A control system and control method for a vector ducted UAV

Abstract

The present invention relates to the field of airflow control technology. The present invention provides a control system for a vector ducted UAV and a control method thereof, comprising an acquisition component, a vector ducted component, an analyzer, a clustering unit, a control unit, and an adaptive adjustment unit. The present invention acquires characteristic parameters of simulated test track data through the acquisition component, analyzes the data characteristic parameters through a characteristic analyzer, determines airflow impact tendency characterization values ​​through the analyzer, divides airflow drastic impact tendency periods through clustering units, and adopts different processing methods for different airflow impact tendency periods. The present invention timely detects the risk of airflow drift out of control of the UAV through the impact of airflow changes on the UAV in the air, and timely detects the impact of airflow changes on the UAV, timely determines the vector angle of the vector propulsion device and determines the motor power of the power compensation system to adjust the airflow, thereby improving the accuracy of airflow monitoring and avoiding the impact of sudden airflow in the flight track on the UAV in the air.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a control system and a control method for a vector ducted UAV. Background Art

[0002] Although traditional multi-rotor drones have the ability to take off and land vertically, they have limitations such as low aerodynamic efficiency, poor wind resistance, and insufficient maneuverability. In particular, they are unable to meet the needs of high-precision operations in complex environments. Vector ducted technology can achieve omnidirectional movement and precise control of three-dimensional torque by adjusting the thrust direction within the duct, significantly improving the maneuverability and environmental adaptability of the drone. However, its special aerodynamic layout causes the control system to face challenges such as strong nonlinearity, multivariable coupling, and complex sensor fusion. Existing control methods have shortcomings in trajectory tracking accuracy, resistance to airflow and ambient temperature and pressure interference, and energy efficiency. Therefore, it is urgent to design a control system and control method that takes into account both stability and flexibility to promote the widespread application of vector ducted drones in scenarios such as industrial inspections and emergency rescue.

[0003] Chinese patent publication number CN206031761U discloses a ducted UAV comprising a fuselage, a ducted power unit housed within the fuselage, and wings mounted on the fuselage. The ducted power unit comprises a duct, blades mounted within the duct, a drive mechanism connected to the blades, and a vector control device mounted within the duct. The ducted UAV, through the action of the vector control device within the ducted power unit, can achieve vertical takeoff and landing, as well as change its flight attitude during flight, thereby achieving the purpose of taking off and landing anywhere, which helps reduce the requirements for the operating environment. Furthermore, the blades of the ducted power unit are mounted within the fuselage, which helps improve the safety performance of the ducted UAV.

[0004] Chinese patent publication number: CN104044742B discloses a ducted vector thrust device suitable for small unmanned aerial vehicles (UAVs). The device comprises: a thrust generating device for generating airflow, a vector nozzle assembly for changing the direction of airflow, and a flow guide device. The thrust generating device is a ducted fan. The flow guide device comprises: a pipe and circular and square fixing rings installed at the front and rear ends of the pipe. The vector nozzle assembly comprises: a steering gear, a turntable, and a tail nozzle. The present invention achieves up and down deflection of the tail nozzle by controlling the rotation of the steering gear. This not only enables the small UAV to take off and land vertically and hover, but also ensures the UAV's low-speed, high-angle-of-attack maneuvering flight. Even when the control surfaces are almost ineffective, the vector thrust is used to provide additional control torque to control the UAV's normal flight.

[0005] Chinese Patent Publication No. CN111661331A discloses a variable-mode ducted ring-wing drone, comprising a drone fuselage, a support assembly, a ducted power assembly, an outer ring wing, and a rotor power assembly. The drone fuselage is thicker than the outer ring wing, and the outer ring wing is telescopically mounted in the center of the outer side of the drone fuselage. A main beam is mounted on the drone fuselage and connected to the inner wall of the outer ring wing. The rotor power assembly includes a base mounted on the inner wall of the outer ring wing, a support assembly mounted on the drone fuselage at one end and the base at the other end. The rotor power assembly includes a propeller, which is mounted on the drone fuselage. The rotor power assembly drives the propeller to propel the drone, and the ducted power assembly propels the drone. The ducted power assembly and rotor assembly of the present invention enable flexible and smooth switching of flight modes. The ducted wing generates high thrust, providing a high flight Reynolds number. The rotor assembly enhances the drone's maneuverability at high speeds, and the motor drive provides vector pull in the same direction.

