Electric aircraft cross compass attitude control system

Abstract

The invention discloses an electric aircraft cross compass attitude control system, and relates to the technical field of unmanned aerial vehicle attitude control, the electric aircraft cross compass attitude control system comprises # imgabs 0 # rotor motors and further comprises an annular base frame, and # imgabs 1 # rotor motors form an annular array based on the annular base frame; a controller; and the driving mechanism is used for receiving the driving electric signal of the controller and adjusting the position of the rotor motor. According to the cross compass attitude control system of the electric aircraft, when the function of the rotor motor is abnormal or damaged through automatic monitoring, the abnormal or damaged rotor motor is abandoned, and the position or the rotating speed of the rotor motor is correspondingly adjusted based on a corresponding strategy, so that the rotor motor annularly moves relative to the annular base frame; according to the invention, the attitude basis conforming to aerodynamics is reconstructed to optimize lift distribution to compensate imbalance, so that the aircraft can stably fly to the maximum extent in an extreme environment, high controllability is kept, and a better use prospect is brought.

Description

Technical Field

[0001] The present invention relates to the technical field of UAV attitude control, and specifically to a cross-compass attitude control system for electric aircraft. Background Art

[0002] Due to the characteristics of simple structure, low cost, and flexible operation, multi-rotor UAVs have been widely used in civilian and military fields; the attitude control of UAVs is crucial for ensuring their stable flight and completing predetermined tasks. Good attitude control can not only improve flight safety and efficiency but also expand the application scenarios of UAVs.

[0003] Since the attitude control of multi-rotor UAVs depends on the normal operation of all rotors on them to maintain flight stability, once a rotor failure occurs, it is very difficult to implement an effective control strategy to restore stable flight, and only maximum-range return or direct forced landing can be carried out. Moreover, the return distance is limited. At the same time, if a rotor failure occurs during flight in an extreme environment, there are significant difficulties in recovering the UAV. For this reason, we propose a cross-compass attitude control system for electric aircraft. Summary of the Invention

[0004]

Technical Problem to be Solved

[0005]

Technical Solution

[0006] Preferably, the driving mechanism includes a central control motor electrically connected to the controller, and the number of the central control motors corresponds to The rotor motor of the central control motor is fixedly connected with a gear on its rotor, the gear is meshed with a gear ring, and the gear ring is connected to the corresponding rotor motor, driving the rotor motor to move in a ring based on the annular base.

[0007] Preferably, the central control motor is fixedly connected to the base frame and is also based on a circular array of the circular base frame.

[0008] As a preference, A center wheel is arranged between the gear and the gear ring, and the center wheel is used as a central support to make the rotation of the gear ring more stable.

[0009] Preferably, the rotor motor is provided with a rotor arm, and a pulley is rotatably connected at the joint between the rotor arm and the annular base, and is embedded in the interior of the annular base for sliding.

[0010] Preferably, a connecting arm is provided between the gear ring and the corresponding rotor motor, and the connecting arm is fixedly connected to the rotor arm.

[0011] Preferably, the posture data Including IMU data , location data , height data Working parameters of the rotor motor.

[0012] Preferably, the operating parameters of the rotor motor include power and speed.

[0013] As a preference, IMU data is collected through accelerometers and gyroscopes , collect location data through GPS and altimeter With height data , collect the power of the rotor motor through current and voltage sensors .

[0014] Preferably, the monitoring module includes a prediction unit for Time ago The posture data of the time period is predicted using the Kalman filter The posture data at the moment is used to obtain the predicted posture data; the analysis unit calculates the collected Momentary posture data and The difference of the predicted attitude data at the moment is compared with the preset attitude threshold based on the difference. If the difference exceeds the preset attitude threshold, the abnormality type is recorded and the time is marked. If there is a rotor motor abnormality, this rotor motor is also marked.

[0015] Preferably, the preset attitude threshold includes an angle threshold , a position rate threshold , a height threshold and a power threshold or a rotation speed threshold.

