A drone wireless charging pose adaptive adjustment system and method

Abstract

The present application provides a kind of unmanned aerial vehicle wireless charging pose adaptive adjustment system and method, it is related to adaptive control technical field, the present application includes multi-source data acquisition calculation module, for extracting the PWM output of characterizing mechanical hysteresis is completed interrupt delay, magnetic field gradient difference evolution slope and physical offset and write into virtual buffer;Double buffering timing scheduling module, based on PWM delay wave generation synchronous waiting clock beat number, suspend memory copy to construct timing delay constraint, forced to lengthen cross-domain memory synchronization period;State machine pose compensation module, after triggering cross-domain synchronization, use incremental PID logic to convert offset error and slope into target duty cycle control parameter, drive bottom layer two-degree-of-freedom stepping coil positioning mechanism.Space-time decoupling of high-speed sensing sampling and low-speed mechanical execution is realized, asynchronous instruction trampling and memory overwrite are effectively eliminated, and high-frequency adaptive convergence closed loop of pose is realized.

Description

Technical Field

[0001] This invention relates to the field of adaptive control technology, specifically to a wireless charging posture adaptive adjustment system and method for unmanned aerial vehicles (UAVs). Background Technology

[0002] With the booming development of the automated operation ecosystem for intelligent unmanned aerial vehicles (UAVs), the autonomous docking of UAVs into wireless charging bases has become a crucial step in maintaining routine patrols. Precise physical alignment during this process directly determines electromagnetic coupling efficiency and energy transmission security. Upon receiving macroscopic navigation commands, the underlying industrial automatic control system relies on microscopic adaptive control logic between the airborne system and the base to drive the mechanical structure to complete the final physical spatial engagement.

[0003] In complex field application environments, existing technologies still face deep-seated limitations in underlying control. Taking the existing technology with publication number CN120540369A as an example, it constructs a closed-loop flight control mechanism based on image processing through visual recognition and attitude control modules, effectively solving the macroscopic return-to-home and landing point optimization problems of UAVs. However, when the system enters the microscopic physical alignment stage, it faces the following core challenges: strong external crosswind interference causes mechanical motion lag; due to the objective physical response attenuation between the microsecond-level high-frequency sensing write and the millisecond-level low-speed mechanical execution in the base control system, the state machine inside the underlying microcontroller faces the challenge of asynchronous pipeline timing races; high-frequency sensing data is prone to memory overwriting and trampling of unexecuted low-frequency mechanical instructions; and the traditional linear pass-through incremental PID logic strongly couples macroscopic physical actions with basic algorithms, which is prone to overshooting oscillations under mechanical lag conditions. The system frequently falls into anti-shake logic deadlock between the "fine-tuning compensation" and "alignment confirmation" states, which may induce thermal protection shutdown of the battery management system. Summary of the Invention

[0004] The purpose of this invention is to provide a wireless charging posture adaptive adjustment system and method for unmanned aerial vehicles (UAVs), introducing a dual-buffered timing scheduling module based on hardware-level mechanical hysteresis perception. By constructing an elastic backpressure interception boundary controlled by the underlying hardware clock cycle between the front-end virtual buffer and the back-end physical buffer, the system achieves dynamic timing matching between the sensing rate and the execution load. This provides a highly sensitive and robust underlying control center for adaptive convergence of charging coil posture under complex wind resistance environments, thereby solving the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A wireless charging posture adaptive adjustment system for drones, the system being deployed on an underlying microcontroller, specifically comprising:

[0007] Bottom-level two-degree-of-freedom stepper coil positioning mechanism;

[0008] The multi-source data acquisition and calculation module is configured to acquire the magnetic field gradient evolution slope and the physical offset of the coil support, which characterize the physical alignment deviation of the coil; extract the PWM output completion interrupt delay and the number of hardware timer clock beats, which characterize the mechanical motion hysteresis on the bottom two-degree-of-freedom stepping coil positioning mechanism, from the asynchronous hardware-level task scheduling flow of the bottom microcontroller; and continuously write the magnetic field gradient evolution slope and the physical offset of the coil support into the virtual buffer allocated by the bottom static memory.

[0009] The dual-buffered timing scheduling module is configured to use the PWM output completion interrupt delay and the number of hardware timer clock ticks as dynamic timing control inputs; it extracts the standard deviation fluctuation value of the PWM output completion interrupt delay through the dual-buffered timing scheduling logic, and generates a number of synchronization wait clock ticks that are limited by the maximum hardware clock cycle and used to suspend the memory copying from the virtual buffer to the physical buffer; and constructs timing delay constraints based on the number of synchronization wait clock ticks to forcibly lengthen the cross-domain memory synchronization period of the underlying data block where the magnetic field gradient evolution slope and the physical offset of the coil support are located.

[0010] The state machine pose compensation module is configured to: when the value of the clock tick accumulator configured by the underlying microcontroller meets the number of synchronous waiting clock ticks and triggers cross-domain memory synchronization, extract the updated physical offset of the coil support from the physical buffer and use it as the spatial path planning reference for controlling the underlying two-axis stepper motor; at the same time, extract the slope of the magnetic field gradient evolution as the dynamic feedback error input for incremental calculation, and use the preset duty cycle conversion ratio coefficient to perform algebraic iteration and conversion on the dynamic feedback error input to generate the target duty cycle control parameters for scheduling the drive pulse pins of the underlying two-axis stepper motor;

[0011] It also triggers the rewriting action of the capture / compare register of the internal PWM timer in the underlying kernel to output the underlying pulse sequence corresponding to the target duty cycle control parameter, so as to drive the underlying two-degree-of-freedom stepper coil positioning mechanism to generate linear translation displacement, thereby adjusting the physical position of the coil support, thereby eliminating the physical offset of the coil support and completing the physical alignment of the charging coil.

[0012] A method for adaptive adjustment of pose during wireless charging of a drone, the method being used to execute the aforementioned adaptive adjustment system for wireless charging of a drone, comprising:

[0013] Step S1: Obtain the magnetic field gradient evolution slope and the physical offset of the coil support, which characterize the physical alignment deviation of the coil; extract the PWM output completion interrupt delay and the number of hardware timer clock beats, which characterize the mechanical motion hysteresis on the bottom two-degree-of-freedom stepping coil positioning mechanism, from the asynchronous hardware-level task scheduling flow of the bottom microcontroller; and continuously write the magnetic field gradient evolution slope and the physical offset of the coil support into the virtual buffer allocated by the bottom static memory.

[0014] Step S2: The PWM output completion interrupt delay and the number of hardware timer clock ticks are used as dynamic timing control inputs; the standard deviation fluctuation value of the PWM output completion interrupt delay is extracted through double-buffered timing scheduling logic, and a synchronization waiting clock tick number limited by the maximum hardware clock cycle is generated to suspend the memory copy from the virtual buffer to the physical buffer; and a timing delay constraint is constructed based on the synchronization waiting clock tick number to forcibly lengthen the cross-domain memory synchronization period of the underlying data block where the magnetic field gradient evolution slope and the physical offset of the coil support are located.

[0015] Step S3: When the value of the clock tick accumulator configured by the underlying microcontroller meets the synchronous waiting clock tick count and triggers cross-domain memory synchronization, the updated physical offset of the coil support is extracted from the physical buffer and used as the spatial path planning benchmark for controlling the underlying two-axis stepper motor. At the same time, the slope of the magnetic field gradient evolution is extracted as the dynamic feedback error input for incremental calculation. Using the preset duty cycle conversion ratio coefficient, the dynamic feedback error input is algebraically iterated and converted to generate the target duty cycle control parameters for scheduling the drive pulse pins of the underlying two-axis stepper motor.

[0016] It also triggers the rewriting action of the capture / compare register of the internal PWM timer in the underlying kernel to output the underlying pulse sequence corresponding to the target duty cycle control parameter, so as to drive the underlying two-degree-of-freedom stepper coil positioning mechanism to generate linear translation displacement, thereby adjusting the physical position of the coil support, thereby eliminating the physical offset of the coil support and completing the physical alignment of the charging coil.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] This invention employs a dual-buffered timing scheduling module to extract the standard deviation fluctuation value of the PWM output completion interrupt delay and map it to generate a "synchronous wait clock tick count." When the hardware tick count does not reach the threshold, cross-domain memory copying is forcibly suspended. A flexible timing delay constraint is constructed at the underlying logic level, isolating microsecond-level high-frequency sensing writes from hundreds-of-milliseconds-level mechanical execution. This effectively prevents high-frequency data from overwriting and disrupting the memory of low-frequency instructions, improving the system robustness of the underlying microcontroller data bus in complex concurrent environments.

[0019] This invention's multi-source data acquisition and calculation module completes interrupt delay by directly extracting the PWM output from the underlying asynchronous hardware level, transforming objective mechanical motion hysteresis into digital timing control input. The cooperative state machine pose compensation module, after satisfying the synchronization cycle, executes incremental PID control with algebraic iteration of the duty cycle. This mechanism allows the evolution of the control algorithm to match the actual load-bearing capacity of the physical machinery, reducing execution dead-zone fluctuations and breaking the deadlock problem of traditional pass-through logic during the alignment confirmation period.

