Quad-rotor unmanned aerial vehicle modeling method and device, quad-rotor unmanned aerial vehicle and storage medium

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and discloses a quadrotor unmanned aerial vehicle modeling method and device, a quadrotor unmanned aerial vehicle and a storage medium, and the method comprises the steps: building a vehicle body, a stator, rotors and a world coordinate system; deducing a kinetic equation from the body to the first propeller through translation and rotation transformation between coordinate systems; based on the kinetic equation, carrying out stress analysis and moment analysis on the rest of propellers to obtain forces and moments of all propellers in the body coordinate system, constructing an overall kinetic equation based on the forces and moments, and determining a four-rotor unmanned aerial vehicle model; accurate modeling is carried out by comprehensively considering factors such as wind speed, airflow and load change of the actual quad-rotor unmanned aerial vehicle during flight; and the actual four-rotor unmanned aerial vehicle model is closer to the actual flight state.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, specifically to a method, apparatus, quadcopter UAV modeling, and storage medium. Background Technology

[0002] Traditional quadrotor dynamics models largely rely on simplified assumptions and linearization for small disturbances, using classic linear control methods such as proportional-integral-derivative (PID) control to achieve attitude stabilization. However, traditional simplified models and linear control strategies have gradually revealed limitations when dealing with high-precision control problems in complex environments. In related technologies, nonlinear control methods (such as sliding mode control and backstepping control) and intelligent optimization control methods (such as model predictive control, MPC) have emerged, achieving some success in improving UAV control performance. However, these methods mostly rely on high-precision mathematical models without accurate modeling, resulting in insufficient robustness to changes in model parameters and external disturbances. Summary of the Invention

[0003] This invention provides a quadcopter drone modeling method, device, quadcopter drone, and storage medium to address the problem that robustness to changes in model parameters and external disturbances caused by inaccurate modeling remains insufficient.

[0004] In a first aspect, the present invention provides a modeling method for a quadcopter drone, the quadcopter drone including a fuselage, on which a first propeller, a second propeller, a third propeller, and a fourth propeller are mounted, the method comprising: Establish the body coordinate system, stator coordinate system, rotor coordinate system, and world coordinate system; The dynamic equations from the body to the first propeller are obtained based on the translation and rotation transformations between the body coordinate system, stator coordinate system, rotor coordinate system and world coordinate system. Based on the dynamic equations from the body to the first propeller, force and torque analyses are performed on the second, third, and fourth propellers to obtain the expressions for the forces and torques corresponding to the forces exerted by all propellers on the motor rotor in the body coordinate system. Based on the expressions for the forces and torques corresponding to the forces applied by all propellers to the motor rotor in the body coordinate system, an overall dynamic equation is constructed, and a quadcopter UAV model is determined based on the overall dynamic equation.

[0005] By establishing different coordinate systems, the motion of the UAV is accurately represented, the contribution of a single propeller to the operation of the UAV is analyzed, and the contribution of all propellers to the operation of the UAV is further analyzed. By performing force and torque analysis on the propellers, the rotational momentum of the quadcopter UAV is obtained, making the quadcopter UAV model closer to the actual flight state. This overcomes the deviation caused by the simplified model, significantly improves the accuracy of UAV simulation and control, ensures the stable flight of the UAV in complex environments, and achieves precise control of the quadcopter UAV flight.

[0006] In one optional implementation, the dynamic equations from the fuselage to the first propeller are obtained based on translational and rotational transformations between the body coordinate system, stator coordinate system, rotor coordinate system, and world coordinate system, including: Based on the translation matrix between the body coordinate system and the stator coordinate system, the translation matrix between the stator coordinate system and the rotor coordinate system, and the rotation matrix, the motion parameter transformation equations of the first propeller between the body coordinate system and the stator coordinate system, and between the stator coordinate system and the rotor coordinate system are determined. Based on the transformation equations of various motion parameters, force and torque analysis are performed on the first propeller to obtain the momentum expression corresponding to the rotational transformation of the first propeller between the body coordinate system and the stator coordinate system and between the stator coordinate system and the rotor coordinate system. The dynamic equations of the body to the first propeller are determined based on the transformation equations of each motion parameter and the expression of each momentum.

[0007] The rotor coordinate system describes the forces and torques generated by the propeller's own rotation. The propeller's lift and anti-torsional torque are generated along its rotation axis. The stator coordinate system describes the installation angle of the motor's fixed parts. The body coordinate system describes the motion relative to the UAV's center of mass, facilitating the unification of all propeller contributions into the body coordinate system. The world coordinate system describes the UAV's motion relative to the ground. By specifically analyzing the transformations of the first propeller between various coordinate systems, accurate attitude identification is achieved, thus obtaining the dynamic equations from the body to the first propeller. This is applicable to various multi-rotor UAV models, ensuring the accuracy of UAV control quantities.

[0008] In one optional implementation, the motion parameter transformation equations of the first propeller between the body coordinate system and the stator coordinate system, and between the stator coordinate system and the rotor coordinate system, are determined based on the translation matrix between the body coordinate system and the stator coordinate system, the translation matrix between the stator coordinate system and the rotor coordinate system, and the rotation matrix, including: Based on the translation matrix between the body coordinate system and the stator coordinate system, the first motion parameter transformation equation of the first propeller from the body coordinate system to the stator coordinate system is determined; Based on the translation and rotation matrices between the stator and rotor coordinate systems, the second motion parameter transformation equation of the first propeller from the stator coordinate system to the rotor coordinate system is determined.

[0009] Since there is no change in tilt angle between the body coordinate system and the stator coordinate system due to the installation method, there is no relative rotation transformation, and only translation transformation is considered. Between the stator coordinate system and the rotor coordinate system, there is relative rotation due to the rotor rotating around its stator axis. Therefore, rotation transformation and translation transformation are considered to ensure the accuracy of the first propeller dynamic equation.

[0010] In one optional implementation, force and torque analysis are performed on the first propeller based on the transformation equations of various motion parameters to obtain the momentum expression corresponding to the rotational transformation of the first propeller between the body coordinate system and the stator coordinate system and between the stator coordinate system and the rotor coordinate system. Based on the first and second motion parameter transformation equations, the force and torque exerted by the UAV linkage arm on the motor rotor in the body coordinate system between the rotor coordinate system and the stator coordinate system of the first propeller are analyzed to determine the expression for the first momentum. Based on the first and second motion parameter transformation equations, the forces and torques exerted by the UAV body linkage arm on the motor rotor in the world coordinate system between the stator coordinate system and the body coordinate system of the first propeller are analyzed, and the expression for the second momentum is determined.

[0011] By analyzing the changes in the linear and angular velocities of the first propeller during UAV operation, as well as the forces and torques generated, through force and torque analysis, the attitude response speed and yaw disturbances are accurately identified, and wind resistance is assessed. This makes the model closer to the real flight situation, thereby achieving accurate modeling and improving the control accuracy when controlling the UAV.

[0012] In one optional implementation, the dynamic equations from the fuselage to the first propeller are determined based on the transformation equations of each motion parameter and the expressions of each momentum, including: Based on the first motion parameter conversion equation, the second motion parameter conversion equation, the first momentum expression, and the second momentum expression, the rotational momentum of the first propeller is calculated, and the dynamic equation of the fuselage to the first propeller is determined.

