Attitude control method, device and equipment for vertical take-off and landing unmanned aerial vehicle and medium

Abstract

The invention provides an attitude control method and device for a vertical take-off and landing unmanned aerial vehicle, equipment and a medium, relates to the technical field of flight control law design, and is used for solving the problem of how to realize rapid transition of the vertical take-off and landing unmanned aerial vehicle from a horizontal state to a vertical state. The method comprises the following steps: determining a current stage of the vertical take-off and landing unmanned aerial vehicle in a transition process according to a pitch angle and a flight speed of the vertical take-off and landing unmanned aerial vehicle; the transition process refers to the process of transition from a horizontal state to a vertical state; determining a pitch angle speed control target according to the current stage; a proportional integral differential control law structure is adopted, and a pitching control surface control instruction is determined according to the pitching angular velocity control target and the pitching angular velocity; the vertical take-off and landing unmanned aerial vehicle can be controlled to be rapidly transited to a vertical state from a horizontal state through a pitching control surface control instruction.

Description

Technical Field

[0001] The present application relates to the technical field of flight control law design, and provides an attitude control method, device, equipment and medium for a vertical takeoff and landing unmanned aerial vehicle (VTOL UAV). Background Art

[0002] The vertical takeoff and landing aircraft uses the vertically upward thrust provided by the engine to overcome gravity, so as to achieve vertical takeoff and landing. Such aircraft can get rid of the dependence on airport runways, and have the advantages of flexible departure, high attendance rate, low support cost, etc. It can also take off and land on ships, and has advantages that cannot be compared with carrier-based aircraft with takeoff and landing by taxiing in improving amphibious combat capabilities.

[0003] During the process of the vertical takeoff and landing UAV transitioning from the horizontal state to the vertical state, the flight attitude and flight speed change greatly and quickly. How to achieve the rapid transition of the vertical takeoff and landing UAV from the horizontal state to the vertical state is crucial for ensuring flight safety during the transition process and shortening the landing time required. Summary of the Invention

[0004] The present application provides an attitude control method, device, equipment and medium for a vertical takeoff and landing UAV, which is used to solve the problem of how to achieve a rapid transition of the vertical takeoff and landing UAV from the horizontal state to the vertical state.

[0005] In a first aspect, an attitude control method for a vertical takeoff and landing UAV is provided, including:

[0006] Determine the current stage of the vertical takeoff and landing UAV during the transition process according to the pitch angle and flight speed of the vertical takeoff and landing UAV; the transition process refers to the process of transitioning from the horizontal state to the vertical state;

[0007] Determine the pitch angular velocity control target according to the current stage;

[0008] Adopt a proportional-integral-derivative control law structure, and determine the pitch control surface control command according to the pitch angular velocity control target and the pitch angular velocity;

[0009] Control the vertical takeoff and landing UAV to transition from the horizontal state to the vertical state through the pitch control surface control command.

[0010] Optionally, the determining the current stage of the vertical takeoff and landing UAV during the transition process according to the pitch angle and flight speed of the vertical takeoff and landing UAV includes:

[0011] If θ < 60° and then determine that the current stage is the first stage;

[0012] If θ ≥ 60° or then determine that the current stage is the second stage;

[0013] where θ is the pitch angle, V x is the component of the flight speed on the X-axis of the body coordinate system, n max is the maximum allowable normal overload, is the maximum allowable pitch angular velocity, and g is the acceleration due to gravity.

[0014] Optionally, determining the pitch angular velocity control target according to the current stage includes:

[0015] If it is determined that the current stage is the first stage, the calculation method of the pitch angular velocity control target is as follows:

[0016]

[0017] where, is the pitch angular velocity control target, n max is the maximum allowable normal overload, g is the acceleration due to gravity, V x is the component of the flight speed on the X-axis of the body coordinate system;

[0018] If it is determined that the current stage is the second stage, the calculation method of the pitch angular velocity control target is as follows:

[0019]

[0020] where, is the pitch angular velocity control target, is the pitch angular velocity feedforward, θ is the pitch angle, θ g is the pitch angle control target, θ g = 90°, and K4 is the pitch angle proportional term control parameter.