[0016] Preferably, the prediction unit is configured to, according to the attitude data in the time period before , predict the attitude data at using a Kalman filter to obtain predicted attitude data, specifically including: b1. Initialization: Set the initial state estimate to and the covariance matrix of the initial state estimate to ; b2. Determine parameters: Based on the attitude data in the time period before , determine the state transition matrix , the control input model , the process noise covariance matrix , the observation model and the observation noise covariance matrix ; b3. Data prediction: Predict the state estimate and the covariance matrix of the state estimate at the next moment according to the state transition matrix and the control input model to obtain and ; b4. Data update: Calculate the Kalman gain according to the attitude data , the observation model , the observation noise covariance matrix and the covariance matrix of the state estimate . Based on the Kalman gain, update the state estimate and the covariance matrix of the state estimate , and use the state estimate as the predicted attitude data. Uniformly process the above data through data normalization and represent it by the following formula: ; ; ; ; ; ; In the above formula is the optimal state estimate value based on all available attitude data at the moment, is the state estimate value at the moment based only on the attitude data at the moment; In the formula, the state transition matrix includes information affecting the UAV attitude in the time period about IMU data , position data , altitude data , the power of the rotor motor , such as the influence mapping of IMU data on the UAV attitude in the time period ; In the formula, is the parameter for controlling the rotor speed, and the control input model includes the mapping of the parameter affecting the UAV attitude for controlling the rotor speed; In the formula, the state covariance matrix is the covariance matrix of the optimal state estimate value based on all available attitude data at the moment, is the covariance matrix of the state estimate value at the moment based only on the attitude data at the moment, and is the identity matrix; In the formula, the process noise covariance matrix includes the noise information of various sensors; In the formula, the observation model includes the attitude data observed by various sensors, is the transpose of the matrix ; In the formula, the observation noise covariance matrix includes the noise information of various sensor data, such as the different accuracy of the acquired data due to different specifications and models of the sensors.

[0017] Preferably, the analysis unit calculates the difference between the attitude data at the moment collected and the predicted attitude data at the moment, compares the difference with a preset attitude threshold, and if the difference exceeds the preset attitude threshold, records the abnormal type and marks the moment. If there is an abnormality in the rotor motor, this rotor motor is also marked, specifically including: If the difference in IMU data exceeds the angle threshold ​, it is recorded as an abnormal attitude and the moment is marked, so there is: ; Among them, is the actual value of the IMU data collected at the moment, is the predicted value of the IMU data at the moment; If the position rate difference exceeds the position rate threshold , it is recorded as a position anomaly and the moment is marked, there is: ; Among them, is the actual movement amount collected within the time period , is the predicted movement amount within the time period , is the movement interval time; If the height difference exceeds the height threshold , it is recorded as a height anomaly and the moment is marked, then there is: ; Among them, is the actual height value collected at the moment, is the predicted value of the height at the moment; If the power difference exceeds the power threshold , it is recorded as a power anomaly and the moment and the said rotor motor are marked, then there is: ; Among them, is the actual power value collected at the moment, is the predicted value of the power at the moment.

[0018] Preferably, for the power monitoring step of the rotor motor, the power data of the rotor motor can be replaced with the voltage or current data of the rotor motor, and the PWM signal of the rotor motor can also be monitored to determine whether the rotor motor is functioning properly.

[0019] Preferably, the policy generation module is used to generate corresponding policies based on the abnormal type, control the remaining normally functioning rotor motors to reconstitute a ring array based on the ring base by arranging positions, and at the same time control the rotation speed of the rotor motors, specifically including: Single abnormal type: ​​​​When the abnormal type is recorded, based on the analysis unit, obtain the comparison result of other attitude data at the same marked moment. If only any one of the abnormal types exists, generate an alarm strategy and adjust the rotational speed of the rotor motor. Based on the monitoring module, cycle through monitoring the attitude data within one cycle. , and perform cyclic control of the rotational speed of the rotor motor until the attitude data is normal; otherwise, perform a return flight or an emergency landing. Among them, when the abnormal type is only any one of the abnormal types, considering that there may be a judgment error, an incorrect acquisition data result, or the interference of external forces, generate an alarm message and send it to the user terminal through the communication module. Compound abnormal type: When the abnormal type is recorded, based on the analysis unit, obtain the comparison result of other attitude data at the same marked moment. If there are two or more abnormal types including power abnormality and altitude abnormality at the marked moment, generate a self-rescue strategy. When the abnormal type is recorded, based on the analysis unit, obtain the comparison result of other attitude data at the same marked moment. If there are two abnormal types other than power abnormality and non-altitude abnormality at the marked moment, generate an adjustment strategy.