[0013] By accurately predicting the macroscopic behavior of drones through the microscopic dynamics of the propellers and taking into account all physical effects, the model is made closer to the real flight situation, thus achieving high-precision control of quadcopter drones.

[0014] In one optional implementation, based on the dynamic equations from the fuselage to the first propeller, force and torque analyses are performed on the second, third, and fourth propellers to obtain expressions for the forces exerted by all propellers on the motor rotor in the fuselage coordinate system and the torques representing these forces, including: Based on the translation matrix between the body coordinate system and the stator coordinate system, and the translation and rotation matrix between the stator coordinate system and the rotor coordinate system, the motion parameter transformation equations of the second, third, and fourth propellers between the body coordinate system and the stator coordinate system, and between the stator coordinate system and the rotor coordinate system are determined respectively. Based on the transformation equations of each motion parameter, the forward rotational motion parameters and reverse rotational motion parameters between all propellers are calculated, and the expressions of the forces and torques corresponding to the forces applied by all propellers to the motor rotor in the machine coordinate system are determined.

[0015] By analyzing the lift and counter-torque of all propellers, the model's adaptability to environmental changes is improved, thereby enabling accurate modeling of the control of quadcopter UAVs.

[0016] In one optional implementation, based on the expressions for the forces and torques corresponding to the forces applied by all propellers to the motor rotor in the body coordinate system, an overall dynamic equation is constructed. Based on this overall dynamic equation, a quadcopter UAV model is determined, including: The overall rotational momentum is calculated based on the expressions of the forces and the torques represented by all the propellers applied to the motor rotor in the body coordinate system. Based on the overall rotational momentum, construct the overall dynamic equations; The overall dynamic equations are expressed by the following equations:

[0017] in, This represents an identity matrix with dimension 3; The inertial tensor represents the body's inertia tensor; The linear acceleration representing the rotation of the machine body; This represents the angular acceleration of the machine body during rotation; Indicates the angular velocity of the machine body's rotation; This represents the torque resulting from the accurate identification of the model; This represents the resultant force of the machine's rotation; This represents the resultant torque of the machine body's rotation; Indicates the linear velocity of the machine body; Indicates the angular velocity of the aircraft; The value represents the gravitational acceleration of the aircraft; m represents the total mass of the aircraft. The cross product matrix (antisymmetric matrix) represents the product of the two matrices. Convert to the corresponding antisymmetric matrix to obtain Then multiply by the coefficient m to get Then take the negative of the result to get ; Denotes the cross product matrix, representing the product of the two matrices. and The product is converted into the corresponding antisymmetric matrix to obtain .

[0018] Based on the propeller rotation and the analysis of the forces and torques applied to the airframe coordinate system, a more accurate rotational momentum is obtained, thereby constructing an accurate dynamic model, improving the accuracy of UAV simulation and control, making the model closer to real flight conditions, and ensuring stability and high-precision control in various complex environments.

[0019] Secondly, the present invention provides a quadcopter drone modeling device. The quadcopter drone includes a fuselage, on which a first propeller, a second propeller, a third propeller, and a fourth propeller are mounted. The device includes: The calculation module is used to establish the body coordinate system, stator coordinate system, rotor coordinate system, and world coordinate system; The transformation processing module is used to obtain the dynamic equations of the body to the first propeller based on translation and rotation transformations between the body coordinate system, stator coordinate system, rotor coordinate system and world coordinate system; The analysis module is used to perform force and torque analysis on the second, third, and fourth propellers based on the dynamic equations from the body to the first propeller, and to obtain the expressions of the forces and the torques represented by the forces applied to the motor rotor by all propellers in the body coordinate system. The determination module is used to construct the overall dynamic equation based on the expressions of the forces and torques corresponding to the forces applied to the motor rotor by all propellers in the body coordinate system, and to determine the quadcopter UAV model based on the overall dynamic equation.

[0020] Thirdly, the present invention provides a quadcopter drone, comprising: a controller, the controller comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the quadcopter drone modeling method of the first aspect or any corresponding embodiment described above.

[0021] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the quadcopter unmanned aerial vehicle modeling method of the first aspect or any corresponding embodiment described above. Attached Figure Description

[0022] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of an application scenario according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the first process of a quadcopter unmanned aerial vehicle modeling method according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the second process of the quadcopter UAV modeling method according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of a quadcopter unmanned aerial vehicle according to an embodiment of the present invention; Figure 5 This is a structural block diagram of a quadcopter unmanned aerial vehicle (UAV) modeling device according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the hardware structure of the controller of a quadcopter drone according to an embodiment of the present invention. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] It is understood that before using the technical solutions disclosed in the various embodiments of the present invention, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in the present invention and their authorization should be obtained in accordance with relevant laws and regulations through appropriate means.

[0026] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0027] As an optional application scenario of this invention, such as Figure 1As shown, a quadcopter drone is provided, including a first propeller, a second propeller, a third propeller and a fourth propeller mounted on the fuselage. The quadcopter drone includes a controller 101, which is used to execute a quadcopter drone modeling method. The overall process of the controller 101 executing the quadcopter drone modeling method is detailed in the relevant description of the method embodiment below, and will not be repeated here.

[0028] With the continuous development of drone technology, quadcopter drones have become important tools in many fields due to their simple structure, vertical take-off and landing capabilities, and strong maneuverability, especially in applications such as industrial inspection, security monitoring, and emergency response.

[0029] In power systems, quadcopter drones are widely used for the inspection of high-voltage transmission lines and power towers, replacing manual labor in the inspection and fault diagnosis of high-altitude equipment; in the security field, quadcopter drones can be equipped with high-definition cameras and infrared thermal imagers to conduct real-time monitoring of border lines, urban parks, etc.; in emergency rescue, quadcopter drones can quickly scout the situation in disaster areas, transmit communication relays, or drop relief supplies.

[0030] As application scenarios become more complex, quadcopter drones often face various disturbances during missions, such as wind speed, airflow, and load changes. These factors make it difficult for traditional simplified dynamic models and control methods to meet the requirements of high-precision control in practical applications.

[0031] Traditional quadrotor UAV dynamics models often neglect higher-order terms or disturbance terms, leading to significant deviations between the model and the actual system. Quadrotor dynamics models largely rely on simplified assumptions and linearization of small disturbances, utilizing classic linear control methods such as proportional-integral-derivative (PID) control to achieve attitude stabilization. This approach was widely used in early open-source flight control systems (such as PX4 and APM). However, with technological advancements and increasingly complex application requirements, traditional simplified models and linear control strategies have gradually revealed limitations in handling high-precision control problems in complex environments.

[0032] In related technologies, nonlinear control methods (such as sliding mode control and backstepping control) and intelligent optimization control methods (such as model predictive control, MPC) have emerged, achieving certain results in improving the control performance of UAVs. However, these methods mostly rely on high-precision mathematical models, and their robustness to changes in model parameters and external disturbances remains insufficient. For example, the parameter settings in many control algorithms still lack universal rules, meaning that even small parameter changes can have a significant impact on system performance.

[0033] Based on the aforementioned issues, this embodiment focuses on analyzing the flight performance of quadrotor UAVs under the influence of more complex nonlinear factors, particularly in complex environments, and their ability to cope with the impact of factors such as wind force, changes in air density, and mechanical wear on flight performance. A quadrotor UAV modeling method is proposed, and by analyzing the flight performance of quadrotor UAVs under the influence of more complex nonlinear factors, the method analyzes how to achieve high-precision control and how to improve the robustness and control performance of the system.

