Three-rotor unmanned aerial vehicle control method

Abstract

The invention discloses a three-rotor unmanned aerial vehicle control method, and relates to the technical field of control, and the three-rotor unmanned aerial vehicle control method comprises an information acquisition module, a simulation arrangement module, a feedback module, an execution analysis module, an instruction generation module and an execution data set module.The three-rotor unmanned aerial vehicle control method has the advantages that optimization of airflow control and flight performance is facilitated through the simulation arrangement module; the unmanned aerial vehicle is more stable and flexible in the flight process, the influence of different working states of the feather jet frame on the flight of the unmanned aerial vehicle can be systematically tested and analyzed through the execution analysis module, the optimal control parameters and working modes can be found, the flight performance of the unmanned aerial vehicle is optimized, and the flight efficiency is improved. Intelligent adjustment can be performed through the instruction generation module according to the actual environment condition, it is ensured that the unmanned aerial vehicle can execute the instruction of the user more accurately, user operation convenience and the response capability of the unmanned aerial vehicle are improved, and an innovative thought is provided for solving the control problem of the small unmanned aerial vehicle in the complex environment.

Description

Technical Field

[0001] The present invention relates to the field of control technology, and particularly to a control method for a three-rotor unmanned aerial vehicle. Background Art

[0002] An unmanned aerial vehicle is an unpiloted aircraft controlled by a radio remote control device and a self-contained program control device, or operated completely or intermittently autonomously by an on-board computer. Compared with a piloted aircraft, an unmanned aerial vehicle is often more suitable for tasks that are too "stupid, dirty or dangerous". Unmanned aerial vehicles can be divided into military and civilian according to the application field. In the military aspect, unmanned aerial vehicles are divided into reconnaissance aircraft and target drones. In the civilian aspect, the combination of unmanned aerial vehicles and industry applications is the real demand for unmanned aerial vehicles. A three-rotor unmanned aerial vehicle is an unmanned aerial vehicle equipped with three rotor shafts, usually arranged in a "Y" shape or a "T" shape, and the included angle between each rotor arm is 120 degrees. The structure of a three-rotor unmanned aerial vehicle is relatively simple, the maintenance cost is relatively low, and it is flexible in operation, suitable for performing tasks that require high maneuverability.

[0003] Common control methods for three-rotor unmanned aerial vehicles are difficult to find the optimal control parameters and working modes during use. The flight performance of the unmanned aerial vehicle cannot be further optimized, which limits the performance improvement space of the unmanned aerial vehicle. There is a lack of innovative ideas and poor technical scalability, and it cannot accurately execute user instructions in a complex environment. Therefore, we propose a control method for a three-rotor unmanned aerial vehicle. Summary of the Invention

[0004] The purpose of the present invention is to provide a control method for a three-rotor unmanned aerial vehicle.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A control method for a three-rotor unmanned aerial vehicle, including:

[0006] An information acquisition module, which acquires the information of the three-rotor unmanned aerial vehicle and the three-rotor unmanned aerial vehicle, obtains the execution state when the three-rotor unmanned aerial vehicle turns, and obtains a reference case;

[0007] An imitation arrangement module, which imitates the feathers of a bird to construct a feather rack, installs a MEMS micro-nozzle on the feather rack to form a feather spray rack, installs the feather spray rack on the upper and lower sides of the arm of the three-rotor unmanned aerial vehicle, and the distance between different feather spray racks satisfies M is the width of the feather spray rack, and a feather state three-rotor unmanned aerial vehicle is obtained;

[0008] A feedback module, the wind force, height and azimuth information collected in real time is sent to an execution analysis module and an instruction generation module through a wireless transmission protocol. The execution analysis module dynamically adjusts the priority of the test scheme according to the current environmental data, and the instruction generation module combines the environmental data and historical instructions to generate a compensation strategy;

