly important. When the forward speed of a UAV is too fast, the control difficulty increases, posing challenges to flight stability and safety. Therefore, the flight power distribution method has become the key to solving this problem. Since the forward movement speed of the UAV is too fast, it needs to decelerate to cooperate with the adjustment of different flight postures, resulting in problems such as waste of power resources or excessive flight time. Summary of the Invention
[0003] The purpose of the present invention is to provide a flight power distribution method and system for an unmanned aerial vehicle with excessive forward speed. When the forward movement speed of the UAV is too fast, without changing the forward speed, the flight state on the Y-axis and Z-axis is adjusted by calling its own flight power to optimize flight performance. This optimization not only helps to reduce energy consumption and wear but also improves the endurance.
[0004] The technical solution to achieve the purpose of the present invention is as follows:
[0005] A flight power distribution method for an unmanned aerial vehicle with excessive forward speed, comprising the following steps:
[0006] S01: If the UAV receives an instruction for the next flight target point, determine whether the current forward flight speed of the UAV is greater than a set threshold;
[0007] S02: If the current forward flight speed of the UAV is greater than the set threshold, keep the forward speed unchanged, and adjust the flight state on the Y-axis and Z-axis by calling its own flight power; the UAV accelerates, moves at a constant speed, and decelerates on the Y-axis; the UAV accelerates and decelerates on the Z-axis.
[0008] In a preferred technical solution, after the UAV receives an instruction for the next flight target point in step S01, it further includes obtaining the maximum flight power p 总 , taking the current coordinate point of the UAV as the origin (0, 0, 0) of the spatial Cartesian coordinate system, the forward flight direction of the UAV as the positive half-axis of the X-axis, and the coordinates of the next flight target point are represented as (x, y, z).
[0009] In a preferred technical solution, the set threshold in step S01 is:
[0010]
[0011] Among them, v 0,x is the current forward flight speed of the UAV, g is the gravitational acceleration of the current flight area, x is the distance between the next flight target point and the current position on the X-axis, and z is the distance between the next flight target point and the current position on the Z-axis.
[0012] In the preferred technical solution, the flight power distribution of the UAV on the Y-axis includes:
[0013] First, the UAV adopts a flight power to make the UAV accelerate in the Y-axis direction towards the flight target for a duration Then, the UAV moves at a constant speed without power in the Y-axis direction for a duration Finally, the UAV adopts a flight power to make the UAV decelerate in the Y-axis direction towards the flight target for a duration
[0014] Among them, m is the mass of the UAV, v 0,x is the current forward flight speed of the UAV, and g is the gravitational acceleration of the current flight area.
[0015] In the preferred technical solution, the flight power distribution of the UAV on the Z-axis includes:
[0016] Judge whether z is greater than 0;
[0017] If z > 0, first the UAV adopts a flight power for a duration Then, the UAV adopts a flight power for a duration
[0018] If z < 0, first the UAV adopts a flight power for a duration Then, the UAV adopts a flight power for a duration
[0019] Among them, m is the mass of the UAV, v 0,x is the current forward flight speed of the UAV, and g is the gravitational acceleration of the current flight area.
[0020] In the preferred technical solution, step S02 further includes calculating the instantaneous power of the Z-axis, and the calculation method includes:
[0021] Discretely divide the flight time t into n time intervals Δt;
[0022] At time, there are a total of For a time interval, the instantaneous power of the UAV is:
[0023]
[0024] During time, there are a total of time intervals, and the instantaneous power of the UAV is:
[0025]
[0026] where m is the mass of the UAV, v 0,x is the current forward flight speed of the UAV, and g is the acceleration due to gravity in the current flight area.
[0027] In a preferred technical solution, the maximum flight power of the UAV should satisfy
[0028]
[0029] where m is the mass of the UAV, v 0,x is the current forward flight speed of the UAV, and g is the acceleration due to gravity in the current flight area.
[0030] The present invention also discloses a flight power distribution system for a UAV with an excessive forward speed, including a processor, and the processor is built-in with the above-mentioned flight power distribution method for a UAV with an excessive forward speed.