[0034] The proposed method for precise modeling and control of quadcopter UAVs introduces disturbance identification and compensation techniques to suppress disturbances during flight. Combined with Model Predictive Control (MPC), it ensures stable flight and precise control of the UAV in complex environments. Specifically, during modeling, disturbance terms are accurately identified, and these disturbances are compensated for in the control strategy, thus achieving precise control.

[0035] According to an embodiment of the present invention, a modeling method for a quadcopter unmanned aerial vehicle is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0036] This embodiment provides a modeling method for a quadcopter drone, which can be used in the controller of the aforementioned quadcopter drone. Figure 2 This is a schematic diagram of the first process of a quadcopter unmanned aerial vehicle (UAV) modeling method according to an embodiment of the present invention, as shown below. Figure 2 As shown, the process includes the following steps: Step S201: Establish the body coordinate system, stator coordinate system, rotor coordinate system, and world coordinate system.

[0037] It should be noted that the body coordinate system is a coordinate system fixed to the drone's fuselage and used to describe the quadcopter drone's own motion. The body coordinate system has its origin at the drone's center of mass and translates or rotates with the drone. The x-axis points forward towards the nose, the y-axis points to the right of the fuselage, and the z-axis points downwards. It is used to describe the drone's attitude; for example, the rotation of the body coordinate system relative to the world coordinate system is defined by the drone's roll, pitch, and yaw angles.

[0038] The world coordinate system is used to describe the overall position and attitude of the UAV relative to the world coordinate system. Specifically, the planned flight path when actually controlling the quadcopter UAV is defined in the world coordinate system. When performing force and torque analyses based on factors such as gravity and wind force received by the quadcopter UAV during flight, the results are all defined relative to the world coordinate system.

[0039] The stator coordinate system is a coordinate system fixedly connected to the stator of the motor. Each propeller motor has its own stator coordinate system, which describes the motor's installation position and orientation relative to the motor body. It should be noted that the origin of the stator coordinate system is the point of application of the tension force, and the vector generated by the torque is a translation transformation from the motor body coordinate system to the stator coordinate system.

[0040] The rotor coordinate system is a coordinate system that is fixedly connected to the high-speed rotating propeller rotor.

[0041] Step S202: Based on the translation and rotation transformations between the body coordinate system, stator coordinate system, rotor coordinate system and world coordinate system, the dynamic equations of the body to the first propeller are obtained.

[0042] The world coordinate system and the body coordinate system include translation and rotation transformations; the body coordinate system and the stator coordinate system include translation transformations; and the stator coordinate system and the rotor coordinate system include rotation transformations.

[0043] It should be noted that the purpose of this step is to transform the forces and motions affecting the propeller into the same reference frame, specifically, to perform calculations in the body coordinate system.

[0044] Step S203: Based on the dynamic equations from the body to the first propeller, force and torque analyses are performed on the second, third, and fourth propellers to obtain the expressions for the forces applied to the motor rotor by all propellers in the body coordinate system and the torques they represent.

[0045] It should be noted that the force exerted by the propeller on the motor rotor actually represents the reaction force of the air on the propeller, and this reaction force is transmitted to the machine body through the motor rotor.

[0046] The expression for the force exerted by the propeller on the motor rotor in the body coordinate system is obtained by performing a rotational transformation from the rotor coordinate system to the body coordinate system. The torque generated by the propeller on the body's center of mass consists of two parts: the torque generated by the thrust and the torque generated by the counter-torque. The torque generated by the counter-torque cancels each other out when two adjacent motors rotate in opposite directions.

[0047] Step S204: Based on the expressions of the forces and torques corresponding to the forces applied to the motor rotor by all propellers in the body coordinate system, construct the overall dynamic equation, and determine the quadcopter UAV model based on the overall dynamic equation.

[0048] Among them, the overall dynamic equation can characterize the position, attitude, and disturbance effects of the UAV, thereby enabling the control of the flight state of the quadcopter UAV under arbitrary control inputs based on the quadcopter UAV model.

[0049] The quadcopter UAV modeling method provided in this embodiment establishes different coordinate systems to accurately represent the motion of the UAV, analyzes the contribution of a single propeller to the operation of the UAV, further analyzes the contribution of all propellers to the operation of the UAV, and obtains the rotational momentum of the quadcopter UAV by performing force and torque analysis on the propellers. This makes the quadcopter UAV model closer to the actual flight state, overcomes the deviation caused by the simplified model, significantly improves the accuracy of UAV simulation and control, ensures the stable flight of the UAV in complex environments, and achieves precise control of the quadcopter UAV flight.

[0050] This embodiment provides a modeling method for quadcopter drones, which can be used in quadcopter drone controllers. Figure 3 This is a schematic diagram of the second process of the quadcopter UAV modeling method according to an embodiment of the present invention, as shown below. Figure 4 The diagram shown is of a quadcopter drone structure, combined with... Figure 3 and Figure 4 This embodiment describes the modeling method for a quadcopter drone.

[0051] like Figure 3 As shown, the process includes the following steps: Step S301: Establish the body coordinate system, stator coordinate system, rotor coordinate system, and world coordinate system. For details, please refer to [link to relevant documentation]. Figure 2 Step S201 of the illustrated embodiment will not be described again here.

[0052] For example, the motion quantities in the body coordinate system include: the angular velocity of the body coordinate system relative to the world coordinate system in the body coordinate system. The angular acceleration of the body coordinate system relative to the world coordinate system in the body coordinate system. The body coordinate system relative to the world coordinate system at the body's lower linear velocity The acceleration of the body coordinate system relative to the world coordinate system at the lower bound of the body coordinate system. .

[0053] Among them, the angular velocity, angular acceleration, linear velocity, and linear acceleration mentioned above are known quantities, which are input through the UAV controller.

[0054] Step S302: Based on the translation and rotation transformations between the body coordinate system, stator coordinate system, rotor coordinate system and world coordinate system, the dynamic equations of the body to the first propeller are obtained.

[0055] Specifically, step S302 includes: Step S3021: Based on the translation matrix between the body coordinate system and the stator coordinate system, the translation matrix between the stator coordinate system and the rotor coordinate system, and the rotation matrix, determine the motion parameter transformation equations of the first propeller between the body coordinate system and the stator coordinate system, and between the stator coordinate system and the rotor coordinate system.

[0056] It should be noted that the transformation between the body coordinate system and the stator coordinate system, from the body coordinate system to the stator coordinate system, only involves translation. The rotation transformation is an identity matrix. The purpose is to transform the thrust vector of the first propeller from the stator coordinate system to the body coordinate system. In this process, only force is generated, not torque.

[0057] Specifically, step S3021 includes: Step a1: Based on the translation matrix between the body coordinate system and the stator coordinate system, determine the first motion parameter transformation equation of the first propeller from the body coordinate system to the stator coordinate system.

[0058] It should be noted that the motion parameters in the first motion parameter transformation equation include the angular velocity, angular acceleration, linear velocity, and linear acceleration of the first propeller. b represents the body coordinate system, w represents the world coordinate system, and l represents the stator coordinate system. For example, This represents the angular velocity from the body coordinate system to the world coordinate system. Based on the translation matrix between the body coordinate system and the stator coordinate system, we determine the angular velocity of the first propeller from the body coordinate system to the stator coordinate system, relative to the world coordinate system in the stator coordinate system. ; This represents the angular acceleration of the body coordinate system relative to the world coordinate system within the body coordinate system. Based on the translation matrix between the body coordinate system and the stator coordinate system, determine the angular acceleration of the first propeller from the body coordinate system to the stator coordinate system relative to the world coordinate system in the stator coordinate system. .

