Physical parameterization modeling optimization method of unmanned aerial vehicle self-stabilizing printing platform

Abstract

The application discloses a physical parameterization modeling optimization method of a self-stabilizing printing platform of a UAV, relates to the technical field of self-stabilizing optimization of a UAV printing, and comprises the following steps: performing different contrast experiments on the UAV, and recording experimental data of different printing parameters; analyzing the experimental data, and generating independent force data for each printing parameter; combining and analyzing different force data, and analyzing a comprehensive inclination of different printing parameters on the self-stabilizing printing platform of the UAV; and adjusting operation parameters of the self-stabilizing printing platform of the UAV based on the comprehensive inclination. The application is used to solve the problem that the existing self-stabilizing printing technology of the UAV does not consider the influence of the printing equipment itself on the flight attitude of the UAV and the common influence of different factors, and the precision of the UAV printing is insufficient.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle printing self-stabilization optimization, in particular to a physical parameterization modeling optimization method of an unmanned aerial vehicle self-stabilization printing platform. BACKGROUND

[0002] Unmanned aerial vehicle printing self-stabilization optimization technology refers to a comprehensive technical system, the core goal of which is to enable the unmanned aerial vehicle to actively perceive, predict and offset various disturbances caused by the printing process itself and external environment when performing printing tasks, so as to stabilize the printing platform at an extremely precise position and attitude, thereby ensuring the final printing precision and quality.

[0003] In the execution process of unmanned aerial vehicle printing, in addition to the influence of original wind speed and direction and other factors, the influence of the printing equipment carried on the unmanned aerial vehicle on the flight attitude also needs to be considered, for example, the weight of the unmanned aerial vehicle as a whole will decrease after the printing material carried by the unmanned aerial vehicle is consumed, thereby affecting the flight height, or the thrust generated when the printing head sprays materials during printing of the unmanned aerial vehicle will also act on the unmanned aerial vehicle, causing the unmanned aerial vehicle to tilt. Model printing requires high precision support, and if the unmanned aerial vehicle tilts, the precision of model printing cannot be guaranteed. The existing unmanned aerial vehicle printing self-stabilization optimization technology usually only considers the influence of wind power, and it is difficult to guarantee the attitude stability of the unmanned aerial vehicle during printing. In addition, there is a correlation between different influencing factors, and the comprehensive influence between different influencing factors needs to be analyzed in depth to maintain the stability of the flight attitude of the unmanned aerial vehicle. For example, in the patent application with the publication number CN119820858A, a "unmanned aerial vehicle navigation 3D printing method based on indoor scene positioning" is disclosed. Although this scheme is suitable for indoor scenes and can eliminate the influence of wind power on the flight attitude of the unmanned aerial vehicle, it does not consider the influence of the printing equipment itself on the flight attitude of the unmanned aerial vehicle, which causes the unmanned aerial vehicle to deviate during printing, thereby causing the printing precision to decrease. The existing unmanned aerial vehicle printing self-stabilization technology does not consider the influence of the printing equipment itself on the flight attitude of the unmanned aerial vehicle and the common influence of different factors, which leads to the problem of insufficient precision of unmanned aerial vehicle printing. SUMMARY

[0004] The present application aims to at least solve one of the technical problems in the prior art, by establishing a control group for each printing parameter, obtaining different parameter control groups, then conducting a control experiment on the parameter control groups, recording experimental data of the printing parameters, analyzing the experimental data, generating independent force data for each printing parameter, analyzing the influence relationship between the basic tilt relationship function and the offset tilt relationship function, constructing a force compensation model, then analyzing the comprehensive tilt of the unmanned aerial vehicle self-stabilizing printing platform based on the force compensation model, and finally adjusting the operating parameters of the unmanned aerial vehicle self-stabilizing printing platform based on the comprehensive tilt, to solve the problem that the existing unmanned aerial vehicle printing self-stabilizing technology does not consider the influence of the printing equipment itself on the flight attitude of the unmanned aerial vehicle and the combined influence of different factors, resulting in insufficient precision of unmanned aerial vehicle printing.