[0021] Optionally, the calculation formula of the pitch angular velocity feedforward is as follows:

[0022]

[0023] where, is the pitch angular velocity feedforward, is the pitch angular velocity control target of the last control cycle of the first stage, K4 is the pitch angle proportional term control parameter, is the pitch angle of the first control cycle of the second stage, P is the pitch angular velocity feedforward weight coefficient, θ g is the pitch angle control target, θ g = 90°.

[0024] Optionally, the calculation formula of the pitch angular velocity feedforward weight coefficient is as follows:

[0025]

[0026] Among them, P is the weight coefficient of the pitch angular velocity feedforward quantity, and θ is the pitch angle. It is the pitch angle of the first control cycle of the second stage.

[0027] Optionally, the calculation formula of the pitch control surface control command is as follows:

[0028]

[0029] Among them, u y is the pitch control surface control command, w y is the pitch angular velocity, is the pitch angular velocity control target, K1 is the damping term control parameter of pitch control, K2 is the proportional term control parameter of pitch control, and K3 is the integral term control parameter of pitch control.

[0030] Optionally, the pitch angular velocity control target is less than or equal to the maximum allowable pitch angular velocity, and the value range of the maximum allowable pitch angular velocity is 10° / s to 30° / s.

[0031] In a second aspect, there is provided an attitude control device for a vertical takeoff and landing unmanned aerial vehicle, including:

[0032] A stage determination module, configured to determine the current stage of the vertical takeoff and landing unmanned aerial vehicle during the transition process according to the pitch angle and flight speed of the vertical takeoff and landing unmanned aerial vehicle; the transition process refers to the process of transitioning from a horizontal state to a vertical state;

[0033] A target determination module, configured to determine a pitch angular velocity control target according to the current stage;

[0034] An instruction determination module, configured to use a proportional integral derivative control law structure to determine a pitch control surface control command according to the pitch angular velocity control target and the pitch angular velocity;

[0035] A control module, configured to control the vertical takeoff and landing unmanned aerial vehicle to transition from a horizontal state to a vertical state through the pitch control surface control command.

[0036] In a third aspect, the present application provides a computer device, which includes a memory and a processor. A computer program is stored in the memory, and the processor executes the computer program to implement the attitude control method of the vertical takeoff and landing unmanned aerial vehicle described in the first aspect.

[0037] Fourthly, the present application provides a computer-readable storage medium, on which a computer program is stored, and a processor executes the computer program to implement the attitude control method of the vertical takeoff and landing unmanned aerial vehicle described in the first aspect.

[0038] Compared with the prior art, the beneficial effects of the present application are as follows:

[0039] The present application provides an attitude control method for a vertical takeoff and landing unmanned aerial vehicle. The method includes: determining the current stage of the vertical takeoff and landing unmanned aerial vehicle during the transition process according to the pitch angle and flight speed of the vertical takeoff and landing unmanned aerial vehicle; the transition process refers to the process of transitioning from a horizontal state to a vertical state; determining the pitch angular velocity control target according to the current stage; adopting a proportional-integral-derivative control law structure, and determining the pitch control surface control command according to the pitch angular velocity control target and the pitch angular velocity; controlling the vertical takeoff and landing unmanned aerial vehicle to transition from a horizontal state to a vertical state through the pitch control surface control command.

[0040] The present application adopts a proportional-integral-derivative control law structure, that is, a PID controller, which can adjust the pitch control surface control command according to the real-time pitch angular velocity error, so that the unmanned aerial vehicle can quickly respond and adjust to achieve the required pitch angular velocity and attitude, realize a rapid transition from a horizontal state to a vertical state, thereby shortening the time required for the vertical takeoff and landing unmanned aerial vehicle to land. Description of the Drawings

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments or related technologies. Obviously, the drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0042] Figure 1 It is a schematic structural diagram of a computer device for the hardware operating environment involved in the solution of the embodiment of the present application;