[0059] Therefore, the first motion parameter transformation equation is obtained as follows: ; ; ; .

[0060] Step a2: Based on the translation and rotation matrices between the stator coordinate system and the rotor coordinate system, determine the second motion parameter transformation equation of the first propeller from the stator coordinate system to the rotor coordinate system.

[0061] Where mo1 represents the rotor coordinate system of the first propeller; the second motion parameter transformation equation is:

[0062] in, This represents the linear velocity of the stator coordinate system relative to the world coordinate system in the stator coordinate system. This represents the linear acceleration of the stator coordinate system relative to the world coordinate system within the stator coordinate system. This represents the linear velocity of the machine coordinate system relative to the world coordinate system within the machine coordinate system. This represents the angular velocity of the machine's coordinate system relative to the world coordinate system within the machine's coordinate system. This represents the vector radius from the origin of the body coordinate system to the origin of the stator coordinate system in the body coordinate system. This represents the linear acceleration of the body coordinate system relative to the world coordinate system within the body coordinate system. This represents the angular acceleration of the body coordinate system relative to the world coordinate system within the body coordinate system. This represents the angular velocity of the motor rotor coordinate system relative to the world coordinate system within the motor rotor coordinate system. This represents the angular velocity of the motor rotor coordinate system relative to the stator coordinate system in the stator coordinate system; This represents the angular acceleration of the motor rotor coordinate system relative to the world coordinate system in the motor rotor coordinate system. This represents the angular velocity of the stator coordinate system relative to the motor rotor coordinate system in the stator coordinate system; This represents the angular acceleration of the motor stator coordinate system relative to the world coordinate system in the body coordinate system; This represents the angular acceleration of the motor rotor coordinate system relative to the stator coordinate system in the machine body coordinate system; This represents the linear velocity of the motor rotor coordinate system relative to the world coordinate system within the motor rotor coordinate system. This represents the linear acceleration of the motor rotor coordinate system relative to the world coordinate system in the motor rotor coordinate system. This represents the linear velocity of the stator coordinate system relative to the world coordinate system in the stator coordinate system. This represents the linear acceleration of the stator coordinate system relative to the world coordinate system in the stator coordinate system. This means: the angular velocity of coordinate system 1 relative to the world system w in the machine system b is transformed into the angular velocity of the rotor system mo1 through the rotation matrix from coordinate system 1 to coordinate system mo1; Represents: the rotation matrix from stator coordinate system 1 to rotor coordinate system mo1; This means that the linear velocity of coordinate system 1 relative to the world system w in the stator coordinate system 1 is transformed into the linear velocity of the rotor system mo1 through the rotation matrix from coordinate system 1 to coordinate system mo1.

[0063] Since there is no change in tilt angle between the body coordinate system and the stator coordinate system due to the installation method, there is no relative rotation transformation, and only translation transformation is considered. Between the stator coordinate system and the rotor coordinate system, there is relative rotation due to the rotor rotating around its stator axis. Therefore, rotation transformation and translation transformation are considered to ensure the accuracy of the first propeller dynamic equation.

[0064] Step S3022: Based on the transformation equations of various motion parameters, perform force analysis and torque analysis on the first propeller to obtain the momentum expression corresponding to the rotational transformation of the first propeller between the body coordinate system and the stator coordinate system and between the stator coordinate system and the rotor coordinate system.

[0065] It should be noted that the transformation between the body coordinate system and the stator coordinate system is determined by the installation attitude of the motor stator. The transformation from the stator coordinate system to the body coordinate system rotates the thrust and torque vectors into the body coordinate system, while the transformation from the rotor coordinate system to the stator coordinate system has no lateral effect on the thrust vector. Specifically, the forces acting on the body obtained from the force analysis affect the rate of change of translational displacement, and the torque affects the rate of change of angular momentum.

[0066] Specifically, step S3022 includes: Step b1: Based on the first and second motion parameter transformation equations, analyze the force and torque exerted by the UAV linkage arm on the motor rotor in the body coordinate system between the rotor coordinate system and the stator coordinate system of the first propeller, and determine the first momentum expression.

[0067] Among them, the force exerted by the UAV linkage arm on the motor rotor in the body coordinate system between the rotor coordinate system and the stator coordinate system is... :

[0068] in, This indicates the total mass of the drone's motor rotor and propeller. This represents the angular velocity of the motor rotor coordinate system relative to the world coordinate system within the machine body coordinate system. This represents the linear velocity of the motor stator coordinate system relative to the world coordinate system in the body coordinate system. This represents the angular velocity of the motor stator coordinate system relative to the rotor coordinate system in the machine body coordinate system. This represents the linear acceleration of the motor stator coordinate system relative to the world coordinate system in the body coordinate system. This represents the wind force applied to the machine's coordinate system. This represents the gravitational acceleration in the body coordinate system.

[0069] Specifically, the force exerted by the UAV linkage arm on the motor rotor in the body coordinate system between the rotor coordinate system and the stator coordinate system is... It is derived from the following formula:

[0070] in, This represents the force exerted by the drone's linkage arm on the motor rotor in the world coordinate system; This represents the wind force applied to the world coordinate system; This represents the gravitational acceleration in the world coordinate system. This represents the acceleration due to gravity in the motor rotor coordinate system; This represents the wind force applied to the machine's coordinate system; This represents the rotation matrix from the rotor coordinate system mo1 to the world coordinate system w; The inertial tensors of the rotor and propeller are characterized in the rotor coordinate system mo1. This represents the linear velocity of the rotor coordinate system relative to the world coordinate system within the rotor coordinate system.

[0071] in, This represents the law of conservation of momentum. In the world coordinate system (inertial frame), the force exerted by the connecting rod on the rotor (motor rotor), the wind force on the rotor, and the rotor's own weight are equal to the net force acting on the rotor.

[0072] in, This represents the force exerted by the drone's connecting arm on the motor rotor in the motor rotor coordinate system; This represents the wind force applied by the first propeller to the motor rotor coordinate system; This represents the angular velocity of the rotor coordinate system relative to the world coordinate system in the rotor coordinate system; This represents the linear acceleration of the rotor coordinate system relative to the world coordinate system in the rotor coordinate system.

[0073] The result derived from the above law of conservation of the first action is specifically obtained by differentiating the right side of the first row and transforming the coordinate system.

[0074] in, This represents the angular velocity of the motor rotor coordinate system relative to the world coordinate system within the machine body coordinate system; This represents the linear velocity of the stator coordinate system relative to the world coordinate system in the body coordinate system; This represents the angular velocity of the stator coordinate system relative to the motor rotor coordinate system in the machine body coordinate system; This represents the linear acceleration of the stator coordinate system relative to the world coordinate system in the body coordinate system; This represents the wind force applied to the machine's coordinate system.