[0020] Preferably, the adjustment strategy specifically includes: If the abnormal type is attitude abnormality + power abnormality, such as angle abnormality of pitch angle, yaw angle, or roll angle, adjust the power output of the rotor motor in the abnormal direction of the attitude angle and attempt to stabilize the attitude. Based on the execution steps of the monitoring module, cycle through monitoring the attitude data within one cycle. , and perform cyclic control of the rotational speed of the rotor motor until the attitude data is normal; otherwise, perform a return flight or an emergency landing. If the abnormal type is position abnormality + power abnormality, adjust the power output of the rotor motor in the abnormal direction of the yaw angle and attempt to adjust the course. Based on the execution steps of the monitoring module, cycle through monitoring the attitude data within one cycle. , and perform cyclic control of the rotational speed of the rotor motor until the attitude data is normal; otherwise, perform a return flight or an emergency landing. If there is still an abnormal type after the end of one cycle, generate a self-rescue strategy.

[0021] Preferably, the self-rescue strategy specifically includes: Taking a quadcopter drone as an example, when there is only one rotor motor monitored as having abnormal power, taking the relative rotor motor of the rotor motor marked as having abnormal power as a reference, move the other two adjacent rotor motors. During one cycle, continuously monitor the attitude data based on the execution steps of the monitoring module. , and continuously control the rotational speed of the rotor motors in a loop until the attitude data is normal; otherwise, perform a return flight or an emergency landing, generate a corresponding movement control drive signal, and drive the central control motor according to the movement control drive signal to move the rotor motor with abnormal power. When two adjacent rotor motors are monitored as having abnormal power, move the positions of the remaining rotor motors with normal power to be opposite to each other. During this process, if the position of a rotor motor with abnormal power coincides with the position to be moved of a rotor motor with normal power or is on the movement path of a rotor motor with normal power, then synchronously move this rotor motor with abnormal power. After the positions of the two rotor motors with normal power are opposite to each other, continuously monitor the attitude data based on the execution steps of the monitoring module during one cycle. , and continuously control the rotational speed of the rotor motors in a loop until the attitude data approaches normal, perform a return flight or an emergency landing, generate a corresponding movement control drive signal, and drive the central control motor according to the movement control drive signal to move the rotor motor with abnormal power.

[0022] Preferably, the strategy generation module includes a position calculation unit and a rotational speed calculation unit: The position calculation unit is used to calculate the moving arc length of the rotor motor with normal power based on the self-rescue strategy distance. There is: ; where, taking the annular base as a circle, the distance from the rotor motor to the geometric center of the annular base is , is the central angle before and after the position movement of the other two adjacent rotor motors.

[0023] Preferably, the rotational speed calculation unit is used to calculate the rotational speed of the rotor motor according to a PID controller based on the self-rescue strategy or the adjustment strategy, generate a rotational speed control drive signal, and drive the rotor motor according to the rotational speed control drive signal: c1. Lift distribution: Based on the required target lift , according to the remaining number of rotor motors with normal power, evenly distribute the target lift to obtain the lift that the remaining number of rotor motors with normal power need to generate. Then there is: ; ; in, For the overall quality of the drone, is the gravitational acceleration, when is the lift required to control stable flight. When , it is the lift required to control ascending flight; c2. Speed ​​adjustment: Get the actual speed of the current rotor motor , according to the actual speed Calculate the actual lift generated , and then use the PID controller to calculate the actual lift and The actual speed Adjust the speed , based on the adjusted speed Generate a speed control driving signal, and drive the rotor motor according to the speed control driving signal, then: ; in, is the lift coefficient, is the air density, is the effective area of ​​the rotor.

[0024] Preferably, the PID controller is used according to the lift actually generated. and Speed Adjust to get ,have: ; ; ; ; ; in, To control the rotor speed parameter, is the proportional output of the speed parameter, is the integral output of the speed parameter, It is the differential output of the speed parameter; For the moment Corresponds to and The difference The function curve of , , , They are the proportional gain, integral gain, derivative gain, and rotational speed adjustment coefficient respectively, is the error range in the time interval The rate of change within.

[0025]

Beneficial Effects

[0026] Figure 1 is a schematic diagram of the overall structure of the drone attached to the electric aircraft cross-compass attitude control system of the present invention Figure 1 .

[0027] Figure 2 is a schematic diagram of the overall structure of the drone attached to the electric aircraft cross-compass attitude control system of the present invention Figure 2 .

[0028] Figure 3 is an exploded view of the structure of the drone attached to the electric aircraft cross-compass attitude control system of the present invention.

[0029] Figure 4 is a schematic diagram of the position adjustment state of the drone rotor attached to the electric aircraft cross-compass attitude control system of the present invention.

[0030] Figure 5 is a schematic block diagram of the electric aircraft cross-compass attitude control system of the present invention.

[0031] Figure 6 is a schematic diagram of the execution method flow of the controller in the electric aircraft cross-compass attitude control system of the present invention.