[0006] However, the prior art still has the following problems:

[0007] The existing technology does not take into account the changes in airflow rate, pressure and temperature of the drone's flight trajectory, which cause the drone's vector angle deviation and motor power deviation, resulting in sudden uncontrolled airflow drift of the drone. It is impossible to accurately know the impact of airflow changes on the drone's vector angle deviation and motor power deviation, resulting in poor drone control accuracy. Summary of the Invention

[0008] To this end, the present invention provides a control system and a control method for a vector ducted UAV, which are used to overcome the problem in the prior art that the airflow rate, pressure and temperature changes according to the UAV's flight trajectory do not take into account, resulting in the UAV's vector angle deviation and motor power deviation, causing sudden uncontrolled airflow drift of the UAV, and the inability to accurately know the impact of airflow changes on the UAV's vector angle deviation and motor power deviation, resulting in low UAV control accuracy.

[0009] To achieve the above objectives, the present invention provides a control system for a vector ducted UAV, comprising:

[0010] A collection component, comprising a plurality of data collection units disposed in the simulation test track for collecting data characteristic parameters of the simulation test track, wherein the data characteristic parameters include temperature, air pressure, and airflow rate of the simulation test track within a single historical period;

[0011] A vector ducted assembly includes a vector thrust device disposed in the vector ducted UAV for changing the vector angle and a power compensation system connected to the vector thrust device for changing the motor power of the UAV;

[0012] an analyzer connected to the acquisition component, configured to analyze a value representing an airflow impact tendency of the simulated test track in each historical period based on changes in air pressure and airflow rate of the simulated test track in the historical period;

[0013] a clustering unit connected to the analyzer, configured to identify airflow impact periods based on airflow rate changes corresponding to each historical period, and to divide airflow severe impact tendency periods and airflow balanced tendency periods based on the airflow impact tendency characterization value corresponding to a single historical period;

[0014] a control unit, connected to the clustering unit and the vector duct assembly, respectively, for responding to a period division result of the clustering unit and determining whether there is a risk of drift loss of control based on a difference between the airflow influence tendency characterization value and a predetermined airflow influence tendency characterization threshold value within a historical period, so as to determine a vector angle of the vector thrust device;

[0015] An adaptive adjustment unit is respectively connected to the control unit and the vector duct assembly, and is used to extract the temperature of the simulated test track within a historical period, and extract an activity characterization value based on the temperature and airflow influence tendency characterization value of the simulated test track, so as to determine the motor power of the power compensation system based on the average value of the activity characterization value within the historical period.

[0016] Preferably, the airflow impact period is determined based on a corresponding historical period in which the airflow rate difference within the historical period is greater than a preset airflow rate difference threshold.

[0017] The airflow rate difference is determined based on the difference between the airflow rate average and a predetermined airflow rate threshold.

[0018] Preferably, the airflow influence tendency characterization value is the sum of the first airflow influence factor and the second airflow influence factor within the airflow influence period;

[0019] Wherein, the first airflow influencing factor is determined based on the ratio of the air pressure difference to a predetermined air pressure difference threshold;

[0020] The air pressure difference is determined based on the air pressure threshold value during the airflow impact period and the actual air pressure of the simulated test track.

[0021] Preferably, the airflow drastically impact tendency period is determined based on a condition that the airflow impact tendency characterization value is greater than or equal to an airflow impact tendency characterization threshold;

[0022] The airflow balance tendency period is determined based on the condition that the airflow influence tendency representation value is less than the airflow influence tendency representation threshold value.

[0023] Preferably, the vector angle of the vector thrust device is determined based on the risk of drifting out of control.

[0024] Preferably, the risk of uncontrolled drift is determined based on the difference between the airflow influence tendency characterization value in the historical period and a predetermined airflow influence tendency characterization threshold;

[0025] Among them, if the difference corresponding to a single historical period is greater than or equal to a predetermined difference threshold, it is determined that there is a risk of drift out of control.