[0031] The present invention also discloses a UAV, including the above-mentioned flight power distribution system for a UAV with an excessive forward speed.
[0032] The present invention also discloses a computer storage medium, on which a computer program is stored, and when the computer program is executed, it implements the above-mentioned flight power distribution method for a UAV with an excessive forward speed.
[0033] Compared with the prior art, the present invention has the following significant advantages:
[0034] When the forward movement speed of the UAV is too large, without changing the forward speed, by invoking its own flight power to adjust the flight state on the Y-axis and Z-axis, and by reasonably adjusting the power output of each system of the UAV (such as the engine, sensor, navigation system, etc.), the flight performance can be optimized. This optimization not only helps to reduce energy consumption and wear, improve the endurance ability, but also enhances the control accuracy and response speed of the UAV, thereby improving the flight safety and stability. It aims to provide a unique and efficient solution. Physically, it conforms to the realistic application scenarios and will be able to be effectively applied to engineering practice. BRIEF DESCRIPTION OF THE DRAWINGS
[0035] Figure 1Flow chart of the flight power distribution method for excessive forward speed of the UAV in this embodiment. Detailed implementation manners
[0036] Embodiment 1:
[0037] A flight power distribution method for excessive forward speed of a UAV, comprising the following steps:
[0038] S01: If the UAV receives an instruction for the next flight target point, determine whether the current forward flight speed of the UAV is greater than a set threshold;
[0039] S02: If the current forward flight speed of the UAV is greater than the set threshold, keep the forward speed unchanged, and adjust the flight states on the Y-axis and Z-axis by calling its own flight power; the UAV performs acceleration, uniform motion, and deceleration on the Y-axis; the UAV performs acceleration and deceleration on the Z-axis.
[0040] In a preferred embodiment, after the UAV receives an instruction for the next flight target point in step S01, it further includes obtaining the maximum flight power p 总 , taking the current coordinate point of the UAV as the origin (0, 0, 0) of the spatial Cartesian coordinate system, the forward flight direction of the UAV as the positive half-axis of the X-axis, and the coordinates of the next flight target point are represented as (x, y, z).
[0041] In a preferred embodiment, the set threshold in step S01 is:
[0042]
[0043] where v 0,x is the current forward flight speed of the UAV, g is the gravitational acceleration of the current flight area, x is the distance between the next flight target point and the current position on the X-axis, and z is the distance between the next flight target point and the current position on the Z-axis.
[0044] In a preferred embodiment, the flight power distribution of the UAV on the Y-axis includes:
[0045] First, the UAV uses the flight power to make the UAV accelerate in the Y-axis direction towards the flight target for a duration Then, the UAV performs a power-free uniform motion in the Y-axis direction for a duration Finally, the UAV uses the flight power to make the UAV decelerate in the Y-axis direction towards the flight target for a duration
[0046] where m is the mass of the UAV, v 0,xwhere \(v\) is the current forward flight speed of the UAV, and \(g\) is the gravitational acceleration of the current flight area.
[0047] In a preferred embodiment, the flight power distribution of the UAV on the Z-axis includes:
[0048] Judge whether \(z\) is greater than 0;
[0049] If \(z>0\), first the UAV adopts the flight power Duration Then, the UAV adopts the flight power Duration
[0050] If \(z < 0\), first the UAV adopts the flight power Duration Then, the UAV adopts the flight power Duration
[0051] where \(m\) is the mass of the UAV, \(v\) 0,x is the current forward flight speed of the UAV, and \(g\) is the gravitational acceleration of the current flight area.
[0052] In a preferred embodiment, step S02 further includes calculating the instantaneous power of the Z-axis, and the calculation method includes:
[0053] Discretely divide the flight time \(t\) into \(n\) time intervals \(\Delta t\);
[0054] During time, there are time intervals in total, and the instantaneous power of the UAV is:
[0055]
[0056] During time, there are time intervals in total, and the instantaneous power of the UAV is:
[0057]
[0058] where \(m\) is the mass of the UAV, \(v\) 0,x is the current forward flight speed of the UAV, and \(g\) is the gravitational acceleration of the current flight area.