[0043] Figure 2 It is a schematic flowchart of an attitude control method for a vertical takeoff and landing unmanned aerial vehicle provided by an embodiment of the present application;

[0044] Figure 3 It is a simulation pitch angular velocity change curve graph provided by an embodiment of the present application;

[0045] Figure 4 It is a simulation pitch angle change curve graph provided by an embodiment of the present application;

[0046] Figure 5 It is a simulation pitch control surface control command change curve graph provided by an embodiment of the present application;

[0047] Figure 6 This is a schematic structural diagram of the attitude control device for a vertical takeoff and landing unmanned aerial vehicle provided by an embodiment of the present application.

[0048] Reference numerals in the figure: 101 - processor, 102 - communication bus, 103 - network interface, 104 - user interface, 105 - memory. Detailed implementation manners

[0049] To make the objectives, technical solutions, and advantages of the present application clearer and more understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present application. Without conflict, the embodiments in the present application and the features in the embodiments may be arbitrarily combined with each other. And although the logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a sequence different from that here.

[0050] Since the development of vertical takeoff and landing aircraft to date, the main types include: tail - sitter, tilt - rotor, rotor - type, jet engine thrust - vectoring type, ducted fan type, and hybrid type. Among them, the tail - sitter vertical takeoff and landing unmanned aerial vehicle is an aircraft whose fuselage tilts as a whole during the takeoff and landing process. Generally, it uses a propeller as power. With its characteristics of light weight, small size, and simple power system, it can take off and land in narrow spaces such as ship decks, mountains, canyons, and alleys. After carrying an effective payload, it can be used to perform tasks such as reconnaissance, relay communication, and attack, and has broad application prospects.

[0051] During the process of the tail - sitter vertical takeoff and landing unmanned aerial vehicle transitioning from the horizontal state to the vertical state, there are the following difficulties in attitude control: If the attitude changes too quickly during the transition process, it is easy to cause the control surface to stall, resulting in attitude out - of - control and endangering flight safety. If the pitch angular velocity is too large during the transition process, it will cause the normal overload of the aircraft to be too large, posing a challenge to the structural strength of the aircraft. If the attitude changes too slowly during the transition process, the deceleration time of the aircraft is too long, the forward movement distance of the aircraft is large and difficult to estimate. When the aircraft reaches the vertical state, the position of the aircraft may deviate far from the landing point, and the position needs to be corrected in the vertical state. The position correction increases the time required for landing. Especially, when the wind speed is large, the aircraft needs to correct the position while resisting the wind, and at this time, the landing time will be even longer.

[0052] In view of this, an embodiment of the present application provides an attitude control method for a vertical takeoff and landing unmanned aerial vehicle. Please refer to Figure 1 This is a schematic structural diagram of a computer device for the hardware operating environment involved in the solution of the embodiment of the present application.

[0053] As shown Figure 1 in the figure, the computer device may include: a processor 101, such as a Central Processing Unit (CPU), a communication bus 102, a user interface 104, a network interface 103, and a memory 105. Among them, the communication bus 102 is used to implement connection communication between these components. The user interface 104 may include a display screen (Display) and an input unit such as a keyboard (Keyboard). Optionally, the user interface 104 may further include a standard wired interface and a wireless interface. The network interface 103 may optionally include a standard wired interface and a wireless interface (such as a Wireless-Fidelity (WI-FI) interface). The memory 105 may be a high-speed Random Access Memory (RAM) or a stable Non-Volatile Memory (NVM), such as a disk memory. Optionally, the memory 105 may also be a storage device independent of the aforementioned processor 101.

[0054] Those skilled in the art can understand that Figure 1 the structure shown in

[0055] As shown Figure 1 in the figure, in the memory 105 as a storage medium, there may be included an operating system, a network communication module, a user interface module, and an attitude control device for a vertical takeoff and landing unmanned aerial vehicle.