[0075] The torque exerted by the UAV linkage arm on the motor rotor in the body coordinate system between the rotor coordinate system and the stator coordinate system is It is derived from the following formula:

[0076] in, This represents the torque generated by the linkage arm of the UAV body on the motor rotor and propeller, as represented in the world coordinate system. This represents the force exerted on the motor rotor by the drone's connecting arm in the world coordinate system; The aerodynamic torque generated by the first propeller on the air, expressed in the body coordinate system. This represents the angular velocity of the motor rotor coordinate system relative to the stator coordinate system in the stator coordinate system. It represents the rotational momentum of the motor rotor; This represents the angular acceleration of the motor rotor coordinate system relative to the stator coordinate system in the stator coordinate system; This represents the vector radius from the origin of the motor rotor coordinate system to the origin of the motor rotor coordinate system in the world coordinate system. This represents the aerodynamic torque generated by the first propeller on the air, expressed in the world coordinate system. This represents the torque exerted by the stator connecting rod on the rotor about stator coordinate system 1; This represents the aerodynamic torque generated by the first propeller on the air, expressed in the stator coordinate system.

[0077] This means that angular momentum is conserved, the torque generated by lift, and the torque generated by the force exerted by the stator on the rotor are equal to the derivative of angular momentum. and The result after further differentiation of the above equation and transformation of the coordinate system.

[0078] Step b2: Based on the first and second motion parameter transformation equations, analyze the force and torque exerted by the UAV body linkage arm on the motor rotor in the world coordinate system between the stator coordinate system and the body coordinate system, and determine the second momentum expression.

[0079] Among them, the force exerted by the first propeller on the motor rotor in the world coordinate system by the UAV body linkage arm between the stator coordinate system and the body coordinate system is... It is derived from the following formula:

[0080] in This represents the rotation matrix of the body coordinate system relative to the world coordinate system. The linkage arm of the drone body generates torques on the motor rotor and propeller, represented in the world coordinate system. This represents the mass of the drone's main body and the first body connecting rod, which is equivalent to M / 4 of the total mass. This represents the linear velocity of the body coordinate system relative to the world coordinate system within the body coordinate system. This represents the angular velocity of the machine coordinate system relative to the world coordinate system within the machine coordinate system. This represents the angular velocity of the electronic coordinate system relative to the body coordinate system within the body coordinate system. This represents the linear acceleration of the body coordinate system relative to the world coordinate system within the body coordinate system.

[0081] in, The overall expression represents the law of conservation of momentum, stating that the force exerted on the machine body by the motor rotor and the force of gravity acting on the machine body are equal to the rate of change of the machine body's momentum.

[0082] The overall expression represents the first result of the derivation of the above law of conservation of momentum.

[0083] The whole represents the derivation of the first result.

[0084] The torque exerted by the first propeller on the motor rotor in the world coordinate system by the UAV's connecting arm between the stator coordinate system and the body coordinate system is... It is derived from the following formula:

[0085] The overall representation is the conservation of angular momentum, and the rate of change of the total angular momentum of the machine body is the torque generated by the rotor's force on the machine body.

[0086] The overall expression represents the result obtained after differentiating the previous formula and transforming the coordinate system.

[0087] The overall result represents the result after simplifying the formula obtained by differentiating and transforming the coordinates of the previous formula. M / 4 represents 1 / 4 of the total mass of the drone body, because this analysis focuses on a single propeller of the drone. There are four propellers in total, which can be considered as 1 / 4 of the total mass.

[0088] in, This represents the rotational momentum of the UAV body in the world coordinate system. This represents the vector radius from the origin of the stator coordinate system to the origin of the body coordinate system in the world coordinate system. This represents the rotation matrix of the UAV's body coordinate system relative to the world coordinate system.

[0089] By analyzing the changes in the linear and angular velocities of the first propeller during UAV operation, as well as the forces and torques generated, through force and torque analysis, the attitude response speed and yaw disturbances are accurately identified, and wind resistance is assessed. This makes the model closer to the real flight situation, thereby achieving accurate modeling and improving the control accuracy when controlling the UAV.

[0090] Step S3023: Determine the dynamic equations from the fuselage to the first propeller based on the transformation equations of each motion parameter and the expressions for each momentum. The dynamic equations from the fuselage to the first propeller are as follows:

[0091] in, The inertial tensor of the UAV body relative to reference frame b is represented in frame b. This indicates the distance from stator coordinate system 1 to the body's center of mass. The expression of the vector radius in the machine system.

[0092] Specifically, step S3023 includes: Step c1: Calculate the rotational momentum of the first propeller based on the first motion parameter conversion equation, the second motion parameter conversion equation, the first momentum expression, and the second momentum expression, and determine the dynamic equation from the body to the first propeller.

[0093] It should be noted that the rotational momentum of the first propeller is the angle of the propeller about its own axis of rotation.

[0094] The rotor coordinate system describes the forces and torques generated by the propeller's rotation; the propeller's lift and anti-torsional torque are generated along its rotation axis. The stator coordinate system describes the installation angles of the motor's fixed parts. The body coordinate system describes the motion relative to the UAV's center of mass, facilitating the unification of all propeller contributions within the body coordinate system. The world coordinate system describes the UAV's motion relative to the ground. By specifically analyzing the transformations of the first propeller between these coordinate systems, accurate attitude identification is achieved, resulting in the dynamic equations from the body to the first propeller. This equation is applicable to various multi-rotor UAV models, ensuring the accuracy of UAV control quantities. Accurate prediction of the UAV's macroscopic behavior through the propeller's micro-dynamics, considering all physical effects, makes the model closer to real flight conditions, achieving high-precision control of quadcopter UAVs.

[0095] Step S303: Based on the dynamic equations from the body to the first propeller, force and torque analyses are performed on the second, third, and fourth propellers to obtain the expressions for the forces applied to the motor rotor by all propellers in the body coordinate system and the torques they represent.

[0096] Specifically, step S303 includes: Step S3031: Based on the translation matrix between the body coordinate system and the stator coordinate system, the translation matrix between the stator coordinate system and the rotor coordinate system, and the rotation matrix, determine the motion parameter transformation equations of the second propeller, the third propeller, and the fourth propeller between the body coordinate system and the stator coordinate system, and between the stator coordinate system and the rotor coordinate system, respectively.

[0097] The equations for transforming motion parameters are derived from the following formula:

[0098] in, This represents the linear velocity of the second stator coordinate system relative to the body coordinate system in the body coordinate system. This represents the wind force exerted by the second propeller in the body coordinate system. This represents the vector radius from the origin of the body coordinate system to the origin of the stator coordinate system in the body coordinate system. This represents the wind force applied to the machine's coordinate system. This represents the angular velocity of the electronic coordinate system relative to the body coordinate system within the body coordinate system. This indicates the total mass of the drone's motor rotor and propeller; This represents the vector radius from the origin of the body coordinate system to the origin of the second stator coordinate system in the body coordinate system. The total mass of the drone's motor rotor and second propeller; This represents the linear velocity of the third stator coordinate system relative to the body coordinate system in the body coordinate system. This represents the wind force exerted by the third propeller in the body coordinate system. This represents the vector radius from the origin of the body coordinate system to the origin of the third stator coordinate system in the body coordinate system. The total mass of the drone's motor rotor and third propeller; This represents the linear velocity of the fourth stator coordinate system relative to the body coordinate system in the body coordinate system. This represents the wind force exerted by the fourth propeller in the body coordinate system. This represents the vector radius from the origin of the body coordinate system to the origin of the fourth stator coordinate system in the body coordinate system. The total mass of the drone's motor rotor and fourth propeller.