[0005] To achieve the above-mentioned purpose, the present application provides a physical parameterization modeling optimization method for an unmanned aerial vehicle self-stabilizing printing platform, including the following steps:

[0006] Conduct different control experiments on the unmanned aerial vehicle, and record experimental data of different printing parameters;

[0007] Analyze the experimental data, and generate independent force data for each printing parameter;

[0008] Combine and analyze different force data, and analyze the comprehensive tilt of the unmanned aerial vehicle self-stabilizing printing platform for different printing parameters;

[0009] Adjust the operating parameters of the unmanned aerial vehicle self-stabilizing printing platform based on the comprehensive tilt.

[0010] Further, the different control experiments on the unmanned aerial vehicle and the recording of experimental data of different printing parameters include the following sub-steps:

[0011] Establish a control group for each printing parameter, and obtain different parameter control groups;

[0012] Conduct a control experiment on the parameter control groups, and record experimental data of the printing parameters.

[0013] Further, establishing a control group for each printing parameter and obtaining different parameter control groups include the following sub-steps:

[0014] The printing parameters include the position of the print head and the thrust of the nozzle;

[0015] Establish a control group for each printing parameter, named parameter control group, which includes a position control group and a thrust control group.

[0016] Further, the control experiment on the parameter control groups and the recording of experimental data of the printing parameters include the following sub-steps:

[0017] Obtaining the geometric center of the self-stabilizing printing platform of the unmanned aerial vehicle, and naming it as a platform center. During the process of the contrast experiment of the jet head thrust, the printing head position is always located at the geometric center;

[0018] Obtaining the upper limit of the jet head thrust, and naming it as a thrust upper limit, marked as DUL. The range [0, DUL] is named as a thrust range;

[0019] Dividing the thrust range by a first number of equal parts. The values of the equal parts are marked as equalization values. The minimum value, the maximum value and the equalization values of the thrust range are collectively referred to as test values. The test values are numbered in ascending order, and are represented by a symbol TV n , wherein n is a positive integer and n is the serial number of TV;

[0020] Setting a test group of the first number plus one, and marking it as TG n . The jet head thrust in TG n is set to TV n . The experimental data of the jet head thrust are named as force data;

[0021] Performing flight test on the self-stabilizing printing platform of the unmanned aerial vehicle in the test group in a windless environment, and obtaining the force data of the self-stabilizing printing platform of the unmanned aerial vehicle. The force data is the inclination angle, which is the included angle between the self-stabilizing printing platform of the unmanned aerial vehicle and the ground;

[0022] Performing position test analysis on the position contrast group, and recording the experimental data of the position contrast group.

[0023] Further, the position test analysis on the position contrast group and the recording of the experimental data of the position contrast group include the following sub-steps:

[0024] Obtaining the distance between the vertex in the self-stabilizing printing platform of the unmanned aerial vehicle and the platform center, and marking it as DP. The first number is marked as N1. DP / N1 is calculated, and the calculation result is marked as DL;

[0025] Setting a test group of the first number plus one, and marking it as TP n . The printing head position in TP n is adjusted to DL×(n-1) away from the geometric center. A thrust reference value is set. The jet head thrust of all TP n is set to the thrust reference value;

[0026] The experimental data of the printing head position are named as force point data. The self-stabilizing printing platform of the unmanned aerial vehicle in the test group is tested in a windless environment, and the force point data of the self-stabilizing printing platform of the unmanned aerial vehicle are obtained. The force point data include the inclination angle and the offset distance, which is the distance between the printing head position and the platform center.

[0027] Further, the experimental data is analyzed to generate independent force data for each printing parameter, including the following sub-steps:

[0028] The inclination angle in the force data is named as the thrust inclination angle;

[0029] TV n is the X-axis, and the inclination angle is the Y-axis to establish a two-dimensional coordinate system, which is named as the basic inclination relationship diagram, and the thrust inclination angle is entered into the basic inclination relationship diagram, and the function regression analysis is performed on the basic inclination relationship diagram, and the function obtained by the function regression analysis is named as the basic inclination relationship function; n

[0030] A two-dimensional coordinate system is established with the offset distance as the horizontal axis and the inclination angle as the vertical axis, which is named as the offset inclination relationship diagram, the force point data is entered into the offset inclination relationship diagram, and the function regression analysis is performed on the offset inclination relationship diagram, and the function obtained by the function regression analysis is named as the offset inclination relationship function;

[0031] The basic inclination relationship function and the offset inclination relationship function are the force data.

