Yaw device, unmanned aerial vehicle, yaw control method, system, apparatus, and medium

Abstract

The application provides a yaw device, an unmanned aerial vehicle, a yaw control method, a system, equipment and a medium, and relates to the technical field of unmanned aerial vehicles. The method comprises the following steps: acquiring a desired yaw angle and a current yaw angle; calculating a yaw error based on the desired yaw angle and the current yaw angle; acquiring a current yaw angular velocity, and calculating an additional yaw moment based on the current yaw angular velocity and the yaw error; acquiring a motor control amount, and calculating a target deflection angle of a guide vane based on the motor control amount and the additional yaw moment; and adjusting the angle of the guide vane according to the target deflection angle. Multiple groups of guide vanes are driven to deflect synchronously by the same set of transmission structures, the airflow guiding states below all rotors are kept consistent, and the additional yaw moments generated are uniform and stable. The deflection angle of the guide vane is dynamically updated according to the real-time flight state, the continuously existing heading deviation in the flight process can be continuously offset, and the heading keeping precision is higher under long-time operation.

Description

Technical Field

[0001] This invention relates to the technical field of unmanned aerial vehicles (UAVs), and more particularly to a yaw device, a UAV, a yaw control method, system, equipment, and medium. Background Technology

[0002] Yaw performance is a core indicator for measuring the flight attitude stability and flight path tracking accuracy of a UAV. Specifically, it refers to the UAV's ability to turn left or right around its vertical axis, directly determining its heading adjustment response speed, heading maintenance accuracy, and turning smoothness in complex field operation scenarios. Existing quadcopter UAVs typically achieve yaw control by applying differential rotation speeds to the diagonal rotors, i.e., generating yaw torque by changing the magnitude of the counter-torque of each rotor.

[0003] However, the yaw control method in the relevant approach has the following shortcomings: the yaw control response speed is limited by the speed change rate of the motor and rotor, and the yaw torque build-up process is slow; under high load flight conditions, the rotor speed is close to the upper limit of operation, and the speed adjustment margin available for generating yaw torque is limited, resulting in insufficient yaw maneuverability. Summary of the Invention

[0004] This invention provides a yaw device, a drone, a yaw control method, a system, an equipment, and a medium to solve the problems of slow yaw response and insufficient yaw torque in existing drones.

[0005] In a first aspect, embodiments of the present invention provide a yaw device, comprising: A gear commutator is fixedly connected to the bottom of the drone; the gear commutator has one input shaft and multiple output shafts; A servo motor is fixedly connected to the bottom of the gear commutator; the servo motor is fixedly connected to the input shaft. A guide vane is fixedly connected to the output shaft; the guide vane is located directly below the rotor of the UAV and is vertically positioned. The servo motor synchronously drives each of the output shafts to rotate via the output shaft, thereby driving each of the guide vanes to deflect synchronously.

[0006] In one possible implementation, the gear commutator includes: The drive bevel gear is fixedly connected to the output shaft; and Multiple driven bevel gears mesh with the driving bevel gear; each driven bevel gear corresponds to one of the output shafts.

[0007] In one possible implementation, the connector is used for fixed connection with the UAV; the end of the output shaft is rotatably connected to the connector.

[0008] Secondly, embodiments of the present invention provide an unmanned aerial vehicle (UAV), including: the UAV body and the yaw device as described in the first aspect; The servo motor and the gear commutator are located below the center of gravity of the UAV body; the number of output shafts is the same as the number of rotors of the UAV body, and they correspond one-to-one; the output shafts are located directly below the rotors of the UAV body.

[0009] Thirdly, embodiments of the present invention provide a yaw control method, applied to the UAV as described in the second aspect, comprising: Obtain the desired yaw angle and the current yaw angle; The yaw error is calculated based on the expected yaw angle and the current yaw angle. Obtain the current yaw rate and calculate the additional yaw moment based on the current yaw rate and the yaw error; Obtain the motor control quantity, and calculate the target deflection angle of the guide vane based on the motor control quantity and the additional yaw torque; Adjust the angle of the deflector according to the target deflection angle.

[0010] In one possible implementation, calculating the target deflection angle of the guide vane based on the motor control quantity and the additional yaw torque includes: The inverse equation is constructed based on the pre-built mapping relationship between the additional yaw torque, the target yaw angle, and the motor control quantity; The motor control quantity and the additional yaw torque are substituted into the inverse solution equation to calculate the target deflection angle of the guide vane.

[0011] In one possible implementation, adjusting the angle of the guide vane according to the target deflection angle includes: Calculate the servo deflection angle based on the target deflection angle; The servo deflection is controlled based on the servo deflection angle.

[0012] Fourthly, embodiments of the present invention provide a yaw control system, comprising: The data acquisition module is used to obtain the desired yaw angle and the current yaw angle; The yaw error calculation module is used to calculate the yaw error based on the desired yaw angle and the current yaw angle. An additional yaw moment calculation module is used to obtain the current yaw angular velocity and calculate the additional yaw moment based on the current yaw angular velocity and the yaw error; The target deflection angle calculation module is used to obtain the motor control quantity and calculate the target deflection angle of the guide vane based on the motor control quantity and the additional yaw torque. The deflector adjustment module is used to adjust the angle of the deflector according to the target deflection angle.

