A method and system for controlling a propeller of a UAV, and a storage medium

Abstract

The application discloses a kind of unmanned plane fixed paddle control method, system and storage medium, it is related to unmanned plane control technical field, the unmanned plane fixed paddle control method disclosed includes: in response to system is in power-on state or initialization instruction, control unmanned plane uses non-inductive square wave drive mode to drive;Obtain throttle instruction information, and based on motor operating parameter under non-inductive square wave drive mode, the real-time speed of motor is calculated, to when real-time speed reaches preset switching threshold and receives preset switching signal, mode switching instruction is generated;In response to mode switching instruction, control unmanned plane switches to inductive drive mode and drives motor to work, and obtains target flight information and actual position information;Based on target flight information and actual position information, preset trajectory model input into inductive drive mode is operated, generates current drive instruction control unmanned plane flight, in this way, realize the smooth switching of unmanned plane drive mode, improve flight stability and control accuracy.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle control, and in particular to an unmanned aerial vehicle fixed-paddle control method and system and a storage medium. BACKGROUND

[0002] There is a prominent technical contradiction in the current field of vertical take-off and landing unmanned aerial vehicles: a low-cost, high-reliability non-inductive square wave driving scheme does not have precise positioning capability, while a servo driving or magnetic field orientation control scheme that can achieve precise motion control has the shortcomings of complex system, high cost, or insufficient dynamic response. The industry urgently needs an overall solution that can balance low cost, high burst thrust output, and fast, accurate, and smooth trajectory tracking capability, however, existing technologies often simply "splice" the propulsion system and high-precision servo control system as two independent units, and fail to achieve seamless and efficient switching between working modes from the bottom driving algorithm and control architecture level. This patchwork design not only leads to system redundancy and weight increase, but also significantly increases control complexity, making it difficult to meet the differentiated needs of power and control of unmanned aerial vehicles in different stages such as vertical take-off, high-speed cruising, and precise landing. Therefore, a deeply integrated driving control strategy is urgently needed, which can achieve smooth transition and collaborative control between different working modes while ensuring system simplicity and economy, thereby comprehensively improving the overall flight performance of unmanned aerial vehicles. SUMMARY

[0003] The present application aims to provide an unmanned aerial vehicle fixed-paddle control method, system and storage medium, which has the advantages of realizing smooth switching of unmanned aerial vehicle driving modes, improving flight stability and control accuracy, and reducing the risk of loss of control.

[0004] The technical solution of the present application to solve the above technical problems is as follows:

[0005] An unmanned aerial vehicle fixed-paddle control method, the method comprising:

[0006] In response to the system being in a powered-on state or an initialization instruction, the unmanned aerial vehicle is controlled to adopt a non-inductive square wave driving mode for driving;

[0007] Obtain throttle instruction information, and based on the motor operating parameters in the non-inductive square wave driving mode, calculate the real-time speed of the motor, so as to generate a mode switching instruction when the real-time speed reaches a preset switching threshold and a preset switching signal is received;

[0008] In response to the mode switching instruction, the unmanned aerial vehicle is controlled to switch to a inductive driving mode to drive the motor to work, and target flight information and actual position information are obtained;

[0009] Based on the target flight information and the actual position information, a preset trajectory model input into the inductive driving mode is operated to generate a current driving instruction to control the unmanned aerial vehicle to fly.

[0010] Furthermore, this application also proposes a method for controlling a UAV's fixed-propeller configuration. In response to the system being powered on or receiving an initialization command, the steps for controlling the UAV to operate in a sensorless square wave drive mode include:

[0011] In response to the system being powered on or receiving an initialization command, the feedback loop of the multi-source sensors is disabled, the motor driver is initialized to open-loop control, and the preset throttle command information mapping table is called to drive the motor.

[0012] Furthermore, this application also proposes a UAV fixed-propeller control method, which acquires throttle command information and calculates the real-time speed of the motor based on the motor operating parameters in the sensorless square wave drive mode. The steps for generating a mode switching command when the real-time speed reaches a preset switching threshold and a preset switching signal is received include:

[0013] Obtain throttle command information and determine the target starting speed range based on the throttle command information;

[0014] In the sensorless square wave drive mode, the corresponding current drive signal is generated based on the throttle command information to drive the motor to rotate.

[0015] The system collects the zero-crossing signal of the motor's back EMF in real time, calculates the motor's real-time speed in combination with the current commutation cycle, and generates a mode switching command when the real-time speed reaches the preset switching threshold and a preset switching signal is received.

[0016] Furthermore, this application also proposes a fixed-propeller control method for unmanned aerial vehicles (UAVs), wherein the preset switching signal is set as a deceleration command signal.

[0017] Furthermore, this application also proposes a UAV fixed-propeller control method, which, in response to a mode switching command, controls the UAV to switch to a sensor-driven mode to drive the motors, and acquires target flight information and actual position information, includes the following steps:

[0018] In response to the mode switching command, the feedback loop of the multi-source sensor is activated, the motor driver is switched to the closed-loop control state, and the preset trajectory model in the sensor-driven mode is initialized.

[0019] The drone acquires its actual position and speed information through multiple sensors and receives target flight information input by the user.

[0020] Furthermore, this application also proposes a fixed-pitch control method for unmanned aerial vehicles (UAVs), wherein the target flight information includes the target displacement, initial velocity, maximum jerk, and maximum acceleration.

[0021] Furthermore, this application also proposes a UAV fixed-propeller control method, which involves calculating a preset trajectory model within a sensor-driven mode based on target flight information and actual position information to generate current drive commands to control the UAV's flight. The steps include:

[0022] Based on the target flight information, the shortest braking displacement of the UAV is calculated, and flight trajectory planning begins when the target displacement is greater than the shortest braking displacement.

[0023] The target flight information is input into the preset trajectory model for trajectory planning calculation to determine the duration of the segmented velocity curve of the UAV in the sensor-driven mode;

[0024] Based on the duration of the segmented velocity curves, and combined with actual location information and target flight information, the target flight position and target flight speed at each moment are calculated.

[0025] Based on the target's flight position and speed at each moment, the actual position and speed information of the UAV are compared to generate a speed deviation compensation amount to correct the current drive command in order to control the UAV's flight.

[0026] Furthermore, this application also proposes a UAV fixed-propeller control method, which, based on the target flight position and target flight speed at each moment, compares the actual position information and actual speed information of the UAV to generate a speed deviation compensation amount to correct the current drive command, thereby controlling the flight of the UAV, includes the following steps:

[0027] Calculate the positional deviation between the target's flight position and its actual position, as well as the velocity deviation between the target's flight speed and its actual speed;

[0028] The position deviation information is input into the outer loop position controller to generate the target speed correction.

[0029] Based on the target speed correction and speed deviation information, the torque current command is calculated and generated.

[0030] Based on the torque current command and the real-time electrical angle of the motor rotor, the current drive command is generated to control the drone's flight.