[0026] Preferably, the motor power of the power compensation system is determined based on an average value of activity characterization values ​​within a historical period.

[0027] Preferably, the activity characterization value is determined based on the sum of the first activity influencing factor and the second activity influencing factor;

[0028] The first activity influencing factor is a ratio of a change in ambient temperature to a predetermined temperature change threshold;

[0029] The second activity influencing factor is the ratio of the change amplitude of the airflow influence tendency characterization value to a predetermined change amplitude threshold.

[0030] Preferably, the activity characterization value mean is determined based on the average value of the activity characterization values ​​in the historical period.

[0031] The condition for determining the motor power of the power compensation system is that the average value of the activity characterization value is greater than or equal to a predetermined characterization threshold.

[0032] Furthermore, the present invention provides a control method for a vector ducted UAV, comprising:

[0033] Collecting data characteristic parameters of the simulated test track during a historical period, wherein the data characteristic parameters include temperature, air pressure, and airflow rate;

[0034] Analyzing the airflow impact tendency characterization value of the simulated test track in each historical period based on the data characteristic parameters;

[0035] Identifying an airflow impact period based on a difference between an airflow rate corresponding to each historical period and a predetermined airflow rate threshold;

[0036] Under the condition of the airflow influence period, the airflow severe influence tendency period and the airflow balance tendency period are divided based on the airflow influence tendency characterization value corresponding to a single historical period, and the operating status of the UAV is monitored in response to the division result, wherein,

[0037] determining whether there is a risk of drift out of control based on a difference between the airflow influence tendency representation value and a predetermined airflow influence tendency representation threshold value within a historical period, so as to determine a vector angle of the vector thrust device;

[0038] Based on the vector angle, the temperature of the simulated test track in the historical period is extracted, and the activity characterization value is extracted based on the temperature of the simulated test track and the airflow influence tendency characterization value, so as to determine the motor power of the power compensation system based on the average of the activity characterization values ​​in the historical period.

[0039] Compared with the prior art, the beneficial effect of the present invention lies in that the present invention provides a control system and a control method for a vector ducted UAV, the system including an acquisition component, a vector ducted component, an analyzer, a clustering unit, a control unit and an adaptive adjustment unit. The present invention collects data characteristic parameters of a simulated test track through the acquisition component, determines the airflow influence tendency characterization value through the analyzer, divides the airflow severe influence tendency period through the clustering unit, and adopts different processing methods for different airflow severe influence tendency periods. The present invention timely discovers the risk of airflow drift out of control and the impact of airflow changes on the UAV through the impact of airflow changes on the UAV, and timely starts the vector propulsion device to adjust the airflow, thereby improving the reliability and accuracy of airflow detection and avoiding the impact of sudden airflow on the UAV in the air.

[0040] In particular, the airflow influence tendency value can be determined by the changes in the air pressure of the simulated test track and the airflow rate of the simulated test track in the historical period, so that the airflow influence tendency can be predicted. In actual conditions, if the airflow suddenly occurs, it is easy to cause the drone to drift out of control. The present invention integrates the changes in the air pressure of the simulated test track and the airflow rate of the simulated test track and other parameters on the airflow influence tendency in different historical periods through the airflow influence tendency value, which can more comprehensively reflect the airflow influence tendency of the simulated test track, further improve the accuracy of airflow control, and reflect the impact of airflow on the drone.

[0041] In particular, when the airflow violently affects the inclination cycle, it indicates that the UAV is greatly affected by the airflow. Therefore, it is necessary to consider whether there is a risk of airflow drifting out of control. From the perspective of the change in the airflow influence tendency characterization value, it is determined whether there is a possibility of airflow drifting out of control, which may cause the UAV to crash. The vector angle of the vector propulsion device is determined in time to adjust the UAV's engine tail jet on the simulated test track to ensure the reliability of airflow control.