[0032] Further, the different force data is combined and analyzed, and the comprehensive inclination of the unmanned aerial vehicle self-stabilizing printing platform caused by different printing parameters is analyzed, including the following sub-steps:

[0033] The influence relationship between the basic inclination relationship function and the offset inclination relationship function is analyzed, and a force compensation model is constructed;

[0034] Based on the force compensation model, the comprehensive inclination of the unmanned aerial vehicle self-stabilizing printing platform caused by different printing parameters is analyzed.

[0035] Further, the influence relationship between the basic inclination relationship function and the offset inclination relationship function is analyzed, and a force compensation model is constructed, including the following sub-steps:

[0036] The nozzle thrust equal to the thrust reference value is substituted into the basic inclination relationship function, and the standard inclination is obtained by solving;

[0037] Different offset distances are substituted into the offset inclination relationship function, and different offset inclinations are obtained by solving;

[0038] The offset inclinations are numbered in order from small to large according to the offset distance, and the symbol Q i is used to represent, wherein i is a positive integer and i is the serial number of Q, and the standard inclination is marked as BQ;

[0039] BQ / Q1is calculated, and the calculation result is marked as H, and Q i ×H is calculated, and the calculation result is marked as K​i ;

[0040] Calculate K i / BQ, mark the calculation result as G i , establish a two-dimensional coordinate system with the offset distance as the X axis and G i as the Y axis, name it as the offset compensation graph, and record G i in the offset compensation graph according to the offset distance;

[0041] Perform function regression on the offset compensation graph, name the function obtained through the function regression analysis as a stress compensation equation, construct a stress compensation model, and record the stress compensation equation in the stress compensation model.

[0042] Further, based on the stress compensation model and the load inclination relationship function analysis, the comprehensive inclination of different printing parameters on the unmanned aerial vehicle self-stabilizing printing platform includes the following sub-steps:

[0043] Obtain the printing head position and the nozzle thrust of the unmanned aerial vehicle self-stabilizing printing platform at the first predicted time, and name them as the expected position and the expected thrust respectively;

[0044] Obtain the distance between the expected position and the platform center, and name it as the expected distance;

[0045] Record the expected distance in the stress compensation model, and mark the result output by the stress compensation model as F1;

[0046] Substitute the expected thrust into the basic inclination relationship function, mark the calculation result as F2, calculate F1xF2, and name the calculation result as the comprehensive inclination.

[0047] Further, based on the comprehensive inclination, the operation parameters of the unmanned aerial vehicle self-stabilizing printing platform are adjusted, including the following sub-steps:

[0048] Draw a ray through the printing head position with the platform center as the endpoint, and name it as the compensation auxiliary line;

[0049] Pre-set the flight attitude of the unmanned aerial vehicle self-stabilizing 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 inclination.

[0050] The present application has the following advantages: the present application establishes a control group for each printing parameter, obtains different parameter control groups, then performs a control experiment on the parameter control groups, records the experimental data of the printing parameters, and analyzes the experimental data to generate independent force data for each printing parameter. The advantage is that the influence of different printing parameters on the flight attitude of the unmanned aerial vehicle can be analyzed through a small amount of testing, which provides a reliable data basis for subsequent analysis and improves the accuracy and effectiveness of the unmanned aerial vehicle printing self-stabilization optimization;

[0051] The application analyzes the influence relationship between the basic tilt relationship function and the offset tilt relationship function, constructs a stress compensation model, then analyzes the comprehensive tilt of the unmanned aerial vehicle self-stabilizing printing platform based on the stress compensation model, and finally adjusts the operation parameters of the unmanned aerial vehicle self-stabilizing printing platform based on the comprehensive tilt, which has the advantages that the collaborative influence between different printing parameters is analyzed, a compensation mechanism is provided for the tilt prediction of the unmanned aerial vehicle, the flight attitude prediction of the unmanned aerial vehicle is more accurate, and the accuracy and rationality of the unmanned aerial vehicle printing self-stabilization optimization are improved. BRIEF DESCRIPTION OF DRAWINGS

[0052] Figure 1 A step flowchart of the method of the application;

[0053] Figure 2 A schematic diagram of the basic tilt relationship diagram of the application;

[0054] Figure 3 A schematic diagram of the offset tilt relationship diagram of the application;

[0055] Figure 4 A schematic diagram of the offset compensation diagram of the application. DETAILED DESCRIPTION

[0056] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the application.

