Physical parametric modeling optimization method for unmanned aerial vehicle self-stabilization printing platform

Abstract

The invention discloses a physical parametric modeling optimization method for an unmanned aerial vehicle self-stabilization printing platform, and relates to the technical field of unmanned aerial vehicle printing self-stabilization optimization, and the method comprises the following steps: carrying out different control experiments on an unmanned aerial vehicle, and recording experiment data of different printing parameters; analyzing the experimental data, and generating independent acting force data for each printing parameter; carrying out combined analysis on different acting force data, and analyzing to obtain comprehensive gradients of different printing parameters to the unmanned aerial vehicle self-stabilization printing platform; the operation parameters of the unmanned aerial vehicle self-stabilization printing platform are adjusted based on the comprehensive gradient; the method is used for solving the problem that an existing unmanned aerial vehicle printing self-stabilization technology does not consider the influence of printing equipment on the flight attitude of the unmanned aerial vehicle and the common influence of different factors, so that the printing precision of the unmanned aerial vehicle is insufficient.

Description

Technical Field

[0001] This invention relates to the field of self-stabilizing optimization technology for UAV printing, specifically a method for physical parameter modeling and optimization of a self-stabilizing UAV printing platform. Background Technology

[0002] Drone printing self-stabilization optimization technology refers to a comprehensive technical system. Its core objective is to enable drones to actively sense, predict, and counteract various disturbances generated by the printing process itself and those brought about by the external environment when performing printing tasks, thereby stabilizing the printing platform in an extremely precise position and attitude to ensure the final printing accuracy and quality.

[0003] During drone printing, maintaining flight stability requires consideration beyond existing factors like wind speed and direction. The impact of the onboard printing equipment on flight attitude must also be taken into account. For instance, the consumption of printing material reduces the drone's overall weight, affecting altitude. Furthermore, the thrust generated by the print head ejecting material during printing can cause the drone to tilt. Since model printing demands high precision, tilting compromises accuracy. Existing drone printing self-stabilization optimization technologies typically only consider wind factors, failing to guarantee attitude stability during printing. Moreover, various influencing factors are interconnected. To maintain the stability of a drone's flight attitude, a thorough analysis of the combined effects of various influencing factors is necessary. For example, patent application CN119820858A discloses "a drone navigation 3D printing method based on indoor scene positioning." While this solution is applicable to indoor scenes and can eliminate the influence of wind on the drone's flight attitude, it does not consider the influence of the printing equipment itself on the drone's flight attitude. This causes the drone to deviate during the printing process, leading to a decrease in printing accuracy. Existing drone printing self-stabilization technologies still suffer from insufficient printing accuracy because they do not consider the influence of the printing equipment itself on the drone's flight attitude, as well as the combined effects of various factors. Summary of the Invention

[0004] This invention aims to at least partially solve one of the technical problems in the prior art. By establishing control groups for each printing parameter, different parameter control groups are obtained. Then, comparative experiments are conducted on the parameter control groups, and experimental data of the printing parameters are recorded. The experimental data are then analyzed to generate independent force data for each printing parameter. The influence relationship between the basic tilt relationship function and the offset tilt relationship function is analyzed, and a force compensation model is constructed. Then, based on the force compensation model, the comprehensive tilt degree of different printing parameters on the UAV self-stabilized printing platform is analyzed. Finally, the operating parameters of the UAV self-stabilized printing platform are adjusted based on the comprehensive tilt degree. This solves the problem that existing UAV printing self-stabilization technology still does not consider the influence of the printing equipment itself on the UAV's flight attitude and the combined influence of different factors, resulting in insufficient printing accuracy.

[0005] To achieve the above objectives, this application provides a physical parameterization modeling and optimization method for a self-stabilizing UAV printing platform, comprising the following steps: Different control experiments were conducted on the drone, and experimental data with different printing parameters were recorded; Analyze the experimental data to generate independent force data for each printing parameter; By combining and analyzing different force data, the overall tilt of the UAV self-stabilizing printing platform under different printing parameters is obtained. The operating parameters of the UAV self-stabilizing printing platform are adjusted based on the overall tilt angle.