[0042] Furthermore, the airflow balance tendency period indicates that the UAV is less affected by the airflow. At this time, a normalized and continuous monitoring of the activity of the simulated test track is adopted. The activity characterization value represents the activity of the simulated test track. For low activity, the motor power of the power compensation system is determined in time to ensure the reliability of airflow control. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a structural block diagram of a control system for a vector ducted UAV according to an embodiment of the present invention;

[0044] Figure 2 A logic block diagram for dividing an airflow-severe-impact tendency period and an airflow-balanced tendency period according to an embodiment of the present invention;

[0045] Figure 3 This is a logic block diagram for determining whether there is a risk of drift out of control according to an embodiment of the present invention;

[0046] Figure 4 This is a flowchart of the steps of the control method of the vector ducted UAV according to an embodiment of the invention. DETAILED DESCRIPTION

[0047] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are merely used to explain the present invention and are not intended to limit the present invention.

[0048] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0049] It should be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the term "connection" should be understood in a broad sense. For example, it can mean a fixed connection, a detachable connection, or an integral connection; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0050] See also Figure 1 , which is a structural block diagram of a control system for a vector ducted UAV according to an embodiment of the present invention. An embodiment of the present invention provides a control system for a vector ducted UAV, comprising:

[0051] A collection component, comprising a plurality of data collection units disposed in the simulation test track for collecting data characteristic parameters of the simulation test track, wherein the data characteristic parameters include temperature, air pressure, and airflow rate of the simulation test track within a single historical period;

[0052] A vector ducted assembly includes a vector thrust device disposed in the vector ducted UAV for changing the vector angle and a power compensation system connected to the vector thrust device for changing the motor power of the UAV;

[0053] an analyzer connected to the acquisition component, configured to analyze a value representing an airflow impact tendency of the simulated test track in each historical period based on changes in air pressure and airflow rate of the simulated test track in the historical period;

[0054] a clustering unit connected to the analyzer, configured to identify airflow impact periods based on airflow rate changes corresponding to each historical period, and to divide airflow severe impact tendency periods and airflow balanced tendency periods based on the airflow impact tendency characterization value corresponding to a single historical period;

[0055] a control unit, connected to the clustering unit and the vector duct assembly, respectively, for responding to a period division result of the clustering unit and determining whether there is a risk of drift loss of control based on a difference between the airflow influence tendency characterization value and a predetermined airflow influence tendency characterization threshold value within a historical period, so as to determine a vector angle of the vector thrust device;

[0056] An adaptive adjustment unit is respectively connected to the control unit and the vector duct assembly, and is used to extract the temperature of the simulated test track within a historical period, and extract an activity characterization value based on the temperature and airflow influence tendency characterization value of the simulated test track, so as to determine the motor power of the power compensation system based on the average value of the activity characterization value within the historical period.

[0057] It can be understood that the vector ducted UAV of the present invention includes a fuselage, a support assembly, a vector ducted assembly, an outer ring wing, and a rotor power assembly.

[0058] It can be understood that the vector ducted motor assembly of the present invention includes a ducted motor power compensation system and a vector thrust device.

[0059] It can be understood that the present invention does not limit the vector thrust device for adjusting the engine tail jet of the UAV, which includes: a thrust generating device for generating airflow, a vector nozzle assembly for changing the direction of the airflow, and a guide device. The thrust generating device is a ducted fan. Those skilled in the art can arrange the vector thrust device at the corresponding position of the UAV according to needs, as long as it can realize the corresponding function.

[0060] It is understandable that those skilled in the art may optimize the historical period. For example, in the high temperature stage, due to the high ambient temperature, the enhanced thermal convection and the increased activity of gas molecules, the airflow rate will change more. Therefore, in the summer when the temperature is high, the monitoring frequency is increased and the monitoring historical period is reduced from every 1.5 hours to every 0.5 hours.

[0061] It can be understood that the number of times the simulated test track emerges from the environment in the simulated test track environment during the historical period and the airflow rate of the simulated test track environment can reflect the airflow of the simulated test track.

[0062] Specifically, the analyzer of the present invention calculates the average airflow rate of the simulated test track during the historical period, and calculates the difference between the average airflow rate during the historical period and a predetermined airflow rate threshold. If the difference corresponding to a single historical period is greater than the predetermined difference threshold condition, the historical period is determined to be an airflow impact period.