[0057] Embodiment 1, please refer to Figure 1 The application provides a physical parameterization modeling optimization method of an unmanned aerial vehicle self-stabilizing printing platform, which comprises the following steps:

[0058] Step S1, different control experiments are performed on the unmanned aerial vehicle, and experimental data of different printing parameters are recorded; step S1 comprises the following sub-steps:

[0059] Step S101, a control group is established for each printing parameter, and different parameter control groups are obtained;

[0060] Step S101 comprises the following sub-steps:

[0061] Step S101.1, the printing parameters include the position of the printing head and the thrust of the nozzle;

[0062] Step S101.2, a control group is established for each printing parameter, and the control group is named as a parameter control group, the parameter control group comprises a position control group and a thrust control group;

[0063] In a specific implementation, since the existing unmanned aerial vehicle flight attitude control technology has been relatively mature for the stable control of the unmanned aerial vehicle flight attitude under wind conditions, no additional processing is performed in the present embodiment. The present embodiment is based on the existing unmanned aerial vehicle flight attitude control technology and incorporates analysis of printing parameters. Therefore, the present embodiment does not analyze the wind factor. In the unmanned aerial vehicle printing technology, the factors affecting the flight of the unmanned aerial vehicle mainly include the weight of the printing device, the weight of the material, the position of the printing head, and the jet thrust. Since the weight of the printing device is fixed, the influence of the weight of the printing device can be ignored. Although the weight of the material is a variable, the printing material is usually in the form of a viscous fluid. Although the form of the material in the storage device may change, such changes require a certain amount of time. In the present embodiment, the adjustment of the flight attitude of the unmanned aerial vehicle can be completed in advance after the flight attitude of the unmanned aerial vehicle is predicted, that is, the flight attitude of the unmanned aerial vehicle is maintained stable. In the stable condition, the form of the printing material is also maintained stable, and the weight distribution is uniform. Therefore, the influence of the weight of the material on the unmanned aerial vehicle is limited to the consumption of the weight of the material, rather than the distribution of the weight. The consumption rate of the material is a known condition, and the change in the weight of the material can be predicted to adjust the unmanned aerial vehicle. Therefore, the change in the weight of the material is not considered in the present embodiment, and only the position of the printing head and the jet thrust are considered.

[0064] In step S102, a control experiment is performed on the parameter control group, and experimental data of the printing parameters are recorded.

[0065] Step S102 includes the following sub-steps:

[0066] In step S102.1, the geometric center of the self-stabilizing printing platform of the unmanned aerial vehicle is obtained and named as the platform center. During the control experiment of the jet thrust, the position of the printing head is always located at the geometric center.

[0067] In step S102.2, the upper limit of the jet thrust is obtained and named as the thrust upper limit, which is marked as DUL. The range [0, DUL] is named as the thrust range.

[0068] In step S102.3, the thrust range is equally divided by a first number, and the values of the equally divided points are marked as the equally divided values. The minimum value, the maximum value, and the equally divided values of the thrust range are collectively referred to as the test values. The test values are numbered in ascending order, and the test values are represented by the symbol TV n , where n is a positive integer and n is the serial number of TV.

[0069] In step S102.4, a test group with a first number plus one is set, which is marked as TG n . The jet thrust in TG n is set to TV nThe experimental data of the push force of the nozzle are named as force data;

[0070] Step S102.5. In a windless environment, flight tests are performed on the unmanned aerial vehicle self-stabilized printing platform in the test groups, and force data of the unmanned aerial vehicle self-stabilized printing platform are obtained. The force data is the inclination angle, and the inclination angle is the angle between the unmanned aerial vehicle self-stabilized printing platform and the ground level.