[0006] Furthermore, different control experiments were conducted on the drone, and experimental data for different printing parameters were recorded, including the following sub-steps: A control group was established for each printing parameter to obtain different parameter control groups; A control experiment was conducted against the parameter control group, and the experimental data of the printed parameters were recorded.

[0007] Furthermore, a control group is established for each printing parameter. The different parameter control groups include the following sub-steps: The printing parameters include printhead position and nozzle thrust; A control group was established for each printing parameter, named the parameter control group. The parameter control group includes the position control group and the thrust control group.

[0008] Furthermore, a control experiment was conducted on the parameter control group, and the experimental data for recording and printing the parameters included the following sub-steps: The geometric center of the UAV self-stabilized printing platform was obtained and named the platform center. During the comparative experiment on the nozzle thrust, the print head position was always located at the geometric center. Get the upper limit of the nozzle thrust, name it thrust upper limit, mark it as DUL, and name the range [0,DUL] as thrust range; The thrust range is divided into a first number of equal parts, and the values ​​at each division point are marked as division values. The minimum, maximum, and division values ​​of the thrust range are collectively referred to as test values. The test values ​​are numbered in ascending order and identified by the symbol TV. n This indicates that n is a positive integer and n is the sequence number of TV; Set up a test group with the first number plus one, and label it TG. n , TG n The nozzle thrust is set to TV n The experimental data on nozzle thrust are named force data; Flight tests were conducted on the self-stabilized UAV printing platform in the test group under windless conditions to obtain the force data of the self-stabilized UAV printing platform. The force data is the tilt angle, which is the angle between the self-stabilized UAV printing platform and the ground plane. Position tests were performed on the position control group, and the experimental data of the position control group were recorded.

[0009] Furthermore, positional testing and analysis were performed on the positional control group, and the experimental data of the positional control group were recorded, including the following sub-steps: Obtain the distance between the vertex and the center of the self-stabilized printing platform of the UAV, and label it as DP. Label the first quantity as N1. Calculate DP / N1 and label the calculation result as DL. Set up a test group with the first number plus one, and label it TP. n , TP n Adjust the printhead position to a distance of DL×(n-1) from the geometric center, set the thrust reference value, and apply all TP... n The nozzle thrust is set to the thrust reference value; The experimental data on the printhead position is named the stress point data. The UAV self-stabilized printing platform in the test group is tested in a windless environment to obtain the stress point data of the UAV self-stabilized printing platform. The stress point data includes the tilt angle and the offset distance, which is the distance between the printhead position and the center of the platform.

[0010] Furthermore, the experimental data is analyzed to generate independent force data for each printing parameter, including the following sub-steps: Name the tilt angle in the force data the thrust tilt angle. TV n Establish a two-dimensional coordinate system with the X-axis as the x-axis and the tilt angle as the y-axis, named the Basic Tilt Relationship Diagram. Then, assign the thrust tilt angle according to the corresponding TV... nEnter the base slope relationship diagram, perform function regression on the base slope relationship diagram, and name the function obtained from the function regression analysis the base slope relationship function; A two-dimensional coordinate system is established with the offset distance as the horizontal axis and the tilt angle as the vertical axis, named the offset tilt relationship diagram. The force point data is entered into the offset tilt relationship diagram. Function regression is performed on the offset tilt relationship diagram, and the function obtained from the function regression analysis is named the offset tilt relationship function. The basic tilt relationship function and the offset tilt relationship function are the force data.

[0011] Furthermore, by combining and analyzing different force data, the overall tilt of the UAV self-stabilizing printing platform under different printing parameters is determined through the following sub-steps: Analyze the influence relationship between the foundation tilt relationship function and the offset tilt relationship function, and construct a stress compensation model; The overall tilt of the UAV self-stabilizing printing platform was obtained based on the force compensation model analysis.