[0099] The analysis represents the upper left propeller, specifically including the analysis from the body coordinate system b to the first stator coordinate system 1, and then from the first stator coordinate system 1 to the first rotor coordinate system mo1.

[0100] The analysis represents the upper right propeller, specifically including the analysis from the body coordinate system b to the second stator coordinate system 2, and from the second stator coordinate system b to the second rotor coordinate system mo2; The analysis represents the lower right propeller, specifically including the analysis from the body coordinate system b to the third stator coordinate system 3, and from the third stator coordinate system 3 to the third rotor coordinate system mo3; The analysis represents the lower left propeller, specifically including the analysis from the body coordinate system b to the fourth stator coordinate system 4, and from the fourth stator coordinate system 4 to the fourth rotor coordinate system mo4.

[0101] In this calculation process, since the angular velocities of the four propeller motors are two forward and two reverse, and the four propellers have a symmetrical structure in pairs, their linear velocities cancel each other out.

[0102] Specifically, for Analysis shows that this term is derived from the above formula. Based on the symmetrical structure of the quadcopter drone, the angular velocities of its four motors are two clockwise and two counterclockwise. Since the quadcopter support is symmetrically installed, the vector radii cancel each other out, that is, the linear velocities cancel each other out.

[0103] right Analysis shows that this term is derived from the above formula. Based on the symmetrical structure of the quadcopter drone, the angular velocities of its four motors are two clockwise and two counterclockwise. Since the quadcopter support is symmetrically installed, the vector radii cancel each other out, that is, the linear velocities cancel each other out.

[0104] Therefore, the expression for the force of all propellers is:

[0105] in, This represents the wind force exerted by the fourth propeller on the aircraft's coordinate system; This represents the wind force exerted by the third propeller on the aircraft's coordinate system; The wind force applied to the body coordinate system by the second propeller; This represents the force exerted by the rotor of the first motor on the machine body coordinate system. This represents the force exerted by the rotor of the second motor on the machine body coordinate system. This represents the force exerted by the rotor of the third motor on the machine body coordinate system. This represents the force exerted by the rotor of the fourth motor on the machine body coordinate system; This represents the total weight of the drone expressed in the body coordinate system.

[0106] Step S3032: Based on the transformation equations of each motion parameter, calculate the forward rotation motion parameters and reverse rotation motion parameters between all propellers, and determine the expression of the force and the torque represented by the force applied by all propellers to the motor rotor in the machine coordinate system.

[0107] Specifically, the torque analysis yields the following expression:

[0108] in, The principle of the stator coordinate system is expressed in the expression of the vector radius from the center of mass of the machine body in system b; This represents the vector radius from the origin of the body coordinate system to all propellers in the body coordinate system; Angular acceleration of all rotors; Angular velocities of all rotors; This represents the rotational momentum of all motor rotors; The aerodynamic torque generated by all propellers on the air, expressed in the body coordinate system.

[0109]

[0110] The above formula represents the final result derived from the torque analysis of the upper left propeller.

[0111]

[0112] The above formula represents the final result of the torque analysis and derivation of the four propellers.

[0113] Among them, for Torque analysis yields the following formula:

[0114] .

[0115] This represents the lift generated by wind acting on propeller i in the machine system; i represents all propellers.

[0116] Further calculations and derivations yielded the following formula:

[0117]

[0118]

[0119] in, This represents the aerodynamic torque caused by wind in system b. This indicates the relative position of the motor rotor and the corresponding propeller (mo). i Tie in mo i The inertial tensor of the system; Indicates the motor rotor system mo i The angular velocity relative to stator system i is characterized in stator system i; , For brevity, to avoid making the formulas too long.

[0120] By analyzing the lift and counter-torque of all propellers, the model's adaptability to environmental changes is improved, thereby enabling accurate modeling of the control of quadcopter UAVs.

[0121] Step S304: Based on the expressions of the forces and torques corresponding to the forces applied to the motor rotor by all propellers in the body coordinate system, construct the overall dynamic equation, and determine the quadcopter UAV model based on the overall dynamic equation.

[0122] Specifically, step S304 includes: Step d1: Calculate the overall rotational momentum based on the expressions and torques representing the forces applied by all propellers to the motor rotor in the body coordinate system. Step d2: Based on the overall rotational momentum, construct the overall dynamic equations; The overall dynamic equations are expressed by the following equations:

[0123] in, This represents an identity matrix with dimension 3; The inertial tensor represents the body's inertia tensor; The linear acceleration representing the rotation of the machine body; This represents the angular acceleration of the machine body during rotation; Indicates the angular velocity of the machine body's rotation; This represents the torque resulting from the accurate identification of the model; This represents the resultant force of the machine's rotation; This represents the resultant torque of the machine body's rotation; Indicates the linear velocity of the machine body; Indicates the angular velocity of the aircraft; The value represents the gravitational acceleration of the aircraft; m represents the total mass of the aircraft. The cross product matrix (antisymmetric matrix) represents the product of the two matrices. Convert to the corresponding antisymmetric matrix to obtain Then multiply by the coefficient m to get Then take the negative of the result to get ; Denotes the cross product matrix, representing the product of the two matrices. and The product is converted into the corresponding antisymmetric matrix to obtain .

[0124] Based on the propeller rotation and the analysis of the forces and torques applied to the airframe coordinate system, a more accurate rotational momentum is obtained, thereby constructing an accurate dynamic model, improving the accuracy of UAV simulation and control, making the model closer to real flight conditions, and ensuring stability and high-precision control in various complex environments.

[0125] This embodiment also includes a control method based on MPC to control the drone using a quadcopter drone model.

[0126] Further processing of the overall dynamic equations leads to the construction of a standard form, which is then discretized. The specific derivation is as follows:

[0127] In this case, the objective of the MPC optimization problem can be expressed as:

[0128] in, State variables representing the system are typically vectors describing the system's current state at time steps. The state at any given moment. This indicates the reference target state, representing the system's desired state at time step [missing information]. The state reached at that time; This indicates the control input variable at time step. Control signals applied to the system at that time; This indicates that disturbances or external influences may be unpredictable factors that interfere with the normal behavior of the system. , , This represents the weight matrix, which corresponds to the weighting coefficients of the state error, control input, and perturbation, respectively. By adjusting the values ​​of these matrices, the weights of the objective function can be controlled, thus affecting the optimization result. This represents the number of prediction steps during optimization, i.e., from the current moment, the MPC algorithm considers the future. Actions at a specific moment; Indicates will Convert to the corresponding antisymmetric matrix; Indicates to and The product of these terms is converted into the corresponding antisymmetric matrix.

[0129] It should be noted that this equation optimizes the control input. The goal is to make the system state as close as possible to the reference trajectory, while suppressing the effects of the magnitude of the control input and disturbances. The control quantity is derived using the MPC control method. .

[0130] This embodiment also provides a quadcopter drone modeling device, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0131] In this embodiment, a more complex aerodynamic model can be added to the quadrotor UAV dynamics model, which includes nonlinear relationships between lift, drag, and torque, employs an extended Newton-Euler method, and considers the impact of external disturbances, such as wind speed, airflow, and ground effect, on the quadrotor UAV's flight. By controlling the disturbance terms in the quadrotor UAV model and the influence of the external environment, it can maintain higher control accuracy in complex environments.

