Unified manipulation accurate control mode for hovercar

Abstract

The invention discloses a unified control precise control mode for an aerocar, which mainly comprises a control panel, a mode sharing left pedal, a mode sharing right pedal, a mode sharing control lever and four rotors, and the control mode is changed and the corresponding function is unlocked by switching a mode button. An algorithm based on precise control is introduced, the algorithm can process data from a sensor and user input in real time, a control instruction is dynamically optimized, and the control precision and the response speed are improved. The algorithm has a self-adaptive characteristic, and control parameters are automatically adjusted according to different flight conditions and user behaviors. The input comprises a flight state and user operation, and the output is a corresponding control instruction, so that the optimal performance under various conditions is ensured. According to the scheme, the control mode of the hovercar is simplified, the user experience is improved, the manufacturing cost is effectively reduced, and meanwhile the flight safety is enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of automobiles, and particularly to a unified operation precise control mode for a flying car. Background Art

[0002] With the acceleration of urbanization and the increase in population, the problem of traffic congestion has become increasingly serious globally, and traditional ground transportation means can no longer meet people's needs for efficient travel. Against this background, flying cars, as a future means of transportation, have gradually attracted people's attention. Flying cars combine the characteristics of traditional cars and aircraft, and can not only drive on the ground but also fly in the air, providing a new mode of transportation. However, the current technology of flying cars is not yet mature, especially in the control system, facing many challenges. Existing flying cars usually separately equip control systems for ground driving and air flight. Drivers need to frequently switch between the ground mode and the flight mode, with complex operations and prone to misoperations. In addition, the operation panel interfaces and control methods of different manufacturers vary significantly, resulting in high user learning costs and poor operation experiences. To solve these problems, precise algorithms can be used to optimize the control system of flying cars, improve the real-time feedback and adjustment ability of flight states, and thus maintain stability and response speed in different control modes. This unified driving and operating method can not only simplify operations but also enhance users' sense of security and driving experiences, promoting the wide application of flying cars. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the above technical defects and provide a unified operation precise control mode for a flying car.

[0004] To solve the above problems, the technical solution of the present invention is a unified operation precise control mode for a flying car, including:

[0005] An automobile body, on the top of which there is a fixed seat. On the top of the four sides of the fixed seat, there are support rods respectively. On the top of the four support rods far away from the fixed seat, there are drive motors respectively. The output ends of the four drive motors are respectively fixedly connected with rotors.

[0006] A unified operating system, which includes an operation panel, a mode-shared left pedal, a mode-shared right pedal, a mode-shared operating lever, four rotors, and a mode switching button.

[0007] A precise control algorithm module, which is used to receive sensor data and user operation signals and generate control instructions to adjust the attitude and motion state of the flying car.

[0008] A user interface, which is used to display the current mode, attitude state, speed, and other operation information.

[0009] Furthermore, the left pedal and the right pedal are used for braking and accelerating in the ground mode, and both the left pedal and the right pedal are used for roll control in the flight mode; the joystick adjusts the power magnitude in the flight mode and controls gear shifting in the ground mode.

[0010] Furthermore, the mode switching button is used to switch between the ground mode and the flight mode, and lock or unlock the corresponding control devices to prevent misoperation.

[0011] Furthermore, the thrust distribution of the four rotors is adjusted by the precise control algorithm module according to the flight attitude to ensure flight stability.

[0012] Furthermore, through the mode recognition and initialization steps, the system activates the corresponding control functions according to the selected mode by the user, and locks the irrelevant controls to ensure the safety and accuracy of the operation.

[0013] Furthermore, the operation panel controls the driving direction in the ground mode, and controls the pitch angle and yaw angle of the flying car in the flight mode. The yaw angle is changed by rotation, and the pitch angle is adjusted by pushing forward and backward.