[0012] Furthermore, the influence relationship between the foundation tilt relationship function and the offset tilt relationship function is analyzed, and the force compensation model is constructed, including the following sub-steps: Substitute the nozzle thrust equal to the thrust reference value into the foundation tilt relationship function to obtain the standard tilt angle; By substituting different offset distances into the offset tilt relationship function, different offset tilt degrees can be obtained; The offset tilt is numbered in ascending order of offset distance, and denoted by the symbol Q. i This indicates that, where i is a positive integer and i is the index of Q, the standard tilt is marked as BQ; Calculate BQ / Q1, label the result as H, and calculate Q. i ×H, label the calculation result as K i ; Calculate K i / BQ, label the calculation result as G i With the offset distance as the X-axis, G i Establish a two-dimensional coordinate system for the Y-axis, named the offset compensation map, and set G... i Enter the offset compensation map according to the offset distance; Perform function regression on the offset compensation diagram, name the function obtained from the function regression analysis as the force compensation equation, construct the force compensation model, and input the force compensation equation into the force compensation model.

[0013] Furthermore, based on the force compensation model and load tilt relationship function analysis, the overall tilt degree of the UAV self-stabilizing printing platform under different printing parameters is obtained through the following sub-steps: The printhead position and nozzle thrust of the UAV self-stabilized printing platform at the first prediction time are obtained and named as the desired position and desired thrust, respectively. Obtain the distance between the desired location and the center of the platform, and name it the desired distance; Input the desired distance into the force compensation model and mark the output of the force compensation model as F1; Substitute the desired thrust into the foundation tilt relationship function, label the calculation result as F2, calculate F1×F2, and name the calculation result as the comprehensive tilt.

[0014] Furthermore, adjusting the operating parameters of the UAV self-stabilizing printing platform based on the overall tilt angle includes the following sub-steps: Draw a ray with the center of the platform as the endpoint, passing through the print head position, and name it the compensation auxiliary line; The flight attitude of the self-stabilized printing platform of the UAV at the first predicted time is preset so that the acute angle between the compensation auxiliary line and the ground plane is equal to the comprehensive tilt.

[0015] The beneficial effects of this invention are as follows: This invention establishes a control group for each printing parameter to obtain different parameter control groups, then conducts a comparative experiment on the parameter control groups, records the experimental data of the printing parameters, and then analyzes the experimental data to generate independent force data for each printing parameter. The advantage is that it can analyze the influence of different printing parameters on the flight attitude of the UAV through a small number of tests, providing a reliable data basis for subsequent analysis and improving the accuracy and effectiveness of UAV printing self-stabilization optimization. This invention constructs a force compensation model by analyzing the influence relationship between the basic tilt relationship function and the offset tilt relationship function. Then, based on the force compensation model, it analyzes the comprehensive tilt degree of the UAV self-stabilizing printing platform under different printing parameters. Finally, it adjusts the operating parameters of the UAV self-stabilizing printing platform based on the comprehensive tilt degree. The advantage is that it analyzes the synergistic influence between different printing parameters, provides a compensation mechanism for UAV tilt prediction, makes the prediction of UAV flight attitude more accurate, and improves the accuracy and rationality of UAV printing self-stabilization optimization. Attached Figure Description

[0016] Figure 1 This is a flowchart of the steps of the method of the present invention; Figure 2 This is a schematic diagram of the basic tilt relationship of the present invention; Figure 3 This is a schematic diagram of the offset and tilt relationship of the present invention; Figure 4 This is a schematic diagram of the offset compensation diagram of the present invention. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] Example 1, please refer to Figure 1 As shown, this application provides a physical parameterization modeling and optimization method for a self-stabilizing UAV printing platform, including the following steps: Step S1 involves conducting different control experiments on the drone and recording experimental data for different printing parameters. Step S1 includes the following sub-steps: Step S101: Establish a control group for each printing parameter to obtain different parameter control groups; Step S101 includes the following sub-steps: Step S101.1, the printing parameters include printhead position and nozzle thrust; Step S101.2: Establish a control group for each printing parameter, named the parameter control group. The parameter control group includes the position control group and the thrust control group. In specific implementation, since the existing drone flight attitude control technology for stabilizing drone flight attitude under windy conditions is already quite mature, this embodiment does not perform additional processing on it. This embodiment incorporates the analysis of printing parameters based on existing drone flight attitude control technology. Therefore, this embodiment does not analyze wind factors. In drone printing technology, the main factors affecting drone flight are the weight of the printing equipment, the weight of the material, the position of the print head, and the nozzle thrust. Among these, since the weight of the printing equipment is fixed, its influence can be ignored. While the weight of the material is a variable, the printing material generally... It is usually in the form of a viscous fluid. Although its form may change in the storage device, such changes take a certain amount of time. In this embodiment, after predicting the flight attitude of the drone, the flight attitude of the drone can be adjusted in advance, that is, the flight attitude of the drone remains stable. Under stable conditions, the form of the printing material also remains stable, and the weight distribution is uniform. Therefore, the weight of the material has only an impact on the drone on the consumption of the material weight, rather than the distribution of the weight. The material consumption rate is a known condition, and the change in the weight of the material can be predicted, so the drone can be adjusted accordingly. Therefore, this embodiment does not consider the change in the weight of the material, but only the print head position and the nozzle thrust.