[0063] It can be understood that the predetermined airflow rate threshold and the predetermined difference threshold in this embodiment are predetermined, wherein the average airflow rate of the simulated test track in several historical periods and the standard airflow rate when the simulated test track does not drift out of control determined by those skilled in the art are pre-recorded, the average airflow rate is determined as the standard airflow rate threshold, and the product of the standard airflow rate and the precision coefficient is determined as the airflow rate threshold, and the precision coefficient is selected within the interval [1.1, 1.2].

[0064] It can be understood that, in this embodiment, the predetermined difference threshold is the average value of the difference between the average value of the airflow rate in several historical periods of historical data and the predetermined airflow rate threshold.

[0065] Specifically, the airflow impact period is determined based on the corresponding historical period in which the airflow rate difference within the historical period is greater than the preset airflow rate difference threshold.

[0066] The airflow rate difference is determined based on the difference between the airflow rate average and a predetermined airflow rate threshold.

[0067] In an embodiment, the analyzer calculates a first difference between an air pressure threshold value and an actual air pressure of a simulated test track in a single historical period, determines a ratio of the first difference value to a predetermined air pressure difference threshold value as a first airflow influencing factor, and calculates a second difference between an airflow rate of the simulated test track in a single historical period and an airflow rate threshold value, determines a ratio of the second difference value to a predetermined airflow rate difference threshold value as a second airflow influencing factor, and determines the sum of the first airflow influencing factor and the second airflow influencing factor as the airflow influencing tendency characterization value.

[0068] It can be understood that the predetermined air pressure threshold and the predetermined air pressure difference threshold are obtained in advance, and the average air pressure of the simulated test track in several historical periods is recorded in advance. The average air pressure value is determined as the standard air pressure threshold, and the product of the standard air pressure threshold and the offset coefficient is determined as the air pressure threshold. The offset coefficient is selected within the interval [0.90, 0.95].

[0069] The present invention can determine the airflow influence tendency value by simulating the changes in air pressure and airflow rate of the test track in the historical period, so as to predict the airflow influence tendency on the UAV. In actual situations, if the airflow suddenly changes, it is easy to cause the airflow rate of the simulated test track to change. For example, when the air pressure is low, the air pressure gradient is large, which drives the airflow to accelerate and the speed change is more drastic. The present invention combines the airflow rate change and the air pressure change to determine the airflow influence tendency value.

[0070] See also Figure 2 As shown, it is a logic block diagram of dividing the airflow severe impact tendency period and the airflow balance tendency period according to an embodiment of the present invention. The airflow impact period of the present invention is determined based on the corresponding historical period in which the airflow rate difference within the historical period is greater than the preset airflow rate difference threshold.

[0071] The airflow rate difference is determined based on the difference between the airflow rate average and a predetermined airflow rate threshold.

[0072] In an embodiment, the clustering unit is used to divide the airflow severe impact tendency period and the airflow balanced tendency period based on the airflow impact tendency characterization value.

[0073] The clustering unit determines to classify the period as a period of severe airflow influence tendency according to a condition that the airflow influence tendency characterization value is greater than or equal to the airflow influence tendency characterization threshold;

[0074] The clustering unit determines to divide the period into an airflow balance tendency period according to a condition that the airflow influence tendency representation value is less than an airflow influence tendency representation threshold.

[0075] Specifically, the threshold for characterizing the airflow influence tendency is selected within the interval [2.25, 2.45].

[0076] The airflow influence tendency characterization value can be determined by the changes in the airflow rate and air pressure of the simulated test track in the historical period, so as to predict the influence tendency of the airflow on the drone. In actual situations, if the airflow suddenly changes, it is easy to cause the drone on the simulated test track to drift out of control. For example, if the airflow rate of the simulated test track suddenly increases or decreases, and the air pressure suddenly increases or decreases, the drone will drift out of control on the simulated test track. The present invention combines the airflow rate changes and air pressure changes of the simulated test track through the airflow influence tendency characterization value, accurately reflecting the airflow influence tendency of the simulated test track on the drone, and further improving the accuracy of drone control.