[0031] Furthermore, this application also proposes a UAV pitch control system, including: a memory, a processor, and a UAV pitch control method control program stored in the memory and executable on the processor. The UAV pitch control system control program is configured to implement the steps of the aforementioned UAV pitch control method.

[0032] Furthermore, this application also proposes a storage medium, which is a computer-readable storage medium, storing a computer program on the storage medium. When the computer program is executed by a processor, it implements the steps of the above-described UAV fixed-propeller control method.

[0033] As can be seen from the above, the UAV fixed-propeller control method, system and storage medium provided in this application start the UAV in a sensorless square wave drive mode in response to the system state, switch to a sensor drive mode when the real-time rotation speed reaches a threshold, and generate drive commands by combining target flight information and actual position information to perform trajectory calculations, thereby achieving dynamic and smooth mode switching. It has the advantages of realizing smooth switching of UAV drive mode, improving flight stability and control accuracy, and reducing the risk of loss of control. Attached Figure Description

[0034] Figure 1 A schematic flowchart of the first embodiment of the UAV fixed-propeller control method provided in this application;

[0035] Figure 2 A schematic diagram of the sub-process of step S200 provided for the UAV fixed-pitch control method of this application;

[0036] Figure 3 A schematic diagram of the sub-process of step S300 provided for the unmanned aerial vehicle (UAV) fixed-pitch control method of this application;

[0037] Figure 4 A schematic diagram of the sub-process of step S400 provided for the UAV fixed-propeller control method of this application;

[0038] Figure 5 A schematic diagram of the sub-process of step S440 provided for the UAV fixed-propeller control method of this application;

[0039] Figure 6 This is a schematic diagram of the equipment structure involved in the UAV pitch control system in the embodiments of this application. Detailed Implementation

[0040] It should be noted that, unless otherwise specified, the embodiments and features described in the embodiments of the present invention can be combined with each other. The technical solutions of the present invention will be further described below with reference to the accompanying drawings of the embodiments of the present invention. The present invention is not limited to the following specific embodiments.

[0041] It should be understood that the same or similar reference numerals in the accompanying drawings of the embodiments correspond to the same or similar components. In the description of this invention, it should be understood that if terms such as "upper," "lower," "front," "rear," "left," "right," "top," and "bottom" indicate orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, they are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms describing positional relationships in the accompanying drawings are for illustrative purposes only and should not be construed as limiting this patent. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0042] Traditional UAV drive and control solutions, while aiming for low cost, explosive thrust output, and trajectory tracking capabilities, suffer from problems such as system complexity, high cost, insufficient dynamic response, system redundancy, increased weight, and high control complexity. Existing technologies often simply splice the propulsion system and servo control system as two independent units, failing to achieve mode switching between operating modes at the underlying drive algorithm and control architecture level. This makes it difficult to meet the different power and control requirements of UAVs during different phases such as vertical takeoff and landing, high-speed cruise, and landing.

[0043] For this, please refer to Figures 1-6 This application proposes a fixed-paddle control method for unmanned aerial vehicles (UAVs), the method comprising:

[0044] Step S100: In response to the system being powered on or receiving an initialization command, control the UAV to drive in a sensorless square wave drive mode.

[0045] Step S200: Obtain throttle command information and calculate the real-time speed of the motor based on the motor operating parameters in the sensorless square wave drive mode. When the real-time speed reaches the preset switching threshold and a preset switching signal is received, generate a mode switching command.

[0046] Step S300: In response to the mode switching command, control the UAV to switch to sensor-driven mode to drive the motor and acquire target flight information and actual location information;

[0047] Step S400: Based on the target flight information and the actual location information, and the preset trajectory model input into the sensor-driven mode, calculations are performed to generate the current drive command to control the flight of the UAV.

[0048] For ease of understanding, the following explains some key terms in this embodiment:

[0049] Sensorless square wave drive mode refers to a drive method that does not rely on position sensors to detect the position of the motor rotor. In this mode, the motor is driven by applying a square wave voltage. It is characterized by simple control, low cost, and the ability to provide starting torque and burst thrust, making it suitable for the initial phase of UAV takeoff or when a rapid response is required.

[0050] Sensor-driven mode refers to a drive method that uses position sensors to detect the position of the motor rotor in real time. This mode enables control of the motor speed and position, thereby supporting the drone's trajectory tracking and attitude adjustment, and is suitable for the drone's cruise, landing, or other flight phases requiring control.

[0051] The preset switching threshold refers to a real-time motor speed value used to determine whether the mode switching conditions are met in the sensorless square wave drive mode. When the motor's real-time speed reaches or exceeds this preset value, the system will consider switching the drive mode.

[0052] A preset switching signal is a command signal that works in conjunction with a preset switching threshold to trigger a change in drive mode. This signal can be a user input, a system status indication, or a flight control command.

[0053] A pre-defined trajectory model refers to a mathematical model or algorithm used in sensor-driven mode to plan the flight path and velocity curve of a drone. This model receives target flight information and actual position information as input, and calculates and generates the target position and velocity of the drone at different times, thereby guiding the drone in trajectory tracking.

[0054] This embodiment provides a method for controlling the rotor of an unmanned aerial vehicle (UAV). Specifically, the method first responds to the system being powered on or receiving an initialization command by controlling the UAV to operate in a sensorless square wave drive mode. For example, during system startup, a preset square wave voltage sequence can be directly applied to the motor, causing the motor to start rotating without feedback from a position sensor, thereby providing initial thrust. This drive method is typically implemented using a timing controller that outputs drive signals according to a predetermined frequency and duty cycle.

[0055] Furthermore, this method acquires throttle command information and calculates the real-time motor speed based on the motor operating parameters in the sensorless square wave drive mode. When the real-time speed reaches a preset switching threshold and a preset switching signal is received, a mode switching command is generated. For example, the throttle command information can be an analog input that has a preset linear relationship with the motor drive frequency. The real-time motor speed can be estimated by monitoring the frequency or period of the drive signal. When the estimated speed reaches a specific value and a signal from a manually triggered switching button is received simultaneously, the system generates a mode switching command.

[0056] In response to the mode switching command, the drone is controlled to switch to sensor-driven mode to operate the motors and acquire target flight information and actual location information. Specifically, after the mode switching command is generated, the system can disconnect the sensorless drive circuit and activate another sensor-driven circuit. Target flight information can be manually input by the user via the remote controller, while actual location information can be obtained through a Global Positioning System (GPS) module, which periodically outputs the drone's current geographic coordinates.

[0057] Based on this, the system calculates the target flight information and the actual location information using a preset trajectory model within the sensor-driven mode, generating current drive commands to control the drone's flight. For example, the preset trajectory model could be a linear interpolation algorithm that calculates a straight path based on the current and target positions, and moves along that path at a fixed speed. Based on this path and speed, the system generates motor drive voltage or frequency commands to move the drone towards the target location.