[0019] Step S102: Conduct a control experiment on the parameter control group and record and print the experimental data of the parameters; Step S102 includes the following sub-steps: Step S102.1: Obtain the geometric center of the UAV self-stabilized printing platform and name it the platform center. During the comparative experiment on the nozzle thrust, the print head position is always located at the geometric center. Step S102.2: Obtain the upper limit of the nozzle thrust, name it the upper limit of thrust, mark it as DUL, and name the range [0,DUL] the thrust range; Step S102.3: Divide the thrust range into a first number of equal parts, mark the values ​​at each division point as the division values, and collectively refer to the minimum, maximum, and division values ​​of the thrust range as test values. Number the test values ​​in ascending order and use the symbol TV. n This indicates that n is a positive integer and n is the sequence number of TV; Step S102.4: Set up a test group with a first quantity plus one, and label it TG. n , TG n The nozzle thrust is set to TV n The experimental data on nozzle thrust are named force data; Step S102.5: Conduct a flight test on the UAV self-stabilized printing platform in the test group under windless conditions to obtain the force data of the UAV self-stabilized printing platform. The force data is the tilt angle, which is the angle between the UAV self-stabilized printing platform and the ground plane. In specific implementation, the platform center is the center of gravity of the UAV self-stabilized printing platform, and the obtained thrust range is [0, 0.04N]. The first quantity is set by the tester. In this embodiment, the first quantity is set to 10, that is, [0, 0.04N] is divided into ten equal parts, and finally TV is obtained. n , 1≤n≤11, and TV n The size is 0.004×(n-1), and then 11 test groups are set up to obtain TG1 to TG2. 11 Finally, the TG values ​​for each group were obtained through experiments. n The tilt angle can be directly obtained from the drone's flight attitude management platform when recording the tilt angle. After the drone deviates, it will automatically return to the correct position based on the existing drone flight attitude control technology. However, this has a lag, which will lead to loss of control over printing accuracy. Therefore, this embodiment aims to predict the drone's flight attitude and make preventive adjustments before the drone performs printing, so that the drone always remains stable.

[0020] Step S102.6: Perform position test analysis on the position control group and record the experimental data of the position control group; Step S102.6 includes the following sub-steps: Step S102.6.a: Obtain the distance between the vertex and the center of the platform in the self-stabilized printing platform of the UAV, mark it as DP, mark the first quantity as N1, calculate DP / N1, and mark the calculation result as DL; Step S102.6.b: Set the test group to the first quantity plus one, and label it TP. n , TP n Adjust the printhead position to a distance of DL×(n-1) from the geometric center, set the thrust reference value, and apply all TP... n The nozzle thrust is set to the thrust reference value; Step S102.6.c: Name the experimental data of the print head position as the force point data. Conduct a flight test on the UAV self-stabilized printing platform in the test group in a windless environment to obtain the force point data of the UAV self-stabilized printing platform. The force point data includes the tilt angle and the offset distance. The offset distance is the distance between the print head position and the center of the platform. In practice, the thrust reference value is set by the tester. In this embodiment, the thrust reference value is set to 0.02N. The vertices in the UAV self-stabilized printing platform are the vertices within the movable area of ​​the print head, which are usually the four corners of a rectangle. They are all equidistant from the center of the platform. The DP is obtained as 1m, and the DL is calculated as 0.1m. TP1 to TP are set. 11 TP in ascending order of n n The values ​​are 0.1 × (n-1) in sequence, and TP is... n The print head position is adjusted to be 0.1×(n-1) meters away from the geometric center. Then, the force point data is tested and recorded. The offset distance is 0.1×(n-1).