[0077] Specifically, the airflow influence tendency characterization value is the sum of the first airflow influence factor and the second airflow influence factor within the airflow influence period;

[0078] Wherein, the first airflow influencing factor is determined based on the ratio of the air pressure difference to a predetermined air pressure difference threshold;

[0079] The air pressure difference is determined based on the air pressure threshold value during the airflow impact period and the actual air pressure of the simulated test track.

[0080] In an embodiment, the control unit responds to the division result of the clustering unit, wherein,

[0081] If the classification result is a period of severe airflow influence tendency, then based on the changes in the airflow influence tendency characterization value within the historical period, it is determined whether there is a risk of drift out of control, and the vector thrust device is activated accordingly;

[0082] If the division result is an airflow balance tendency period, the temperature of the simulated test track environment in the historical period is determined, and the activity characterization value is extracted based on the temperature change of the environment and the change of the airflow influence tendency characterization value. Based on the average value of the activity characterization value in the historical period, it is determined whether to control the vector thrust device to be turned on.

[0083] See also Figure 3 As shown, it is a logic block diagram for determining whether there is a risk of drift out of control according to an embodiment of the present invention. The airflow influence tendency characterization value in the embodiment of the present invention is the sum of the first airflow influence factor and the second airflow influence factor within the airflow influence period;

[0084] Wherein, the first airflow influencing factor is determined based on the ratio of the air pressure difference to a predetermined air pressure difference threshold;

[0085] The air pressure difference is determined based on the air pressure threshold value during the airflow impact period and the actual air pressure of the simulated test track.

[0086] In an embodiment, the control unit is used to calculate the difference between the airflow influence tendency characterization value in the historical period and the predetermined airflow influence tendency characterization threshold. If the difference corresponding to a single historical period is greater than or equal to the predetermined difference threshold, it is determined that there is a risk of drift out of control.

[0087] In an embodiment, the predetermined difference threshold is predetermined, wherein the difference of the airflow impact tendency characterization values ​​in several historical periods is recorded, and the average value of the absolute values ​​of the differences is determined, and the average value of the absolute values ​​of the differences is determined as the predetermined difference threshold.

[0088] Specifically, the airflow severe impact tendency period is determined based on the condition that the airflow impact tendency representation value is greater than or equal to the airflow impact tendency representation threshold;

[0089] The airflow balance tendency period is determined based on the condition that the airflow influence tendency representation value is less than the airflow influence tendency representation threshold value.

[0090] In an embodiment, the control unit is further configured to determine whether to activate the vector thrust device based on a determination result regarding the risk of drift out of control.

[0091] According to the condition that the control unit determines that there is a risk of drifting out of control, the vector thrust device is turned on.

[0092] In the embodiment, the situation where the airflow violently affects the tendency period indicates that the UAV is greatly affected by the airflow. Therefore, it is necessary to consider the risk of airflow drifting out of control. From the perspective of the change in the airflow influence tendency characterization value, it is determined whether there may be airflow changes and rapid changes in air pressure, which may cause the UAV to drift out of control. The vector propulsion device is promptly turned on to adjust the UAV's engine tail jet on the simulated test track to ensure the reliability of airflow control.

[0093] Specifically, the vector angle of the vector thrust device is determined based on the risk of drifting out of control.

[0094] Specifically, the risk of uncontrolled drift is determined based on the difference between the airflow influence tendency characterization value in the historical period and a predetermined airflow influence tendency characterization threshold;

[0095] Among them, if the difference corresponding to a single historical period is greater than or equal to a predetermined difference threshold, it is determined that there is a risk of drift out of control.

[0096] Specifically, the motor power of the power compensation system is determined based on the average value of the activity characterization value in the historical period.

[0097] Specifically, the activity characterization value is determined based on the sum of the first activity influencing factor and the second activity influencing factor;

[0098] The first activity influencing factor is a ratio of a change in ambient temperature to a predetermined temperature change threshold;

[0099] The second activity influencing factor is the ratio of the change amplitude of the airflow influence tendency characterization value to a predetermined change amplitude threshold.