[0014] Furthermore, the precise control algorithm module combines gain control, wind resistance compensation and air flow disturbance compensation to optimize the control response and flight stability, and has an adaptive adjustment function to dynamically optimize the control parameters according to the changes of flight conditions.

[0015] Furthermore, the calculation formula of the precise control algorithm is as follows:

[0016] e(t) = set value - actual value

[0017]

[0018] where e(t) is the error, K p 、K i 、K d are gain coefficients, F drag is the wind resistance compensation force, and F disturbance is the air flow disturbance compensation force.

[0019] Furthermore, the user interface displays the current mode, posture state, speed and other key operation information of the flying car in real time to facilitate the driver to monitor the vehicle state.

[0020] Furthermore, the adaptive adjustment function dynamically adjusts the gain coefficients and compensation amounts of the control commands according to the changes of parameters such as flight altitude, speed, and wind direction.

[0021] Further, after receiving the user operation signal and sensor data, the precise control algorithm module calculates the corresponding adjustment signal through the PID controller to adjust the attitude and motion state of the flying car in real time, ensuring the smoothness and accuracy of flight.

[0022] The advantages of the present invention compared with the existing technologies are as follows:

[0023] 1. The present invention provides a unified control precise control mode for a flying car. The control devices in the flying car include a mode - shared steering wheel, a mode - shared left pedal, a mode - shared right pedal, and a mode - shared joystick. After obtaining the selected control mode of the flying car through the mode controller, the control devices of the flying car can be configured to the functional states corresponding to the selected control mode in response to the selected control mode. In this way, the driving of the flying car can be controlled according to the operations on the control devices configured to the functional states. Whether the control mode is the car mode or the flight mode, this control logic can be applied. The operation of the control devices is simple, the control instructions are dynamically optimized, and the operation accuracy and response speed are improved. It enables the users of the flying car to easily operate the flying car and realize the free switching between the car operation mode and the flight operation mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic flow chart of the flying car control processing method of the present invention.

[0025] Figure 2 is a schematic flow chart in the car mode of the flying car control processing method of the present invention.

[0026] Figure 3 corresponds to Figure 2 the schematic flow chart.

[0027] Figure 4 is a schematic flow chart in the flight mode of the flying car control processing method of the present invention.

[0028] Figure 5 corresponds to Figure 4 the schematic flow chart.

[0029] Figure 6 is a schematic flow chart of the control algorithm in the flying car control system of the present invention.

[0030] Figure 7 is a schematic structural diagram of the control devices in the flying car control system of the present invention.

[0031] Figure 8 is a schematic diagram of the quad - rotor enabled in the flight mode of the present invention.

[0032] As shown in the figure: 1. Automobile body; 2. Fixed seat; 3. Support rod; 4. Driving motor; 5. Rotor; 6. Operation panel; 7. Mode switching button; 8. Left pedal; 9. Right pedal; 10. Operating lever. Detailed implementation

[0033] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. On the contrary, they are merely examples of devices consistent with some aspects of the present disclosure as detailed in the appended claims.

[0034] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the 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 the embodiments; based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0035] A unified control precise control mode for a flying car, including:

[0036] Automobile body 1, a fixed seat 2 is provided on the top of the automobile body 1, support rods 3 are respectively provided on the four sides of the top of the fixed seat 2, driving motors 4 are respectively provided on the tops of the four support rods 3 away from the fixed seat 2, and rotors 5 are respectively fixedly connected to the output ends of the four driving motors 4;

[0037] Unified operating system, the unified operating system includes an operation panel 6, a mode - shared left pedal 8, a mode - shared right pedal 9, a mode - shared operating lever 10, four rotors 5 and a mode switching button 7;

[0038] Precision control algorithm module, the precision control algorithm module is used to receive sensor data and user operation signals, and generate control instructions to adjust the attitude and motion state of the flying car;

[0039] User interface, the user interface is used to display the current mode, attitude state, speed and other operation information.