[0020] The system deeply integrates the magnetic field gradient evolution slope characterized by spatial electromagnetic sensing, the physical offset of the coil support characterized by displacement error, and the underlying hardware timer beat. By dynamically adjusting the target duty cycle control parameters of the two-degree-of-freedom stepping coil support, the system exhibits feedback sensitivity when encountering nonlinear physical resistance such as crosswinds, smoothly eliminating the physical offset of the coil support and ensuring efficient physical alignment of the wireless charging coil. Attached Figure Description

[0021] Figure 1 Dynamic topology diagram of a wireless charging posture adaptive adjustment system for drones.

[0022] Figure 2 This is a schematic diagram of the technical route of the present invention. Detailed Implementation

[0023] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0024] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0025] Example 1:

[0026] Please see Figure 1 and Figure 2 The present invention provides a technical solution:

[0027] A wireless charging posture adaptive adjustment system for drones, the system being deployed on an underlying microcontroller, includes:

[0028] Bottom-level two-degree-of-freedom stepper coil positioning mechanism;

[0029] The multi-source data acquisition and calculation module is configured to acquire the magnetic field gradient evolution slope and the physical offset of the coil support, which characterize the physical alignment deviation of the coil; extract the PWM output completion interrupt delay and the number of hardware timer clock beats, which characterize the mechanical motion hysteresis on the bottom two-degree-of-freedom stepping coil positioning mechanism, from the asynchronous hardware-level task scheduling flow of the bottom microcontroller; and continuously write the magnetic field gradient evolution slope and the physical offset of the coil support into the virtual buffer allocated by the bottom static memory.

[0030] The dual-buffered timing scheduling module is configured to use the PWM output completion interrupt delay and the number of hardware timer clock ticks as dynamic timing control inputs; it extracts the standard deviation fluctuation value of the PWM output completion interrupt delay through the dual-buffered timing scheduling logic, and generates a number of synchronization wait clock ticks that are limited by the maximum hardware clock cycle and used to suspend the memory copying from the virtual buffer to the physical buffer; and constructs timing delay constraints based on the number of synchronization wait clock ticks to forcibly lengthen the cross-domain memory synchronization period of the underlying data block where the magnetic field gradient evolution slope and the physical offset of the coil support are located.

[0031] The state machine pose compensation module is configured to: when the value of the clock tick accumulator configured by the underlying microcontroller meets the number of synchronous waiting clock ticks and triggers cross-domain memory synchronization, extract the updated physical offset of the coil support from the physical buffer and use it as the spatial path planning reference for controlling the underlying two-axis stepper motor; at the same time, extract the magnetic field gradient evolution slope as the dynamic feedback error input for incremental calculation, and use the preset duty cycle conversion ratio coefficient to perform algebraic iteration and conversion on the magnetic field gradient evolution slope as the dynamic feedback error input to generate the target duty cycle control parameters for scheduling the drive pulse pins of the underlying two-axis stepper motor;

[0032] It also triggers the rewriting action of the capture / compare register of the internal PWM timer in the underlying kernel to output the underlying pulse sequence corresponding to the target duty cycle control parameter, so as to drive the underlying two-degree-of-freedom stepper coil positioning mechanism to generate linear translation displacement, thereby adjusting the physical position of the coil support, thereby eliminating the physical offset of the coil support and completing the physical alignment of the charging coil.

[0033] The multi-source data acquisition and calculation module also includes a sensor data caching unit, which is configured to: extract differential data on the array-type Hall sensor bus based on a direct memory access channel and a bus cycle stealing and reading strategy, and perform discrete-time differential operations on the differential data in adjacent extraction cycles to solve for the slope of the magnetic field gradient evolution.

[0034] In this embodiment, an array of Hall sensors is fixedly deployed inside the support panel of the wireless charging base, maintaining a rigid relative position with respect to the charging coil at the base end. Multiple Hall sensor nodes are arranged in a uniformly distributed two-dimensional orthogonal grid with the geometric center of the charging coil as the origin. This physical topology ensures that the discrete difference in magnetic field strength extracted by each node can be directly mapped into a two-dimensional coordinate offset in the orthogonal plane by a preset coil electromagnetic-space mapping matrix.

[0035] Based on the preset electromagnetic-space mapping matrix of the coil, spatial vector solution is performed on the differential data, and the physical offset of the coil support is mapped and output.

[0036] The magnetic field gradient evolution slope and the physical offset of the coil support are encapsulated into an independent data structure containing an incrementing refresh sequence number and word length alignment, and continuously overwritten to the virtual buffer in the static random access memory inside the underlying microcontroller.

[0037] The multi-source data acquisition and calculation module also includes a low-level delay reading and calculation interface, which is configured to: monitor the native overflow interrupt flag of the PWM timer controlling the low-level two-degree-of-freedom stepper coil positioning mechanism; in response to the native overflow interrupt flag of the PWM timer being set by hardware, capture the current hardware timer clock tick count of the system core metronome; and extract the PWM output completion interrupt delay based on the clock difference between the control command issuance time and the captured hardware timer clock tick count.

[0038] The dual-buffered timing scheduling module is further configured to: maintain the memory synchronization delay coefficient, calculate and update the memory synchronization delay coefficient with the standard deviation of the PWM output completion interrupt delay in the most recent preset period as the numerator and the currently set basic memory exchange time interval as the denominator; multiply the memory synchronization delay coefficient by the reference clock period to map and generate the number of synchronization waiting clock ticks;

[0039] When the accumulated number of hardware timer clock ticks does not reach the number of synchronous waiting clock ticks, all memory block data copy requests from the virtual buffer to the physical buffer are suspended; only when the number of hardware timer clock ticks meets the number of synchronous waiting clock ticks; extract the interrupt delay of the two adjacent PWM outputs within the current determination period, and calculate the transient change rate of the adjacent interrupt delay;

[0040] When the number of clock ticks of the hardware timer meets the number of clock ticks of the synchronous wait, and the calculated transient change rate of the adjacent interrupt delay is lower than the preset stall change rate threshold, an atomic copy operation guided by an exclusive access instruction is triggered to overwrite the independent data structure in the virtual buffer to the physical buffer.

[0041] During the overwrite process, the internal state machine of the underlying microcontroller synchronously extracts and compares the first and last incrementing refresh sequence numbers of the independent data structure. Only when the first and last incrementing refresh sequence numbers are consistent is the macroscopic integrity of the current underlying data block confirmed and effective cross-domain synchronization completed.

[0042] The state machine pose compensation module also includes an abnormal state interception and recovery state machine, which is configured to: in response to the continuous monitoring that the PWM output completion interrupt delay continuously exceeds the stall clock extreme value boundary that represents the maximum physical load of the bottom two-degree-of-freedom step coil positioning mechanism, generate a memory block read-only configuration instruction for configuring the memory protection unit.

[0043] Based on the memory block read-only configuration instruction, the memory address blocks to which the virtual buffer and the physical buffer belong are forcibly configured to a read-only locked state, so as to intercept the data source writing by triggering a hardware bus access exception and block the downlink data transmission path.

[0044] The general-purpose input / output port of the corresponding stepper motor direction control pin inside the control bottom two-degree-of-freedom stepper coil positioning mechanism is level-flipped, and the preset escape duty cycle pulse parameter is written into the capture / compare register of the internal PWM timer that generates the control pulse, so as to drive the bottom two-degree-of-freedom stepper coil positioning mechanism to perform reverse obstacle removal action.

[0045] During the reverse troubleshooting process, real-time monitoring of the PWM output completion interrupt delay is maintained. In response to the determination that the PWM output completion interrupt delay has fallen below the one-sided release threshold determined by the product operation of the unlock hysteresis coefficient and the extreme boundary of the stall clock, a channel unlock signal is generated and overwritten to the control register of the memory protection unit. This forces the access attributes of the blocks to which the virtual buffer and physical buffer belong to be synchronously restored from the read-only locked state to the read-write permitted state, so as to reopen the downlink data transmission path.

[0046] The dual-buffered timing scheduling module is further configured to: extract the transient sample values ​​of the PWM output completion interrupt delay within the most recent preset period, and assign a timing decay weight with an exponential decay distribution based on the timing difference between the current system clock beat and the generation time of each transient sample value; when calculating and updating the memory synchronization delay coefficient, apply the timing decay weight to the squared difference term between each transient sample value and the weighted benchmark mean to perform a weighted variance logic solution operation to update and generate the memory synchronization delay coefficient;

[0047] When an atomic copy operation guided by an exclusive access instruction is triggered, the exception mask register of the underlying kernel is configured to suspend all asynchronous interrupt requests in the state machine of the underlying microcontroller that are below a preset discrete priority threshold until the independent data structure is completely overwritten to the physical buffer, at which point the exception mask register is released.