[0032] Figure 7 is a schematic diagram of the execution method flow of the rotational speed calculation unit in the electric aircraft cross-compass attitude control system of the present invention.

[0033] In the figure: 100, Base frame; 200, Controller; 300, Ring base frame; 400, Driving mechanism; 500, Rotor motor; 210, Acquisition module; 220, Monitoring module; 230, Strategy generation module; 221, Prediction unit; 222, Analysis unit; 231, Position calculation unit; 232, Rotational speed calculation unit; 310, Pulley; 311, Rotor arm; 410, Central control motor; 420, Ring gear; 430, Gear; 421, Connecting arm; 431, Central gear; Among them, Figure 4 The dashed line in is the schematic diagram of the structural position after the adjustment of the rotor motor 500, and the arrow is the schematic diagram of the adjustment direction of the rotor motor 500. is the central angle before and after the position movement of the rotor motor 500. is the moving arc length of the rotor motor 500. Specific implementation manner

[0034] To make the technical means, creative features, achieved purposes and effects of the present invention easy to understand, the following will further elaborate on the present invention in combination with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts belong to the scope of protection of the present invention.

[0035]

Embodiment 1

[0036] Specifically, as Figure 5 shown, a cross-compass attitude control system for an electric aircraft, the controller 200 includes an acquisition module 210, which is used to acquire the attitude data of the unmanned aircraft ; a monitoring module 220, which is used to predict the predicted attitude data according to the attitude data , and analyze the attitude data Analyze with the predicted attitude data. When there is an anomaly, record the anomaly type and mark the moment. If there is an anomaly in the rotor motor 500, mark this rotor motor 500 at the same time. The policy generation module 230 is used to generate corresponding policies based on the anomaly type, control the remaining normally functioning rotor motors 500 to rearrange their positions to reconstitute a circular array based on the circular base frame 300, and is also used to control the rotation speed of the rotor motors 500. Attitude data including IMU data and position data and altitude data and the operating parameters of the rotor motor 500.

[0037] Among them, the operating parameters of the rotor motor include power and rotation speed.

[0038] It should be noted that the execution steps of the controller 200 are specifically as follows: a. Collect the attitude data of the unmanned aerial vehicle ; b. Predict to obtain the predicted attitude data according to the attitude data Analyze the attitude data and the predicted attitude data. When there is an anomaly, record the anomaly type and mark the moment. If there is an anomaly in the rotor motor 500, mark this rotor motor 500 at the same time; c. Generate corresponding policies based on the anomaly type, control the remaining normally functioning rotor motors 500 to rearrange their positions to reconstitute a circular array based on the circular base frame 300, and at the same time control the rotation speed of the rotor motors 500.

[0039] Among them, collect IMU data through the accelerometer and gyroscope , collect position data and altitude data through the GPS and altimeter, and collect the power of the rotor motor 500 .

[0040] Furthermore, as Figure 5 shown, a monitoring module 220 for the cross-compass attitude control system of an electric aircraft includes a prediction unit 221, which is used to predict the attitude data at the moment using the Kalman filter based on the attitude data in the time period before to obtain the predicted attitude data; an analysis unit 222, which calculates the attitude data at the collected moment and The difference between the predicted attitude data at a moment is compared with a preset attitude threshold based on the difference. If the difference exceeds the preset attitude threshold, record the abnormal type and mark the moment. If there is an abnormality in the rotor motor 500, mark this rotor motor 500 at the same time. The preset attitude threshold includes an angle threshold , a position rate threshold , a height threshold and a power threshold or a rotational speed threshold.