[0040] Further, the operation panel 6 controls the driving direction in the ground mode and controls the pitch angle and yaw angle of the flying car in the flight mode. The yaw angle is changed by rotation, and the pitch angle is adjusted by pushing forward and backward.

[0041] Further, the left pedal 8 and the right pedal 9 are used for braking and accelerating in the ground mode, and both the left pedal 8 and the right pedal 9 are used for roll control in the flight mode; the operating lever 10 adjusts the power in the flight mode and controls the gear shift in the ground mode.

[0042] Furthermore, the precise control algorithm module combines gain control, air resistance compensation, and airflow disturbance compensation to optimize control response and flight stability, and has an adaptive adjustment function to dynamically optimize control parameters according to changes in flight conditions.

[0043] Furthermore, the mode switching button 7 is used to switch between the ground mode and the flight mode, and lock or unlock the corresponding control devices to prevent misoperation.

[0044] Furthermore, the user interface displays the current mode, posture state, speed, and other key operation information of the flying car in real time to facilitate the driver to monitor the vehicle state.

[0045] Furthermore, the thrust distribution of the four rotors is adjusted by the precise control algorithm module according to the flight attitude to ensure flight stability.

[0046] Furthermore, the calculation formula of the precise control algorithm is as follows:

[0047] e(t) = set value - actual value

[0048]

[0049] Among them, e(t) is the error, K p , K i , K d are gain coefficients, F drag is the air resistance compensation force, F disturbance is the airflow disturbance compensation force, is the integral of the error, representing the accumulation of the error over time, is the differential of the error, representing the rate of change of the error, F drag is the air resistance compensation force.

[0050] Furthermore, the adaptive adjustment function dynamically adjusts the gain coefficient and compensation amount of the control command according to changes in parameters such as flight altitude, speed, and wind direction.

[0051] Furthermore, the system activates the corresponding control functions according to the selected mode through the pattern recognition and initialization steps, and locks the irrelevant controls to ensure the safety and accuracy of the operation.

[0052] Furthermore, after receiving the user operation signal and sensor data, the precise control algorithm module calculates the corresponding adjustment signal through the PID controller to adjust the attitude and motion state of the flying car in real time to ensure the smoothness and accuracy of the flight.

[0053] Furthermore, the calculation formula of the air resistance compensation force is as follows:

[0054]

[0055] Among them, C d drag coefficient, ρ air density, A frontal area, v 2 flight speed.

[0056] Furthermore, the calculation formula for the airflow disturbance compensation force is as follows;

[0057] F disturbance = K t ·a disturbance

[0058] Among them, K t disturbance compensation coefficient, a disturbance airflow disturbance acceleration.

[0059] The precise formula for the attitude control of the flying car is as follows:

[0060] Since the attitude control of the four rotors 5 mainly includes three directions: pitch, roll, and yaw. Assume that these angles are controlled to adjust the attitude of the aircraft.

[0061] Assume that the target attitudes are: θ pitch , θ roll , θ yaw

[0062] The actual attitude is: θ′ pitch , θ′ roll , θ′ yaw

[0063] According to the precise algorithm, a control output needs to be calculated for each attitude angle (pitch, roll, and yaw).

[0064] Pitch control:

[0065] The precise controller is used to calculate the error of the pitch angle and output a control signal. Its calculation formula is:

[0066]

[0067] Among them, θ pitch is the target pitch angle, θ′ pitch is the current pitch angle, F drag_pitch drag compensation term in the pitch direction, F disturbance airflow disturbance compensation term.

[0068] Among them,

[0069] Roll control:

[0070] The precise formula for the roll angle is as follows:

[0071]

[0072] Where θ roll is the target roll angle, θ′ roll is the current roll angle, F drag_roll is the roll direction air resistance compensation term, F disturbance is the airflow disturbance compensation term.