[0071] In a specific implementation, the platform center is the center of gravity of the unmanned aerial vehicle self-stabilized printing platform. The push force range is [0, 0.04N], the first quantity is set by the tester, and in this embodiment, the first quantity is set to 10, that is, [0, 0.04N] is divided into ten equal parts, and finally TV n , 1≤n≤11, and the size of TV n is 0.004×(n-1). Then, 11 test groups TG1 to TG 11 are set, and finally the inclination angles of each TG n are obtained through experiments. When the inclination angles are recorded, they can be directly obtained from the flight attitude management platform of the unmanned aerial vehicle. After the unmanned aerial vehicle deviates, it will automatically return to the normal position based on the existing unmanned aerial vehicle flight attitude control technology, but it will have a lag, which will lead to a loss of control of the printing accuracy. Therefore, it is expected in this embodiment that the flight attitude of the unmanned aerial vehicle is predicted before the unmanned aerial vehicle performs printing and preventive adjustment is performed, so that the unmanned aerial vehicle always remains stable.

[0072] Step S102.6. Position test analysis is performed on the position control group, and experimental data of the position control group are recorded.

[0073] Step S102.6 includes the following sub-steps:

[0074] Step S102.6.a. The distance between the vertex in the unmanned aerial vehicle self-stabilized printing platform and the platform center is obtained and marked as DP. The first quantity is marked as N1. DP / N1 is calculated, and the calculation result is marked as DL.

[0075] Step S102.6.b. A test group with a first quantity plus one is set, and is marked as TP n . The position of the printing head in TP n is adjusted to DL×(n-1) away from the geometric center. A push force reference value is set, and the push force of all TP n is set to the push force reference value.

[0076] 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.

[0077] 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).

[0078] Step S2 involves analyzing the experimental data and generating independent force data for each printing parameter. Step S2 includes the following sub-steps:

[0079] Step S201: Name the tilt angle in the force data as the thrust tilt angle;

[0080] 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;

[0081] Please see Figure 3 As 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.

[0082] Step S204: The basic tilt relationship function and the offset tilt relationship function are the force data;

[0083] 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 3As shown, in the function regression analysis, the function with the minimum standard deviation is selected as the force data, and finally the basic tilt relationship function Y1=76.364X1+0.0091 and the offset tilt relationship function Y2=2.4709X2+2.5291X+1.5503 are obtained, wherein Y1 is the thrust tilt angle, Y2 is the force point data, X1 is the nozzle thrust, and X2 is the offset distance. 2 +2.5291×X+1.5503, wherein Y1 is a thrust tilt angle, Y2 is a force point data, X1 is a nozzle thrust, and X2 is an offset distance.

[0084] Step S3, combining and analyzing different force data, and analyzing the comprehensive tilt of the unmanned aerial vehicle self-stabilizing printing platform caused by different printing parameters; step S3 includes the following sub-steps:

[0085] Step S301, analyzing the influence relationship between the basic tilt relationship function and the offset tilt relationship function, and constructing a force compensation model;

[0086] Step S301 includes the following sub-steps:

[0087] Step S301.1, substituting the nozzle thrust equal to the thrust reference value into the basic tilt relationship function to obtain a standard tilt;

[0088] Step S301.2, substituting different offset distances into the offset tilt relationship function to obtain different offset tilts;

[0089] Step S301.3, numbering the offset tilts in the order of the offset distances from small to large, and denoted by symbol Q i , wherein i is a positive integer and i is the serial number of Q, and the standard tilt is marked as BQ;

[0090] Step S301.4, calculating BQ / Q1, and marking the calculation result as H, calculating Q i ×H, and marking the calculation result as K i ;

[0091] Referring to Figure 4 , step S301.5, calculating Q i / BQ, and marking the calculation result as G i . A two-dimensional coordinate system is established with the offset distance as the X-axis and G i as the Y-axis, named as an offset compensation graph, and G i is recorded in the offset compensation graph according to the offset distance;

[0092] Step S301.6, performing function regression on the offset compensation graph, naming the function obtained by the function regression analysis as a force compensation equation, constructing a force compensation model, and recording the force compensation equation in the force compensation model;

[0093] In a specific implementation, the standard inclination is calculated because the final prediction needs to be made by the basic inclination relationship function, and the compensation of the offset distance to the inclination angle is made to the calculation result of the basic inclination relationship function. For example, in the present embodiment, the reference value of the thrust is 0.02 N, and X1=0.02 is substituted into Y1=76.364X1+0.0091 to obtain the standard inclination of 1.53638°. Different offset distances are substituted into the offset inclination relationship function to obtain different offset inclinations, and the numbers are obtained as Q1 to Q 11 , where Q1 is 1.5503, H is calculated to be 0.9910, the calculation result is kept to four decimal places, and K i is calculated based on H to obtain the offset compensation graph as shown in Figure 4 , and the stress compensation equation Y3=1.6062X2 2 +1.5026X2+0.9895 is obtained by function regression analysis, where Y3 is G i .