[0058] The UAV fixed-propeller control method in this embodiment effectively solves the problem of insufficient power during the startup phase of traditional solutions by providing burst thrust through a sensorless square wave drive mode during UAV takeoff or initial stage. Subsequently, by monitoring the motor speed in real time and combining it with preset switching conditions, a transition from the sensorless square wave drive mode to the sensored drive mode is achieved, avoiding the abrupt and inefficient mode switching problems of existing technologies. In the sensored drive mode, trajectory planning and drive command generation are performed by combining target flight information and actual position information, enabling the UAV to achieve trajectory tracking and attitude control. This meets the different power and control requirements of different flight stages such as vertical takeoff and landing, high-speed cruise, and landing, thereby improving the flight performance of the UAV.

[0059] In some embodiments described above, a method for controlling a UAV's rotor system is proposed. This method controls the UAV to operate in a sensorless square wave drive mode in response to the system being powered on or receiving an initialization command. However, in practical applications, directly using the sensorless square wave drive mode upon system power-on or initialization may lead to problems such as unstable motor startup, insufficient control accuracy, and sensitivity to initial conditions. Especially when multi-source sensors are not fully calibrated or feedback loops are not fully established, directly implementing complex closed-loop control may result in startup failure or system oscillation.

[0060] In response, this application further proposes that in step S100, when the system is in a power-on state or an initialization command is issued, the step of controlling the UAV to drive in a sensorless square wave drive mode includes: in response to the system being in a power-on state or an initialization command being issued, disabling the feedback loop of the multi-source sensor, initializing the motor driver to an open-loop control state, and calling a preset throttle command information mapping table for driving.

[0061] Specifically, disabling the feedback loop of multi-source sensors means temporarily stopping or ignoring real-time feedback data from various sensors on the UAV (such as inertial measurement unit, GPS, encoder, etc.) during system startup or initialization. This aims to simplify the initial control logic and avoid system instability or erroneous actions caused by introducing complex feedback calculations in the early stages when sensor data may be unstable or inaccurate. For example, this can be achieved through software configuration by setting the sensor data input ports in the control system to an invalid state, or by setting a flag in the control algorithm so that the feedback controller does not process or respond to sensor data during the startup phase.

[0062] Initializing the motor driver to open-loop control means configuring the motor drive system to control based on real-time feedback signals independent of the motor's actual operating state (such as speed and position). In open-loop control mode, the motor driver directly outputs drive signals (e.g., PWM waveforms) according to preset instructions or programs, without adjusting based on the motor's actual response. This control method has advantages such as strong robustness during startup, simplicity of implementation, and insensitivity to changes in motor parameters, ensuring reliable motor startup even in unknown initial conditions. For example, it can be put into open-loop mode by sending specific configuration commands to the motor driver chip, or the drive waveform can be directly calculated and output in the control software without reading or processing the motor feedback signal.

[0063] Driving the motor by calling a preset throttle command information mapping table means that, in open-loop control mode, the system directly determines and outputs the required drive signal for the motor by querying or calculating a pre-stored mapping table based on the received throttle command information. This mapping table defines the correspondence between throttle commands and motor drive parameters (such as PWM duty cycle, voltage amplitude, etc.). For example, this mapping table can be a two-dimensional array, where one dimension represents the range of throttle commands and the other dimension represents the corresponding drive parameters. In this way, preliminary and predictable control of the motor speed can be achieved without real-time feedback, ensuring that the motor can smoothly accelerate to the preset starting speed range.

[0064] By employing the above technical solution, when the UAV system powers on or receives an initialization command, the feedback loop of the multi-source sensors is first disabled, avoiding control errors and uncertainties introduced in the initial stage of the system due to unstable or uncalibrated sensor data. Simultaneously, the motor driver is initialized to an open-loop control state, simplifying the control logic during startup and improving the robustness and reliability of motor startup. Based on this, by calling a preset throttle command information mapping table, the motor can be driven in a preset, controllable manner according to the throttle command information, smoothly accelerating from a standstill to the target startup speed range. This phased, gradual control strategy effectively solves problems such as unstable motor startup and insufficient control precision that may occur in the initial stage of UAV startup, laying a solid foundation for subsequent switching to sensor-driven mode and precise flight control, and significantly improving the startup stability and safety of the UAV system.

[0065] In UAV fixed-propeller control methods, to achieve a smooth transition from sensorless square wave drive mode to sensored drive mode, it is necessary to accurately obtain the real-time motor speed in sensorless square wave drive mode and use this as the basis for mode switching. However, in sensorless square wave drive mode, due to the lack of direct sensor feedback, how to efficiently and accurately calculate the real-time motor speed and ensure mode switching at the appropriate time is a key challenge for ensuring UAV startup and stable operation. Inaccurate speed calculation or improper switching timing may lead to unstable UAV startup or switching failure.

[0066] In response, this application further proposes step S200, which involves acquiring throttle command information and calculating the real-time speed of the motor based on the motor operating parameters in the sensorless square wave drive mode. When the real-time speed reaches a preset switching threshold and a preset switching signal is received, a mode switching command is generated. Specifically, this includes:

[0067] Step S210: Obtain throttle command information and determine the target starting speed range based on the throttle command information;

[0068] Step S220: In the sensorless square wave drive mode, a corresponding current drive signal is generated based on the throttle command information to drive the motor to rotate.

[0069] Step S230: Real-time acquisition of the motor back EMF zero-crossing signal, calculation of the motor real-time speed in combination with the current commutation cycle, and generation of the mode switching command when the real-time speed reaches the preset switching threshold and the preset switching signal is received.

[0070] Throttle commands, typically input by the flight control system or the user, represent the desired thrust or motor speed of the UAV. During the initial motor startup, a target startup speed range is determined based on this throttle command information. This aims to set a reasonable target speed range for the sensorless square wave drive phase. This helps avoid starting difficulties due to excessively low speeds or shocks due to excessively high speeds when starting the motor from a standstill, thus ensuring a smooth and safe startup process. For example, this can be achieved through a preset mapping table of throttle commands and speed ranges, or by dynamically calculating a suitable speed range based on the throttle command using an algorithm.

[0071] In sensorless square wave drive mode, the motor driver generates a three-phase square wave voltage or current signal based on the received throttle command information and applies it to the motor windings to drive the motor to rotate. This drive method typically employs an open-loop control strategy and does not rely on a rotor position sensor. The frequency and duty cycle of the drive signal are adjusted in real time according to the throttle command to control the motor's output speed and torque, gradually bringing it to the target starting speed range.

[0072] During the rotation of a motor, the undriven windings induce a back electromotive force (EMF). The zero-crossing signal of this back EMF—the instant its voltage changes from positive to negative or vice versa—corresponds closely to the real-time position of the motor rotor. By accurately acquiring these zero-crossing signals in real time, the rotor's position information can be indirectly obtained, providing crucial data for subsequent speed calculations. This acquisition process is typically achieved by sampling and processing the motor winding voltage using a dedicated comparator circuit or a high-speed analog-to-digital converter (ADC).