[0048] The abnormal state interception and recovery state machine is further configured to: in response to the continuous monitoring that the PWM output completion interrupt delay continuously exceeds the extreme boundary of the stall clock, extract the delay increase rate within a preset time window before the physical stall extreme occurs; divide it by the preset limit delay increase rate read from the system static configuration area to perform a normalized division logic operation, then substitute it into the hyperbolic tangent function containing the steepness factor for calculation, and multiply by the corresponding scaling value to finally generate the abnormal stall characteristic coefficient.

[0049] Further defining the parameters, based on the abnormal stagnation characteristic coefficient, the preset escape duty cycle pulse parameters are dynamically reconstructed into a stepped obstacle-clearing pulse sequence with an increasing target duty cycle. The stepped obstacle-clearing pulse sequence is subjected to a numerical truncation action based on the hardware electrical stepping envelope, and after being dynamically constrained within the safe duty cycle limit threshold, it is sequentially overwritten into the capture / compare register of the internal PWM timer to drive the underlying two-degree-of-freedom stepping coil positioning mechanism to generate a progressively increasing reverse escape torque.

[0050] Furthermore, the PWM output completion interrupt delay is defined as denoted as This represents the microscopic absolute time boundary consumed by the objectively mapped stepper coil support to overcome external mechanical static friction and wind resistance load when executing duty cycle control signals. In this embodiment, the dimension is the number of system clock ticks. The low-level delay reading and calculation interface inside the multi-source data acquisition and calculation module is specifically configured to: monitor the timer update interrupt register bit of the PWM peripheral; and obtain the snapshot value of the system SysTick register containing the moment the control command is issued. In response to the stepper coil support completing a single pulse cycle and triggering the PWM timer's native overflow interrupt flag, read the current transient value of the SysTick register. To address the overflow defect of the native difference logic under extreme blocking conditions, the underlying delayed read calculation interface is configured to perform clock difference stripping calculations that include hardware clock flip-over compensation.

[0051]

[0052] in, This represents the maximum overflow threshold of the underlying hardware metronome.

[0053] The memory synchronization delay factor is denoted as... A dynamic scaling factor that characterizes the degree of physical resistance fluctuations at the execution end and inversely suppresses the data penetration rate at the sensing end. The double-buffered timing scheduling module is configured to: extract the PWM output of the i-th sample within the most recent preset period N to complete the interrupt delay. and its corresponding timestamp And calculate the time-series decay weights that exhibit an exponential decay distribution at the i-th sampling. Based on this time-series decay weight, a weighted standard deviation mapping calculation is performed:

[0054]

[0055]

[0056] Among them, the denominator term This represents the sum of all temporal decay weights within a preset period; it serves as the underlying scale boundary for the weighted variance absolute normalization operation. This embodiment, by executing this normalization division logic, eliminates the numerical dimension divergence interference caused by the preset period N represented by the sampling window length in the calculation results, ensuring the generated... It becomes a pure scalar that reflects the volatility of interruption delay. This is a preset forgetting factor constant. The forgetting factor constant is permanently written into the non-volatile memory of the underlying microcontroller as static read-only data during the device's factory manufacturing or system pre-configuration phase. Based on the system's tolerance for historical lag states, its value is constrained to the open interval (0, 1), and in this embodiment, it is preferably set to 0.2. Only when the system determines that there is a persistent crosswind disturbance and periodically wakes up the double-buffered timing scheduling module, the system's main loop dynamically reads this constant through the memory bus. The forgetting factor constant ensures that the memory synchronization delay coefficient, during weighted calculation, can assign high weight to the severe disturbances occurring in the current transient state, while simultaneously performing rapid exponential forgetting of historical lag states, preventing the memory exchange channel from falling into permanent deadlock. The weighted benchmark mean, This is the currently set basic memory swap interval. In this embodiment, the value of the basic memory swap interval is limited by the hardware physical limits of the underlying bus concurrent bandwidth and SRAM read / write setup time. The preferred range of the basic memory swap interval is limited to [10, 50] system clock cycles, and the preferred value is set to 20 system clock cycles.

[0057] The real-time clock tick count of the core metronome during the current execution of this weighted mapping calculation cycle by the state machine of the underlying microcontroller (hereinafter referred to as the underlying state machine) represents the current absolute timestamp; the difference between the two is... It represents the absolute time difference between the historical disturbance event and the current determination time.

[0058] The number of clock ticks to wait for synchronization is denoted as This represents the forced clock lockout period during which system memory swapping is restricted. The dimension is the number of system clock ticks. The double-buffered timing scheduling module is configured to: obtain the memory synchronization delay coefficient. and compare it with a preset reference clock period. Perform the multiplication operation to generate the number of synchronous wait clock ticks represented by the final timing delay constraint boundary. Furthermore, the number of synchronous waiting clock ticks is limited to the extreme boundary of the stalled clock. Internally, this prevents a permanent deadlock. Preset base clock cycle. The value is determined based on the system clock frequency of the underlying microcontroller and the execution priority of the double-buffered scheduling task. In this embodiment, the preset reference clock period is preferably in the range of [50, 200] system clock cycles; and the preferred value is 100 system clock cycles.

[0059] The extreme boundary value of the stall clock is derived from the hardware extreme condition sandbox stress test calibration. The extreme boundary of the stall clock is controlled by the thermal balance capability and transmission component strength of different stepper motor models. In this embodiment, it is constrained within [300, 1000] system clock cycles. In this embodiment, during the factory sandbox extreme pressure test, when the test bed applies the maximum wind resistance torque, causing the motor to experience objective step loss or thermal protection alarm, the underlying system captures the physical sandbox extreme stall delay cycle number. The cycle time is 588. This is based on the static engineering derating factor set in this system. The constraint interval is limited to [0.8, 0.9], the preferred point value is 0.85, and the extreme boundary of the stall clock during cold start, which is dynamically calculated or statically loaded, is established as 500 system clock cycles.

[0060] When increased external wind resistance causes mechanical lag, the PWM hardware interrupt latency spikes. The system extracts the volatility of this latency and introduces a timing decay weight. This makes the memory synchronization delay coefficient sensitive to recent severe gusts, thus quickly forgetting past historical delays and generating a dynamically scaling synchronization wait clock tick count. .

[0061] The specific configuration logic of the multi-source data acquisition and calculation module is as follows:

[0062] During system initialization, the maximum sampling frequency declared in the built-in register of the array-type Hall sensor is read (1kHz in this embodiment), and the request trigger timer of the DMA channel is configured accordingly to ensure that the clock tick of DMA data transfer is absolutely aligned with the physical sampling tick of the sensor. Through a periodic bus arbitration strategy, the polling action is only triggered during the CPU bus idle time slot, thereby avoiding bus deadlock.

[0063] The sensor data cache unit in the multi-source data acquisition and calculation module is configured to: activate the direct memory access (DMA) channel of the underlying microcontroller, adopt a periodic steal bus arbitration mechanism, and continuously extract differential data from the I2C bus data register of the array-type Hall sensor without triggering the CPU core interrupt service routine.

[0064] The sensor data caching module is configured to: parse the original sensor data frame during the main loop idle time slot, extract the discrete difference in magnetic field strength between the central node and each of the surrounding edge nodes; and obtain the discrete difference in magnetic field strength and encapsulate it into an array signal input vector. The preset coil electromagnetic-space mapping matrix, residing in static memory, is invoked through the underlying multiply-accumulator. The array signal input vector is subjected to a spatial vector solution operation; the two-dimensional plane coordinate difference vector output by this solution operation is extracted as the physical offset of the coil support. Where T is the transpose term;

[0065] In this embodiment, if the magnetic induction intensity of the central node is... The magnetic induction intensity of the i1th edge node is Then the comprehensive discrete difference under the current sampling period m The underlying computational logic is as follows: Subsequently, discrete-time differentiation is performed on the discrete differences between adjacent extraction cycles to solve for the slope of the magnetic field gradient evolution. n1 represents the total number of edge nodes. The specific execution logic of the differential operation is determined by the following first-order backward difference equation: ,in This is the combined discrete difference of the previous sampling period cached in the static random access memory by the system; The discrete sampling period time constant is established for the underlying hardware timer. Based on the sensor's maximum sampling frequency of 1kHz read during system initialization, the preferred range of the discrete sampling period time constant is limited to [1, 10] milliseconds, and its optimal value is statically configured to 1ms; the execution logic of the spatial mapping is as follows:

[0066]

[0067] in The difference between n2 Hall nodes Composition, preset coil electromagnetic-space mapping matrix Weighted elements within The nonlinear electromagnetic susceptibility coefficient of each Hall node with respect to a two-dimensional spatial base is characterized. Defined as spatial coupling comparison parameters generated through offline Gaussian grid scanning calibration; in this embodiment, the preferred range of the weight elements is [-1, 1], and their specific values ​​depend on the spatial Euclidean distance between each Hall node and the geometric center of the coil and the coil stacking topology. The system deterministically reconstructs the one-dimensional heterogeneous differential sensing signal into the physical offset of the coil support required to control the two-dimensional moving slide through the above standard matrix multiplication and addition operations.