[0056] In Figure 1 the computer device shown in the figure, the network interface 103 is mainly used for data communication with a network server; the user interface 104 is mainly used for data interaction with a user; the processor 101 and the memory 105 in the computer device of the present invention may be disposed in the computer device. The computer device calls the attitude control device for the vertical takeoff and landing unmanned aerial vehicle stored in the memory 105 through the processor 101 and executes the attitude control method for the vertical takeoff and landing unmanned aerial vehicle provided in the embodiments of the present application.

[0057] Based on the computer device of the foregoing embodiments, the following combines Figure 2 to introduce an attitude control method for a vertical takeoff and landing unmanned aerial vehicle provided in the embodiments of the present application.

[0058] S201. Determine the current stage in the transition process of the vertical takeoff and landing unmanned aerial vehicle according to the pitch angle and flight speed of the vertical takeoff and landing unmanned aerial vehicle.

[0059] The vertical takeoff and landing unmanned aerial vehicle is, for example, a tail-sitter vertical takeoff and landing unmanned aerial vehicle. The transition process refers to the process of transitioning from a horizontal state to a vertical state. During the transition process of the vertical takeoff and landing unmanned aerial vehicle, the pitch angle changes from near 0° to near 90°, and the flight speed decelerates from dozens of kilometers per hour to over a hundred kilometers per hour to nearly zero. According to the pitch angle and the flight speed, the transition process can be divided into a first stage and a second stage.

[0060] In the specific implementation process, the pitch angle can be measured by an on-board attitude sensor, and the flight speed can be measured by an on-board navigation device. According to the pitch angle and the flight speed, it is determined whether the current stage of the vertical takeoff and landing unmanned aerial vehicle during the transition process is the first stage or the second stage.

[0061] In a possible embodiment, if θ < 60 0 and then it is determined that the current stage is the first stage; if θ ≥ 60 0 or then it is determined that the current stage is the second stage.

[0062] where θ is the pitch angle, V x is the component of the flight speed on the X-axis of the body coordinate system, with the unit of m / s, n max is the maximum allowable normal overload, is the maximum allowable pitch angular velocity, g is the acceleration due to gravity, and its value is 9.8 m / s 2 .

[0063] In the specific implementation process, the body coordinate system is a coordinate system established with the center of gravity O of the aircraft as the origin. The body coordinate system includes three coordinate axes: the X-axis, the Y-axis, and the Z-axis. The X-axis passes through the center of gravity O of the aircraft, is located in the aircraft's symmetry plane and parallel to the body axis, and points in the nose direction of the aircraft. The Y-axis passes through the center of gravity O of the aircraft, is perpendicular to the aircraft's symmetry plane, and points to the right side of the aircraft. The Z-axis passes through the center of gravity O of the aircraft, is perpendicular to the aircraft's symmetry plane and perpendicular to the X-axis, and points to the bottom of the aircraft. The maximum allowable normal overload refers to the maximum allowable value of the ratio of the acceleration perpendicular to the fuselage direction during flight to the acceleration due to gravity of the earth, which is a dimensionless number limited by the structural strength of the aircraft.

[0064] In the embodiment of the present application, according to the pitch angle and the component of the flight speed on the X-axis of the body coordinate system, the process of the vertical takeoff and landing unmanned aerial vehicle transitioning from a horizontal state to a vertical state is divided into a first stage and a second stage. By clearly defining the stages, the pitch angle and speed changes of the vertical takeoff and landing unmanned aerial vehicle can be more precisely controlled, so as to achieve a smooth transition of the vertical takeoff and landing unmanned aerial vehicle from a horizontal state to a vertical state.

[0065] S202. Determine the pitch angular velocity control target according to the current stage.

[0066] In a possible embodiment, if it is determined that the current stage is the first stage, the calculation method of the pitch angular velocity control target is as follows:

[0067]

[0068] Wherein, is the pitch angular velocity control target, n max is the maximum allowable normal overload, g is the acceleration due to gravity, and V x is the component of the flight speed on the X-axis of the body coordinate system.

[0069] If it is determined that the current stage is the second stage, the calculation method of the pitch angular velocity control target is as follows:

[0070]

[0071] Wherein, is the pitch angular velocity control target, is the pitch angular velocity feedforward quantity, θ is the pitch angle, and θ g is the pitch angle control target, and K4 is the pitch angle proportional term control parameter.