[0073] The commutation cycle refers to the period during which a motor driver switches drive phases. In sensorless square wave drives, one electrical cycle typically contains six commutations. By detecting the back electromotive force zero-crossing signal and combining it with the current commutation cycle, the time elapsed by the motor in one electrical cycle can be accurately calculated, and thus the motor's electrical angular velocity can be deduced. Combined with the motor's pole pair number parameter, the electrical angular velocity can be converted into the actual mechanical speed. For example, the real-time motor speed can be accurately calculated by measuring the time interval between two consecutive zero-crossings, or by the number and duration of zero-crossings detected within a known commutation cycle.

[0074] The preset switching threshold is a pre-defined motor speed value. When the real-time motor speed reaches or exceeds this threshold, it indicates that the motor has stably operated within a speed range sufficient for mode switching. The preset switching signal can be an internally triggered signal, such as a command issued by the flight controller, or an operation signal input by an external user. The control system will only generate a mode switching command when the real-time motor speed simultaneously meets the preset switching threshold and the system receives the preset switching signal. This dual-condition judgment mechanism ensures that the timing of mode switching is safe, stable, and meets the system's operational requirements.

[0075] Through the above technical solution, this application can accurately and reliably determine the switching timing during the transition of a UAV from a sensorless square wave drive mode to a sensored drive mode. Specifically, by acquiring throttle command information and determining the target starting speed range, a reasonable control basis is provided for motor startup. In the sensorless square wave drive mode, the back EMF zero-crossing signal of the motor is collected in real time, and the real-time speed of the motor is calculated in combination with the current commutation cycle, overcoming the problem of lacking direct speed feedback in the sensorless drive mode and achieving accurate estimation of motor speed. When the real-time speed reaches the preset switching threshold and a preset switching signal is received, the system can generate a mode switching command in a timely manner, ensuring that the UAV smoothly switches to the sensored drive mode at the optimal time after the motor reaches a stable operating state. This not only improves the stability and safety of the UAV startup process, but also lays the foundation for subsequent precise flight control, avoiding switching failures or instability caused by inaccurate speed estimation.

[0076] In some embodiments described above in this application, the UAV operates in a sensorless square wave drive mode. When the real-time rotational speed of the motor reaches a preset switching threshold and a preset switching signal is received, it switches to a sensor-driven mode. However, if the triggering conditions of the preset switching signal are not set properly, it may cause mode switching to occur at unnecessary or unfavorable times for a smooth transition, thereby affecting the flight stability and control accuracy of the UAV.

[0077] In response, this application further proposes that the preset switching signal be set as a deceleration command signal.

[0078] The deceleration command signal is a control command instructing the drone to reduce its current flight speed or motor speed. This signal can be generated or received through various means. For example, when a user issues a command to reduce throttle or descend altitude via the remote controller, the flight control system can interpret this as a deceleration command signal. Furthermore, in autonomous flight mode, the flight control algorithm can also generate this deceleration command signal when it calculates the need to decelerate to reach the target position or avoid a collision based on a preset flight trajectory or obstacle avoidance strategy. The generation or reception of this signal is usually accompanied by an assessment of the drone's current motion state to ensure that mode switching is triggered during deceleration phases requiring precise control.

[0079] By defining a deceleration command signal as one of the trigger conditions for mode switching through the above technical solution, the UAV can promptly and logically switch to a sensor-driven mode that provides higher control precision when it needs to perform delicate operations such as deceleration, hovering, or precise position holding. This setting avoids unnecessary mode switching during high-speed or stable flight phases, thereby optimizing the use of system resources. When the UAV receives a deceleration command signal, it usually means that it is about to enter a flight phase requiring more precise control, such as preparing for landing, adjusting attitude, or performing a specific task. Switching to sensor-driven mode at this critical moment can utilize its more accurate motor position and speed feedback to achieve fine adjustment of motor speed and torque, significantly improving the UAV's flight stability, response speed, and control precision during deceleration, effectively reducing flight risks caused by improper mode switching, and ensuring the safe and reliable operation of the UAV throughout its entire flight envelope.

[0080] In some of the embodiments described above in this application, if a precise control foundation is not established in a timely and accurate manner after the UAV switches from the non-sensory square wave drive mode to the sensor drive mode, the UAV may have insufficient flight control precision after the switch, making it difficult to effectively respond to target flight information, thereby affecting flight stability and mission execution efficiency.

[0081] In response to the mode switching command, this application further proposes step S300, which involves controlling the UAV to switch to the sensor-driven mode to drive the motors and acquiring target flight information and actual location information.

[0082] Step S310: In response to the mode switching command, enable the feedback loop of the multi-source sensor, switch the motor driver to the closed-loop control state, and initialize the preset trajectory model in the sensing drive mode.

[0083] Step S320: Obtain the actual position and speed information of the UAV through multi-source sensors, and receive the target flight information input by the user.

[0084] Specifically, when the system receives a mode switching command, the UAV control system immediately activates and integrates data streams from multiple sensors (e.g., inertial measurement unit, GPS receiver, barometric altimeter, visual sensor, etc.). These sensors work together to provide the UAV with comprehensive real-time status information such as attitude, position, and velocity. The activation of the feedback loop means that this sensor data will be continuously input into the control system, serving as the basis for closed-loop control. Based on this, the motor driver will switch from open-loop control to closed-loop control. In closed-loop control, the motor driver will compare and adjust in real time based on control commands and the actual motor operating status (such as speed and position) fed back from the sensors to ensure that the motor responds accurately to control commands, thereby achieving fine-grained control of the UAV's attitude and motion. Simultaneously, the system initializes a preset trajectory model within the sensor-driven mode. This trajectory model typically contains algorithms and parameters for planning the UAV's flight path and velocity curve. The initialization process may include loading a specific trajectory planning algorithm, setting initial conditions, clearing historical data, or calibrating model parameters to prepare for subsequent precise trajectory tracking. Specifically, in sensor-driven mode, the UAV continuously utilizes activated multi-source sensors (such as GPS, IMU, barometer, etc.) to collect its actual position information in real time. Actual velocity information includes the UAV's current velocity components in three-dimensional space, such as velocity values ​​along the X, Y, and Z axes. This sensor data is processed by a fusion algorithm to provide high-precision, high-reliability three-dimensional spatial position data for the UAV. In addition, the system receives target flight information input from the user (e.g., via remote controller, ground station, or pre-defined mission plan). This information may include target waypoints, target speeds, target altitudes, flight paths, etc., defining the UAV's desired flight state or mission.