[0059] In a preferred embodiment, the maximum flight power of the UAV should satisfy
[0060] where \(m\) is the mass of the UAV, \(v\) 0,x is the current forward flight speed of the UAV, and \(g\) is the gravitational acceleration of the current flight area.
[0061] Specifically, in combination with Figure 1 as shown, a further specific analysis and description of the design of the present invention solution will be made.
[0062] In the network described in the design of the present invention solution, the unmanned aerial vehicle (UAV) is in the horizontal flight stage, and the forward flight speed of the UAV is v 0,x . When the UAV receives the next flight target point of the controller instruction, the current coordinate point of the UAV is taken as the origin (0, 0, 0) of the spatial Cartesian coordinate system, and the forward flight direction of the UAV is taken as the positive half-axis of the X-axis. The coordinates of the next flight target point are represented as (x, y, z), and the next target point is located in front of the UAV, that is, x > 0.
[0063] On the premise of keeping the forward speed unchanged, the UAV adjusts the flight states on the Y-axis and Z-axis by calling its own flight power, so that the UAV can fly over the next flight target point. In order to maintain the flight stability of the UAV, when the UAV reaches the next flight target point, there is only the forward speed on the X-axis, and there is no speed on the Z-axis and Y-axis. Therefore, the motion states of the UAV on the Y-axis and Z-axis will be described and analyzed respectively next.
[0064] 1. Motion of the UAV on the Y-axis
[0065] Since the UAV has no speed on the Y-axis when receiving the controller instruction, the UAV needs to experience an acceleration motion, a uniform motion, and a deceleration motion if it wants to reach the next flight target point. Therefore, there is:
[0066] y 加 +y 匀 +y 减 = |y| (1)
[0067] Wherein, y 加 , y 匀 and y 减 respectively represent the displacement of the acceleration motion, the displacement of the uniform motion, and the displacement of the deceleration motion of the UAV on the Y-axis.
[0068] At the same time, for the motion time, there is:
[0069]
[0070] Wherein, t y,加 , t y,匀 and t y,减 respectively represent the time of the acceleration motion, the time of the uniform motion, and the time of the deceleration motion of the UAV on the Y-axis.
[0071] For the acceleration motion stage, there is:
[0072] v y= a y,加 t y,加 (3)
[0073]
[0074] where v y is the final velocity of the accelerated motion and also the velocity of the uniform motion; a y,加 is the acceleration of the accelerated motion.
[0075] For the uniform motion stage, there is:
[0076] y 匀 = v y t y,匀 (5)
[0077] For the decelerated motion stage, there is:
[0078] 0 = v y - a y,减 t y,减 (6)
[0079]
[0080] where a y,减 is the acceleration of the decelerated motion.
[0081] Assume that the acceleration values of the UAV in the acceleration and deceleration stages are equal, i.e.:
[0082] a y,减 = a y,加 = a (8)
[0083] where a can replace a 减 and a 加 .
[0084] By combining equations (3) and (6), we can obtain:
[0085] t y,减 = t y,加 = t (9)
[0086] where t can replace t y,减 and t y,加 .
[0087] By combining equations (4) and (7), we can obtain:
[0088] y 减 = y 加 (10)
[0089] Based on equations (8) to (10) and (5), we can obtain:
[0090]
[0091] When the UAV is in the acceleration or deceleration stage in the Y-axis direction, the flight power P needs to be called. Y , there is:
[0092]
[0093] Among them, m is the mass of the UAV.
[0094] In (12), since P Y is a function of v y , therefore:
[0095]
[0096] The fixed point of P Y can be obtained as:
[0097] v y = 0 or Since v y > 0, so:
[0098]
[0099] Also, since the second derivative of P Y with respect to v y is:
[0100]
[0101] It can be obtained that:
[0102]
[0103] Therefore, it can be known that when , the UAV needs to call the flight power P Y to have the minimum value, which is:
[0104]
[0105] The UAV needs to call the minimum flight power P Y,min during the acceleration and deceleration stages, and the time is:
[0106]
[0107] The time for the UAV to move at a constant speed in the Y-axis direction is:
[0108]
[0109] 2. Movement of the UAV on the Z-axis
[0110] Since the UAV has no speed in the Z-axis when receiving the controller's instruction, the UAV needs to experience an acceleration motion and a deceleration motion if it wants to reach the next flight target point.