[0009] The execution analysis module establishes a test set, adjusts the angles and spraying states of different feather spraying racks, generates X test scenarios, records them in the test set, randomly extracts test scenarios from the test set, makes the feathered tri-rotor UAV operate according to the test scenarios, records the flight states and changes of the feathered tri-rotor UAV in real time, obtains the execution status information, marks the execution status information in the corresponding test scenarios, and extracts test scenarios from the test set again until the execution status information corresponding to X test scenarios is obtained;

[0010] The instruction generation module collects the instruction information of the user on the control panel, extracts the wind force around the feathered tri-rotor UAV and the altitude where the feathered tri-rotor UAV is located to obtain the external environment, analyzes the influence of the external environment on the feathered tri-rotor UAV according to the reference cases, analyzes the actual flight change state of the feathered tri-rotor UAV after executing the instruction information in the external environment to obtain the actual execution status, generates a compensation plan according to the actual execution status and the instruction information, and then the instruction information and the compensation plan form an execution instruction;

[0011] The execution data set module is used to record the execution instructions, obtain the instruction data set, and transmit the information in the instruction data set to the instruction generation module in real time.

[0012] As a further solution of the present invention: when obtaining the reference cases in the information collection module, the information about wind force, altitude and azimuth in the reference cases is synchronously extracted to obtain the external cause characteristics of the reference cases, and at the same time, a feature editing unit is established, and the user has the type of external cause characteristics extracted from the reference cases edited through the feature editing unit.

[0013] As a further solution of the present invention: when obtaining the feathered tri-rotor UAV in the imitation layout module, a layout type selection unit will be established synchronously. The layout type selection unit includes a gradient spiral layout and a bionic staggered matrix. At the same time, a layout drawing unit is established, and the user inputs the layout method drawn by himself into the layout drawing unit, and then simulates and analyzes the information in the layout drawing unit.

[0014] As a further solution of the present invention: the gradient spiral layout is arranged by an Archimedes spiral, so that the Reynolds number gradient from the root to the end of the UAV arm decreases, thereby reducing the wing tip vortex interference. The bionic staggered matrix adopts the staggered arrangement mode of kingfisher feathers, combines the V-shaped groove and the Fibonacci sequence arrangement to form a three-dimensional turbulent flow suppression structure, which can reduce the air flow separation and improve the lift efficiency.

[0015] As a further solution of the present invention: After the feedback information in the feedback module is obtained, the information about wind force and the height where it is located in the feedback information is extracted to obtain retrieval features. The retrieval features have the same feature name as the external cause features, but the corresponding numerical values are different. The retrieval features and the external cause features are sorted and numbered to obtain a retrieval table and an external cause table, so that the retrieval features and the external cause features with the same feature name use the same number in the retrieval table and the external cause table, and the coincidence index of the retrieval table and the external cause table is calculated.

[0016] As a further solution of the present invention: When calculating the coincidence index in the feedback module, let the numerical value corresponding to the retrieval feature in the retrieval table be J S , let the numerical value corresponding to the external cause feature in the external cause table be W S , let the number of retrieval features and external cause features with the same feature name be P, and let the coincidence index be F Z :

[0017]

[0018] The coincidence index is calculated through the above formula, and then the coincidence index and the corresponding reference cases are sorted by the method of descending order.

[0019] As a further solution of the present invention: When the test scheme in the execution analysis module is extracted from the test set, the initial extraction probability of each test scheme is an equal value, set as:

[0020]

[0021] When a certain test scheme is extracted, its remaining extraction times are reduced by 1, and its extraction probability is reallocated according to until all schemes reach the upper limit of the extraction permission times, where n is the number of extracted times.

[0022] As a further solution of the present invention: After the execution instruction in the instruction generation module is obtained, it will be transmitted to the feather-shaped tri-rotor UAV. At this time, the feather-shaped tri-rotor UAV will execute the execution instruction, and at the same time, obtain the position state of the feather-shaped tri-rotor UAV after completely executing the execution instruction to obtain the execution position information, analyze the position state information that the instruction information needs to reach to obtain the target position information, calculate the difference between the execution position information and the target position information to obtain the execution difference, and then establish a storage threshold. When the execution difference < storage threshold, the corresponding execution instruction is transmitted to the execution data set module, and when the execution difference ≥ storage threshold, the corresponding execution instruction is deleted.