[0073] Where

[0074] Yaw control:

[0075] The precise formula for the yaw angle is as follows:

[0076]

[0077] Where θ yaw is the target yaw angle, θ′ yaw is the current yaw angle, F drag_yaw is the current yaw angle, F disturbance is the airflow disturbance compensation term.

[0078] Where

[0079] Furthermore, when the flying car is driving on the road surface, each time the steering wheel is turned, an error is generated, which is input into the precise controller. The precise controller calculates this error and generates an adjustment signal to control the steering wheel to achieve precise steering of the vehicle.

[0080] Course error:

[0081] In the car mode, a new error symbol e steering (t) is defined to represent the error of the vehicle's course, that is, the difference between the target direction and the current course:

[0082] e heading (t) = θ heading,target - θ heading,current

[0083] Where θ heading,target is the target course angle (desired direction), θ heading,current is the current course angle of the vehicle (actual direction).

[0084] The precise control formula is as follows. Using e heading (t) as the error to control the steering wheel, the output u heading (t) of the precise controller can be expressed as:

[0085]

[0086] Among them, K p 、K i 、K d are the adjustment coefficients of the precise controller, which are specifically used for the steering control of the ground driving mode;

[0087] F drag,car is the air resistance compensation force, and the formula is as follows:

[0088]

[0089] Among them, C d is the air resistance coefficient, ρ is the air density, A is the frontal area, and v 2 is the flight speed.

[0090] F disturbance,car is the airflow disturbance compensation force, and the specific formula is as follows:

[0091] F disturbance,car =K t ·a disturbance,car

[0092] Among them, K t is the disturbance compensation coefficient, and a disturbance,car is the airflow disturbance acceleration.

[0093] Furthermore, the steering wheel angle and the steering wheel angle:

[0094] Assume that the relationship between the angle δ(t) of the steering wheel and the output u heading (t) of the precise controller is direct, and the formula is as follows:

[0095] δ(t)=u heading (t)

[0096] Then, the angle δ(t) of the steering wheel is converted into the angle α(t) of the steering wheel through the steering system. If the steering system has a transmission ratio (r), then the formula is as follows:

[0097] α(t)=r·δ(t)

[0098] Calculate the course error: e heading (t)=θ heading,target -θ heading,current

[0099] Here, e heading (t) is the error in the ground driving mode, which is different from the attitude error e(t) in the flight mode.

[0100] Precise control output:

[0101]

[0102] Among them, the steering wheel angle: δ(t) = u heading (t)

[0103] The steering wheel angle: α(t) = r·δ(t).

[0104] During specific use

[0105] 1. Pattern recognition and initialization

[0106] As Figure 1 shown, the user selects the operation mode through the mode control button 7. After the system responds, it reads the current environmental parameters (such as height, speed, ground conditions, etc.). If the user selects the ground mode, the system locks the flight-related controls and activates the ground driving function. If the flight mode is selected, the system unlocks the rotors 5 and starts the flight control function.

[0107] 2. Input of operation signals

[0108] In the ground mode, the inputs include the operation panel 6, the left pedal 8, the right pedal 9, and the operation lever 10. The operation panel 6 is used to control the steering of the vehicle body 1, the left pedal 8 is used for braking, the right pedal 9 is used to control the acceleration of the vehicle body 1, and the operation lever 10 is used for shifting gears.

[0109] In the flight mode, the operation panel 6 can be pushed forward and backward and rotated left and right. Pushing the operation panel 6 forward and backward is used for the pitch control of the flying car, rotating the operation panel 6 left and right is used for the yaw control of the flying car, the left pedal 8 is used for the roll control of the flying car, and the operation lever 10 is used for the thrust adjustment of the flying car.

[0110] 3. Processing by the algorithm module

[0111] The input user operation signals and sensor data (such as attitude angle, speed) are sent to the precise control algorithm module, and the corresponding adjustment signals are calculated through the PID controller.

[0112] The adjustment signals are used to control the front wheel steering angle and braking torque in the ground mode; to adjust the thrust distribution of the quadrotor in the flight mode.