[0085] Through the above technical solution, this application can quickly and reliably establish a high-precision closed-loop control foundation after the UAV responds to the mode switching command. Enabling the feedback loop of multi-source sensors and switching the motor driver to closed-loop control ensures the accuracy of motor response and the stability of the UAV's attitude. Simultaneously, initializing the preset trajectory model provides algorithmic support for subsequent refined trajectory planning, while real-time acquisition of actual position information and reception of target flight information provide crucial inputs for trajectory tracking and deviation correction. This enables the UAV to achieve more precise flight control, more stable trajectory tracking, and higher mission execution efficiency in sensor-driven mode, effectively solving the problem of insufficient control precision that may occur after mode switching and significantly improving the overall flight performance of the UAV.

[0086] After switching from sensorless square wave drive mode to sensored drive mode, although the drone can be driven based on target flight information and actual position information, without fine-grained trajectory planning and real-time dynamic adjustment, the drone may experience problems such as unreasonable path, untimely response or insufficient braking distance during flight, affecting flight stability, safety and control accuracy.

[0087] In this regard, this application further proposes that in the sensor-driven mode, step S400, based on the target flight information and actual position information, is input into a preset trajectory model for calculation to generate the current drive command to control the UAV flight. The specific steps include:

[0088] Step S410: Based on the target flight information, calculate the shortest braking displacement of the UAV, and start flight trajectory planning when the target displacement is greater than the shortest braking displacement.

[0089] Step S420: Input the target flight information into the preset trajectory model to perform trajectory planning calculations in order to determine the duration of the segmented velocity curve of the UAV in the sensor-driven mode.

[0090] Step S430: Based on the duration of the segmented velocity curve, and in combination with the actual position information and target flight information, calculate the target flight position and target flight speed at each moment;

[0091] Step S440: Based on the target flight position and target flight speed at each moment, compare the actual position information and actual speed information of the UAV, generate a speed deviation compensation amount to correct the current drive command, so as to control the flight of the UAV.

[0092] Based on target flight information, the shortest braking displacement of the UAV is calculated. The shortest braking displacement refers to the minimum distance required for the UAV to brake to a stop at its current speed with the maximum permissible deceleration. Its calculation can be based on parameters such as the UAV's current speed, maximum deceleration limit, and system response time. For example, it can be estimated using the kinematic formula ΔS = 2*Sacc(Vlim) + Vlim*Tv, where Sacc(Vlim) is the displacement required to accelerate from the initial speed V0 to the peak speed Vlim, and is a known function based on the peak speed Vlim, maximum jerk Jm, and maximum acceleration Am. Vlim is the planned actual peak speed (i.e., the maximum speed in the trajectory), and Tv is the duration of the constant speed segment. Solving this equation yields the planned actual peak speed Vlim, and then the durations of the jerk segment (Tj), constant acceleration segment (Ta), and constant speed segment (Tv) are calculated. By comparing the target displacement with the calculated shortest braking displacement, it can be determined whether the current flight mission is within a safe and controllable range, thereby avoiding collisions or overshooting due to insufficient braking distance. The system only begins flight trajectory planning when the target displacement is greater than the shortest braking displacement, thus ensuring flight safety.

[0093] Subsequently, the target flight information is input into a preset trajectory model for trajectory planning calculations to determine the duration of the segmented velocity curves for the UAV in sensor-driven mode. The trajectory planning calculation generates a smooth and feasible flight path and velocity profile based on the target flight information (e.g., target displacement ΔS, initial velocity V0, maximum jerkness Jm, and maximum acceleration Am). The preset trajectory model can be an algorithmic model based on principles such as time optimization, energy optimization, or smoothness optimization, for example, a trajectory generation algorithm based on cubic spline curves, fifth-order polynomials, or Jerk constraints. This model comprehensively considers the UAV's dynamic characteristics and environmental constraints, calculates the time required to transition from the current state to the target state, and decomposes it into multiple time intervals, each corresponding to a different rate of velocity change, thus forming the duration of the segmented velocity curves. For example, the durations of the acceleration, constant speed, and deceleration phases during flight can be planned.

[0094] Based on this, and using the duration of the segmented velocity curves, combined with the actual position information and target flight information, the system calculates the target flight position and target flight speed at each moment. After determining the duration of the segmented velocity curves, the system needs to accurately calculate the ideal position and speed that the UAV should reach at each sampling moment throughout the entire flight process, based on these durations, combined with the UAV's real-time actual position information and overall target flight information. This typically involves time discretization of the trajectory planning results, converting the continuous trajectory and velocity curves into a series of discrete target positions and target speeds at different time points. For example, if the duration of the segmented velocity curves determines that the acceleration phase lasts for T1 seconds, the constant speed phase lasts for T2 seconds, and the deceleration phase lasts for T3 seconds, then within each sampling period, the system will calculate the target position and target speed at the current moment based on the current time period and the corresponding speed change pattern.

[0095] Finally, based on the target flight position and speed at each moment, the actual position and speed information of the UAV are compared to generate a speed deviation compensation amount to correct the current drive command and control the UAV's flight. This step is crucial for achieving closed-loop control. The system continuously acquires the UAV's actual position and speed information and compares them in real time with the target flight position and speed calculated in the previous step. Through this comparison, position and speed deviations are obtained. Based on these deviations, the controller generates a speed deviation compensation amount. This compensation amount is used to adjust or correct the current command sent to the motor driver to eliminate or reduce the difference between the UAV's actual flight state and the target flight state. For example, if the actual speed information is lower than the target speed information, the compensation amount increases the drive command to accelerate the motor; conversely, it decreases the drive command. This real-time feedback and correction mechanism ensures that the UAV can fly precisely along the planned trajectory.

[0096] Through the aforementioned technical solution, after the UAV switches to sensor-driven mode, the system first calculates the shortest braking displacement to ensure flight mission safety and avoid risks that may arise from insufficient braking distance. Subsequently, based on target flight information, refined trajectory planning is performed to determine the duration of segmented velocity curves, enabling the UAV to fly along a preset, smooth, and optimal path, effectively solving the problem of unreasonable paths. Furthermore, the system can calculate the target flight position and velocity in real time at each moment and compare it with the actual flight status, generating speed deviation compensation to correct drive commands. This closed-loop control mechanism allows the UAV to respond promptly and correct flight deviations, significantly improving flight stability, control accuracy, and safety, ensuring the UAV can complete flight missions accurately and efficiently.

[0097] In some embodiments described above in this application, the UAV, in sensor-driven mode, generates a speed deviation compensation amount to correct the current drive command by comparing the target flight position with the actual position information and the target flight speed with the actual speed information. However, this direct deviation compensation mechanism may face problems such as insufficient control precision, response lag, or poor stability in complex flight missions, especially in scenarios requiring precise trajectory tracking and attitude maintenance. How to effectively convert these deviations into precise motor drive commands to ensure the smooth and accurate flight of the UAV is a technical challenge that requires further optimization.