[0094] In step S302, different printing parameters are analyzed based on the stress compensation model to obtain the comprehensive inclination of the self-stabilizing printing platform of the unmanned aerial vehicle.

[0095] Step S302 includes the following sub-steps:

[0096] In step S302.1, the position of the printing head and the jet thrust of the self-stabilizing printing platform of the unmanned aerial vehicle at the first prediction time are obtained, which are respectively named as the expected position and the expected thrust.

[0097] In step S302.2, the distance between the expected position and the platform center is obtained, which is named as the expected distance.

[0098] In step S302.3, the expected distance is input into the stress compensation model, and the output result of the stress compensation model is marked as F1.

[0099] In step S302.4, the expected thrust is substituted into the basic inclination relationship function, the calculation result is marked as F2, F1xF2 is calculated, and the calculation result is named as the comprehensive inclination.

[0100] In a specific implementation, the first prediction time is set by the operator, and in the present embodiment, the first prediction time is set to 3 s, that is, the flight attitude of the self-stabilizing printing platform of the unmanned aerial vehicle after 3 s is predicted. Since the self-stabilizing printing platform of the unmanned aerial vehicle needs to complete printing according to the planned path, the expected weight, the expected position and the expected thrust of the self-stabilizing printing platform of the unmanned aerial vehicle after 3 s can be directly obtained. The expected thrust and the expected distance are 0.03 N and 0.5 m respectively, X2=0.5 m is substituted into Y3=1.6062X2 2+1.5026X2+0.9895, solving F1 is 2.14235, X1=0.03 is substituted into Y1=76.364X1+0.0091, solving F2 is 2.30002°, further calculation gets the comprehensive tilt is 4.9274°, the calculation result is kept four decimal places.

[0101] Step S4, adjusting the operation parameters of the unmanned aerial vehicle self-stabilizing printing platform based on the comprehensive tilt; step S4 includes the following sub-steps:

[0102] Step S401, drawing a ray through the printing head position with the platform center as the end point, and naming it as a compensation auxiliary line;

[0103] Step S402, presetting the flight attitude of the unmanned aerial vehicle self-stabilizing 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;

[0104] In the specific implementation, the unmanned aerial vehicle self-stabilizing printing platform will appear 4.9274° tilt after the first predicted time, and the height of the side close to the printing head will definitely be reduced, so the unmanned aerial vehicle is controlled to lift the side with reduced height at the first predicted time, which can offset the tilt. The detailed control process of the unmanned aerial vehicle refers to the existing unmanned aerial vehicle flight attitude control technology, which will not be specifically described in this embodiment.

[0105] Embodiment 2, the application provides an electronic device, which can include a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus. The memory stores computer readable instructions, and the processor can call the instructions in the memory, when the computer readable instructions are executed by the processor, the steps in the unmanned aerial vehicle self-stabilizing printing platform physical parameterization modeling optimization method are run to realize the following functions: different control experiments are performed on the unmanned aerial vehicle, and experimental data of different printing parameters are recorded; the experimental data are analyzed, and independent force data are generated for each printing parameter; different force data are combined and analyzed, and the comprehensive tilt of the unmanned aerial vehicle self-stabilizing printing platform caused by different printing parameters is analyzed; and the operation parameters of the unmanned aerial vehicle self-stabilizing printing platform are adjusted based on the comprehensive tilt.

[0106] In addition, the logic instructions in the above-mentioned memory can be implemented in the form of a software function unit and sold or used as an independent product, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the parts of the prior art that make contributions or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0107] Embodiment 3, the present application also provides a computer program product, the computer program product 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 optimization method of the self-stabilizing printing platform of the unmanned aerial vehicle provided by the above-mentioned method, the method includes: performing different control experiments on the unmanned aerial vehicle, recording experimental data of different printing parameters; analyzing the experimental data, generating independent force data for each printing parameter; combining and analyzing different force data, analyzing the comprehensive inclination of different printing parameters to the self-stabilizing printing platform of the unmanned aerial vehicle; adjusting the operation parameters of the self-stabilizing printing platform of the unmanned aerial vehicle based on the comprehensive inclination.