[0041] It should be noted that the present invention is an attitude control system for a cross compass of an electric aircraft. The prediction unit 221 is used to before a moment the attitude data in a time period, and use a Kalman filter to predict the attitude data at a moment to obtain predicted attitude data, which specifically includes: b1. Initialization: Set the initial state estimate value to be , and the covariance matrix of the initial state estimate value to be ; b2. Determine parameters: Based on before a moment the attitude data in a time period, determine the state transition matrix , the control input model , the process noise covariance matrix , the observation model and the observation noise covariance matrix ; b3. Data prediction: According to the state transition matrix and the control input model predict the state estimate value and the covariance matrix of the state estimate value at the next moment to obtain and ; b4. Data update: According to the attitude data , the observation model , the observation noise covariance matrix and the covariance matrix of the state estimate value calculate the Kalman gain , and based on the Kalman gain, update the state estimate value and the covariance matrix of the state estimate value , and use the state estimate value as the predicted attitude data. The above data is uniformly processed by data normalization and is represented by the following formula: ; ; ; ; ; In the above formula, is the optimal state estimate value at the th moment based on all available attitude data, is the state estimate value at the th moment based only on the attitude data at the th moment ; In the formula, the state transition matrix contains information affecting the attitude of the UAV in the time period about IMU data , position data , altitude data , and the power of the rotor motor 500, such as the influence mapping of IMU data on the attitude of the UAV; such as the influence mapping of IMU data on the attitude of the UAV; In the formula, is the parameter for controlling the rotor speed, and the control input model contains the mapping of the parameter for controlling the rotor speed that affects the attitude of the UAV; In the formula, the state covariance matrix is the covariance matrix of the optimal state estimate value at the th moment based on all available attitude data, is the covariance matrix of the state estimate value at the th moment based only on the attitude data at the th moment , and is the identity matrix; In the formula, the process noise covariance matrix contains the noise information of various sensors; In the formula, the observation model contains the attitude data observed by various sensors, is the transpose of the matrix ; In the formula, the observation noise covariance matrix contains the noise information of various sensor data, such as the different accuracy of the data obtained due to different specifications and models of the sensors; The analysis unit 222 calculates the attitude data at the th moment collected The difference between the predicted attitude data at a moment, comparing the difference with a preset attitude threshold. If the difference exceeds the preset attitude threshold, record the abnormal type and mark the moment. If there is an abnormality in the rotor motor 500, mark this rotor motor 500 at the same time. Specifically, it includes: If the difference in IMU data exceeds the angle threshold , record it as attitude abnormality and mark the moment. Then, there is: ; Among them, is the actual value of the IMU data collected at the moment is the predicted value of the IMU data at the moment; If the difference in position rate exceeds the position rate threshold , record it as position abnormality and mark the moment. There is: ; Among them, is the actual movement amount collected within the time period is the predicted movement amount within the time period is the movement interval time; If the difference in height exceeds the height threshold , record it as height abnormality and mark the moment. Then, there is: ; Among them, is the actual height value collected at the moment is the predicted value of the height at the moment; If the difference in power exceeds the power threshold , record it as power abnormality and mark the moment and the rotor motor 500. Then, there is: ; Among them, is the actual power value collected at the moment is the predicted value of the power at the moment; For the above power monitoring step of the rotor motor 500, the power data of the rotor motor 500 can be replaced with the voltage or current data of the rotor motor 500. Moreover, the PWM signal of the rotor motor 500 can also be monitored to determine whether the function of the rotor motor 500 is normal.

[0042] Further, as Figure 5 shown, a strategy generation module 230 for an electric aircraft cross-compass attitude control system is used to generate corresponding strategies based on the type of anomaly, control the remaining normally functioning rotor motors 500 to reconfigure their positions to form a ring array based on the ring frame 300, and at the same time control the rotational speeds of the rotor motors 500.

[0043] It should be noted that the present invention is an electric aircraft cross-compass attitude control system, and the determination steps for the type of anomaly are specifically as follows: Single anomaly type: When there is a recorded anomaly type, based on the analysis unit 222, obtain the comparison result of other attitude data at the same marked moment. If only any one of the anomaly types exists, generate an alarm strategy and adjust the rotational speed of the rotor motor 500, and cyclically monitor the attitude data based on the monitoring module 220 within one cycle , cyclically control the rotational speed of the rotor motor 500 until the attitude data is normal, otherwise return or make an emergency landing; Among them, when the anomaly type is only any one of the anomaly types, considering that there may be a determination error, an incorrect acquisition data result, or an external force interference, generate an alarm message and send it to the user terminal through the communication module; Compound anomaly type: When there is a recorded anomaly type, based on the analysis unit 222, obtain the comparison result of other attitude data at the same marked moment. If there are two or more anomaly types including power anomaly and altitude anomaly at the marked moment, generate a self-rescue strategy; When there is a recorded anomaly type, based on the analysis unit 222, obtain the comparison result of other attitude data at the same marked moment. If there are two anomaly types other than power anomaly and non-altitude anomaly at the marked moment, generate an adjustment strategy.