[0098] In response, this application further proposes step S440, which involves comparing the actual position information and actual speed information of the UAV with the target flight position and target flight speed at each moment, and generating a speed deviation compensation amount to correct the current drive command in order to control the flight of the UAV. The steps include:

[0099] S441, calculate the position deviation information between the target flight position and the actual position information, and the speed deviation information between the target flight speed and the actual speed;

[0100] S442, The position deviation information is input to the outer loop position controller to generate the target speed correction amount;

[0101] S443, Based on the target speed correction amount and the speed deviation information, calculate and generate a torque current command;

[0102] S444, based on the torque current command and the real-time electrical angle of the motor rotor, generate the current drive command to control the drone's flight.

[0103] Specifically, firstly, the system calculates the positional deviation between the target flight position and the actual position information, as well as the velocity deviation between the target flight speed and the actual speed information. The positional deviation information is obtained by subtracting the coordinates of the target flight position (e.g., X, Y, Z coordinates in three-dimensional space) from the coordinates of the actual position information dimension-by-dimensional, quantifying the difference between the UAV's current position and the desired position. Similarly, the velocity deviation information is obtained by subtracting the vector components of the target flight speed from the vector components of the actual speed information dimension-by-dimensional. The actual speed information includes the UAV's current velocity components in three-dimensional space, such as the velocity values ​​along the X, Y, and Z axes, reflecting the difference between the UAV's current speed and the desired speed. This deviation information forms the basis for subsequent feedback adjustments in the control system; it can be instantaneous values, average values ​​over a certain time window, or filtered values ​​to reduce the impact of sensor noise on control accuracy.

[0104] Subsequently, the position deviation information is input to the outer-loop position controller to generate the target speed correction. The outer-loop position controller is the outer loop in the cascaded control structure, and its core function is to adjust the speed command of the inner loop based on the UAV's position error. This controller typically employs a PID (Proportional-Integral-Derivative) control algorithm, calculating a desired speed adjustment based on the proportional, integral, and derivative terms of the position deviation. For example, the target speed correction output by this controller indicates the required speed (or speed trend) for the UAV to eliminate the current position deviation, thereby driving the UAV closer to the target position.

[0105] Based on this, a torque current command is calculated and generated using the target speed correction and the speed deviation information. This step is the core of the inner-loop speed control; it combines the target speed correction output from the outer loop with the actual speed deviation to calculate the torque required by the motor, which is then converted into a torque current command. The torque current command directly determines the motor's output torque, thus affecting the UAV's speed and attitude. This stage can also employ a PID controller or other advanced control algorithms to convert the speed error into the torque current component required by the motor (e.g., the q-axis current in a permanent magnet synchronous motor).

[0106] Finally, based on the torque current command and the real-time electrical angle of the motor rotor, the current drive command is generated to control the drone's flight. This is a crucial step in converting the abstract torque current command into a specific motor drive signal (such as a PWM signal). This process is typically achieved through field-oriented control (FOC) or vector control. The system, based on the torque current command and flux current command (usually set to zero to maximize torque efficiency), combined with the real-time electrical angle of the motor rotor (obtained through sensors such as encoders and resolvers), generates a three-phase PWM signal through a series of coordinate transformations (such as inverse Park transform and inverse Clarke transform) and space vector pulse width modulation (SVPWM) algorithms. This signal drives the inverter, thereby precisely controlling the voltage and current of the motor windings to generate the required torque, ultimately achieving precise flight control of the drone.

[0107] Through the above technical solution, this application introduces the calculation of position deviation information and velocity deviation information, and uses an outer-loop position controller to generate a target velocity correction, achieving refined perception of the UAV's flight status. Based on this, a torque current command is calculated by combining the target velocity correction and velocity deviation information, and a current drive command is generated based on this command and the real-time electrical angle of the motor rotor, forming a highly efficient and robust cascaded control system. This hierarchical control strategy effectively decouples position and velocity control, allowing position control to be indirectly achieved by adjusting the velocity command, while velocity control directly affects the motor torque. This significantly improves the trajectory tracking accuracy and attitude stability of the UAV in complex flight missions, effectively avoiding control oscillations or response hysteresis problems that may be caused by traditional direct deviation compensation, ensuring that the UAV can fly smoothly and accurately along the preset trajectory, thereby improving overall flight performance and safety.

[0108] In some embodiments described above, after switching to sensor-driven mode, the UAV needs to acquire target flight information and input it into a preset trajectory model for calculation to generate current drive commands to control the UAV's flight. However, if the target flight information only contains basic position or velocity commands and lacks detailed definitions of kinematic constraints during flight, the trajectory planning results may not be refined enough, making it difficult to achieve stable, accurate, and efficient flight control of the UAV in complex environments. Especially in scenarios requiring rapid response or high-precision maneuvers, problems such as unsmooth flight trajectories, delayed control response, or exceeding the physical performance limits of the UAV may occur.

[0109] In this regard, this application further proposes that the target flight information includes target displacement, initial velocity, maximum jerk and maximum acceleration.

[0110] Specifically, target displacement refers to the target spatial position that the UAV needs to move from its current position to in sensor-driven mode. Its purpose is to define the UAV's endpoint or critical path point, providing basic spatial coordinate information for trajectory planning. In practical applications, target displacement can be input by the user through the remote controller, ground station software, or preset waypoint tasks, or it can be automatically generated by advanced flight control algorithms based on mission requirements.

[0111] Initial speed refers to the initial velocity of a drone when it begins executing a flight mission or trajectory planning. Its purpose is to provide a clear starting state for trajectory planning, ensuring a smooth transition when switching to a new mission or trajectory and avoiding sudden speed changes. The initial speed can be determined based on the drone's current actual flight speed, or set to zero or a preset value according to specific flight mode requirements.

[0112] Maximum jerk refers to the maximum permissible rate of change of acceleration for a drone during flight. Jerk is an important parameter describing motion smoothness; excessive jerk can cause drastic changes in the drone's flight attitude, leading to vibration or discomfort. By limiting the maximum jerk, it is ensured that the drone's acceleration changes smoothly and controllably during maneuvers such as acceleration, deceleration, or turning, thereby improving flight stability and comfort. The maximum jerk is typically preset based on the drone's mechanical structure, power performance, and flight mission requirements, and is used as a constraint in trajectory planning algorithms.

[0113] Maximum acceleration refers to the maximum permissible rate of change of velocity for a drone during flight. Maximum acceleration directly affects the drone's response speed and maneuverability. By limiting the maximum acceleration, it can be ensured that the drone does not exceed the limits of its power system or structure when executing acceleration or deceleration commands, while also guaranteeing the accuracy and safety of flight control. Maximum acceleration is typically set based on factors such as the drone's motor performance, propeller efficiency, payload, and flight environment, and serves as an important kinematic constraint in trajectory planning.