[0021] Step S2 involves analyzing the experimental data and generating independent force data for each printing parameter. Step S2 includes the following sub-steps: Step S201: Name the tilt angle in the force data as the thrust tilt angle; Please see Figure 2 As shown, in step S202, with TV n Establish a two-dimensional coordinate system with the X-axis as the x-axis and the tilt angle as the y-axis, named the Basic Tilt Relationship Diagram. Then, assign the thrust tilt angle according to the corresponding TV... n Enter the base slope relationship diagram, perform function regression on the base slope relationship diagram, and name the function obtained from the function regression analysis the base slope relationship function; Please see Figure 3As shown, in step S203, a two-dimensional coordinate system is established with the offset distance as the horizontal axis and the tilt angle as the vertical axis, named the offset tilt relationship diagram. The force point data is entered into the offset tilt relationship diagram, and a function regression is performed on the offset tilt relationship diagram. The function obtained from the function regression analysis is named the offset tilt relationship function. Step S204: The basic tilt relationship function and the offset tilt relationship function are the force data; In specific implementation, the basic tilt relationship diagram is constructed as follows: Figure 2 As shown, the offset and tilt relationship diagram is constructed simultaneously as follows: Figure 3 As shown, in the function regression analysis, the function with the smallest standard deviation was selected as the force data. The final foundation tilt relationship function was Y1 = 76.364 × X1 + 0.0091, and the offset tilt relationship function was Y2 = 2.4709 × X2. 2 +2.5291×X+1.5503, where Y1 is the thrust tilt angle, Y2 is the force point data, X1 is the nozzle thrust, and X2 is the offset distance.

[0022] Step S3 involves combining and analyzing different force data to obtain the overall tilt angle of the UAV self-stabilizing printing platform under different printing parameters. Step S3 includes the following sub-steps: Step S301: Analyze the influence relationship between the foundation tilt relationship function and the offset tilt relationship function, and construct a stress compensation model; Step S301 includes the following sub-steps: Step S301.1: Substitute the nozzle thrust equal to the thrust reference value into the foundation tilt relationship function to obtain the standard tilt angle; Step S301.2: Substitute different offset distances into the offset tilt relationship function to obtain different offset tilt degrees; Step S301.3: Number the offset tilts in ascending order of offset distance, using the symbol Q. i This indicates that, where i is a positive integer and i is the index of Q, the standard tilt is marked as BQ; Step S301.4: Calculate BQ / Q1, label the calculation result as H, and calculate Q. i ×H, label the calculation result as K i ; Please see Figure 4 As shown, in step S301.5, calculate Q. i / BQ, label the calculation result as G i With the offset distance as the X-axis, G i Establish a two-dimensional coordinate system for the Y-axis, named the offset compensation map, and set G... i Enter the offset compensation map according to the offset distance; Step S301.6: Perform function regression on the offset compensation diagram, name the function obtained from the function regression analysis as the force compensation equation, construct the force compensation model, and input the force compensation equation into the force compensation model. In practice, the standard tilt angle is calculated because the final prediction needs to be made using the basic tilt relationship function. The compensation for the tilt angle by the offset distance is based on the calculation result of the basic tilt relationship function. For example, in this embodiment, the thrust reference value is 0.02N. Substituting X1=0.02 into Y1=76.364×X1+0.0091, the standard tilt angle is calculated to be 1.53638°. Substituting different offset distances into the offset tilt relationship function yields different offset tilt angles, which are numbered Q1 to Q... 11 Where Q1 is 1.5503, H is calculated to be 0.9910, the result is rounded to four decimal places, and K is then calculated based on H. i The offset compensation map is constructed as follows: Figure 4 As shown, the force compensation equation obtained through function regression analysis is Y3=1.6062×X2 2 +1.5026×X2+0.9895, where Y3 is G i .