[0044] Among them, the adjustment strategy specifically includes: If the anomaly type is attitude anomaly + power anomaly, such as an angle anomaly of the pitch angle, yaw angle, or roll angle, adjust the power output of the rotor motor 500 in the abnormal direction of the pitch angle or roll angle, and attempt to stabilize the attitude. Cyclically monitor the attitude data based on the execution steps of the monitoring module 220 within one cycle , cyclically control the rotational speed of the rotor motor 500 until the attitude data is normal, otherwise return or make an emergency landing; If the anomaly type is position anomaly + power anomaly, adjust the power output of the rotor motor 500 in the abnormal direction of the yaw angle, and attempt to adjust the heading. Cyclically monitor the attitude data based on the execution steps of the monitoring module 220 within one cycle , control the rotation speed of the cyclic control rotor motor 500 until the attitude data is normal; otherwise, return or perform an emergency landing. If there are still abnormal types after the end of one cycle, generate a self - rescue strategy. The self - rescue strategy specifically includes: In this embodiment, taking a quad - rotor UAV as an example, when only one rotor motor 500 is monitored as having abnormal power, taking the relative rotor motor 500 of the rotor motor 500 marked as having abnormal power as a reference, move the other two adjacent rotor motors 500, and cycle - monitor the attitude data based on the execution steps of the monitoring module 220 within one cycle , control the rotation speed of the cyclic control rotor motor 500 until the attitude data is normal; otherwise, return or perform an emergency landing, generate a corresponding movement control drive signal, and drive the central control motor according to the movement control drive signal to move the rotor motor 500 with abnormal power. When two adjacent rotor motors 500 are monitored as having abnormal power, move the positions of the remaining rotor motors 500 with normal power to be opposite. If the position of the rotor motor 500 with abnormal power coincides with the position to be moved of the rotor motor 500 with normal power or is on the movement path of the rotor motor 500 with normal power during this period, then synchronously move this rotor motor 500 with abnormal power. After the positions of the two rotor motors 500 with normal power are opposite, cycle - monitor the attitude data based on the execution steps of the monitoring module 220 within one cycle , control the rotation speed of the cyclic control rotor motor 500 until the attitude data approaches normal, return or perform an emergency landing, generate a corresponding movement control drive signal, and drive the central control motor according to the movement control drive signal to move the rotor motor 500 with abnormal power.

[0045] Furthermore, the strategy generation module 230 includes a position calculation unit 231 and a rotation speed calculation unit 232: The position calculation unit 231 is used to calculate the movement arc length of the rotor motor 500 with normal power based on the self - rescue strategy of the distance, there is: ; Among them, taking the annular base 300 as a circle, the distance from the rotor motor 500 to the geometric center of the annular base 300 is , is the central angle before and after the movement of the positions of the other two adjacent rotor motors 500; For example Figure 4As shown, the four rotors are equally divided into 0°, 90°, 180°, and 270° in a circular array based on the position of the circular base frame 300. When one of the rotors is monitored as having abnormal power, in order to make the remaining three rotor motors 500 in the circular array balance each other, the included angle based on the circular array of the circular base frame 300 should be 120°. Therefore, the three rotors are equally divided into 0°, 120°, and 240° in a circular array based on the position of the circular base frame 300. , during which, to calculate the arc length the angle should be converted to radians. Those skilled in the art can understand that multi-rotor UAVs such as six-rotor ones are the same in principle.

[0046] The rotation speed calculation unit 232 is used to calculate the rotation speed of the rotor motor 500 based on the self-rescue strategy or adjustment strategy according to the PID controller, generate a rotation speed control drive signal, and drive the rotor motor 500 according to the rotation speed control drive signal: c1. Lift distribution: Based on the required target lift , according to the remaining number of power-normal rotor motors 500, the target lift is evenly distributed to obtain the lift required to be generated by the remaining number of power-normal rotor motors 500, then there is: ; ; Among them, is the overall mass of the UAV, is the acceleration due to gravity. When , it is the lift required to control stable flight. When , it is the lift required to control ascending flight; c2. Rotation speed adjustment: Obtain the actual rotation speed of the current rotor motor 500, calculate the actually generated lift according to the actual rotation speed , and then use the PID controller to adjust the rotation speed based on the actually generated lift and to obtain the adjusted rotation speed . Generate a rotation speed control drive signal based on the adjusted rotation speed , and drive the rotor motor 500 according to the rotation speed control drive signal, then there is: ; Among them, is the lift coefficient, is the air density, is the effective area of the rotor; ; ; ; ; ; Among them, is a parameter for controlling the rotational speed of the rotor, is the proportional term output of the rotational speed parameter, is the integral term output of the rotational speed parameter, is the derivative term output of the rotational speed parameter; is the time corresponding to and the difference the function curve of, , , , are the proportional gain, integral gain, derivative gain and rotational speed adjustment coefficient respectively, is the error range in the time interval the change rate within.