[0113] 4. Output execution and feedback

[0114] Ground mode: The steering wheel controls the front wheel steering angle, and the pedal signals adjust the braking force and throttle output.

[0115] Flight mode: The precise control algorithm adjusts the thrust of the quadrotor, and real-time adjusts the pitch, yaw, and roll angles to achieve flight stability.

[0116] The system feeds back the adjusted state to the user interface to ensure that the driver grasps the real-time information.

[0117] As shown Figure 2 in the ground mode operation control

[0118] When the user rotates the operation panel 6, the system detects the rotation amplitude through the sensor and calculates the heading error:

[0119] e heading (t) = θ heading,target - θ heading,current

[0120] The precision controller outputs a signal u(t) according to the error to control the angle of the steering wheel and adjust the ground driving direction.

[0121] The user adjusts the braking force distribution of the vehicle body 1 through the left pedal 8, and ensures stable braking through the ABS system to avoid vehicle out of control.

[0122] The user controls the throttle output of the vehicle body 1 through the right pedal 9 to achieve acceleration. The sensor detects the stepping depth, and the system optimizes the throttle opening to achieve smooth acceleration.

[0123] When the user moves the operating lever 10 back and forth, the system detects the signal through the sensor, and the system recommends the best shifting strategy in combination with the current vehicle speed.

[0124] As Figure 3 shown, for the heading error processing, by reading the current vehicle speed V and the target lateral θ heading,target , the current heading angle θ heading,current is calculated.

[0125] According to the error e(t), the precision controller outputs a signal:

[0126]

[0127] For the front wheel steering angle adjustment, the output signal u(t) is converted into the steering wheel angle α through the transmission ratio r, and finally converted into the front wheel steering angle β = r·α.

[0128] As Figure 4 shown, the flight mode operation control

[0129] The user pushes the operation panel 6 back and forth to control the pitch angle, rotates it left and right to control the yaw angle, and uses the left pedal 8 and the right pedal 9 to control the roll angle to achieve the left and right tilt adjustment of the aircraft.

[0130] The user pushes the joystick 10 to increase or decrease the thrust, and the system adjusts the thrust of the quadrotor 5 according to the control amount to control the flight height and speed.

[0131] As Figure 5 shown, the flight mode precision control algorithm

[0132] Attitude error calculation, the system reads the target attitude angles [θ pitch , θ roll , θ yaw target and the current angles [θ pitch , θ roll , θ yaw current , and calculates the error in each direction.

[0133] Precise control output, calculates the adjustment signals for the pitch, yaw, and roll directions respectively according to the following formulas

[0134]

[0135] Thrust distribution and optimization, according to the adjustment signal ΔT i adjusts the thrust of each rotor:

[0136] T 1,2,3,4 = T base + ΔT pitch ± ΔT roll ± ΔT yaw

[0137] The system monitors the rotor power in real time to ensure attitude stability.

[0138] As Figure 6 shown, the specific flow of the control algorithm

[0139] S1. Input module, the input data includes user operation signals (steering wheel, pedal, joystick) and sensor feedback (attitude angle, speed, acceleration).

[0140] S2. Core algorithm module, the precise control algorithm combines control and dynamic adaptive adjustment to optimize the aircraft attitude control. Multiple flight mode data (such as pitch, roll, yaw angle errors) are integrated in the module for real-time calculation.

[0141] S3. Output module, the ground mode outputs the steering wheel and power control signals, and the flight mode outputs the four-rotor thrust distribution instructions.

[0142] As Figure 8 shown, the thrust distribution formula for the four rotors 5

[0143] Front left rotor: T1 = T base + ΔT pitch - ΔT roll + ΔT yaw

[0144] Front right rotor: T2 = T base + ΔT pitch + ΔT roll - ΔT yaw ​​

[0145] Rear left rotor: T3 = T base -ΔT pitch -ΔT roll -ΔT yaw

[0146] Rear right rotor: T4 = T base -ΔT pitch +ΔT roll +ΔT yaw

[0147] Ensure that the total thrust is constant, so that the aircraft can maintain hovering or stable flight.