[0068] In this embodiment, the independent data structure is defined at the underlying level as a word-length aligned structure conforming to the 32-bit system bus width. The data fields inside this structure are divided into three parts: the first part is a single-precision floating-point field representing the slope of the magnetic field gradient evolution; the second part is a signed integer field representing the physical offset of the coil support (X / Y direction); and the third part is a tear-resistant timestamp, configured as an unsigned integer sequence number field that increments with each DMA polling cycle.

[0069] For virtual buffer overwriting, the sensor data cache unit is further configured to: package the aforementioned magnetic field gradient evolution slope and coil support physical offset into an independent data structure controlled by the polling refresh cycle, constrain and continuously overwrite it into a virtual buffer with pre-defined absolute address boundaries in static random access memory, in order to construct a physically isolated observation state basis. The underlying micro-mechanism of this independent data structure is as follows: the system acquires the magnetic field differential data and offset vector parsed from the sensor bus, performs structure encapsulation and serialization operations with incremental refresh timestamps based on the 32-bit system bus width alignment rules, and transforms it into a set of protected variables resident in the SRAM virtual buffer, thereby achieving the basic data flow goal of eliminating cross-bus memory overlap.

[0070] The micro-time sequence capture and characterization interface configuration within the multi-source data acquisition and calculation module is as follows: it monitors the native overflow interrupt flag of the PWM timer of the two-degree-of-freedom stepper coil support at the lower level; in response to the flag being set by the underlying hardware, it captures the transient clock beat count of the core metronome; based on the clock snapshot at the moment the control command is issued, it performs clock difference calculation including maximum overflow threshold compensation, and extracts the PWM output completion interrupt delay that objectively reflects the mechanical time consumption.

[0071] The double-buffered timing scheduling module is configured to: maintain the memory synchronization delay coefficient; extract the transient sampling values ​​of each interrupt delay of the PWM output within the most recent preset period, and calculate the timing difference between them and the current cycle; assign a timing decay weight with an exponential decay distribution based on the timing difference; use the weight to reconstruct the standard deviation of the interrupt delay as the numerator and the basic memory swap time interval as the denominator to update the memory synchronization delay coefficient.

[0072] The double-buffered timing scheduling module is also configured to: multiply the updated memory synchronization delay coefficient by the base clock cycle to generate a synchronization wait clock tick count; and use the update interrupt of the system hardware timer to increment the memory-level clock tick accumulator in real time. When the value of the clock tick accumulator does not reach the synchronization wait clock tick count, a suspension command is sent to the system layer to intercept all memory block data copy requests from the virtual buffer to the physical buffer.

[0073] A synchronization wait clock tick number, controlled by the extreme boundary of the stall clock and representing the system's limited memory exchange state, is generated through mapping. Based on this synchronization wait clock tick number, a timing delay constraint is constructed to forcibly lengthen the cross-domain memory synchronization period of the underlying data blocks of the magnetic field gradient evolution slope. A micro-law based on clock tick blocking is established, based on the frequency of underlying cross-domain memory exchange. The number of clock ticks to be synchronized and established. Between them, the system solidifies the mapping logic into an inverse proportionality. ;

[0074] in The reference core clock frequency for the underlying microcontroller's main system bus is 160MHz or 72MHz physical hard clock in this embodiment.

[0075] The double-buffered timing scheduling module is also configured to: continuously determine the accumulated number of clock cycles, and only when the number of clock cycles meets the synchronous waiting clock cycle number, and according to the discrete differential calculation rules... Extracted transient rate of change of adjacent interrupt delay Below the preset stall change rate threshold At that time, the system's underlying logic confirms that the underlying two-degree-of-freedom stepping coil positioning mechanism has not entered the physical deadlock zone, thereby triggering the cross-buffer transfer logic. and These are the transient sampled values ​​of the PWM output completion interrupt delay extracted from the current and previous discrete beat cycles, respectively. The system's discrete clock cycle time is defined. The double-buffered timing scheduling module is configured to forcibly clear the current clock cycle accumulator via a kernel register write-protect instruction within the same clock cycle that triggers the cross-buffered transfer logic. By performing this micro-clearing action, the system can repeatedly re-accumulate clock cycles to execute the next round of collision avoidance interception.

[0076] In this process of determining the flow, a preset threshold for the rate of change of stall rate is used. The determination rule is as follows: During the system factory initialization phase, obtain the normal pose optimization test dataset of the underlying system under the condition of encountering maximum design wind resistance compensation; perform discrete statistical analysis on the rate of change of interruption delay for each sampling period extracted from this dataset, calculate and extract the upper limit of convergence value distributed in the interval from the 95th percentile to the 99th percentile, and record it as the extreme value of normal high-frequency fluctuation. ;based on The preset stall rate threshold is derived and established. Among the parameters... To characterize the static tolerance margin of the high-frequency sampling noise floor fluctuation of the sensor bus, the specific value depends on the crystal oscillator offset accuracy of the underlying microcontroller. In this embodiment, the preferred range of the static tolerance margin is limited to [2, 15] system clock cycles, and its optimal value is statically configured to 5 system clock cycles.

[0077] During the system clock cycle that triggers the transfer, the double-buffered timing scheduling module sends an instruction to the microprocessor core to write a preset discrete priority threshold into the exception mask register. In this embodiment, the underlying BASEPRI register of the ARM architecture or the equivalent PRIMASK status bit extension control word is used as the hard mask watershed to forcibly suspend all asynchronous interrupt requests in the state machine of the underlying microcontroller with a logical priority lower than the threshold.

[0078] The preset discrete priority threshold is defined as the discrete comparison baseline when the underlying nested vector interrupt controller performs interrupt dispatch. Its state enumeration value is a hexadecimal instruction constant representing the lowest preemption priority allowed by the kernel. In this embodiment, its state enumeration value is preferably configured as 0x20, representing a preemption priority level of 2. In the masked state, the exclusive access instruction of the microprocessor kernel is called to perform a lock-free atomic operation that overwrites the independent data structure in the virtual buffer to the physical buffer. In response to the completion of the overwrite operation and successful verification, the exception mask register is released.

[0079] Based on the synchronous waiting clock ticks transmitted by the double-buffered timing scheduling module, the state machine pose compensation module performs pose optimization through two sets of decoupled underlying logic: extracting the physical offset of the coil support within the physical buffer and using it as the spatial path planning benchmark for the underlying digital differential analysis (DDA) interpolation logic to establish the discrete total step size for each axis. In the incremental PID calculation flow, e(k) is introduced as the dynamic feedback error input for micro-electrical control. The state machine pose compensation module introduces a duty cycle conversion proportional coefficient and performs the following conversion operation to generate the current duty cycle adjustment incremental step size. To eliminate the heterogeneous differences between the spatial discrete dimensions of the front-end sensor array and the temporal duty cycle dimensions of the back-end actuator:

[0080]

[0081] The state machine pose compensation module adjusts the incremental control signaling generated above with the system's pre-stored reference duty cycle from the previous cycle. The process involves accumulation and reconstruction to generate the target duty cycle control parameters for scheduling the underlying two-degree-of-freedom stepper coil positioning mechanism. The timing reconstruction logic follows the following underlying iterative equation. ,in Defined as the target absolute duty cycle directly written to the timer capture / compare register under the current k-th cross-domain memory synchronization control tick; the preferred range in this embodiment is [10%, 90%], which is limited by the safe duty cycle limit threshold. Defined as a baseline duty cycle snapshot of the physical system that is actually in effect under the previous cross-domain memory synchronization control tick; Defined as the incremental step size of the current duty cycle adjustment derived from the incremental PID pipeline, the preferred range is between [-100%, 100%]. e(k) is defined as the dynamic feedback error extracted under the current k-th cross-domain memory synchronous control cycle, i.e., the slope of the magnetic field gradient evolution; in this embodiment, the preferred range is [-5, 5] controlled by the sensor range, and the preferred value is 0; Defined as the duty cycle conversion ratio factor, it is used to normalize the unit spatial offset to the base duty cycle increment percentage of the PWM timer; in this embodiment, the preferred range is [0.01, 0.1], and the preferred value is 0.05;

[0082] Defined as the proportional, integral, and derivative static gain coefficients of the incremental PID pipeline; in this embodiment, the preferred ranges are [1,10], [0.1,1], and [0.5,5], respectively, and the preferred configuration is as follows: h is defined as the historical memory synchronous tick iteration cursor used in the incremental PID calculation pipeline to represent the system's state from startup to the current state. As a local variable of the accumulation operator, its value range is a discrete integer within the closed interval [0, k]. Defined as the algebraic summation of all historical error quantities from the system initialization cycle to the current k-th cross-domain memory synchronization control cycle, to generate an integral compensation term used to eliminate the system's steady-state physical offset.