[0023] Step S302: Based on the force compensation model analysis, the overall tilt of the UAV self-stabilizing printing platform under different printing parameters is obtained; Step S302 includes the following sub-steps: Step S302.1: Obtain the print head position and nozzle thrust of the UAV self-stabilized printing platform at the first prediction time, and name them as desired position and desired thrust, respectively. Step S302.2: Obtain the distance between the desired location and the center of the platform, and name it the desired distance; Step S302.3: Input the desired distance into the force compensation model and mark the output of the force compensation model as F1; Step S302.4: Substitute the desired thrust into the foundation tilt relationship function, mark the calculation result as F2, calculate F1×F2, and name the calculation result as the comprehensive tilt. In practice, the first prediction time is set by the operator. In this embodiment, the first prediction time is set to 3 seconds, that is, predicting the flight attitude of the UAV self-stabilized printing platform after 3 seconds. Since the UAV self-stabilized printing platform needs to complete printing according to the planned path, the expected weight, expected position, and expected thrust of the UAV self-stabilized printing platform after 3 seconds can be directly obtained. The expected thrust and expected distance are obtained as 0.03N and 0.5m, respectively. Substituting X2=0.5m into Y3=1.6062×X2 2+1.5026×X2+0.9895, we get F1 as 2.14235. Substituting X1=0.03 into Y1=76.364×X1+0.0091, we get F2 as 2.30002°. Further calculation gives the overall inclination as 4.9274°. The results are rounded to four decimal places.

[0024] Step S4: Adjust the operating parameters of the UAV self-stabilized printing platform based on the overall tilt angle; Step S4 includes the following sub-steps: Step S401: Draw a ray with the center of the platform as the endpoint and passing through the print head position, and name it the compensation auxiliary line; Step S402: Preset the flight attitude of the UAV self-stabilized printing platform at the first predicted time, so that the acute angle between the compensation auxiliary line and the ground plane is equal to the comprehensive tilt. In practice, after the first prediction time is predicted, the self-stabilized printing platform of the UAV will tilt by 4.9274°, and the height will definitely decrease on the side closer to the print head. Therefore, the UAV can be controlled in advance to raise the side with the decreased height at the first prediction time to offset the effect. The detailed control process of the UAV is implemented with reference to the existing UAV flight attitude control technology, and will not be described in detail in this embodiment.

[0025] Example 2: This application provides an electronic device, which may include a processor, a communication interface, a memory, and a communication bus. The processor, communication interface, and memory communicate with each other via the communication bus. The memory stores computer-readable instructions. The processor can call the instructions in the memory. When the computer-readable instructions are executed by the processor, steps such as those in the physical parameterization modeling and optimization method for a UAV self-stabilized printing platform are performed to achieve the following functions: conducting different control experiments on the UAV and recording experimental data for different printing parameters; analyzing the experimental data to generate independent force data for each printing parameter; combining and analyzing the different force data to obtain the comprehensive tilt of the UAV self-stabilized printing platform for different printing parameters; and adjusting the operating parameters of the UAV self-stabilized printing platform based on the comprehensive tilt.

[0026] Furthermore, the logical instructions in the aforementioned memory can be implemented as software functional units and sold or used as independent products, and can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0027] Example 3: This application also provides a computer program product, which includes a computer program stored on a computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the physical parameterization modeling and optimization method for the UAV self-stabilized printing platform provided by the above methods. This method includes: conducting different control experiments on the UAV and recording experimental data of different printing parameters; analyzing the experimental data to generate independent force data for each printing parameter; combining and analyzing the different force data to obtain the comprehensive tilt of the UAV self-stabilized printing platform due to different printing parameters; and adjusting the operating parameters of the UAV self-stabilized printing platform based on the comprehensive tilt.