[0072] In the embodiment of the present application, for the first stage and the second stage, different methods are used to determine the pitch angular velocity control target. The pitch angular velocity feedforward quantity is introduced into the calculation formula of the pitch angular velocity control target in the second stage to compensate for the expected change in the pitch angular velocity, ensuring that when the aircraft transitions from the first stage to the second stage, the control command of the pitch control surface remains continuous without jumping. It can also help the aircraft reach the desired pitch angular velocity faster in the second stage, improving the flexibility and efficiency of control.

[0073] In a possible embodiment, the calculation formula of the pitch angular velocity feedforward quantity is as follows:

[0074]

[0075] Wherein, is the pitch angular velocity feedforward quantity, is the pitch angular velocity control target of the last control cycle of the first stage, K4 is the pitch angle proportional term control parameter, is the pitch angle of the first control cycle of the second stage, P is the pitch angular velocity feedforward quantity weight coefficient, and θ g is the pitch angle control target.

[0076] The purpose of the vertical takeoff and landing unmanned aircraft transitioning from the horizontal state to the vertical state is to control the body to reach the vertical state. Therefore, θ g = 90°.

[0077] In a possible embodiment, the calculation formula of the pitch angular velocity feedforward weight coefficient is as follows:

[0078]

[0079] Where P is the pitch angular velocity feedforward weight coefficient, θ is the pitch angle, and is the pitch angle at the first control period of the second stage.

[0080] In the embodiment of the present application, the pitch angular velocity feedforward weight coefficient is adjusted according to the change of the pitch angle and the pitch angle at the first control period of the second stage. By introducing the pitch angular velocity feedforward weight coefficient, the pitch angular velocity control objectives of the first stage and the second stage can be connected, and a smooth transition of the pitch angular velocity control objective can be achieved.

[0081] In a possible embodiment, the pitch angular velocity control objective is less than or equal to the maximum allowable pitch angular velocity, and the value range of the maximum allowable pitch angular velocity is 10° / s to 30° / s.

[0082] In the embodiment of the present application, in order to ensure that the control surface does not stall, the pitch angular velocity control objective is restricted so that the pitch angular velocity control objective does not exceed the maximum allowable pitch angular velocity. The value range of the maximum allowable pitch angular velocity is 10° / s to 30° / s. If the value is too large, the dynamics will be too large during the transition of the aircraft from the horizontal state to the vertical state, and the situation of control surface stall may occur. If the value is too small, the time history of the process of the aircraft transitioning from the horizontal state to the vertical state will be too long, which is not conducive to the aircraft quickly entering the vertical landing stage.

[0083] S203. Adopt a proportional-integral-derivative control law structure, and determine the pitch control surface control command according to the pitch angular velocity control objective and the pitch angular velocity.

[0084] In a possible embodiment, the calculation formula of the pitch control surface control command is as follows:

[0085]

[0086] Where u y is the pitch control surface control command, w y is the pitch angular velocity, is the pitch angular velocity control objective, K1 is the damping term control parameter of pitch control, K2 is the proportional term control parameter of pitch control, and K3 is the integral term control parameter of pitch control.

[0087] In the specific implementation process, K1, K2, K3, and K4 can be obtained by adjusting parameters based on the dynamic model. First, establish an aircraft dynamic model, including the motion equation and dynamic equation of the aircraft, to describe the motion characteristics of the aircraft under the action of aerodynamics and inertial forces. Second, design a Proportional-Integral-Derivative (PID) controller according to the dynamic model. Then, use the actual data or simulation model of the aircraft to determine the control parameters through parameter identification technology, such as the damping term control parameter K1 of pitch control, the proportional term control parameter K2 of pitch control, the integral term control parameter K3 of pitch control, the proportional term control parameter K4 of pitch angle, etc. Finally, use the aircraft dynamic model for simulation, and adjust the control parameters such as K1, K2, K3, and K4 according to the simulation results to ensure that the pitch angular velocity can be effectively controlled under various flight conditions, so as to obtain the optimal control parameters K1 = 0.3, K2 = -0.1, K3 = -0.3, K4 = 0.38.