[0100] Specifically, the activity characterization value mean is determined based on the average value of the activity characterization values ​​in the historical period.

[0101] The condition for determining the motor power of the power compensation system is that the average value of the activity characterization value is greater than or equal to a predetermined characterization threshold.

[0102] In an embodiment, the control unit is further configured to determine the temperature of the simulated test track environment during a historical period, so as to extract the activity representation value based on the temperature change of the environment and the change of the airflow impact tendency representation value, including:

[0103] Determine the magnitude of the change in temperature of the simulated test track environment over the historical period;

[0104] Determining the magnitude of the change in the airflow impact tendency representative value over the historical period;

[0105] determining a ratio of a temperature change amplitude to a predetermined temperature change amplitude threshold as a first activity influencing factor;

[0106] Calculating a ratio of a change amplitude of the airflow influence tendency characterization value to a predetermined change amplitude threshold to determine it as a second activity influencing factor;

[0107] The sum of the first activity influencing factor and the second activity influencing factor is calculated and determined as the activity characterization value.

[0108] Specifically, the embodiment does not limit the method for identifying the temperature variation range of the simulated test track environment. A data processing algorithm or model import logic component that can implement the corresponding function can be pre-trained to implement the corresponding function, which will not be repeated here.

[0109] Specifically, the activity representation threshold in the embodiment is predetermined, wherein the average value of the activity representation in each historical period is recorded, and the activity representation threshold is set to be between 0.75 times and 0.85 times the average value of the activity representation.

[0110] The airflow balance tendency period indicates that the UAV is less affected by the airflow. At this time, normalized continuous monitoring of the activity of the simulated test track is adopted. The activity characterization value represents the activity of the simulated test track. In the case of low activity, the vector propulsion device is activated in time to ensure the reliability of airflow control.

[0111] See also Figure 4 FIG. 1 is a flowchart of a method for controlling a vector ducted UAV according to an embodiment of the present invention. The present invention further provides a method for controlling a control system of a vector ducted UAV, including:

[0112] Step S1: collecting data characteristic parameters of the simulated test track during a historical period, the data characteristic parameters including temperature, air pressure, and airflow rate;

[0113] Step S2: analyzing the airflow impact tendency characterization value of the simulated test track in each historical period based on the data characteristic parameters;

[0114] Step S3: identifying an airflow impact period based on a difference between the airflow rate corresponding to each historical period and a predetermined airflow rate threshold;

[0115] Step S4: Under the condition of the airflow impact period, the airflow impact tendency characterization value corresponding to a single historical period is used to divide the period into a period of severe airflow impact tendency and a period of balanced airflow tendency. In response to the division result, the operating status of the UAV is monitored, wherein:

[0116] Determining whether there is a risk of drift loss of control based on changes in the airflow influence tendency characterization value within a historical period, so as to determine the vector angle of the vector thrust device;

[0117] Based on the vector angle, the temperature of the simulated test track in the historical period is extracted, and the activity characterization value is extracted based on the temperature change of the simulated test track and the change of the airflow influence tendency characterization value. Based on the average value of the activity characterization value in the historical period, it is determined whether to control the vector thrust device to be turned on.

[0118] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

[0119] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A control system for a vector ducted UAV, characterized in that: include: A collection component, comprising a plurality of data collection units disposed in the simulation test track for collecting data characteristic parameters of the simulation test track, wherein the data characteristic parameters include temperature, air pressure, and airflow rate of the simulation test track within a single historical period; A vector ducted assembly includes a vector thrust device disposed in the vector ducted UAV for changing the vector angle and a power compensation system connected to the vector thrust device for changing the motor power of the UAV; an analyzer connected to the acquisition component, configured to analyze a value representing an airflow impact tendency of the simulated test track in each historical period based on changes in air pressure and airflow rate of the simulated test track in the historical period; a clustering unit connected to the analyzer, configured to identify airflow impact periods based on airflow rate changes corresponding to each historical period, and to divide airflow severe impact tendency periods and airflow balanced tendency periods based on the airflow impact tendency characterization value corresponding to a single historical period; a control unit, connected to the clustering unit and the vector duct assembly, respectively, for responding to a period division result of the clustering unit and determining whether there is a risk of drift loss of control based on a difference between the airflow influence tendency characterization value and a predetermined airflow influence tendency characterization threshold value within a historical period, so as to determine a vector angle of the vector thrust device; An adaptive adjustment unit is respectively connected to the control unit and the vector duct assembly, and is used to extract the temperature of the simulated test track within a historical period, and extract an activity characterization value based on the temperature and airflow influence tendency characterization value of the simulated test track, so as to determine the motor power of the power compensation system based on the average value of the activity characterization value within the historical period.