[0108] Embodiment 4, the present application also provides a computer readable storage medium, the present application provides a storage medium, which stores a computer program, when the computer program is executed by a processor, the steps of the physical parameterization modeling optimization method of the self-stabilizing printing platform of the unmanned aerial vehicle are run to realize the following functions: performing different control experiments on the unmanned aerial vehicle, recording experimental data of different printing parameters; analyzing the experimental data, generating independent force data for each printing parameter; combining and analyzing different force data, analyzing the comprehensive inclination of different printing parameters to the self-stabilizing printing platform of the unmanned aerial vehicle; adjusting the operation parameters of the self-stabilizing printing platform of the unmanned aerial vehicle based on the comprehensive inclination.

[0109] Through the description of the above embodiments, the embodiments of the present application can be provided as a method, a system or a computer program product. Based on such understanding, the above technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in various embodiments or some parts of the embodiments.

[0110] In the embodiments provided by the present application, it should be understood that the disclosed system or method can be implemented in other manners. The embodiments described above are merely schematic, and should not be construed as limiting. For example, the division of the modules or the units is merely logical function division, and there can be other division manners in actual implementation. For example, a plurality of modules or units can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different modules can be indirect couplings or communication connections through some interfaces, and there can be electric, mechanical or other forms.

[0111] Finally, it should be noted that the above-mentioned embodiments are merely used to illustrate the technical solutions of the present application, rather than limit them; even if the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some technical features; and these modifications or replacements do not cause the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method of physical parameterization modeling optimization of a drone self-stabilized printing platform, characterized in that, Comprise the following steps: Different control experiments are conducted on the unmanned aerial vehicle, and experimental data of different printing parameters are recorded; The experimental data are analyzed, and independent force data are generated for each printing parameter; Different force data are combined and analyzed, and the comprehensive inclination of the unmanned aerial vehicle self-stabilizing printing platform caused by different printing parameters is analyzed; Based on the comprehensive inclination, the operating parameters of the unmanned aerial vehicle self-stabilizing printing platform are adjusted; The printing parameters include the position of the printing head and the jet thrust; The geometric center of the unmanned aerial vehicle self-stabilizing printing platform is obtained, which is named as the platform center. During the control experiment of the jet thrust, the position of the printing head is always located at the geometric center; An upper limit of the jet thrust is obtained, which is named as the thrust upper limit and marked as DUL. The range [0, DUL] is named as the thrust range; The thrust range is first divided into a first number of equal parts, the values of the division points are marked as division values, the minimum value, the maximum value and the division values of the thrust range are collectively referred to as test values, the test values are numbered in ascending order, and the test values are denoted by the symbol TV n , wherein n is a positive integer and n is the serial number of TV; The position of the printing head is tested and analyzed, and the experimental data of the position control group are recorded, including the following sub-steps: The distance between the vertex of the unmanned aerial vehicle self-stabilizing printing platform and the platform center is obtained, which is marked as DP. The first number is marked as N1, and DP / N1 is calculated. The calculation result is marked as DL; Set the first number plus one test groups, marked as TP n , adjust the printhead position to DL x (n-1) away from the geometric center, set the thrust reference value, and set the nozzle thrust of all TP n to the thrust reference value n ; The experimental data of the position of the printing head are named as force point data. The unmanned aerial vehicle self-stabilizing printing platform in the test group is tested in a windless environment, and the force point data of the unmanned aerial vehicle self-stabilizing printing platform are obtained. The force point data include the inclination angle and the offset distance, which is the distance between the position of the printing head and the platform center; The experimental data are analyzed, and independent force data are generated for each printing parameter, including the following sub-steps: The inclination angle in the force data is named as the thrust inclination angle; Take TV n as the X-axis and the inclination angle as the Y-axis to establish a two-dimensional coordinate system, named as the basic inclination relationship graph, and record the thrust inclination angle in the basic inclination relationship graph according to the corresponding TV n Perform function regression on the basic inclination relationship graph, and name the function obtained through the function regression analysis as the basic inclination relationship function. A two-dimensional coordinate system is established with the offset distance as the horizontal axis and the inclination angle as the vertical axis, which is named as the offset-inclination relationship diagram. The force point data are input into the offset-inclination relationship diagram, and function regression is performed on the offset-inclination relationship diagram. The function obtained by the function regression analysis is named as the offset-inclination relationship function; The basic inclination relationship function and the offset-inclination relationship function are the force data; Different force data are combined and analyzed, and the comprehensive inclination of the unmanned aerial vehicle self-stabilizing printing platform caused by different printing parameters is analyzed, including the following sub-steps: The influence relationship between the basic inclination relationship function and the offset-inclination relationship function is analyzed, and a force compensation model is constructed; Based on the force compensation model, the comprehensive inclination of the unmanned aerial vehicle self-stabilizing printing platform caused by different printing parameters is analyzed.