[0132] Specifically, quadcopter UAVs face various uncertainties during flight, such as aerodynamic changes and sensor errors. Adaptive control and robust control strategies can be introduced based on existing control algorithms to adjust control parameters in real time to address these uncertainties. Adaptive control algorithms can adjust the control law according to real-time conditions, improving the system's adaptability to environmental changes. Robust control strategies (such as sliding mode control) can enhance the system's resistance to model uncertainties and external disturbances, thereby ensuring flight stability, especially in adverse weather conditions or sensor malfunctions.

[0133] Further optimization of high-precision modeling and control for quadrotor UAVs involves improvements in multiple aspects, including dynamic models, control algorithms, sensor fusion, task-driven modeling, and computational efficiency. By incorporating techniques such as nonlinear aerodynamic modeling, disturbance compensation, MPC optimized control, adaptive and robust control, and deep learning sensor fusion, the control accuracy and stability of quadrotors can be significantly improved, while ensuring their high efficiency and reliability in complex environments.

[0134] This embodiment provides a quadcopter drone modeling device, such as Figure 5 As shown, it includes: The calculation module 501 is used to establish the body coordinate system, stator coordinate system, rotor coordinate system and world coordinate system.

[0135] The transformation processing module 502 is used to obtain the dynamic equations of the body to the first propeller based on translation and rotation transformations between the body coordinate system, stator coordinate system, rotor coordinate system and world coordinate system.

[0136] Analysis module 503 is used to perform force and torque analysis on the second, third, and fourth propellers based on the dynamic equations from the body to the first propeller, and to obtain the expressions of the forces and the torques represented by the forces applied to the motor rotor by all propellers in the body coordinate system.

[0137] The determination module 504 is used to construct the overall dynamic equation based on the expressions of the forces and torques corresponding to the forces applied to the motor rotor by all propellers in the body coordinate system, and to determine the quadcopter UAV model based on the overall dynamic equation.

[0138] Specifically, the transformation processing module 502 includes: The first transformation unit is used to determine the motion parameter transformation equations of the first propeller between the body coordinate system and the stator coordinate system and between the stator coordinate system and the rotor coordinate system based on the translation matrix between the body coordinate system and the stator coordinate system, the translation matrix between the stator coordinate system and the rotor coordinate system, and the rotation matrix between the stator coordinate system and the rotor coordinate system. Specifically, the first transformation unit further includes: The first transformation subunit is used to determine the first motion parameter transformation equation of the first propeller from the body coordinate system to the stator coordinate system based on the translation matrix between the body coordinate system and the stator coordinate system. The second transformation subunit is used to determine the second motion parameter transformation equation of the first propeller from the stator coordinate system to the rotor coordinate system based on the translation and rotation matrices between the stator coordinate system and the rotor coordinate system.

[0139] The third transformation unit is used to perform force and torque analysis on the first propeller based on the transformation equations of various motion parameters, and to obtain the momentum expression corresponding to the rotational transformation of the first propeller between the body coordinate system and the stator coordinate system and between the stator coordinate system and the rotor coordinate system. Specifically, the second transformation unit includes: The first determining subunit is used to analyze the force and torque exerted by the UAV connecting arm on the motor rotor in the body coordinate system between the rotor coordinate system and the stator coordinate system based on the first motion parameter transformation equation and the second motion parameter transformation equation, and to determine the first momentum expression.

[0140] The second determining subunit is used to analyze the force and torque exerted by the UAV body linkage arm on the motor rotor in the world coordinate system between the stator coordinate system and the body coordinate system based on the first motion parameter transformation equation and the second motion parameter transformation equation, and to determine the second momentum expression.

[0141] The third transformation unit is used to determine the dynamic equations of the body to the first propeller based on the transformation equations of each motion parameter and the expression of each momentum.

[0142] Specifically, the third transformation unit also includes: The calculation subunit is used to calculate the rotational momentum of the first propeller based on the first motion parameter conversion equation, the second motion parameter conversion equation, the first momentum expression, and the second momentum expression, and to determine the dynamic equation of the body to the first propeller.

[0143] In some alternative implementations, the analysis module 503 includes: The first analysis unit is used to determine the motion parameter transformation equations of the second, third, and fourth propellers between the body coordinate system and the stator coordinate system, and between the stator coordinate system and the rotor coordinate system, based on the translation matrix between the body coordinate system and the stator coordinate system, the translation matrix between the stator coordinate system and the rotor coordinate system, and the rotation matrix, respectively. The second analysis unit is used to calculate the forward and reverse rotational motion parameters between all propellers based on the transformation equations of each motion parameter, and to determine the expression of the force and the torque represented by each propeller applied to the motor rotor in the body coordinate system.

[0144] In some alternative implementations, the determining module 504 includes: The unit is defined to calculate the overall rotational momentum based on the expressions and torques representing the forces applied by all propellers to the motor rotor in the body coordinate system. A building block is used to construct the overall dynamic equations based on the overall rotational momentum; The overall dynamic equations are expressed by the following equations:

[0145] in, This represents an identity matrix with dimension 3; The inertial tensor represents the body's inertia tensor; The linear acceleration representing the rotation of the machine body; This represents the angular acceleration of the machine body during rotation; Indicates the angular velocity of the machine body's rotation; This represents the torque resulting from the accurate identification of the model; This represents the resultant force of the machine's rotation; This represents the resultant torque of the machine body's rotation; Indicates the linear velocity of the machine body; Indicates the angular velocity of the aircraft; The value represents the gravitational acceleration of the aircraft; m represents the total mass of the aircraft. The cross product matrix (antisymmetric matrix) represents the product of the two matrices. Convert to the corresponding antisymmetric matrix to obtain Then multiply by the coefficient m to get Then take the negative of the result to get ; Denotes the cross product matrix, representing the product of the two matrices. and The product is converted into the corresponding antisymmetric matrix to obtain .

[0146] The quadcopter UAV modeling device provided in this embodiment of the invention can execute the quadcopter UAV modeling method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method. Further functional descriptions of the various modules and units are the same as in the corresponding embodiments described above, and will not be repeated here.

[0147] Figure 6 This is a schematic diagram of the hardware structure of a controller for a quadcopter drone provided in an embodiment of the present invention.

[0148] The following is a detailed reference. Figure 6 This diagram illustrates a hardware structure suitable for implementing a controller for a quadcopter drone according to an embodiment of the present invention. The controller may include a processor (e.g., a central processing unit, graphics processing unit, etc.) 601, which can perform various appropriate actions and processes based on a program stored in read-only memory (ROM) 602 or a program loaded from memory 608 into random access memory (RAM) 603. RAM 603 also stores various programs and data required for the operation of the electronic device. The processor 601, ROM 602, and RAM 603 are interconnected via a bus 604. An input / output (I / O) interface 605 is also connected to bus 604.

[0149] Typically, the following devices can be connected to I / O interface 605: input devices 606 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 607 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; memory devices 608 including, for example, magnetic tapes, hard disks, etc.; and communication devices 609. Communication device 609 allows the controller to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 6 A controller with various devices is shown, but it should be understood that it is not required to implement or have all of the devices shown, and may alternatively implement or have more or fewer devices.

[0150] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 609, or installed from a memory 608, or installed from a ROM 602. When the computer program is executed by the processor 601, it performs the functions defined in the quadcopter unmanned aerial vehicle modeling method of the embodiments of the present invention.