[0088] S204. Control the vertical takeoff and landing UAV to transition from the horizontal state to the vertical state through the pitch control surface control command.

[0089] The embodiments of this application are simulated under the following conditions: the maximum allowable normal overload n max = 2.0, the maximum allowable pitch angular velocity The damping term control parameter K1 of pitch control = 0.3, the proportional term control parameter K2 of pitch control = -0.1, the integral term control parameter K3 of pitch control = -0.3, the proportional term control parameter K4 of pitch angle = 0.38, the initial flight speed V x = 100 m / s, the initial pitch angle θ = 0°, the initial pitch angular velocity w y = 0° / s.

[0090] The simulation results show that the time range from 0 to 4.7 s is the first stage, and the time after 4.7 s is the second stage. Please refer to Figure 3 , for the simulation pitch angular velocity change curve graph provided by the embodiments of this application, where the dashed line is the change curve of the pitch angular velocity control target, and the solid line is the actual change curve of the pitch angular velocity. The pitch angular velocity control target in the first stage is 15° / s, and the pitch angular velocity tracks the control target well.

[0091] Please refer to Figure 4 , for the simulation pitch angle change curve graph provided by the embodiments of this application, where the dashed line is the change curve of the pitch angle control target, and the solid line is the actual change curve of the pitch angle. The pitch angle control target in the second stage is 90°, the pitch angle reaches the target value at time 8 s and remains stable, and there is almost no overshoot during the horizontal to vertical transition, and the control effect is good.

[0092] Please refer to Figure 5 which is the curve graph of the control instruction change of the simulated pitch control surface provided by the embodiment of the present application. When the pitch control surface control instruction is less than 3°, it is within the range of the control surface usage.

[0093] To sum up, the embodiment of the present application provides an attitude control method for a vertical take-off and landing unmanned aerial vehicle. With the maximum allowable pitch angular velocity and the maximum allowable normal overload as the limiting conditions for attitude control, the pitch angle and pitch angular velocity are controlled with the aim of quickly reaching the vertical state. While ensuring that the control surface does not stall and the normal overload does not exceed the limit requirements of the aircraft structural strength, the vertical take-off and landing unmanned aerial vehicle is quickly transitioned from the horizontal state to the vertical state, shortening the time required for the vertical take-off and landing unmanned aerial vehicle to land.

[0094] Based on the same inventive concept, please refer to Figure 6 The present application also provides an attitude control device for a vertical take-off and landing unmanned aerial vehicle, including:

[0095] A stage determination module, configured to determine the current stage of the vertical take-off and landing unmanned aerial vehicle during the transition process according to the pitch angle and flight speed of the vertical take-off and landing unmanned aerial vehicle; the transition process refers to the process of transitioning from the horizontal state to the vertical state;

[0096] A target determination module, configured to determine the pitch angular velocity control target according to the current stage;

[0097] An instruction determination module, configured to adopt a proportional-integral-derivative control law structure to determine the pitch control surface control instruction according to the pitch angular velocity control target and the pitch angular velocity;

[0098] A control module, configured to control the vertical take-off and landing unmanned aerial vehicle to transition from the horizontal state to the vertical state through the pitch control surface control instruction.

[0099] Optionally, the stage determination module is specifically configured to:

[0100] If θ < 60° and then determine that the current stage is the first stage;

[0101] If θ ≥ 60° or then determine that the current stage is the second stage;

[0102] where θ is the pitch angle, V x is the component of the flight speed on the X-axis of the body coordinate system, n max is the maximum allowable normal overload, is the maximum allowable pitch angular velocity, and g is the acceleration due to gravity.