[0148] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device.

[0149] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made in these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

[0150] The above description of the present invention and its embodiments is not restrictive. What is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Generally speaking, if those of ordinary skill in the art are inspired by it and design similar structural modes and embodiments without creative efforts without departing from the purpose of the present invention, they shall fall within the protection scope of the present invention.

Claims

1. A unified and precise control mode for a flying car, characterized in that, Comprising: An automobile body (1), a fixed seat (2) is provided on the top of the automobile body (1), support rods (3) are respectively provided on the four sides of the top of the fixed seat (2), and drive motors (4) are respectively provided on the top sides of the four support rods (3) away from the fixed seat (2), and rotors (5) are respectively fixedly connected to the output ends of the four drive motors (4); A unified operating system, the unified operating system includes an operation panel (6), a mode - shared left pedal (8), a mode - shared right pedal (9), a mode - shared operating lever (10), four rotors (5) and a mode - switching button (7); A precise control algorithm module, the precise control algorithm module is used to receive sensor data and user operation signals, and generate control instructions to adjust the attitude and motion state of the flying car; A user interface, the user interface is used to display the current mode, attitude state, speed and other operation information.

2. The unified control precision control mode for a flying car according to claim 1, characterized in that: The operation panel (6) controls the driving direction in the ground mode, and controls the pitch angle and yaw angle of the flying car in the flight mode. The yaw angle is changed by rotation, and the pitch angle is adjusted by pushing forward and backward.

3. The unified control precise control mode for a flying car according to claim 1, characterized in that: The left pedal (8) and the right pedal (9) are used for braking and accelerating in the ground mode, and both the left pedal (8) and the right pedal (9) are used for roll control in the flight mode; the operating lever (10) adjusts the power magnitude in the flight mode and controls gear shifting in the ground mode.

4. A unified control precise control mode for a flying car according to claim 1, characterized in that: The precise control algorithm module combines gain control, wind resistance compensation and air flow disturbance compensation to optimize the control response and flight stability, and has an adaptive adjustment function to dynamically optimize the control parameters according to the changes of flight conditions.

5. A unified control precision control mode for a flying car according to claim 1, characterized in that: The mode - switching button (7) is used to switch between the ground mode and the flight mode, and lock or unlock the corresponding control devices to prevent misoperation.

6. A unified control precise control mode for a flying car according to claim 1, characterized in that: The user interface displays the current mode, posture state, speed and other key operation information of the flying car in real time, so that the driver can monitor the vehicle state. The thrust distribution of the four rotors is adjusted by the precise control algorithm module according to the flight attitude to ensure flight stability.

7. The unified control precise control mode for a flying car according to claim 4, characterized in that: The adaptive adjustment function dynamically adjusts the gain coefficient and compensation amount of the control instruction according to the changes of parameters such as flight altitude, speed, wind direction, etc.

8. A unified control precise control mode for a flying car according to claim 1, characterized in that: The calculation formula of the precise control algorithm is as follows: e(t)=set value - actual value where e(t) is the error, and K p , K i , K d are gain coefficients, F drag is the air resistance compensation force, and F disturbance is the air flow disturbance compensation force.

9. A unified control precise control mode for a flying car according to claim 1, characterized in that: The system activates the corresponding control functions according to the selected mode through the mode recognition and initialization steps, and locks the non - relevant controls to ensure the safety and accuracy of the operation.

10. A unified control precise control mode for a flying car according to claim 1, characterized in that: After receiving the user operation signal and sensor data, the precise control algorithm module calculates the corresponding adjustment signal through a PID controller, and adjusts the attitude and motion state of the flying car in real time to ensure the smoothness and accuracy of the flight.

Images