[0083] The state machine pose compensation module overwrites the optimization value into the capture / compare register of the internal PWM timer through the underlying hardware abstraction layer. This value is directly mapped to the underlying pulse sequence to drive the underlying two-degree-of-freedom stepper coil positioning mechanism. In this embodiment, the underlying two-degree-of-freedom stepper coil positioning mechanism is characterized by a ball screw cross slide of model FSK40XY-S. The underlying two-degree-of-freedom stepper coil positioning mechanism physically includes an X-axis stepper motor and a Y-axis stepper motor arranged orthogonally, and a cross ball screw guide assembly controlled by both. The cross ball screw guide assembly includes an X-axis screw driven by the X-axis stepper motor, a Y-axis screw driven by the Y-axis stepper motor, and a two-dimensional moving slide movably set on the cross linkage node of the X-axis screw and the Y-axis screw; a coil support is vertically and rigidly fixed on the two-dimensional moving slide, and the end of the coil support carries the charging coil. The rotational motion of the X-axis stepper motor and the Y-axis stepper motor is converted into a two-dimensional translational motion of the two-dimensional moving slide in a horizontal orthogonal plane via the cross ball screw guide assembly, thereby driving the coil support and charging coil to perform a physical alignment action to eliminate the physical offset of the coil support.

[0084] In this embodiment, to ensure that the orthogonally arranged independent X-axis and Y-axis motors, under concurrent drive, enable the two-dimensional moving slide to perform absolute linear translation within the orthogonal plane and prevent mechanical collisions caused by broken-line trajectories, the state machine pose compensation module further integrates a Digital Differential Analysis (DDA) linear interpolation logic interface at the lowest level of its control pipeline. The specific execution logic configuration of the DDA linear interpolation logic interface in this embodiment is as follows: Obtain the absolute coordinate components of the coil support physical offset resolved by the system within the orthogonal plane. and By combining the inherent mechanical lead of the cross ball screw guide assembly with the step angle of the stepper motor, the physical transmission ratio mapping constant representing the number of pulses required to move one millimeter is calculated; the coordinate components are then... and Multiplying each by the physical transmission ratio mapping constant, the target pulse counts for the X and Y axes are converted into discrete target pulse counts. The absolute values ​​of these counts are compared, and the axis with the larger value is designated as the discrete total step size reference for the master feed axis, while the axis with the smaller value is designated as the driven axis. Within each pulse dispatch cycle of the hardware timer, the master feed axis outputs a micro-pulse, while the pulse increment of the driven axis is discretely accumulated in the internal accumulator register. Only when the value in the accumulator register overflows is the driven axis driven to output a micro-pulse, and the reference value is cleared or subtracted. Through the aforementioned underlying error accumulation and overflow clearing rules, the target duty cycle control parameters are decoupled and allocated to independent drive channels for the X and Y axes, thereby ensuring that the two-axis motors generate strictly synchronized linkage torque, driving the charging coil to approach the target pose along the shortest straight-line vector path between the two points.

[0085] Furthermore, the state machine pose compensation module is also configured to: obtain the absolute component of the current physical offset of the coil support. and The maximum value of both is multiplied by the physical transmission ratio mapping constant, and rounded up to be selected as the discrete total step size reference for the underlying micro-interpolation iteration. : ;

[0086] in Defined as the maximum absolute component of macroscopic physical displacement within an orthogonal translation plane; in this embodiment, the preferred range is [0, 500] mm. Defined as a physical transmission ratio mapping constant, it represents the number of discrete PWM pulses required to drive the lead screw forward by a specific angle of the stepper motor by a unit millimeter; in this embodiment, the preferred range is [100, 1000] pulses / mm, and the preferred value is 400 pulses / mm, to match the 1.8-degree step angle and the specific lead screw lead;

[0087] Within each hardware timer interrupt dispatch cycle, the discrete total step size reference is decoupled and decomposed into two-axis spatial discrete pulses through register error accumulation and overflow clearing rules. These decomposed discrete pulses are then assigned to independent channels controlling the X-axis and Y-axis stepper motors, with the target duty cycle control parameters serving as the duty cycle limiting boundary for the hardware PWM output action. This ensures that the pulse sequence is flawlessly converted into smooth linear translation of the two-dimensional moving slide equipped with the wireless charging coil, thereby approximating and eliminating the physical offset of the coil support based on the slope of the magnetic field gradient evolution.

[0088] The abnormal state interception and recovery state machine in the state machine pose compensation module is configured to continuously monitor the PWM output completion interrupt delay at the state machine's underlying layer. Once the PWM output is determined to be complete, an interrupt delay will occur. The stall clock continuously exceeds the extreme boundary of the stall clock, which is derived from the electromagnetic torque of the stepper motor and the safe upper limit of the current of the driver chip.

[0089] Response to PWM output completion interrupt delay Breaking the extreme boundary of stall clock The boundary, abnormal state interception and recovery state machine forcibly takes over the highest interrupt priority of the kernel; directly overwrites the attributes of the underlying memory protection unit control register, generating a memory block read-only configuration instruction; based on this signaling, it forcibly changes the page permissions of the SRAM memory address block where the aforementioned virtual buffer and physical buffer are located to an absolute read-only locked state. In the next system clock cycle after triggering the protection mechanism, the first level of memory anti-overwrite action is executed, directly intercepting the underlying write of newly acquired data from the front-end sensor by triggering a DMA bus access anomaly, and terminating the data penetration of the physical buffer into the subsequent invalid duty cycle control flow, thereby blocking the downlink data transmission path to prevent the microcontroller's computing power from being overloaded due to continuous invalid optimization. In this embodiment, the memory block read-only configuration instruction is specifically manifested at the micro-action level as the channel lock-up signaling that triggers the underlying MPU security isolation mechanism.

[0090] After successfully building the MPU digital security sandbox, the abnormal state interception and recovery state machine is configured to perform the second track action of the dual-track intervention: reuse the system bus cycle released by the blocked signaling, and in the same hardware interrupt context, bypass the conventional incremental PID pipeline to trigger the timing reset of the underlying two-degree-of-freedom stepper coil positioning mechanism.

[0091] The abnormal state interception and recovery state machine is configured to extract the preset time window preceding the time limit exceeding the stall clock extreme value boundary. Internal PWM output completion interrupt delay Delay increase rate :

[0092]

[0093] in Defined as the exact clock tick moment when the underlying microcontroller determines that the PWM output completes the interrupt delay and continuously breaks through the extreme boundary of the stalled rotor, it serves as the absolute time anchor point for extracting the historical delay increase rate; This represents the preset maximum latency increase rate for reading from the system's static configuration area, indicating the worst-case ramp-up rate that can be tolerated without structural jamming. Its dimensions are similar to... Keep aligned; As the denominator, the rate of increase in delay Perform normalized division, and based on this dimensionless ratio, perform hyperbolic tangent function mapping to generate anomalous hindrance characteristic coefficients representing the rigidity of the external physical barrier and also free from physical dimensions. To achieve scale alignment from physical resistance dynamics to pure logic control coefficients: The abnormal stagnation characteristic coefficient specifically corresponds to the external stagnation strength assessment value of the dynamic control step pulse ramp rate and its equivalent impedance identifier. This is the normalized scaling factor. A steepness factor that is extremely sensitive to rigidity. Scaling factor. The value is controlled by the range boundary of the abnormal impedance characteristic coefficient required by the downstream system. When the business logic requires the impedance to be quantized as a scalar of 0%–100%, Static configuration is 100; steepness factor The values ​​are limited to positive real numbers greater than 1, with the preferred interval being [2, 5]. When the system encounters an extreme value and triggers the hyperbolic tangent function mapping mechanism, the underlying microcontroller extracts and applies this set of constants, utilizing... Complete the numerical scale alignment after the dimension jump, and utilize This forces the generated abnormal hindrance characteristic coefficients to exhibit nonlinear steep slope surge characteristics that are sensitive to high-frequency slope abrupt increases, in order to avoid misjudgment of small disturbances or delays in obstacle clearance caused by linear mapping.

[0094] Based on the abnormal retardation characteristic coefficient The preset escape duty cycle pulse parameters are dynamically reconstructed into a stepped obstacle-clearing pulse sequence with an incremental target duty cycle. : ;

[0095] Where r is the obstacle removal iteration cycle index; For safe escape, the basic duty cycle, The pulse increment step size. and During the system cold start initialization phase, it is statically loaded into the global static structure of the motor control low-level hardware abstraction layer (HAL) to characterize the escape duty cycle pulse parameters. It is an integer or percentage constant controlled by the PWM timer bit width, and its value is limited by the minimum physical static friction starting torque that the stepper motor must overcome. The preferred value is set to 20% to 30% of the reference full-load duty cycle. The value boundary is controlled by the single-step allowable temperature rise rate and thermal balance limit of the power transistor inside the stepper motor driver chip, and its preferred range is limited to 2% to 5%. Only when the state machine of the underlying microcontroller determines that it has crossed the extreme value boundary and enters the abnormal state interception and recovery state machine, and triggers the auto-incrementing flow of the iterative index r, are the two configuration parameters in this structure dynamically read by the underlying bus, recombined with the calculated abnormal hysteresis characteristic coefficient, and loaded into the capture / compare register of the internal PWM timer.