[0028] Example 4: This application also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it performs the steps in the above-described physical parameterization modeling and optimization method for a UAV self-stabilized printing platform to achieve the following functions: conducting different control experiments on the UAV and recording experimental data for different printing parameters; analyzing the experimental data and generating independent force data for each printing parameter; combining and analyzing different force data to obtain the comprehensive tilt of the UAV self-stabilized printing platform for different printing parameters; and adjusting the operating parameters of the UAV self-stabilized printing platform based on the comprehensive tilt.

[0029] Based on the above description of the embodiments, the embodiments of the present invention can be provided as methods, systems, or computer program products. Based on this understanding, the above technical solutions, in essence or in terms of their contribution to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or certain parts of the embodiments.

[0030] In the embodiments provided in this application, it should be understood that the disclosed system or method can be implemented in other ways. The embodiments described above are merely illustrative. For example, the division of modules or units is only a logical functional division, and there may be other division methods in actual implementation. Furthermore, multiple modules or units may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the coupling or direct coupling or communication connection shown or discussed may be through some communication interfaces. The indirect coupling or communication connection between systems, modules, and units may be electrical, mechanical, or other forms.

[0031] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for physical parameter modeling and optimization of a UAV self-stabilized printing platform, characterized in that, Includes the following steps: Different control experiments were conducted on the drone, and experimental data with different printing parameters were recorded; Analyze the experimental data to generate independent force data for each printing parameter; By combining and analyzing different force data, the overall tilt of the UAV self-stabilizing printing platform under different printing parameters is obtained. The operating parameters of the UAV self-stabilizing printing platform are adjusted based on the overall tilt angle.

2. The physical parameterization modeling and optimization method for the UAV self-stabilized printing platform according to claim 1, characterized in that, The experimental data for conducting different control experiments on the drone and recording different printing parameters includes the following sub-steps: A control group was established for each printing parameter to obtain different parameter control groups; A control experiment was conducted against the parameter control group, and the experimental data of the printed parameters were recorded.

3. The physical parameterization modeling and optimization method for the UAV self-stabilized printing platform according to claim 2, characterized in that, Establishing a control group for each printing parameter, resulting in different parameter control groups, includes the following sub-steps: The printing parameters include printhead position and nozzle thrust; A control group was established for each printing parameter, named the parameter control group. The parameter control group includes the position control group and the thrust control group.

4. The physical parameterization modeling and optimization method for the UAV self-stabilized printing platform according to claim 3, characterized in that, The experimental data for recording and printing the parameters, including the following sub-steps, are as follows: A control experiment is conducted against the parameter control group. The geometric center of the UAV self-stabilized printing platform was obtained and named the platform center. During the comparative experiment on the nozzle thrust, the print head position was always located at the geometric center. Get the upper limit of the nozzle thrust, name it thrust upper limit, mark it as DUL, and name the range [0,DUL] as thrust range; The thrust range is divided into a first number of equal parts, and the values ​​at each division point are marked as division values. The minimum, maximum, and division values ​​of the thrust range are collectively referred to as test values. The test values ​​are numbered in ascending order and identified by the symbol TV. n This indicates that n is a positive integer and n is the sequence number of TV; Set up a test group with the first number plus one, and label it TG. n , TG n The nozzle thrust is set to TV n The experimental data on nozzle thrust are named force data; Flight tests were conducted on the self-stabilized UAV printing platform in the test group under windless conditions to obtain the force data of the self-stabilized UAV printing platform. The force data is the tilt angle, which is the angle between the self-stabilized UAV printing platform and the ground plane. Position tests were performed on the position control group, and the experimental data of the position control group were recorded.

5. The physical parameterization modeling and optimization method for the UAV self-stabilized printing platform according to claim 4, characterized in that, The positional control group underwent positional testing and analysis, and the experimental data of the positional control group were recorded, including the following sub-steps: Obtain the distance between the vertex and the center of the self-stabilized printing platform of the UAV, and label it as DP. Label the first quantity as N1. Calculate DP / N1 and label the calculation result as DL. Set up a test group with the first number plus one, and label it TP. n , TP n Adjust the printhead position to a distance of DL×(n-1) from the geometric center, set the thrust reference value, and apply all TP... n The nozzle thrust is set to the thrust reference value; The experimental data on the printhead position is named the stress point data. The UAV self-stabilized printing platform in the test group is tested in a windless environment to obtain the stress point data of the UAV self-stabilized printing platform. The stress point data includes the tilt angle and the offset distance, which is the distance between the printhead position and the center of the platform.