[0103] Optionally, the target determination module is specifically configured to:

[0104] If it is determined that the current stage is the first stage, the calculation method of the pitch angular velocity control target is as follows:

[0105]

[0106] Among them, is the pitch angular velocity control target, n max is the maximum allowable normal overload, g is the acceleration due to gravity, and V x is the component of the flight speed on the X-axis of the body coordinate system;

[0107] If it is determined that the current stage is the second stage, the calculation method of the pitch angular velocity control target is as follows:

[0108]

[0109] Among them, is the pitch angular velocity control target, is the pitch angular velocity feedforward quantity, θ is the pitch angle, and θ g is the pitch angle control target, and θ g = 90°, and K4 is the pitch angle proportional term control parameter.

[0110] Optionally, the calculation formula of the pitch angular velocity feedforward quantity is as follows:

[0111]

[0112] Among them, is the pitch angular velocity feedforward quantity, is the pitch angular velocity control target of the last control cycle of the first stage, K4 is the pitch angle proportional term control parameter, is the pitch angle of the first control cycle of the second stage, P is the pitch angular velocity feedforward quantity weight coefficient, and θ g is the pitch angle control target, and θ g = 90°.

[0113] Optionally, the calculation formula of the pitch angular velocity feedforward quantity weight coefficient is as follows:

[0114]

[0115] Among them, P is the pitch angular velocity feedforward quantity weight coefficient, θ is the pitch angle, is the pitch angle of the first control cycle of the second stage.

[0116] Optionally, the calculation formula of the pitch control surface control command is as follows:

[0117]

[0118] Among them, uy is the pitch control command for the control surface, w y is the pitch angular velocity, is the pitch angular velocity control target, K1 is the damping term control parameter for pitch control, K2 is the proportional term control parameter for pitch control, and K3 is the integral term control parameter for pitch control.

[0119] Optionally, the pitch angular velocity control target is less than or equal to the maximum allowable pitch angular velocity, and the value range of the maximum allowable pitch angular velocity is 10° / s to 30° / s.

[0120] It should be noted that each module in the attitude control device of the vertical takeoff and landing UAV in this embodiment corresponds one by one to each step in the attitude control method of the vertical takeoff and landing UAV in the foregoing embodiment. Therefore, the specific implementation manner of this embodiment may refer to the implementation manner of the foregoing attitude control method of the vertical takeoff and landing UAV, which will not be elaborated here.

[0121] Based on the same inventive concept, the present application also provides a computer device, which includes a processor, a memory, and a computer program stored in the memory. When the computer program is run by the processor, it implements the foregoing attitude control method of the vertical takeoff and landing UAV.

[0122] Based on the same inventive concept, the present application also provides a computer storage medium, on which a computer program is stored. When the computer program is run by the processor, it implements the foregoing attitude control method of the vertical takeoff and landing UAV.

[0123] In some embodiments, the computer-readable storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface memory, optical disc, or CD-ROM; or it may be various devices including one or any combination of the foregoing memories. The computer may be various computing devices including smart terminals and servers.

[0124] In some embodiments, the executable instructions may be in the form of a program, software, software module, script, or code, and may be written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including being deployed as an independent program or being deployed as a module, component, subroutine, or other unit suitable for use in a computing environment.

[0125] As an example, executable instructions may, but need not, correspond to a file in a file system, may be stored as part of a file that stores other programs or data, such as in one or more scripts in a HyperText Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files storing one or more modules, subroutines, or code portions).

[0126] By way of example, executable instructions may be deployed to be executed on one computing device, or on multiple computing devices located at one site, or on multiple computing devices distributed across multiple sites and interconnected by a communication network.

[0127] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0128] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0129] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory / random access memory, a magnetic disk, or an optical disk), and includes a number of instructions for a multimedia terminal device (which can be a mobile phone, a computer, a television receiver, or a network device, etc.) to execute the methods of each embodiment of the present application.

[0130] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for attitude control of a vertical takeoff and landing unmanned aerial vehicle, characterized in that, Comprising: Determine the current stage of the vertical takeoff and landing (VTOL) drone during the transition process according to the pitch angle and flight speed of the VTOL drone; the transition process refers to the process of transitioning from a horizontal state to a vertical state; Determine the pitch angular velocity control target according to the current stage; Adopt a proportional-integral-derivative (PID) control law structure, and determine the pitch control surface control command according to the pitch angular velocity control target and the pitch angular velocity; Control the VTOL drone to transition from a horizontal state to a vertical state through the pitch control surface control command.