[0023] As a further solution of the present invention: when the execution dataset module transmits the information in the instruction dataset to the instruction generation module, it retrieves the execution instructions from the instruction dataset according to the external environment and instruction information to obtain the instruction basis, and then modifies the instruction basis according to the external environment and instruction information to generate new execution instructions.

[0024] Adopting the above technical solution, compared with the prior art, the beneficial effects of the present invention are as follows:

[0025] 1. The present invention helps to optimize the airflow control and flight performance through the imitation layout module, making the drone more stable and flexible during flight. The execution analysis module can systematically test and analyze the influence of different working states of the feather ejection rack on the flight of the drone, which helps to find the optimal control parameters and working modes, and further optimize the flight performance of the drone. The instruction generation module can perform intelligent adjustment and compensation according to the actual environmental conditions to ensure that the drone can execute the user's instructions more accurately, improving the convenience of user operation and the response ability of the drone, providing an innovative idea for solving the control problem of small drones in complex environments and having good technical scalability.

[0026] 2. The present invention makes the reference case more in line with the actual flight requirements through the information acquisition module, thereby optimizing the drone control strategy and enhancing its adaptability in complex environments. The imitation layout module helps to explore a better layout, improving the flexibility and stability of the drone flight, effectively improving the airflow around the drone, enhancing the flight stability and maneuverability, accurately controlling the airflow, reducing resistance, and improving the flight efficiency. The feedback module can quickly compare the similarity between the current environment and the reference case environment, providing a quantitative basis for subsequent control strategy adjustment;

[0027] 3. The present invention can quickly find the reference case most similar to the current environment through the execution analysis module, preferentially adopt effective control strategies, improve the response speed of the drone to environmental changes, and dynamically adjust the extraction probability to improve the test efficiency, making the test more targeted, more efficiently exploring the influence of different working states of the feather ejection rack on the flight of the drone, accelerating the finding of the optimal control parameters and working modes. The instruction generation module can effectively screen out effective execution instructions, optimize the instruction dataset, improve the accuracy of drone control, and the execution dataset module can make full use of historical instruction data, optimize it in combination with the current environment and user instructions, improve the adaptability and accuracy of the instructions, reduce the consumption of computing resources, and improve the response speed of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the system flow in the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0029] The following further describes the specific embodiments of the present invention in conjunction with the accompanying drawings. It should be noted here that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation on the present invention.

[0030] In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0031] Please refer to the attached Figure 1 , a control method for a three-rotor unmanned aerial vehicle of the present invention includes;

[0032] An information acquisition module that acquires information of the three-rotor unmanned aerial vehicle and the three-rotor unmanned aerial vehicle, obtains the execution state when the three-rotor unmanned aerial vehicle turns, and obtains a reference case;

[0033] An imitation arrangement module that imitates bird feathers to construct a feather rack, installs MEMS micro-nozzles on the feather rack to form a feather ejection rack, installs feather ejection racks on the upper and lower sides of the arms of the three-rotor unmanned aerial vehicle, and the distance between different feather ejection racks satisfies M is the width of the feather ejection rack, and a feather-state three-rotor unmanned aerial vehicle is obtained;

[0034] A feedback module that sends the wind force, height, and azimuth information collected in real time to the execution analysis module and the instruction generation module through a wireless transmission protocol. The execution analysis module dynamically adjusts the priority of the test plan according to the current environmental data, and the instruction generation module combines the environmental data and historical instructions to generate a compensation strategy;

[0035] An execution analysis module that establishes a test set, adjusts the angles and ejection states of different feather ejection racks, generates X test plans, records them in the test set, randomly extracts test plans from the test set, makes the feather-state three-rotor unmanned aerial vehicle operate according to the test plans, records the flight state and changes of the feather-state three-rotor unmanned aerial vehicle in real time to obtain execution state information, marks the execution state information in the corresponding test plans, and extracts test plans from the test set again until the execution state information corresponding to X test plans is obtained;