[0111] 1) If z>0, it means that the next flight target point is higher than the UAV's current position. The UAV needs to first perform an upward acceleration motion and then decelerate until the speed is 0. In this scenario, there is no uniform motion stage because uniform motion still requires flight power. Based on the above analysis, we have:
[0112] z 加 +z 减 =z (20)
[0113] where z 加 and z 减 respectively represent the displacement of the UAV's acceleration motion and deceleration motion in the Z-axis.
[0114] At the same time, for the time of the motion, we have:
[0115]
[0116] where t z,加 and t z,减 respectively represent the time of the UAV's acceleration motion and deceleration motion in the Z-axis.
[0117] For the acceleration motion stage, we have:
[0118] v z =(a z,加 -g)t z,加 (22)
[0119]
[0120] where v z is the final speed of the acceleration motion; a z,加 is the acceleration of the acceleration motion.
[0121] For the deceleration motion stage, we have:
[0122] 0=v z -(a z,减 +g)t z,减 (24)
[0123]
[0124] It can be obtained that:
[0125]
[0126] The UAV needs to call the flight power P z,加 for the upward acceleration motion stage in the Z-axis as:
[0127]
[0128] When the UAV decelerates upward along the Z - axis, the flight power P needs to be called z,减 as follows:
[0129]
[0130] It can be obtained that the total flight power called by the UAV upward along the Z - axis is:
[0131]
[0132] Since P z is a function of a z,加 , thus:
[0133]
[0134] It can be obtained that the fixed - point of P z with respect to a z,加 is:
[0135]
[0136] Also, since the second - order derivative of P z with respect to a z,加 is:
[0137]
[0138] Therefore, it can be known that when , the UAV needs to call the flight power P during the acceleration and deceleration stages along the Z - axis z to have the minimum value.
[0139] Thus, it can be obtained that:
[0140]
[0141] Therefore, for the UAV's motion along the Z - axis, if z > 0, first the UAV adopts to make the UAV accelerate upward along the Z - axis towards the flight target for a duration of Then, the UAV adopts to make the UAV decelerate upward along the Z - axis towards the flight target for a duration of
[0142] In particular, from Equation (37), it can be known that
[0143] 2) If z < 0, it means that the next flight target point is higher than the current position of the UAV. The UAV needs to first accelerate upward and then decelerate until the speed is 0. There is no uniform motion stage in this scenario because uniform motion still requires flight power.
[0144] Similarly, when z > 0, it can be obtained that the UAV needs to call the flight power P during the acceleration and deceleration stages on the Z-axis. z When it has the minimum value:
[0145]
[0146] Therefore, for the UAV's motion on the Z-axis, if z < 0, first the UAV adopts to make the UAV accelerate downward on the Z-axis towards the flight target for a duration of Then, the UAV adopts to make the UAV decelerate downward on the Z-axis towards the flight target for a duration of
[0147] In particular, from Equation (39), it can be known that
[0148] Since the UAV is flying in the air, the instantaneous power of the UAV changes at different speeds. The flight time t of the UAV can be discretely divided into time intervals of Δt. Since Δt is small enough, it can be assumed that the instantaneous power of the UAV is constant within each time interval. The instantaneous flight power of the UAV in the nth time interval can be obtained through the classical kinematic power calculation formula P(n) = ma(v + anΔt) as follows:
[0149] The UAV has a total of time intervals within time, and the instantaneous power of the UAV is:
[0150]
[0151] The UAV has a total of time intervals within time, and the instantaneous power of the UAV is:
[0152]
[0153] In another embodiment, a flight power distribution system for an over-large forward speed of a UAV includes a processor, and the processor is built-in with the above-mentioned flight power distribution method for an over-large forward speed of a UAV. Details are not described here again.