2. The method of claim 1, wherein, Different control experiments are conducted on the unmanned aerial vehicle, and experimental data of different printing parameters are recorded, including the following sub-steps: Control groups are established for each printing parameter, and different parameter control groups are obtained; Control experiments are conducted on the parameter control groups, and experimental data of the printing parameters are recorded.

3. The method of claim 2, wherein, Control groups are established for each printing parameter, and different parameter control groups are obtained, including the following sub-steps: Control groups are established for each printing parameter, which are named as parameter control groups. The parameter control groups include position control groups and thrust control groups.

4. The method of claim 3, wherein, Control experiments are conducted on the parameter control groups, and experimental data of the printing parameters are recorded, including the following sub-steps: A test group of the first number plus one is set, marked as TG n The jet thrust in TG n is set as TV n The experimental data of the jet thrust is named as force data; In a windless environment, the unmanned aerial vehicle self-stabilizing printing platform in the test group is tested to obtain the force data of the unmanned aerial vehicle self-stabilizing printing platform, and the force data is the inclination angle, and the inclination angle is the angle between the unmanned aerial vehicle self-stabilizing printing platform and the ground; The position of the position control group is tested and analyzed, and the experimental data of the position control group is recorded.

5. The method of claim 1, wherein, The influence relationship between the basic inclination relationship function and the offset inclination relationship function is analyzed, and the force compensation model is constructed, including the following sub-steps: The nozzle thrust is equal to the thrust reference value, which is substituted into the basic inclination relationship function, and the standard inclination is obtained by solving; Different offset distances are substituted into the offset inclination relationship function, and different offset inclinations are obtained by solving; The offset inclination is numbered in order of the offset distance from small to large, and is indicated by a symbol Q i where i is a positive integer and i is the serial number of Q, and the standard inclination is marked as BQ. Calculate BQ / Q1, label the result H, calculate Q i x H, label the result K i ; K is calculated i / BQ, mark the calculation result as G i A two-dimensional coordinate system is established with the offset distance as the X axis and G i as the Y axis, named as the offset compensation graph, and G i is recorded in the offset compensation graph according to the offset distance; The function regression is performed on the offset compensation diagram, the function obtained by the function regression analysis is named as the force compensation equation, the force compensation model is constructed, and the force compensation equation is input into the force compensation model.

6. The method of claim 5, wherein, Based on the force compensation model and the load inclination relationship function, the comprehensive inclination of the unmanned aerial vehicle self-stabilizing printing platform under different printing parameters is analyzed, including the following sub-steps: The position of the printing head of the unmanned aerial vehicle self-stabilizing printing platform at the first prediction time is obtained, and the position of the printing head is named as the expected position. The distance between the expected position and the platform center is obtained, and the distance is named as the expected distance. The expected distance is input into the force compensation model, and the result output by the force compensation model is marked as F1. The expected thrust is substituted into the basic inclination relationship function, the calculation result is marked as F2, F1 is calculated, and the calculation result is named as the comprehensive inclination.

7. The method of claim 6, wherein, Based on the comprehensive inclination, the operation parameters of the unmanned aerial vehicle self-stabilizing printing platform are adjusted, including the following sub-steps: The platform center is taken as an endpoint, and a ray is drawn through the printing head position, which is named as a compensation auxiliary line. The flight attitude of the unmanned aerial vehicle self-stabilizing printing platform at the first prediction time is preset, so that the acute angle between the compensation auxiliary line and the ground is equal to the comprehensive inclination.

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