[0036] An instruction generation module that collects the instruction information of the user on the control panel, extracts the wind force around the feather-state three-rotor unmanned aerial vehicle and the height where the feather-state three-rotor unmanned aerial vehicle is located to obtain the external environment, analyzes the influence of the external environment on the feather-state three-rotor unmanned aerial vehicle according to the reference case, analyzes the actual flight change state of the feather-state three-rotor unmanned aerial vehicle after executing the instruction information in the external environment to obtain the actual execution state, generates a compensation plan according to the actual execution state and the instruction information, and then the instruction information and the compensation plan form an execution instruction;

[0037] An execution data set module for recording execution instructions, obtaining an instruction data set, and transmitting the information in the instruction data set to the instruction generation module in real time.

[0038] In one embodiment of the present invention: When the reference case in the information collection module is obtained, the information about wind force, altitude, and azimuth in the reference case is synchronously extracted to obtain the external factor characteristics of the reference case. At the same time, a feature editing unit is established, and the user can edit the types of external factor characteristics extracted from the reference case through the feature editing unit.

[0039] In one embodiment of the present invention: When the feather-shaped tri-rotor UAV is obtained in the imitation arrangement module, a layout type selection unit is synchronously established. The layout type selection unit includes a gradient spiral layout and a bionic staggered matrix. At the same time, a layout drawing unit is established, and the user inputs the self-drawn layout method into the layout drawing unit, and then performs simulation analysis on the information in the layout drawing unit.

[0040] In one embodiment of the present invention: The gradient spiral layout is arranged by an Archimedean spiral, so that the Reynolds number gradient from the root to the end of the UAV arm decreases, thereby reducing the wingtip vortex interference. The bionic staggered matrix adopts the staggered arrangement mode of kingfisher feathers, combined with the V-shaped groove and the Fibonacci sequence arrangement to form a three-dimensional turbulent flow suppression structure, which can reduce the airflow separation and improve the lift efficiency.

[0041] In one embodiment of the present invention: After the feedback information in the feedback module is obtained, the information about wind force and altitude in the feedback information is extracted to obtain the retrieval features. The retrieval features have the same feature name as the external factor characteristics, but the corresponding values are different. The retrieval features and the external factor characteristics are sorted and numbered to obtain a retrieval table and an external factor table, so that the retrieval features and the external factor characteristics with the same feature name use the same number in the retrieval table and the external factor table, and the coincidence index of the retrieval table and the external factor table is calculated.

[0042] In one embodiment of the present invention: When calculating the coincidence index in the feedback module, let the value corresponding to the retrieval feature in the retrieval table be J S , let the value corresponding to the external factor characteristic in the external factor table be W S , let the number of retrieval features and external factor characteristics with the same feature name be P, and let the coincidence index be F Z :

[0043]

[0044] The coincidence index is calculated by the above formula, and then the coincidence index and the corresponding reference cases are sorted in descending order.

[0045] In one embodiment of the present invention: When the test scheme in the execution analysis module is extracted from the test set, the initial extraction probability of each test scheme is an equal value, which is set as:

[0046]

[0047] When a certain test plan is selected, the remaining selection times are decreased by 1, and its selection probability is redistributed according to n is the number of times selected, until all plans reach the upper limit of the selection permission times.

[0048] For example, if there are 5 test plans and the selection permission times for each test plan are 2, then the selection probability for each test plan is 10%. When a certain test plan is selected, its original probability (10%) is evenly distributed according to the number of remaining test plans (8, and the remaining 4 test plans all have 2 selection permissions), and the probability of each remaining plan increases by 1.25% to 11.25%.

[0049] In an embodiment of the present invention: after the execution instruction in the instruction generation module is obtained, it will transmit the execution instruction to the feather state three-rotor unmanned aerial vehicle. At this time, the feather state three-rotor unmanned aerial vehicle will execute the execution instruction, and at the same time obtain the position state of the feather state three-rotor unmanned aerial vehicle after completely executing the execution instruction to obtain the execution position information, analyze the position state information that the instruction information needs to reach to obtain the target position information, calculate the difference between the execution position information and the target position information to obtain the execution difference, and then establish a storage threshold. When the execution difference < the storage threshold, the corresponding execution instruction will be transmitted to the execution dataset module. When the execution difference ≥ the storage threshold, the corresponding execution instruction will be deleted.