[0096] The dynamically generated stepped reverse pulse sequence is sequentially written into the CCR register of the internal PWM timer, driving the X / Y axis stepper motors to generate progressively increasing reverse escape torque, pulling the cross ball screw guide assembly and physical coil support away from the current stuck point. This native anti-damage closed loop forcibly eliminates the execution dead zone collapse caused by abnormal oscillations, avoiding physical failures such as motor burnout. During the reverse escape action, the abnormal state interception and recovery state machine maintains the interrupt delay for the underlying PWM output. Real-time monitoring; response to judgment If three consecutive hardware interrupt cycles fall back to the unilateral release threshold inside the extreme boundary of the stall clock, it indicates that the physical jam has been substantially broken. A channel unlock signal is generated and written to the MPU control register. Based on this signal, the access attribute of the block to which the aforementioned physical buffer belongs is forcibly overwritten from absolute read-only to read-write permitted state.

[0097] Abnormal state interception and recovery state machine introduces unlocking hysteresis coefficient Based on this, a deterministic unilateral release threshold is constructed. The logic for determining the unilateral release threshold is as follows: The unlocking hysteresis coefficient is used to construct an effective hysteresis range, and its value boundary is constrained within the open interval (0,1). In this embodiment, based on the mechanical attenuation characteristics of the actuator converting physical static friction into dynamic friction at the moment of escape, its preferred range is limited to [0.6,0.75], and the preferred value is set to 0.65.

[0098] The safe duty cycle limit threshold is denoted as In this embodiment, the intersection of the stepper motor's rated operating current limit and the driver chip's overheat protection trigger threshold is extracted and mapped to the maximum limit boundary of the timer output duty cycle through the underlying hardware abstraction layer. The empirically preferred range is limited to [80%, 90%] of the baseline full-load duty cycle, preferably set to 85%.

[0099] When the system performs the aforementioned numerical truncation action based on the hardware electrical step envelope, the underlying microcontroller extracts the dynamically generated step-by-step obstacle clearing pulse. And compare it with the safe duty cycle limit threshold during execution logic: If Then force assignment .

[0100] In this embodiment, the directional evolution of the synchronization waiting clock tick count output by the dual-buffered timing scheduling module maps the changes in the underlying timing safety boundary of the UAV receiving coil and base under complex hydrodynamic conditions. When external strong crosswind interference intensifies, causing mechanical lag in the underlying two-degree-of-freedom stepping coil positioning mechanism, the objective evolution of the system's underlying layer manifests as the divergence of the extreme variance of the pulse width modulation output completion interruption delay data stream. Due to the implementation of the micro-timing capture mechanism within the multi-source data acquisition and calculation module of this system, the underlying pipeline can extract the absolute delay data that objectively reflects the physical propulsion time from the hardware metronome register snapshot. The dual-buffered timing scheduling module extracts this timing decay weight and performs weighted variance square root and normalization logic on the discrete sampling sequence to calculate the monotonically increasing memory synchronization delay coefficient.

[0101] When the memory synchronization delay coefficient crosses the normal low level and increases non-linearly, the double-buffered timing scheduling module performs a direct multiplication logic between the memory synchronization delay coefficient and the system base clock cycle, generating a proportionally increasing number of synchronization wait clock ticks. This rigid increase in the number of ticks physically cuts off invalid high-frequency writes from the static random access memory virtual buffer to the physical buffer at the macro-level business logic. Uncontrollable external airflow disturbances are mapped into a deterministic kernel bus clock lockout period, ensuring the absolute stability of the pose-adaptive convergence closed loop.

[0102] The parameters affecting the final scheduling and output waveform in this embodiment are analyzed as follows: the forgetting factor constant and the calculated historical time-series decay weights exhibit an absolutely negative correlation with an exponentially compressed relationship based on the natural base. The low-altitude inflow airflow environment where the UAV is located has highly abrupt changes and transient shear characteristics. If the dual-buffered time-series scheduling module uses the static arithmetic mean difference for time-domain evaluation, the delays and stutters caused by short-term extreme gusts in historical moments will remain indefinitely within the sample window, causing the system to fall into a state of apparent deadlock.

[0103] The duty cycle conversion scaling factor and the target duty cycle control parameter generated by the final reconstruction exhibit a linear scaling positive correlation. The dynamic feedback error e(k) characterizes the degree of deviation of the electromagnetic induction flux in the physical three-dimensional space, and its dimension is heterogeneous with the electrical duty cycle dimension required by the underlying high-level timer comparison register. The state machine pose compensation module extracts the duty cycle conversion scaling factor with an optimal value of 0.05 and performs multiplicative scaling to achieve forced normalization alignment of the two-dimensional physical displacement compensation magnitude to the underlying kernel drive pulse width.

[0104] The steepness factor and the abnormal resistance characteristic coefficient exhibit a nonlinear sensitive amplification relationship on the hyperbolic tangent function basis. When the underlying mechanism encounters substantial mechanical structural jamming, the rate of increase in delay within the preceding time window will exhibit an abnormally rapid increase in fluid resistance. The steepness factor, as an internal multiplication factor parameter of a dimensionless function, is retained, forcibly changing the mapping slope of the response curve, causing the slight normal resistance rise to be filtered and suppressed by the underlying computational logic; however, once the resistance rise exceeds the limit of the rate of increase in delay, the generated output characteristic value will surge towards the full-scale saturation region with a high slope. The abnormal state interception and recovery state machine utilizes this nonlinear abrupt change characteristic to instantly increase the step size of the generated step-by-step obstacle-clearing pulse sequence by a large proportion within the millisecond delay of detecting the rigid barrier, establishing the sudden tearing characteristic of the reverse physical obstacle-clearing torque.

[0105] The system in this embodiment is deployed in an advanced microcontroller business execution environment with asynchronous coupling of high-frequency spatial electromagnetic sensing and low-speed mechanical disturbance rejection. The external physical coil support of the microcontroller bus architecture is subjected to wide-frequency mechanical resistance disturbances ranging from still air to extreme gust wind shear. The multi-source data acquisition and calculation module injects discrete spatial deviation vectors into the static memory at a maximum sampling frequency of 1000 Hz; the dual-buffered timing scheduling module performs anti-jitter interception judgment based on the underlying hardware timer beats. When external disturbances increase, the dual-buffered timing scheduling module extracts the standard deviation of the pulse width modulation output delay within the most recent sampling window, updates the memory synchronization delay coefficient through weighted variance calculation based on the forgetting factor, and maps the number of synchronization waiting clock beats that are suspended in the forced execution pipeline. After the clock beats are fully loaded and the interception period has passed, the state machine pose compensation module extracts the spatial error, introduces the duty cycle conversion proportional coefficient, performs proportional-integral-differential calculation to merge historical benchmarks, and outputs the target absolute duty cycle for driving the two-axis motor.

[0106] Table 1: Examples of Execution Response Calculation for Double-Buffered Timing Scheduling Module and Pose Compensation State Machine under Different Environmental Disturbances

[0107]

[0108] The memory synchronization delay coefficient listed in Table 1 of this embodiment is an exemplary parameter characterizing the evolution trend of the underlying logic. The specific value is controlled by the dynamic calibration of the multi-source data acquisition and calculation module in the underlying pipeline; the dimension of the synchronization waiting clock tick is the discrete system clock tick.

[0109] The execution-side congestion risk index is derived by extracting the memory synchronization delay coefficient dynamically generated by the double-buffered timing scheduling module, using it as the dividend, and performing a floating-point division operation with the system's statically set basic memory exchange time interval (preferably 20 clock cycles in this embodiment) as the divisor. This index quantitatively calibrates the severity of the technical risk of read / write state tearing at the asynchronous data convergence node of the bus when facing extreme physical faults between the multi-source data acquisition and calculation module and the underlying actuator. In this embodiment, a floating-point evaluation range of 0 to 2 is preferred; a value exceeding 1 indicates that the microcontroller bus has entered a high-risk period of instruction defense and execution overload.

[0110] Data from scenarios 1 and 5 in Table 1 were extracted for analysis. In scenario 1, under low drag conditions, the system calculated a memory synchronization delay coefficient of only 0.1, and the number of synchronization wait clock ticks was limited to 10. At this time, the state machine pose compensation module maintained high-frequency smooth optimization with a relatively low duty cycle of 15%. However, in scenario 5, under critical wind resistance conditions, the surge in the propulsion time of the physical coil support caused the delay fluctuation parameter to soar to 75. In order to output a large electromagnetic torque to counteract wind resistance, the target duty cycle was forced to be increased to 88% of the safe duty cycle limit threshold. Under this high-pressure condition, the dual-buffered timing scheduling module generated a timing blockade period of 375 ticks by extracting weighted variance features.

[0111] Compared to the traditional linear direct proportional-integral-derivative control pipeline that uses periodic stealing and direct mapping, it essentially maintains a rigid static fixed-frequency polling of the sensor bus, which is equivalent to forcibly maintaining a data pass-through interval of 10 ticks or even lower in scenario 1, regardless of the resistance.