[0047] It is worth mentioning that the present invention is a cross-compass attitude control system for an electric aircraft. The attitude data of the unmanned aircraft is collected by the acquisition module 210, and the monitoring module 220 performs predictive analysis on the collected attitude data to generate corresponding strategies. When it is automatically monitored that there is a malfunction or damage in the rotor motor 500, this abnormal or damaged rotor motor 500 is abandoned, and the position or rotational speed of the rotor motor 500 is adjusted correspondingly based on the corresponding strategy, so that the rotor motor 500 makes a circular movement relative to the annular base 300, and a more aerodynamic attitude foundation is re-formed to optimize the lift distribution to compensate for the imbalance, and it can fly relatively stably to the greatest extent in extreme environments and maintain high controllability.

[0048]

Embodiment 2

[0049] It should be noted that the present invention is an attitude control system of a cross compass for an electric aircraft. Through the provided driving mechanism 400, when the central control motor 410 receives a movement control driving signal, it drives the gear 430 to rotate. While the gear 430 is rotating, the gear 430 drives the corresponding gear ring 420 to rotate, thereby driving the connected rotor motor 500 to move based on the annular base 300.

[0050] As a preferred implementation, considering that there may be a situation where the rotor is relatively large, based on the movable central angle of the rotor motor 500 , the size of the rotor should be appropriate so that the rotor does not overlap in position after movement. It is also possible to make the heights of adjacent rotor motors 500 have a height difference, and the height difference is greater than the height after the rotor rotates. Therefore, those skilled in the art can understand that the attitude of the unmanned aerial vehicle can be made to approach balance by adjusting the rotation speed of the rotor motor 500.

[0051] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements fall within the scope of the present invention claimed.

Claims

1. An electric aircraft cross-compass attitude control system, comprising a number of rotor motors (500), characterized in that: It further includes The annular base frame (300), with a quantity of rotor motors (500) form an annular array based on the annular base frame (300); Controller (200): including an acquisition module (210) for acquiring the attitude data of the UAV ; a monitoring module (220) for predicting predicted attitude data based on the attitude data performing analysis on the attitude data and the predicted attitude data, recording the abnormal type and marking the moment when there is an abnormality, and marking the rotor motor (500) if there is an abnormality in the rotor motor (500); a strategy generation module (230) for generating corresponding strategies based on the abnormal type, controlling the remaining normally functioning rotor motors (500) to perform position arrangement to reconstitute a ring array based on the ring base (300), and simultaneously for controlling the rotation speed of the rotor motors (500). a driving mechanism (400) for receiving a driving electrical signal from the controller (200) and adjusting the position of the rotor motor (500).

2. The cross compass attitude control system of an electric aircraft according to claim 1, characterized in that: The driving mechanism (400) includes a central control motor (410) electrically connected to the controller (200). The number of the central control motors (410) corresponds to the number of the rotor motors (500). The rotor on the central control motor (410) is fixedly connected with a gear (430). The gear (430) meshes with a toothed ring (420), and the toothed ring (420) is connected to the corresponding rotor motor (500), driving the rotor motor (500) to move in a circular motion based on the circular base frame (300).

3. The cross-compass attitude control system for an electric aircraft according to claim 1, wherein: The attitude data includes IMU data , position data , altitude data and the operating parameters of the rotor motor (500).

4. The cross-compass attitude control system of an electric aircraft according to claim 3, characterized in that: The monitoring module (220) includes a prediction unit (221) for predicting, according to the attitude data in the time period before a certain moment, the attitude data at a certain moment by using a Kalman filter to obtain predicted attitude data; an analysis unit (222) for calculating the difference between the attitude data at a certain moment and the predicted attitude data at a certain moment, comparing the difference with a preset attitude threshold based on the difference. If the difference exceeds the preset attitude threshold, record the type of anomaly and mark the moment. If there is an anomaly in the rotor motor (500), mark this rotor motor (500) simultaneously.

5. The cross-compass attitude control system for an electric aircraft according to claim 4, wherein: The analysis unit (222) calculates the collected Momentary posture data and The difference of the predicted attitude data at the time is compared with a preset attitude threshold value based on the difference. If the difference exceeds the preset attitude threshold value, the abnormality type is recorded and the time is marked. If there is an abnormality of the rotor motor (500), the rotor motor (500) is marked at the same time, specifically including: If the difference in IMU data exceeds the angular threshold , it is recorded as an abnormal attitude and the moment is marked; If the position rate difference exceeds the position rate threshold , it is recorded as a position anomaly and the moment is marked; If the height difference exceeds the height threshold , it is recorded as a height anomaly and the moment is marked; If the operating parameters of the rotor motor (500) exceed the corresponding parameter thresholds, it is recorded as an abnormality of the rotor motor (500), and the time and the rotor motor (500) are marked.