[0151] Figure 6 The controller shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0152] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the quadcopter UAV modeling method shown in the above embodiments is implemented.

[0153] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0154] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for modeling a quadcopter unmanned aerial vehicle (UAV), characterized in that, The quadcopter drone includes a fuselage, on which a first propeller, a second propeller, a third propeller, and a fourth propeller are mounted. The method includes: Establish the body coordinate system, stator coordinate system, rotor coordinate system, and world coordinate system; The dynamic equations from the body to the first propeller are obtained based on the translation and rotation transformations between the body coordinate system, the stator coordinate system, the rotor coordinate system and the world coordinate system; Based on the dynamic equations from the body to the first propeller, force and torque analyses are performed on the second, third, and fourth propellers to obtain expressions for the forces and torques applied to the motor rotor by all propellers in the body coordinate system. Based on the expressions of the forces and torques corresponding to the forces applied to the motor rotor by all the propellers in the body coordinate system, an overall dynamic equation is constructed, and a quadcopter UAV model is determined based on the overall dynamic equation.

2. The method according to claim 1, characterized in that, The dynamic equations from the body to the first propeller, derived based on translational and rotational transformations between the body coordinate system, the stator coordinate system, the rotor coordinate system, and the world coordinate system, include: Based on the translation matrix between the body coordinate system and the stator coordinate system, the translation matrix between the stator coordinate system and the rotor coordinate system, and the rotation matrix, the motion parameter transformation equations of the first propeller between the body coordinate system and the stator coordinate system and between the stator coordinate system and the rotor coordinate system are determined; Based on the transformation equations of various motion parameters, force and torque analysis are performed on the first propeller to obtain the momentum expression corresponding to the rotational transformation of the first propeller between the body coordinate system and the stator coordinate system and between the stator coordinate system and the rotor coordinate system. The dynamic equations of the body to the first propeller are determined based on the various motion parameter transformation equations and the various momentum expressions.

3. The method according to claim 2, characterized in that, The process of determining the motion parameter transformation equations between the body coordinate system and the stator coordinate system, and between the stator coordinate system and the rotor coordinate system, based on the translation matrix between the body coordinate system and the stator coordinate system, the translation matrix between the stator coordinate system and the rotor coordinate system, and the rotation matrix between the stator coordinate system and the rotor coordinate system, includes: Based on the translation matrix between the body coordinate system and the stator coordinate system, the first motion parameter transformation equation of the first propeller from the body coordinate system to the stator coordinate system is determined; Based on the translation and rotation matrices between the stator coordinate system and the rotor coordinate system, the second motion parameter transformation equation of the first propeller from the stator coordinate system to the rotor coordinate system is determined.

4. The method according to claim 3, characterized in that, The force and torque analysis of the first propeller based on the transformation equations of various motion parameters is used to obtain the momentum expression corresponding to the rotational transformation of the first propeller between the body coordinate system and the stator coordinate system and between the stator coordinate system and the rotor coordinate system. Based on the first motion parameter transformation equation and the second motion parameter transformation equation, the force and torque exerted by the first propeller on the motor rotor in the body coordinate system by the UAV linkage arm between the rotor coordinate system and the stator coordinate system are analyzed, and the first momentum expression is determined. Based on the first and second motion parameter transformation equations, the forces and torques exerted by the first propeller on the motor rotor in the world coordinate system by the UAV body linkage arm between the stator coordinate system and the body coordinate system are analyzed, and the second momentum expression is determined.

5. The method according to claim 4, characterized in that, The determination of the dynamic equations from the body to the first propeller based on the various motion parameter transformation equations and the various momentum expressions includes: Based on the first motion parameter conversion equation, the second motion parameter conversion equation, the first momentum expression, and the second momentum expression, the rotational momentum of the first propeller is calculated, and the dynamic equation of the body to the first propeller is determined.

6. The method according to claim 1, characterized in that, Based on the dynamic equations from the body to the first propeller, force and torque analyses are performed on the second, third, and fourth propellers to obtain expressions for the forces exerted by all propellers on the motor rotor in the body coordinate system and the torques representing them, including: Based on the translation matrix between the body coordinate system and the stator coordinate system, the translation matrix between the stator coordinate system and the rotor coordinate system, and the rotation matrix, the motion parameter transformation equations of the second propeller, the third propeller, and the fourth propeller between the body coordinate system and the stator coordinate system and between the stator coordinate system and the rotor coordinate system are determined respectively; Based on the transformation equations of each motion parameter, the forward rotational motion parameters and reverse rotational motion parameters between all propellers are calculated, and the expressions of the forces and the torques represented by all propellers applied to the motor rotor in the machine coordinate system are determined.

7. The method according to claim 1, characterized in that, Based on the expressions for the forces and torques corresponding to the forces applied to the motor rotor by all the propellers in the body coordinate system, an overall dynamic equation is constructed. Based on this overall dynamic equation, a quadcopter UAV model is determined, including: The overall rotational momentum is calculated based on the expressions for the forces and torques represented by all the propellers applied to the motor rotor in the machine coordinate system. Based on the overall rotational momentum, the overall dynamic equations are constructed; The overall dynamic equation is shown in the following equation: in, This represents an identity matrix with dimension 3; The inertial tensor represents the body's inertia tensor; The linear acceleration representing the rotation of the machine body; This represents the angular acceleration of the machine body during rotation; Indicates the angular velocity of the machine body's rotation; This represents the torque resulting from the accurate identification of the model; This represents the resultant force of the machine's rotation; This represents the resultant torque of the machine body's rotation; Indicates the linear velocity of the machine body; Indicates the angular velocity of the aircraft; The value represents the gravitational acceleration of the aircraft; m represents the total mass of the aircraft. The cross product matrix (antisymmetric matrix) represents the product of the two matrices. Convert to the corresponding antisymmetric matrix to obtain Then multiply by the coefficient m to get Then take the negative of the result to get ; Denotes the cross product matrix, representing the product of the two matrices. and The product is converted into the corresponding antisymmetric matrix to obtain .

8. A quadcopter unmanned aerial vehicle (UAV) modeling device, characterized in that, The quadcopter drone includes a fuselage, on which a first propeller, a second propeller, a third propeller, and a fourth propeller are mounted. The device includes: The calculation module is used to establish the body coordinate system, stator coordinate system, rotor coordinate system, and world coordinate system; The transformation processing module is used to obtain the dynamic equations of the body to the first propeller based on translation and rotation transformations between the body coordinate system, stator coordinate system, rotor coordinate system and world coordinate system; The analysis module is used to perform force and torque analysis on the second propeller, the third propeller and the fourth propeller based on the dynamic equation from the body to the first propeller, and to obtain the expressions of the forces and the torques represented by the forces applied to the motor rotor by all propellers in the body coordinate system. The determination module is used to construct the overall dynamic equation based on the expressions of the forces and torques corresponding to the forces applied to the motor rotor by all the propellers in the body coordinate system, and to determine the quadcopter UAV model based on the overall dynamic equation.

9. A quadcopter drone, characterized in that, include: Controller, the controller includes: A memory and a processor are interconnected, the memory stores computer instructions, and the processor executes the quadcopter UAV modeling method according to any one of claims 1 to 7 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to execute the quadcopter unmanned aerial vehicle modeling method according to any one of claims 1 to 7.

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