[0112] In scenario 5, if the asynchronous clock sandbox isolation mechanism constructed by the multi-source data acquisition and calculation module and the dual-buffered timing scheduling module of this embodiment is missing, the underlying two-degree-of-freedom stepping coil positioning mechanism is slowly overcoming physical lag at a full-load limit duty cycle of 88%, while the traditional architecture still allows more than 1,000 sensing errors per second to overwrite the execution-state memory. This disconnect between the high-frequency input of the micro-communication bus and the low-speed response of the macro-mechanical system causes the processor control pipeline to fall into a physical collapse state of high-frequency overshoot and micro-instruction oscillation, ultimately leading to a deadlock in the anti-jitter logic of execution dead-zone fluctuation and a thermal protection shutdown of the battery management system. Based on this traditional disadvantage, the dual-buffered timing scheduling module of this invention actively extends the micro-clock interception period by 36.5 times (adaptively widening from 10 beats to 375 beats) based on objective delay data, directly reducing invalid read and write instructions for the underlying registers of the underlying two-degree-of-freedom stepping coil positioning mechanism by 97.3% at the physical isolation level.

[0113] Furthermore, this invention defines the following practical application ranges. The boundaries of each range are determined by the objective operational constraints of the execution entities, such as the double-buffered timing scheduling module and the abnormal state interception and recovery state machine.

[0114] Interval 1, the normal high-frequency spatial perception and pose fine-tuning interval: The transient change rate of adjacent interrupt delay extracted by the dual-buffered timing scheduling module satisfies the physical condition that it is lower than the preset stall change rate threshold. The determination of this condition is controlled by the dynamic calibration of the high-frequency fluctuation extreme value and the static tolerance margin accumulation rule extracted in the normal optimization dataset under the maximum design wind resistance compensation condition. The objectivity of this boundary is established by the dynamic load balance between the reference core clock frequency bandwidth of the underlying microcontroller main system bus and the static random access memory read / write setup time. If this boundary is exceeded, the high-frequency microsecond-level sensing write state will inevitably cause memory overwriting and instruction trampling of the low-frequency mechanical instructions at the hundreds of millisecond level that have not yet been executed.

[0115] The dual-buffered timing scheduling module configures the underlying kernel exception masking register to forcibly suspend all asynchronous interrupt requests with a priority lower than level 2 in the state machine of the underlying microcontroller, and issues exclusive access instructions to guide the underlying atomic copy operation, overwriting the independent data structures in the virtual buffer to the physical buffer without locks; the state machine pose compensation module extracts the latest physical offset of the coil support, and performs incremental proportional-integral-differential algebraic iteration by introducing a duty cycle conversion proportional coefficient with a preferred value of 0.05, reconstructing and generating the target duty cycle control parameters used to drive the underlying layer.

[0116] Interval Two, the Flexible Backpressure Timing Forced Suspension Interception Interval: The hardware timer clock tick accumulator value maintained by the dual-buffered timing scheduling module satisfies the timing delay condition of not reaching the number of synchronous waiting clock ticks generated by the memory synchronization delay coefficient multiplication mapping. The determination of this clock blocking period threshold is controlled by the dynamic calibration of the weighted variance of the pulse width modulation interruption delay exponential decay driven by the increase in external gust resistance. The objectivity of this boundary is established by the severe spatiotemporal mismatch limit between the mechanical lag delay caused by macroscopic external Newtonian mechanics and the high-frequency sampling clock of the microscopic internal communication sensing bus. If this boundary is exceeded, it will cause the underlying control pipeline to fall into high-frequency overshoot oscillation and anti-jitter logic deadlock between fine-tuning compensation and alignment confirmation. The dual-buffered timing scheduling module issues a forced suspension signal to the system microcontroller bus control layer to absolutely intercept all memory block data copy requests initiated from the virtual buffer to the physical buffer, and uses this clock-level blocking action to strictly control the rate of invalid data penetration from the sensing end to the execution end.

[0117] Interval 3, Extreme Stall Interception and Stepped Obstacle Clearing Interval: The interruption delay of the pulse width modulation output continuously monitored by the abnormal state interception and recovery state machine reaches the preset extreme value boundary constant of the stall clock. The value of this constant is based on the number of extreme stall delay cycles limited by the physical sandbox multiplied by the static engineering derating factor, and the static engineering derating factor is limited to 0.8 to 0.9, preferably 0.85. The objectivity of this boundary is established by the upper limit of the electromagnetic torque of the stepper motor overcoming the maximum external rigid wind resistance and the dual full-load physical bearing limit of the power transistors inside the underlying motor driver chip reaching the thermal balance and anti-burnout limit. If this boundary is exceeded, it will lead to physical damage consequences such as objective step loss, irreversible gear hysteresis collapse, or substantial thermal penetration of the drive components. The abnormal state interception and recovery state machine forcibly takes over the highest interrupt priority of the kernel, generates read-only configuration instructions for memory blocks and overwrites them to the memory protection unit control register, absolutely blocking the downlink data transmission path; at the same time, based on the abnormal stagnation characteristic coefficients extracted by normalization and hyperbolic tangent function mapping of the underlying delay increase rate, it extracts a safe escape base duty cycle of 20% to 30% of the baseline full-load duty cycle, and performs algebraic accumulation reconstruction with an incremental step size of 2% to 5%, overwriting the advanced timer to drive the cross ball screw guide assembly to execute progressively increasing reverse escape torque output.

[0118] Table 2: Topology Mapping Comparison Table for UAV Attitude Adaptive Adjustment System

[0119]

[0120] Figure 1 In applications where strong crosswinds cause mechanical motion lag, this system is deployed on a low-level microcontroller. Its state machine closed loop relies on the coupling between core logic and mechanical components. The low-level two-degree-of-freedom stepper coil positioning mechanism physically includes X-axis and Y-axis stepper motors arranged in a staggered orthogonal pattern, which together control a cross-ball screw guide assembly. The multi-source data acquisition and calculation module extracts the magnetic field gradient evolution slope and the physical offset of the coil support from the asynchronous hardware-level task scheduling flow and continuously writes them into a virtual buffer allocated in the low-level static memory. The dual-buffered timing scheduling module uses the PWM output interrupt delay and the number of hardware timer beats as dynamic timing control inputs to construct timing delay constraints to lengthen the cross-domain memory synchronization period. When cross-domain synchronization is triggered, the state machine pose compensation module extracts data from the physical buffer as error input, generates target duty cycle control parameters through incremental PID logic, drives the two-dimensional moving slide and the coil support fixed on it to perform translational movements, thereby causing the charging coil to eliminate the physical offset and complete the microscopic pose closed-loop alignment.

[0121] It should be noted that all computational logic in this application employs regression analysis, including but not limited to machine learning algorithms, to deeply analyze the collected parameters and identify their natural trends and interrelationships. In all computational formulas of this application, the parameters in each formula undergo dimensionless processing within a consistent range to ensure that different physical quantities are compared on the same scale. Dimensionless processing techniques include, but are not limited to, Min-Max-Normalization and Z-Score standardization. To decouple the core algorithm of this invention from specific application strategies and to ensure the configurability and ease of debugging of the technical solution, in the specific implementation path of this invention, all configurable operating parameters are read through a standardized "configuration interface." The data source of this configuration interface is a "data storage module" (e.g., a non-transitory computer-readable storage medium, such as a configuration file, database entry, or cloud configuration service), which is configured to store configuration data in key-value pair format.

[0122] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A wireless charging posture adaptive adjustment system for unmanned aerial vehicles (UAVs), characterized in that, The system is deployed at the underlying microcontroller level, specifically including: Bottom-level two-degree-of-freedom stepper coil positioning mechanism; The multi-source data acquisition and calculation module is configured to acquire the slope of the magnetic field gradient evolution and the physical offset of the coil support, which characterize the physical alignment deviation of the coil; and to extract the PWM output completion interrupt delay and the number of hardware timer clock beats, which characterize the mechanical motion hysteresis on the bottom two-degree-of-freedom stepping coil positioning mechanism. The dual-buffered timing scheduling module is configured to use the PWM output completion interrupt delay and the number of hardware timer clock ticks as dynamic timing control inputs; extract the standard deviation fluctuation value of the PWM output completion interrupt delay and generate the number of synchronization wait clock ticks accordingly; construct timing delay constraints based on the number of synchronization wait clock ticks to lengthen the cross-domain memory synchronization period of the underlying data block where the magnetic field gradient evolution slope and the physical offset of the coil support are located; The state machine pose compensation module is configured to: when the value of the clock tick accumulator configured by the underlying microcontroller meets the number of synchronous waiting clock ticks and triggers cross-domain memory synchronization, extract the updated physical offset of the coil support and use it as the spatial path planning reference for controlling the underlying two-axis stepper motor. The slope of the magnetic field gradient evolution is extracted as the dynamic feedback error input for incremental calculation. Using the preset duty cycle conversion ratio coefficient, the dynamic feedback error input is algebraically iterated and converted to generate the target duty cycle control parameters for scheduling the drive pulse pins of the underlying two-axis stepper motor. It also triggers a numerical rewrite action to output a bottom-level pulse sequence corresponding to the target duty cycle control parameters, thereby driving the bottom-level two-degree-of-freedom stepper coil positioning mechanism to generate a linear translational displacement, thereby eliminating the physical offset of the coil support and completing the physical alignment of the charging coil.