[0050] In an embodiment of the present invention: when the execution dataset module transmits the information in the instruction dataset to the instruction generation module, it will retrieve the execution instruction from the instruction dataset according to the external environment and the instruction information to obtain the instruction basis, and then modify the instruction basis according to the external environment and the instruction information to generate a new execution instruction.

[0051] Example 1. Please refer to the appendix Figure 1, collect the information of the tri-rotor UAV and the tri-rotor UAV, and obtain the execution status of the tri-rotor UAV when turning. Build a feather rack by imitating the feathers of birds, install MEMS micro-nozzles on the feather rack. The MEMS micro-nozzles adopt piezoelectric drive mode, with a maximum injection flow rate of 0.5 mL / s, a response time ≤ 10 ms, and the adjustable range of the nozzle direction is ±30°. Control the injection intensity through PWM signals, and install feather injection racks on the upper and lower sides of the tri-rotor UAV's arm. Collect the wind force around the feathered tri-rotor UAV, the height where the feathered tri-rotor UAV is located, and the azimuth information of the feathered tri-rotor UAV. Adjust the angles and injection states of different feather injection racks, generate X test plans, randomly extract test plans from the test set, start the feathered tri-rotor UAV according to the extracted test plans, and record the flight status and changes of the feathered tri-rotor UAV in real time. Mark the execution status information in the corresponding test plans. Extract test plans from the test set again until the execution status information corresponding to X test plans is obtained. Collect the instruction information of the user on the control panel, analyze the influence of the external environment on the feathered tri-rotor UAV according to the reference case, analyze the actual flight change status of the feathered tri-rotor UAV after executing the instruction information in the external environment, and generate a compensation plan according to the actual execution status and instruction information for recording the execution of the instruction to obtain an instruction dataset.

[0052] Example Two. Please refer to the appendix Figure 1 , collect the information of the tri-rotor UAV and the tri-rotor UAV, and obtain the execution status of the tri-rotor UAV when turning. Extract the information about wind force, height, and azimuth in the reference case to obtain the external factor characteristics of the reference case. Build a feather rack by imitating the feathers of birds, install MEMS micro-nozzles on the feather rack, and install feather injection racks on the upper and lower sides of the tri-rotor UAV's arm. Establish a layout type selection unit, and the layout type selection unit includes a gradient spiral layout and a bionic staggered matrix. The gradient spiral layout means arranging the feather injection racks on the tri-rotor UAV's arm according to the scheme of arranging them in an Archimedean spiral, and at the same time, the density of the feather injection racks decreases according to the Reynolds number gradient from the root to the end of the arm. The bionic staggered matrix means arranging the feather injection racks on the tri-rotor UAV's arm with reference to the staggered arrangement mode of kingfisher feathers to build a three-dimensional staggered injection array. Collect the wind force around the feathered tri-rotor UAV, the height where the feathered tri-rotor UAV is located, and the azimuth information of the feathered tri-rotor UAV. Extract the information about wind force and height in the feedback information, make the retrieval features with the same feature name and the external factor characteristics use the same number in the retrieval table and the external factor table, and calculate the coincidence index of the retrieval table and the external factor table.