2. The attitude control method of the vertical takeoff and landing unmanned aerial vehicle according to claim 1, characterized in that, The step of determining the current stage of the VTOL drone during the transition process according to the pitch angle and flight speed of the VTOL drone comprises: If θ < 60° and then determine that the current stage is the first stage; If θ ≥ 60° or then determine that the current stage is the second stage; where, θ is the pitch angle, V x is the component of the flight speed on the X-axis of the body coordinate system, n max is the maximum allowable normal overload, is the maximum allowable pitch angular velocity, and g is the acceleration due to gravity.

3. The attitude control method of the vertical takeoff and landing unmanned aerial vehicle according to claim 2, characterized in that, The step of determining the pitch angular velocity control target according to the current stage comprises: If it is determined that the current stage is the first stage, the calculation method of the pitch angular velocity control target is as follows: Among them, is the pitching angular velocity control target, and n max is the maximum allowable normal overload, g is the acceleration due to gravity, and V x is the component of the flight speed on the X-axis of the body coordinate system; If it is determined that the current stage is the second stage, the calculation method of the pitch angular velocity control target is as follows: Among them, is the pitch angular velocity control target, is the pitch angular velocity feedforward amount, θ is the pitch angle, θ g is the pitch angle control target, θ g = 90°, and K4 is the pitch angle proportional term control parameter.

4. The attitude control method of the vertical takeoff and landing unmanned aerial vehicle according to claim 3, characterized in that The calculation formula of the pitch angular velocity feedforward amount is as follows: wherein, is the pitch angular velocity feedforward amount, is the pitch angular velocity control target of the last control period of the first stage, and K4 is the pitch angle proportional term control parameter, is the pitch angle of the first control period of the second stage, P is the pitch angular velocity feedforward amount weight coefficient, and θ g is the pitch angle control target, and θ g = 90°.

5. The attitude control method of the vertical takeoff and landing unmanned aerial vehicle according to claim 4, wherein The calculation formula of the weight coefficient of the pitch angular velocity feedforward amount is as follows: Wherein, P is the weight coefficient of the pitch angular velocity feedforward amount, and θ is the pitch angle, which is the pitch angle in the first control period of the second stage.

6. The attitude control method of the vertical takeoff and landing unmanned aerial vehicle according to claim 1, characterized in that The calculation formula of the pitch control surface control command is as follows: where, u y is the pitch control surface control command, w y is the pitch angular velocity, is the pitch angular velocity control target, K1 is the damping term control parameter for pitch control, K2 is the proportional term control parameter for pitch control, and K3 is the integral term control parameter for pitch control.

7. The attitude control method of the vertical takeoff and landing unmanned aerial vehicle according to claim 1, characterized in that, The pitch angular velocity control target is less than or equal to the maximum allowable pitch angular velocity, and the value range of the maximum allowable pitch angular velocity is 10° / s to 30° / s.

8. An attitude control device for a vertical takeoff and landing unmanned aerial vehicle, characterized in that Comprising: A stage determination module, configured to determine the current stage of the VTOL drone during the transition process according to the pitch angle and flight speed of the VTOL drone; the transition process refers to the process of transitioning from a horizontal state to a vertical state; A target determination module, configured to determine the pitch angular velocity control target according to the current stage; A command determination module, configured to adopt a PID control law structure and determine the pitch control surface control command according to the pitch angular velocity control target and the pitch angular velocity; A control module, configured to control the VTOL drone to transition from a horizontal state to a vertical state through the pitch control surface control command.

9. A computer device, characterized in that, The computer device includes a memory and a processor, and a computer program is stored in the memory. The processor executes the computer program to implement the attitude control method of the VTOL drone according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, A computer-readable storage medium stores a computer program, and a processor executes the computer program to implement the attitude control method of the VTOL drone according to any one of claims 1-7.

Images