6. The cross-compass attitude control system for an electric aircraft according to claim 5, characterized in that: The policy generation module (230) is configured to generate corresponding policies based on the abnormality type, control the remaining normally functioning rotor motors (500) to perform position arrangement to reconstitute a circular array based on the circular base frame (300), and at the same time control the rotational speed of the rotor motors (500), specifically including: When the abnormal type is recorded, based on the analysis unit (222), obtain the comparison result of other attitude data at the same moment as the marked moment. If only any one of the abnormal types exists, generate an alarm strategy and adjust the rotation speed of the rotor motor (500). Based on the monitoring module (220), cyclically monitor the attitude data within one cycle , and cyclically control the rotation speed of the rotor motor (500) until the attitude data is normal; otherwise, return or make an emergency landing When there is a record of the abnormality type, based on the analysis unit (222), obtain the comparison result of other attitude data at the same time as the marked time. If there are two or more abnormality types including rotor motor (500) abnormality and altitude abnormality at the marked time, a self-rescue policy is generated; When there is a record of the abnormality type, based on the analysis unit (222), obtain the comparison result of other attitude data at the same time as the marked time. If there are two abnormality types other than rotor motor (500) abnormality and non-altitude abnormality at the marked time, an adjustment policy is generated.

7. The cross-compass attitude control system for an electric aircraft according to claim 6, characterized in that: The adjustment policy specifically includes: If the abnormal type is attitude abnormality + abnormality of the rotor motor (500), adjust the power output of the rotor motor (500) in the abnormal direction of the attitude angle, attempt to stabilize the attitude, and cyclically monitor the attitude data based on the execution steps of the monitoring module (220) within one cycle. , perform cyclic control of the rotational speed of the rotor motor (500) until the attitude data is normal, otherwise return or make an emergency landing; If the abnormal type is position abnormality + abnormality of the rotor motor (500), adjust the power output of the rotor motor (500) in the abnormal direction of the attitude angle, attempt to adjust the heading, and cyclically monitor the attitude data based on the execution steps of the monitoring module (220) within one cycle. , perform cyclic control of the rotational speed of the rotor motor (500) until the attitude data is normal, otherwise return or perform an emergency landing; If there is still an abnormality type after the end of one cycle, a self-rescue policy is generated.

8. The cross compass attitude control system of an electric aircraft according to claim 7, characterized in that: The self-rescue policy specifically includes: When it is detected that the rotor motor (500) is abnormal, based on the rotor motor (500) marked as abnormal, the remaining normal rotor motors (500) are moved, and the attitude data is cyclically monitored based on the execution steps of the monitoring module (220) within one cycle. , and the rotation speed of the rotor motor (500) is cyclically controlled until the attitude data is normal. Otherwise, return or emergency landing is performed, a corresponding movement control drive signal is generated, and the central control motor is driven according to the movement control drive signal to move the rotor motor (500) with abnormal rotor motor (500).

9. The cross-compass attitude control system for an electric aircraft according to claim 8, characterized in that: The policy generation module (230) includes a position calculation unit (231) and a rotational speed calculation unit (232): The position calculation unit (231) is configured to calculate the moving arc length of the normal rotor motor (500) based on the self-rescue strategy For the distance, there is: ； Wherein, taking the annular base frame (300) as the circumference, the distance from the rotor motor (500) to the geometric center of the annular base frame (300) is , is the central angle before and after the position movement of the rotor motor (500) based on the annular base frame (300).

10. The cross-compass attitude control system of an electric aircraft according to claim 9, characterized in that: The rotational speed calculation unit (232) is configured to calculate the rotational speed of the rotor motor (500) according to the PID controller based on the self-rescue policy or the adjustment policy, and generate a rotational speed control drive signal, specifically including: c1. Lift distribution: Based on the required target lift , according to the remaining quantity of normal rotor motors (500), the target lift is evenly distributed to obtain the lift that the remaining quantity of normal rotor motors (500) needs to generate , then there is: ； ； Among them, is the overall mass of the drone, is the acceleration due to gravity; c2. Rotational speed adjustment: Obtain the actual rotational speed of the current rotor motor (500). , based on the actual rotational speed calculate the actually generated lift force , and then use a PID controller to adjust the actual rotational speed with the actually generated lift force to obtain an adjusted rotational speed , and generate a rotational speed control drive signal based on the adjusted rotational speed .

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