[0154] In another embodiment, a drone includes the above flight power distribution system for excessive forward speed of the drone. Details are not described herein again.
[0155] In another embodiment, a computer storage medium stores a computer program, and when the computer program is executed, it implements the above flight power distribution method for excessive forward speed of the drone.
[0156] The above embodiments are the preferred embodiments of the present invention. However, the embodiments of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement methods and are all included in the protection scope of the present invention.
Claims
1. A flight power allocation method for a UAV with excessive forward speed, characterized in that: The following steps are involved: S01: If the UAV receives the command of the next flight target point, it determines whether the current forward flight speed of the UAV is greater than the set threshold; S02: If the current forward flight speed of the drone is greater than the set threshold, the forward speed is kept unchanged, and the flight status on the Y-axis and Z-axis is adjusted by calling its own flight power; the drone performs acceleration, uniform motion and deceleration motion on the Y-axis in turn; the drone performs acceleration and deceleration motion on the Z-axis.
2. The flight power allocation method for a UAV with excessive forward speed according to claim 1, characterized in that: In step S01, if the UAV receives the instruction of the next flight target point, it also includes obtaining the maximum flight power p 总 , the current coordinate point of the drone is taken as the origin of the spatial Cartesian coordinate system (0,0,0), the forward flight direction of the drone is taken as the positive half axis of the X-axis, and the coordinates of the next flight target point are expressed as (x,y,z).
3. The flight power allocation method for a UAV with excessive forward speed according to claim 1, characterized in that: In step S01, the threshold is set as: Among them, v 0,x is the current forward flight speed of the drone, g is the gravity acceleration of the current flight area, x is the distance between the next flight target point and the current position on the X axis, and z is the distance between the next flight target point and the current position on the Z axis.
4. The flight power allocation method for a UAV with excessive forward speed according to claim 2 is characterized in that: The flight power distribution of the drone on the Y axis includes: First UAV uses flight power Make the UAV accelerate on the Y axis towards the target for a duration of Then, the UAV adopts a power-free uniform motion in the Y-axis direction for a duration of Finally, the UAV uses flight power Make the UAV decelerate on the Y axis towards the target for a duration of Where m is the mass of the drone, v 0,x is the current forward flight speed of the drone, and g is the gravity acceleration of the current flight area.
5. The flight power allocation method for a UAV with excessive forward speed according to claim 2, characterized in that: The flight power distribution of the drone on the Z axis includes: Determine whether z is greater than 0; If z>0, the UAV first uses the flight power Duration The UAV then uses flight power Duration If z < 0, the UAV first uses the flight power Duration The UAV then uses flight power Duration Where m is the mass of the drone, v 0,x is the current forward flight speed of the drone, and g is the gravity acceleration of the current flight area.
6. The flight power allocation method for a UAV with excessive forward speed according to claim 2, characterized in that: Step S02 also includes calculating the instantaneous power of the Z axis, and the calculation method includes: The flight time t is discretely divided into n time intervals Δt; exist Total in time The instantaneous power of the UAV at each time interval is: exist Total in time The instantaneous power of the UAV at each time interval is: Where m is the mass of the drone, v 0,x is the current forward flight speed of the drone, and g is the gravity acceleration of the current flight area.
7. The flight power allocation method for a UAV with excessive forward speed according to claim 2, characterized in that: The maximum power of the UAV flight should meet Where m is the mass of the drone, v 0,x is the current forward flight speed of the drone, and g is the gravity acceleration of the current flight area.
8. A flight power distribution system for unmanned aerial vehicles with excessive forward speed, characterized in that: The invention comprises a processor, wherein the processor is equipped with the flight power allocation method for a drone with excessive forward speed as described in any one of claims 1 to 7.
9. A drone, characterized in that: Including the flight power distribution system for unmanned aerial vehicle with excessive forward speed as described in claim 8.
10. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the flight power allocation method for a drone with excessive forward speed as described in any one of claims 1 to 7 is implemented.