[0114] The aforementioned technical solution defines target flight information as including target displacement, initial velocity, maximum jerk, and maximum acceleration, providing comprehensive and accurate input parameters for UAV trajectory planning in sensor-driven mode. Target displacement clarifies the UAV's endpoint or critical path point, initial velocity ensures smooth trajectory transitions, while maximum jerk and maximum acceleration serve as key kinematic constraints, ensuring that the UAV's velocity and acceleration changes are smooth, controlled, and conform to physical limits during flight missions. This enables the pre-defined trajectory model to generate more optimized, stable, and efficient flight trajectories, effectively avoiding problems such as flight instability, control lag, or exceeding UAV performance limits due to insufficient information, thereby significantly improving the accuracy, stability, and user experience of UAV flight.

[0115] The fixed-propeller control method for UAVs involves a series of complex control logic and real-time data processing tasks, including switching between sensorless square wave drive and sensored drive modes, accurate calculation of motor speed in real time, flight trajectory planning, and real-time generation and correction of drive commands. If these tasks rely solely on distributed, non-integrated hardware or software modules for execution, it may lead to sluggish system response, low computational efficiency, and difficulty in ensuring the accuracy and real-time performance of control commands, thereby affecting the flight performance and stability of the UAV.

[0116] In response, this application proposes a drone pitch control system, which includes a memory 10, a processor 20, and a drone pitch control method control program stored in the memory 10 and executable on the processor 20. The drone pitch control system control program is configured to implement the steps of the aforementioned drone pitch control method.

[0117] Specifically, the memory 10 is a hardware device for storing data and instructions. It can be a random access memory (RAM) for temporary data storage and program execution, or a read-only memory (ROM) or flash memory for storing control programs and preset parameters. The memory 10 is responsible for storing all necessary data and program code, including the UAV fixed-propeller control method control program, a preset throttle command information mapping table, a preset trajectory model, target flight information, actual position information, motor operating parameters, real-time speed, mode switching commands, and drive commands. The processor 20 is the core computing unit that executes instructions and performs arithmetic and logical operations. It can be a microcontroller (MCU), a digital signal processor (DSP), or an embedded processor. The processor 20 is responsible for parsing and executing the UAV fixed-propeller control method control program in the memory 10, performing all control logic and data processing tasks, such as calculating motor operating parameters, acquiring real-time speed, generating mode switching commands, trajectory planning calculations, and generating and correcting drive commands. The UAV fixed-propeller control method control program is a set of executable instructions designed to implement all steps of the UAV fixed-propeller control method. The control program can be burned into the memory 10 as firmware and executed by the processor 20. The program modules may include: a sensorless square wave drive control module, a rotation speed calculation module, a mode switching logic module, a sensor-driven control module, a trajectory planning module, and an instruction generation and correction module. It is the core of the entire UAV fixed-propeller control method, transforming the abstract control method into concrete system behavior through software logic, coordinating the work of the memory 10 and the processor 20, and ensuring the correct execution of the method steps.

[0118] By storing the aforementioned UAV fixed-propeller control method as a control program in memory 10 and having it efficiently run by processor 20, this application provides an integrated hardware and software platform. This platform ensures smooth switching between different drive modes, accurately calculates motor speeds in real time, and performs dynamic trajectory planning and drive command correction based on target flight information and actual position information. This systematic implementation effectively avoids response lag and computational efficiency issues caused by the complexity of control logic, significantly improving the real-time performance, accuracy, and reliability of control commands, thereby guaranteeing the flight performance and stability of the UAV under fixed-propeller control.

[0119] In the practical application of UAV fixed-propeller control methods, how to efficiently and reliably deploy this complex control logic to the UAV hardware platform, and ensure its repeatability and ease of maintenance and upgrade, is a key problem that needs to be solved.

[0120] To address this, this application proposes a storage medium capable of effectively carrying and implementing the aforementioned UAV fixed-propeller control method. Specifically, this storage medium is a computer-readable storage medium, meaning it can store data and instructions in a format recognizable and processable by a computer system. Such media can take various forms, such as flash memory (e.g., NAND Flash, NOR Flash), solid-state drives (SSDs), EEPROMs, SD cards, or USB flash drives—non-volatile memory 10—which can retain information for extended periods, even in the event of a power outage. A computer program is stored on the storage medium. This computer program is a set of instructions for implementing the aforementioned UAV fixed-propeller control method, including all logic and algorithms from responding to the system being powered on or initialized, controlling the UAV to use a sensorless square wave drive mode, to acquiring throttle command information, calculating the real-time motor speed and generating a mode switching command, responding to the mode switching command, controlling the UAV to switch to a sensored drive mode to drive the motor, acquiring target flight information and actual position information, and generating the current drive command to control the UAV's flight based on this information. When the computer program is executed by the processor 20 in the UAV control system, the processor 20 will precisely execute each step of the aforementioned UAV fixed-propeller control method according to the sequence and logic of the program instructions. For example, the processor 20 will control the motor driver to work in different modes according to the program instructions, process sensor data, execute trajectory planning algorithms, and generate corresponding drive instructions to achieve stable flight and precise control of the UAV.

[0121] Through the aforementioned technical solution, the UAV rotor control method is transformed from an abstract logical description into a practically deployable and operational software entity. This implementation effectively decouples the control logic from the UAV hardware platform, significantly improving the flexibility and maintainability of the control system. When the control algorithm needs to be updated or optimized, only the computer program on the storage medium needs to be replaced or upgraded, without requiring large-scale modifications to the UAV hardware, thus significantly reducing development and maintenance costs. Furthermore, the standardized storage and execution of the computer program ensures the consistency and reliability of the control method across different UAV platforms, avoiding errors that may be introduced by manual operation, and further improving the accuracy and stability of UAV rotor control. The introduction of this storage medium provides a solid foundation for the widespread application and continuous improvement of UAV rotor control methods.

[0122] The following example will provide a more detailed explanation of the above technical solution:

[0123] Suppose a drone needs to perform a task that first requires the drone to take off quickly and vertically to reach a certain altitude, and then to perform precise path inspection in the air.

[0124] When the UAV system is powered on, the control system responds to this state. At this time, in order to achieve rapid and low-cost initial drive, the system disables the feedback loop of the multi-source sensors and initializes the motor driver to an open-loop control state. Then, the system calls a preset throttle command information mapping table to control the UAV to drive in a sensorless square wave drive mode. This mode can provide high burst thrust, ensuring that the UAV takes off quickly, and because it does not require complex sensor feedback, it reduces system cost and complexity, and avoids the redundancy of high-precision servo systems in the takeoff phase in existing technologies.

[0125] During the drone's ascent, the control system continuously acquires throttle commands input by user A. In the sensorless square wave drive mode, the system generates a corresponding current drive signal based on the throttle command information, driving the motor to rotate. Simultaneously, the system collects the motor's back EMF zero-crossing signal in real time and calculates the motor's real-time speed based on the current commutation cycle. When the drone's real-time speed reaches a preset switching threshold (e.g., the speed required for stable flight) and a preset switching signal is received, the system generates a mode switching command. In this example, the preset switching signal can be set as a deceleration command signal issued by user A, indicating that the drone has completed the initial acceleration phase and is ready to enter a more refined control mode. This switching mechanism based on real-time speed and specific commands ensures the smoothness and accuracy of mode switching, avoiding the abrupt or inefficient mode switching caused by simple "scratching" in existing technologies.