[0053] Example Three. Please refer to the appendix Figure 1, set X extraction permission times for each test scenario, set the extraction probability for each test scenario. After extracting a test scenario, the extraction probability of this test scenario will be evenly distributed to the remaining test scenarios. At this time, the extraction permission times of the extracted test scenario will become X - 1, while the extraction probabilities of the X - 1 test scenarios with extraction permission times remain unchanged. Collect the instruction information of the user on the control panel, analyze the influence of the external environment on the feather - shaped tri - rotor UAV according to the reference case, analyze the actual flight change state of the feather - shaped tri - rotor UAV after executing the instruction information in the external environment, generate a compensation plan according to the actual execution state and the instruction information, transmit the execution instruction to the feather - shaped tri - rotor UAV. At this time, the feather - shaped tri - rotor UAV will run and execute the instruction, and at the same time obtain the position state of the feather - shaped tri - rotor UAV after completely running and executing the instruction, analyze the position state information that the instruction information needs to reach, obtain the target position information, calculate the difference between the execution position information and the target position information, which is used to record the execution instruction, obtain the instruction dataset, retrieve the execution instruction from the instruction dataset according to the external environment and the instruction information, obtain the instruction basis, and then modify the instruction basis according to the external environment and the instruction information to generate a new execution instruction.

[0054] Specifically, the MEMS micro - nozzle integrates a micro - mechanical structure, a micro - fluidic channel, and an electronic control element. Taking the common thermally - driven MEMS micro - nozzle as an example, it is internally provided with a heating element. When an electric current passes through the heating element, the liquid or gas is heated, generating thermal expansion and thus spraying out from the nozzle. There is also a piezoelectric - driven MEMS micro - nozzle that utilizes the characteristic that piezoelectric materials generate deformation under the action of an electric field to squeeze the fluid in the micro - fluidic channel to make it spray out. In the control method of the tri - rotor UAV, the MEMS micro - nozzle is installed on the feather injection rack and can precisely control the flow rate, speed, and direction of the sprayed gas or liquid.

[0055] Specifically, the Archimedean spiral arrangement refers to the layout method carried out according to the shape and law of the Archimedean spiral. In the design of some aircraft components, such as the shape design of the propeller, drawing on the Archimedean spiral arrangement can optimize the aerodynamic performance, improve the propulsion efficiency of the propeller, and reduce energy loss. The Reynolds number gradient decrease refers to the phenomenon that the Reynolds number gradually decreases along a certain direction according to a certain law on a specific space or object. The Reynolds number is a dimensionless number. In the design of an aircraft wing, from the wing root to the wing tip, factors such as the air - flow velocity and the boundary - layer thickness change, resulting in a gradient decrease in the Reynolds number. The wing root is close to the fuselage, the air - flow is relatively stable, the characteristic length is larger, and the Reynolds number is relatively high; while at the wing tip, the air - flow is complex, affected by the wing - tip vortex, etc., the characteristic length is smaller, and the Reynolds number is lower. This gradient decrease affects the flow state of the wing boundary layer. The root may be a turbulent boundary layer, while the wing tip is more inclined to be a laminar boundary layer.

[0056] Specifically, collect more key system operation data such as the power system of the drone and the battery power change curve. Use this data to establish a more comprehensive reference case library, which can not only analyze the steering performance, but also evaluate the overall health status of the drone. Increase the collection of environmental factors such as the surrounding electromagnetic environment and light intensity, and establish a distributed instruction dataset storage architecture to store the instruction dataset on multiple nodes.

[0057] Working principle:

[0058] First, the information of the three-rotor UAV and the three-rotor UAV is collected, and the execution status of the three-rotor UAV during steering is obtained. The information about wind force, altitude and direction in the reference case is extracted to obtain the external characteristics of the reference case. The feather rack is constructed by imitating bird feathers, and MEMS micro-nozzles are installed on the feather rack. Feather spray racks are installed on the upper and lower sides of the three-rotor UAV arm, and a layout type selection unit is established. The layout type selection unit includes a gradient spiral layout and a bionic staggered matrix. The gradient spiral layout refers to arranging the feather spray rack on the three-rotor UAV arm using an Archimedean spiral arrangement scheme. At the same time, the density of the feather spray rack decreases from the root to the end of the arm according to the Reynolds number gradient, and the bionic staggered matrix refers to The feather jet rack is arranged on the arm of the three-rotor drone with reference to the staggered arrangement pattern of kingfisher feathers to construct a three-dimensional staggered jet array. The wind force around the feather three-rotor drone, the height of the feather three-rotor drone, and the orientation information of the feather three-rotor drone are collected. The information about the wind force and the height is extracted from the feedback information. The retrieval features and external factors with the same feature name are assigned the same number in the retrieval table and the external factor table, and the coincidence index of the retrieval table and the external factor table is calculated. The angle and jet state of different feather jet racks are adjusted to generate X test plans. The test plan is randomly extracted from the test set. The feather three-rotor drone is started according to the extracted test plan, and the flight state and change of the feather three-rotor drone are recorded in real time. , mark the execution status information in the corresponding test plan, extract test plans from the test set again until the execution status information of X test plans is obtained, set X extraction rights for each test plan, set the extraction probability for each test plan, and after extracting a test plan, divide the extraction probability of the test plan equally among the remaining test plans. At this time, the extraction rights of the extracted test plan will become X-1, and the extraction probability of the test plan with X-1 extraction rights remains unchanged. Collect the user's command information on the control panel, analyze the impact of the external environment on the Yutai three-rotor drone according to the reference case, and analyze the execution of command information of the Yutai three-rotor drone in the external environment After the actual flight change state, a compensation plan is generated according to the actual execution state and instruction information, and the execution instruction is transmitted to the Yutai three-rotor UAV. The Yutai three-rotor UAV will run according to the execution instruction. At the same time, the position state of the Yutai three-rotor UAV after the complete operation of the execution instruction is obtained, the position state information that the instruction information needs to reach is analyzed, the target position information is obtained, the difference between the execution position information and the target position information is calculated, the execution instruction is recorded, and the instruction data set is obtained. The execution instruction is retrieved from the instruction data set according to the external environment and instruction information to obtain the instruction basis, and then the instruction basis is modified according to the external environment and instruction information to generate a new execution instruction. At this point, the entire workflow ends.

[0059] Although the present invention is disclosed above in preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications without departing from the spirit and scope of the present invention. Therefore, all modifications, equivalent changes and decorations made to the above embodiments based on the technical essence of the present invention without departing from the technical solution of the present invention fall within the protection scope defined by the claims of the present invention.

Claims

1. A control method for a three-rotor unmanned aerial vehicle, characterized in that: including; An information acquisition module that acquires information of a three-rotor unmanned aerial vehicle and the three-rotor unmanned aerial vehicle, obtains the execution state when the three-rotor unmanned aerial vehicle turns, and obtains a reference case; Imitation layout module, build a feather rack by imitating bird feathers, install MEMS micro-nozzles on the feather rack to form a feather jet rack, install the feather jet rack on the upper and lower sides of the arms of a three-rotor unmanned aerial vehicle, and the distance between different feather jet racks satisfies M is the width of the feather jet rack to obtain a feather-shaped three-rotor unmanned aerial vehicle; A feedback module that sends the wind force, height, and azimuth information collected in real time to an execution analysis module and an instruction generation module through a wireless transmission protocol. The execution analysis module dynamically adjusts the priority of the test plan according to the current environmental data, and the instruction generation module combines the environmental data and historical instructions to generate a compensation strategy; An execution analysis module that establishes a test set, adjusts the angles and spraying states of different feather spraying racks, generates X test plans, records them in the test set, randomly extracts test plans from the test set, makes the feathered three-rotor unmanned aerial vehicle operate according to the test plans, and records the flight state and changes of the feathered three-rotor unmanned aerial vehicle in real time to obtain execution state information, marks the execution state information in the corresponding test plans, and extracts test plans from the test set again until the execution state information corresponding to X test plans is obtained; An instruction generation module that collects the instruction information of the user on the control panel, extracts the wind force around the feathered three-rotor unmanned aerial vehicle and the height where the feathered three-rotor unmanned aerial vehicle is located to obtain the external environment, analyzes the influence of the external environment on the feathered three-rotor unmanned aerial vehicle according to the reference case, analyzes the actual flight change state of the feathered three-rotor unmanned aerial vehicle after executing the instruction information in the external environment to obtain the actual execution state, generates a compensation plan according to the actual execution state and the instruction information, and then the instruction information and the compensation plan form an execution instruction; An execution data set module for recording the execution instructions, obtaining an instruction data set, and transmitting the information in the instruction data set to the instruction generation module in real time.