2. The control system of the vector ducted UAV according to claim 1, characterized in that: The airflow impact period is determined based on the corresponding historical period in which the airflow rate difference within the historical period is greater than the preset airflow rate difference threshold. The airflow rate difference is determined based on the difference between the airflow rate average and a predetermined airflow rate threshold.

3. The control system of the vector ducted UAV according to claim 2, characterized in that: The airflow influence tendency characterization value is the sum of the first airflow influence factor and the second airflow influence factor within the airflow influence period; Wherein, the first airflow influencing factor is determined based on the ratio of the air pressure difference to a predetermined air pressure difference threshold; The air pressure difference is determined based on the air pressure threshold value during the airflow impact period and the actual air pressure of the simulated test track.

4. The control system of the vector ducted UAV according to claim 3, characterized in that: The airflow severe impact tendency period is determined based on the condition that the airflow impact tendency representation value is greater than or equal to the airflow impact tendency representation threshold; The airflow balance tendency period is determined based on the condition that the airflow influence tendency representation value is less than the airflow influence tendency representation threshold value.

5. The control system of the vector ducted UAV according to claim 1, characterized in that: The vector angle of the vector thrust device is determined based on the risk of drift loss of control.

6. The control system of the vector ducted UAV according to claim 5, characterized in that: The risk of uncontrolled drift is determined based on the difference between the airflow influence tendency characterization value in the historical period and a predetermined airflow influence tendency characterization threshold; Among them, if the difference corresponding to a single historical period is greater than or equal to a predetermined difference threshold, it is determined that there is a risk of drift out of control.

7. The control system of the vector ducted UAV according to claim 1, characterized in that: The motor power of the power compensation system is determined based on an average value of activity characterization values ​​within a historical period.

8. The control system of the vector ducted UAV according to claim 7, characterized in that: The activity characterization value is determined based on the sum of the first activity influencing factor and the second activity influencing factor; The first activity influencing factor is a ratio of a change in ambient temperature to a predetermined temperature change threshold; The second activity influencing factor is the ratio of the change amplitude of the airflow influence tendency characterization value to a predetermined change amplitude threshold.

9. The control system of the vector ducted UAV according to claim 8, characterized in that: The activity characterization value mean is determined based on the average value of the activity characterization values ​​in the historical period, The condition for determining the motor power of the power compensation system is that the average value of the activity characterization value is greater than or equal to a predetermined characterization threshold.

10. A control method for a control system of a vector ducted UAV according to any one of claims 1 to 9, characterized in that: include: Collecting data characteristic parameters of the simulated test track during a historical period, wherein the data characteristic parameters include temperature, air pressure, and airflow rate; Analyzing the airflow impact tendency characterization value of the simulated test track in each historical period based on the data characteristic parameters; Identifying an airflow impact period based on a difference between an airflow rate corresponding to each historical period and a predetermined airflow rate threshold; Under the condition of the airflow influence period, the airflow severe influence tendency period and the airflow balance tendency period are divided based on the airflow influence tendency characterization value corresponding to a single historical period, and the operating status of the UAV is monitored in response to the division result, wherein, determining whether there is a risk of drift out of control based on a difference between the airflow influence tendency representation value and a predetermined airflow influence tendency representation threshold value within a historical period, so as to determine a vector angle of the vector thrust device; Based on the vector angle, the temperature of the simulated test track in the historical period is extracted, and the activity characterization value is extracted based on the temperature of the simulated test track and the airflow influence tendency characterization value, so as to determine the motor power of the power compensation system based on the average of the activity characterization values ​​in the historical period.

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