[0126] Once the mode switching command is generated, the control system responds immediately. The system activates the feedback loop of multiple sensors (e.g., GPS, IMU, visual sensors, etc.) and switches the motor drivers to closed-loop control. Simultaneously, the system initializes the preset trajectory model within the sensor-driven mode. Through the multiple sensors, the system acquires the UAV's actual position information and receives target flight information input by user A, such as the specific path for precise inspection at location A, target displacement, initial velocity, maximum jerk, and maximum acceleration. At this point, the UAV has smoothly switched from the sensorless square wave drive mode to the sensor-driven mode, laying the foundation for subsequent precise flight control. This deeply integrated drive control strategy achieves seamless transition and coordinated control between different operating modes, solving the problems of system redundancy, increased weight, and high control complexity in existing technologies.

[0127] In sensor-driven mode, the system first calculates the shortest braking displacement of the UAV based on the acquired target flight information. If the target displacement is greater than the shortest braking displacement, the system begins flight trajectory planning. The target flight information is input into a preset trajectory model for trajectory planning calculation to determine the duration of the segmented velocity curve of the UAV in sensor-driven mode. Based on this duration of the segmented velocity curve, combined with the UAV's actual position information and the target flight information, the system calculates the target flight position and target flight speed at each moment.

[0128] To ensure the UAV accurately tracks the planned trajectory, the system compares the UAV's actual position and speed information based on the target flight position and speed at each moment. Specifically, the system calculates the position deviation between the target flight position and the actual position, as well as the speed deviation between the target flight speed and the actual speed. The position deviation information is then input to the outer-loop position controller to generate a target speed correction. Based on this target speed correction and speed deviation information, the system calculates and generates a torque current command. Finally, based on the torque current command and the real-time electrical angle of the motor rotor, the system generates the current drive command, precisely controlling the UAV to fly along the preset trajectory. This refined closed-loop control and trajectory planning enables the UAV to achieve fast, accurate, and smooth trajectory tracking, effectively overcoming the shortcomings of existing sensorless square wave drive solutions that lack precise positioning capabilities, and high-precision servo drive solutions that suffer from insufficient dynamic response, thus comprehensively improving the overall flight performance of the UAV.

[0129] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for controlling the fixed propeller of an unmanned aerial vehicle (UAV), characterized in that, The method includes: In response to the system being powered on or receiving an initialization command, the drone is controlled to drive in a sensorless square wave drive mode. The throttle command information is obtained, and the real-time speed of the motor is calculated based on the motor operating parameters in the sensorless square wave drive mode. When the real-time speed reaches the preset switching threshold and a preset switching signal is received, a mode switching command is generated. In response to the mode switching command, the UAV is controlled to switch to sensor-driven mode to drive the motor and acquire target flight information and actual location information; Based on the target flight information and the actual location information, the preset trajectory model in the sensor-driven mode is input for calculation, and the current drive command is generated to control the flight of the UAV.

2. The unmanned aerial vehicle (UAV) fixed-propeller control method according to claim 1, characterized in that, The step of controlling the UAV to drive in a sensorless square wave drive mode in response to the system being powered on or receiving an initialization command includes: In response to the system being powered on or receiving an initialization command, the feedback loop of the multi-source sensor is disabled, the motor driver is initialized to an open-loop control state, and a preset throttle command information mapping table is invoked for driving.

3. The UAV fixed-propeller control method according to claim 1, characterized in that, The steps of acquiring throttle command information, calculating the real-time motor speed based on the motor operating parameters in the sensorless square wave drive mode, and generating a mode switching command when the real-time speed reaches a preset switching threshold and a preset switching signal is received include: Obtain throttle command information and determine the target starting speed range based on the throttle command information; In the sensorless square wave drive mode, a corresponding current drive signal is generated based on the throttle command information to drive the motor to rotate. The back EMF zero-crossing signal of the motor is collected in real time, and the real-time speed of the motor is calculated in combination with the current commutation cycle. When the real-time speed reaches the preset switching threshold and the preset switching signal is received, the mode switching command is generated.

4. The UAV fixed-propeller control method according to claim 1, characterized in that, The preset switching signal is set as a deceleration command signal.

5. The UAV fixed-propeller control method according to claim 1, characterized in that, The steps of controlling the UAV to switch to sensor-driven mode to drive the motors and acquire target flight information and actual location information in response to the mode switching command include: In response to the mode switching command, the feedback loop of the multi-source sensor is enabled, the motor driver is switched to closed-loop control state, and the preset trajectory model in the sensing drive mode is initialized. The drone acquires its actual position and speed information through multiple sensors and receives target flight information input by the user.

6. The UAV fixed-propeller control method according to claim 5, characterized in that, The target flight information includes the target displacement, initial velocity, maximum jerkness, and maximum acceleration.

7. The UAV fixed-propeller control method according to claim 6, characterized in that, The step of inputting the target flight information and the actual position information into a preset trajectory model in the sensing drive mode for calculation to generate the current drive command to control the flight of the UAV includes: Based on the target flight information, the shortest braking displacement of the UAV is calculated, and flight trajectory planning begins when the target displacement is greater than the shortest braking displacement. The target flight information is input into the preset trajectory model for trajectory planning calculation to determine the duration of the segmented velocity curve of the UAV in the sensor-driven mode; Based on the duration of the segmented velocity curves, and combined with the actual location information and target flight information, the target flight position and target flight speed at each moment are calculated. Based on the target flight position and target flight speed at each moment, the actual position information and actual speed information of the UAV are compared to generate a speed deviation compensation amount to correct the current drive command in order to control the flight of the UAV.

8. The UAV fixed-propeller control method according to claim 7, characterized in that, The step of comparing the actual position information and actual speed information of the UAV with the target flight position and target flight speed at each moment, and generating a speed deviation compensation amount to correct the current drive command in order to control the flight of the UAV includes: Calculate the position deviation information between the target flight position and the actual position information, and the speed deviation information between the target flight speed and the actual speed information; The position deviation information is input to the outer loop position controller to generate the target speed correction amount; Based on the target speed correction amount and the speed deviation information, a torque current command is calculated and generated; Based on the torque current command and the real-time electrical angle of the motor rotor, the current drive command is generated to control the drone's flight.

9. A fixed-propeller control system for unmanned aerial vehicles (UAVs), characterized in that, The UAV pitch control system includes: a memory, a processor, and a UAV pitch control method control program stored in the memory and executable on the processor, wherein the UAV pitch control system control program is configured to implement the steps of the UAV pitch control method as described in any one of claims 1 to 8.

10. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the UAV fixed-propeller control method as described in any one of claims 1 to 8.

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