2. The control method of a three-rotor unmanned aerial vehicle according to claim 1, characterized in that: When the reference case in the information acquisition module is obtained, the information about wind force, the height where it is located, and the azimuth is synchronously extracted from the reference case to obtain the external cause characteristics of the reference case. At the same time, a feature editing unit is established, and the user can edit the types of external cause characteristics extracted from the reference case through the feature editing unit.

3. A control method for a three-rotor unmanned aerial vehicle according to claim 1, characterized in that: When the feathered three-rotor unmanned aerial vehicle is obtained in the imitation layout module, a layout type selection unit is synchronously established. The layout type selection unit includes a gradient spiral layout and a bionic staggered matrix. At the same time, a layout drawing unit is established, and the user inputs the layout method drawn by himself into the layout drawing unit, and then simulates and analyzes the information in the layout drawing unit.

4. A control method for a three-rotor unmanned aerial vehicle according to claim 3, characterized in that: The gradient spiral layout is arranged through an Archimedean spiral, so that the Reynolds number gradient from the root to the end of the drone arm decreases, thereby reducing the wing tip vortex interference. The bionic staggered matrix adopts the staggered arrangement mode of kingfisher feathers, combines the V-shaped groove and the Fibonacci sequence arrangement to form a three-dimensional turbulence suppression structure, which can reduce the air flow separation and improve the lift efficiency.

5. A control method for a three-rotor unmanned aerial vehicle according to claim 2, characterized in that: After the feedback information in the feedback module is obtained, information about wind force and altitude will be extracted from the feedback information to obtain retrieval features. The retrieval features have the same feature names as the external factor features, but the corresponding values are different. The retrieval features and the external factor features are sorted and numbered to obtain a retrieval table and an external factor table, so that the retrieval features and the external factor features with the same feature names use the same number in the retrieval table and the external factor table, and the compliance index of the retrieval table and the external factor table is calculated.

6. A control method for a three-rotor unmanned aerial vehicle according to claim 5, characterized in that: When calculating the compliance index in the feedback module, let the value corresponding to the retrieval feature in the retrieval table be J S , let the value corresponding to the external cause feature in the external cause table be W S , let the number of retrieval features and external cause features with the same feature name be P, and let the compliance index be F Z : The compliance index is calculated using the above formula, and then the compliance index and the corresponding reference cases are sorted in descending order.

7. A control method for a three-rotor unmanned aerial vehicle according to claim 1, characterized in that: When the test plan in the execution analysis module is extracted from the test set, the initial extraction probability of each test plan is an equal value, set as: When a certain test plan is selected, its remaining selection times are reduced by 1, and its selection probability is reallocated according to where n is the number of times the remaining plans have been selected, until all plans reach the upper limit of the selection permission times.

8. A control method for a three-rotor unmanned aerial vehicle according to claim 1, characterized in that: After the execution instruction in the instruction generation module is obtained, the execution instruction will be transmitted to the feather state tri-rotor UAV. At this time, the feather state tri-rotor UAV will execute the execution instruction, and at the same time, obtain the position state of the feather state tri-rotor UAV after completely executing the execution instruction to obtain the execution position information. Analyze the position state information that the instruction information needs to reach to obtain the target position information, calculate the difference between the execution position information and the target position information to obtain the execution difference, and then establish a storage threshold. When the execution difference < storage threshold, the corresponding execution instruction will be transmitted to the execution dataset module. When the execution difference ≥ storage threshold, the corresponding execution instruction will be deleted.

9. A control method for a three-rotor unmanned aerial vehicle according to claim 1, characterized in that: When the execution dataset module transmits the information in the instruction dataset to the instruction generation module, it will retrieve the execution instruction from the instruction dataset according to the external environment and the instruction information to obtain the instruction basis, and then modify the instruction basis according to the external environment and the instruction information to generate a new execution instruction.

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