6. The physical parameterization modeling and optimization method for the UAV self-stabilized printing platform according to claim 5, characterized in that, Analyzing the experimental data and generating independent force data for each printing parameter includes the following sub-steps: Name the tilt angle in the force data the thrust tilt angle. TV n Establish a two-dimensional coordinate system with the X-axis as the x-axis and the tilt angle as the y-axis, named the Basic Tilt Relationship Diagram. Then, assign the thrust tilt angle according to the corresponding TV... n Enter the base slope relationship diagram, perform function regression on the base slope relationship diagram, and name the function obtained from the function regression analysis the base slope relationship function; A two-dimensional coordinate system is established with the offset distance as the horizontal axis and the tilt angle as the vertical axis, named the offset tilt relationship diagram. The force point data is entered into the offset tilt relationship diagram. Function regression is performed on the offset tilt relationship diagram, and the function obtained from the function regression analysis is named the offset tilt relationship function. The basic tilt relationship function and the offset tilt relationship function are the force data.

7. The physical parameterization modeling and optimization method for the UAV self-stabilized printing platform according to claim 6, characterized in that, The analysis of different force data, and the resulting comprehensive tilt of the UAV self-stabilizing printing platform under different printing parameters, includes the following sub-steps: Analyze the influence relationship between the foundation tilt relationship function and the offset tilt relationship function, and construct a stress compensation model; The overall tilt of the UAV self-stabilizing printing platform was obtained based on the force compensation model analysis.

8. The physical parameterization modeling and optimization method for the UAV self-stabilized printing platform according to claim 7, characterized in that, Analyzing the influence relationship between the foundation tilt relationship function and the offset tilt relationship function, and constructing the force compensation model includes the following sub-steps: Substitute the nozzle thrust equal to the thrust reference value into the foundation tilt relationship function to obtain the standard tilt angle; By substituting different offset distances into the offset tilt relationship function, different offset tilt degrees can be obtained; The offset tilt is numbered in ascending order of offset distance, and denoted by the symbol Q. i This indicates that, where i is a positive integer and i is the index of Q, the standard tilt is marked as BQ; Calculate BQ / Q1, label the result as H, and calculate Q. i ×H, label the calculation result as K i ; Calculate K i / BQ, label the calculation result as G i With the offset distance as the X-axis, G i Establish a two-dimensional coordinate system for the Y-axis, named the offset compensation map, and set G... i Enter the offset compensation map according to the offset distance; Perform function regression on the offset compensation diagram, name the function obtained from the function regression analysis as the force compensation equation, construct the force compensation model, and input the force compensation equation into the force compensation model.

9. The physical parameterization modeling and optimization method for a self-stabilizing UAV printing platform according to claim 8, characterized in that, Based on the force compensation model and load tilt relationship function analysis, the overall tilt of the UAV self-stabilizing printing platform under different printing parameters is obtained, including the following sub-steps: The printhead position and nozzle thrust of the UAV self-stabilized printing platform at the first prediction time are obtained and named as the desired position and desired thrust, respectively. Obtain the distance between the desired location and the center of the platform, and name it the desired distance; Input the desired distance into the force compensation model and mark the output of the force compensation model as F1; Substitute the desired thrust into the foundation tilt relationship function, label the calculation result as F2, calculate F1×F2, and name the calculation result as the comprehensive tilt.

10. The physical parameterization modeling and optimization method for a self-stabilizing UAV printing platform according to claim 9, characterized in that, Adjusting the operating parameters of the UAV self-stabilizing printing platform based on the overall tilt angle includes the following sub-steps: Draw a ray with the center of the platform as the endpoint, passing through the print head position, and name it the compensation auxiliary line; The flight attitude of the self-stabilized printing platform of the UAV at the first predicted time is preset so that the acute angle between the compensation auxiliary line and the ground plane is equal to the comprehensive tilt.

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