2. The adaptive posture adjustment system for wireless charging of a drone according to claim 1, characterized in that: The multi-source data acquisition and calculation module also includes a sensor data caching unit, which is configured to: extract differential data on the array-type Hall sensor bus, and perform discrete-time differential operation on the differential data in adjacent extraction cycles to solve for the slope of the magnetic field gradient evolution. Based on the preset electromagnetic-space mapping matrix of the coil, spatial vector solution is performed on the differential data, and the physical offset of the coil support is mapped and output. The magnetic field gradient evolution slope and the physical offset of the coil support are encapsulated into an independent data structure containing an incrementing refresh sequence number and word length alignment, and continuously overwritten to the virtual buffer in the static random access memory inside the underlying microcontroller.

3. The adaptive posture adjustment system for wireless charging of a drone according to claim 2, characterized in that: The multi-source data acquisition and calculation module also includes a low-level delay reading and calculation interface, which is configured to: monitor the native overflow interrupt flag of the PWM timer controlling the low-level two-degree-of-freedom stepper coil positioning mechanism; in response to the hardware setting of the native overflow interrupt flag of the PWM timer, capture the current hardware timer clock tick count of the system core metronome; based on the control command issuance time and the captured hardware timer clock tick count, and introducing the maximum overflow threshold of the low-level hardware metronome, perform a flip compensation calculation to extract the PWM output completion interrupt delay that objectively reflects the absolute mechanical time consumption.

4. The adaptive posture adjustment system for wireless charging of a drone according to claim 3, characterized in that: The dual-buffered timing scheduling module is further configured to: maintain the memory synchronization delay coefficient, calculate and update the memory synchronization delay coefficient with the standard deviation of the PWM output completion interrupt delay in the most recent preset period as the numerator and the currently set basic memory exchange time interval as the denominator; multiply the memory synchronization delay coefficient by the reference clock period to map and generate the number of synchronization waiting clock ticks; When the accumulated number of hardware timer clock ticks does not reach the number of synchronous waiting clock ticks, all memory block data copy requests from the virtual buffer to the physical buffer are suspended; only when the number of hardware timer clock ticks meets the number of synchronous waiting clock ticks; the interrupt delay of the PWM output completion of two adjacent interrupts within the current determination period is extracted, and the transient change rate of the adjacent interrupt delay is calculated. When the number of clock ticks of the hardware timer meets the number of clock ticks of the synchronous wait, and the calculated transient change rate of the adjacent interrupt delay is lower than the preset stall change rate threshold, an atomic copy operation guided by an exclusive access instruction is triggered to overwrite the independent data structure in the virtual buffer to the physical buffer. During the overwrite process, the internal state machine of the underlying microcontroller synchronously extracts and compares the first and last incrementing refresh sequence numbers of the independent data structure. Only when the first and last incrementing refresh sequence numbers are consistent is the macroscopic integrity of the current underlying data block confirmed and effective cross-domain synchronization completed.

5. The adaptive posture adjustment system for wireless charging of a drone according to claim 4, characterized in that: The state machine pose compensation module also includes an abnormal state interception and recovery state machine, which is configured to: in response to the continuous monitoring that the PWM output completion interrupt delay continuously exceeds the stall clock extreme value boundary that represents the maximum physical load of the bottom two-degree-of-freedom step coil positioning mechanism, generate a memory block read-only configuration instruction for configuring the memory protection unit. Based on the memory block read-only configuration instruction, the memory address blocks to which the virtual buffer and the physical buffer belong are forcibly configured to a read-only locked state, so as to intercept the data source writing by triggering a hardware bus access exception and block the downlink data transmission path. The input / output ports of the corresponding stepper motor direction control pins inside the control bottom two-degree-of-freedom stepper coil positioning mechanism are level-flipped, and the preset escape duty cycle pulse parameters are written into the capture / compare register of the internal PWM timer that generates the control pulse, so as to drive the bottom two-degree-of-freedom stepper coil positioning mechanism to perform reverse obstacle removal action. During the reverse troubleshooting process, real-time monitoring of the PWM output completion interrupt delay is maintained. In response to the determination that the PWM output completion interrupt delay has fallen below the one-sided release threshold determined by the product operation of the unlock hysteresis coefficient and the extreme boundary of the stall clock, a channel unlock signal is generated and overwritten to the control register of the memory protection unit. This forces the access attribute of the block to which the physical buffer belongs to be restored from the read-only locked state to the read-write permitted state, so as to reopen the downlink data transmission path.

6. The adaptive posture adjustment system for wireless charging of a drone according to claim 5, characterized in that: The dual-buffered timing scheduling module is further configured to: extract the transient sampling values ​​of the PWM output completion interrupt delay within the most recent preset period, and assign a timing decay weight with an exponential decay distribution based on the timing difference between the current system clock beat and the generation time of each transient sampling value; When calculating and updating the memory synchronization delay coefficient, the timing decay weight is applied to the squared difference term between each transient sample value and the weighted benchmark mean to perform a weighted variance logic solution operation, so as to update and generate the memory synchronization delay coefficient.

7. The adaptive posture adjustment system for wireless charging of a drone according to claim 6, characterized in that: The abnormal state interception and recovery state machine is further configured to: in response to the continuous monitoring that the PWM output completion interrupt delay continuously exceeds the extreme boundary of the stall clock, extract the delay increase rate within a preset time window before the physical stall extreme occurs; divide it by the preset limit delay increase rate read from the system static configuration area to perform a normalized division logic operation, then substitute it into the hyperbolic tangent function containing the steepness factor for calculation, and multiply by the corresponding scaling value to finally generate the abnormal stall characteristic coefficient.

8. The adaptive posture adjustment system for wireless charging of a drone according to claim 7, characterized in that: Based on the abnormal stagnation characteristic coefficient, the preset escape duty cycle pulse parameters are dynamically reconstructed into a stepped obstacle-clearing pulse sequence with an increasing target duty cycle. The stepped obstacle-clearing pulse sequence is subjected to a numerical truncation action based on the hardware electrical stepping envelope, and after being dynamically constrained within the safe duty cycle limit threshold, it is sequentially overwritten into the capture / compare register of the internal PWM timer to drive the underlying two-degree-of-freedom stepping coil positioning mechanism to generate a progressively increasing reverse escape torque.

9. A method for adaptive adjustment of pose during wireless charging of a drone, characterized in that: The method is used to execute the drone wireless charging pose adaptive adjustment system according to any one of claims 1-8, including: Step S1: Obtain the magnetic field gradient evolution slope and the physical offset of the coil support, which characterize the physical alignment deviation of the coil; extract the PWM output completion interrupt delay and the number of hardware timer clock beats, which characterize the mechanical motion hysteresis on the bottom two-degree-of-freedom stepping coil positioning mechanism, from the asynchronous hardware-level task scheduling flow of the bottom microcontroller; and continuously write the magnetic field gradient evolution slope and the physical offset of the coil support into the virtual buffer allocated by the bottom static memory. Step S2: The PWM output completion interrupt delay and the number of hardware timer clock ticks are used as dynamic timing control inputs; the standard deviation fluctuation value of the PWM output completion interrupt delay is extracted through double-buffered timing scheduling logic, and a synchronization waiting clock tick number limited by the maximum hardware clock cycle is generated to suspend the memory copy from the virtual buffer to the physical buffer; and a timing delay constraint is constructed based on the synchronization waiting clock tick number to forcibly lengthen the cross-domain memory synchronization period of the underlying data block where the magnetic field gradient evolution slope and the physical offset of the coil support are located. Step S3: When the value of the clock tick accumulator configured by the underlying microcontroller meets the number of clock ticks required for synchronization and triggers cross-domain memory synchronization, the updated physical offset of the coil support is extracted from the physical buffer and used as the spatial path planning reference for controlling the underlying two-axis stepper motor. At the same time, the slope of the magnetic field gradient evolution is extracted as the dynamic feedback error input for incremental calculation. Using a preset duty cycle conversion ratio coefficient, the dynamic feedback error input is algebraically iterated and transformed through incremental PID calculation logic to generate the target duty cycle control parameters for scheduling the drive pulse pins of the underlying two-axis stepper motor. It also triggers the rewriting action of the capture / compare register of the internal PWM timer in the underlying kernel to output the underlying pulse sequence corresponding to the target duty cycle control parameter, so as to drive the underlying two-degree-of-freedom stepper coil positioning mechanism to generate linear translation displacement, thereby adjusting the physical position of the coil support, thereby eliminating the physical offset of the coil support and completing the physical alignment of the charging coil.

Images