[0013] Fifthly, embodiments of the present invention provide an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method described in the third aspect above.

[0014] In a sixth aspect, embodiments of the present invention provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in the first aspect or any possible implementation thereof.

[0015] In this embodiment of the invention, the yaw error is calculated by acquiring the desired yaw angle and the current yaw angle, which can accurately capture the deviation in the UAV's heading. Combining the real-time acquired yaw angular velocity with the calculation of the additional yaw torque allows for simultaneous consideration of the magnitude of the heading deviation and the trend of the fuselage yaw motion, ensuring the output torque closely matches the UAV's real-time flight state. By pre-calibrating to establish the coupling mapping relationship among these three elements, and by substituting the control quantities corresponding to the current rotor and the target additional yaw torque into the inverse equation, the target deflection angle of the deflector is directly calculated without continuously adjusting the motor speed to generate the yaw counter-torque. The entire calculation process relies solely on attitude data and power control parameters to complete the angle calculation; the computational logic is simple and efficient, and it does not consume a large amount of flight control computing resources.

[0016] Multiple deflectors are synchronously driven by the same transmission structure, ensuring consistent airflow guidance under all rotors and generating a uniform and stable additional yaw torque. The deflection angle of the deflectors is dynamically updated based on real-time flight conditions, continuously offsetting any directional deviation during flight and maintaining higher directional accuracy over extended periods. The entire control logic relies on torque mapping to achieve closed-loop angle calculation, adaptively matching the aerodynamic characteristics of the airflow under different rotor operating intensities. This ensures stable and reliable yaw control even in complex flight environments such as crosswinds and high loads. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the yaw device provided in an embodiment of the present invention; Figure 2 This is an exploded schematic diagram of the yaw device provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the UAV provided in an embodiment of the present invention; Figure 4 This is a flowchart illustrating the implementation of the control method provided in this embodiment of the invention; Figure 5 This is a schematic diagram of the yaw control system provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of an electronic device provided in an embodiment of the present invention; Figure 7 A circular trajectory tracking diagram of a drone provided in an embodiment of the present invention; Figure 8 Lisaru curve tracking diagram of the UAV provided in the embodiments of the present invention; Figure 9 The circular trajectory xyz tracking curve of the UAV provided in the embodiment of the present invention; Figure 10 The Lisa trajectory xyz tracking curve diagram of the UAV provided in the embodiments of the present invention; Figure 11 A circular trajectory angle tracking curve of a drone provided in an embodiment of the present invention; Figure 12 The Lisa-like trajectory angle tracking curve of the UAV provided in the embodiment of the present invention; Figure 13 A circular trajectory angular velocity curve of a UAV provided for an embodiment of the present invention; Figure 14 The Lisaru trajectory angular velocity curve of the UAV provided in the embodiments of the present invention; Figure 15 A diagram showing the circular trajectory motor tension and rudder deflection angle of a UAV provided in an embodiment of the present invention; Figure 16 A diagram showing the Lisaru trajectory motor tension and rudder deflection angle of a drone provided for an embodiment of the present invention.

[0018] 1. Connector; 2. Output shaft; 3. Flow deflector; 4. Side baffle; 6. Top baffle; 9. Flange bearing; 10. Driven bevel gear; 11. Driven bevel gear; 13. Servo motor; 14. Gear commutator; A. UAV body; B. Yaw device. Detailed Implementation

[0019] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0020] Reference Figure 1 and 2 , Figure 1 A schematic diagram of the yaw device provided in an embodiment of the present invention is shown. Figure 2 An exploded schematic diagram of the yaw device provided in an embodiment of the present invention is shown, and details are as follows: The yaw mechanism includes a gear commutator 14, a servo motor 13, and a deflector 3. The gear commutator 14 is fixedly connected to the bottom of the UAV; the gear commutator 14 has one input shaft and multiple output shafts 2. The servo motor 13 is fixedly connected to the bottom of the gear commutator 14; the servo motor 13 is fixedly connected to the input shaft. The deflector 3 is fixedly connected to the output shafts 2; the deflector 3 is located directly below the rotor of the UAV and is vertically positioned.

[0021] Among them, the servo motor 13 drives each output shaft 2 to rotate synchronously through the output shaft 2, thereby driving each guide plate 3 to deflect synchronously.

[0022] The gear commutator 14 is fixedly connected to the output end of the drive servo motor 13 and can synchronously complete the rotational movement with the drive servo motor 13. The gear commutator 14 is equipped with four output shafts 2, which are arranged in a cross-shaped symmetrical distribution structure. This structure can synchronously distribute and transmit the single-path rotational power of the drive servo motor 13 to four directions. The cross-shaped distribution of the output shafts 2 can ensure the consistency of power output in four directions, achieve a uniform power transmission effect in all directions, and avoid the impact of unilateral power output deviation on the overall control accuracy.

[0023] Each output shaft 2 of the gear commutator 14 is fixedly fitted with a set of guide vanes 3. The four guide vanes 3 are respectively arranged on the flow path of the downwash airflow of the UAV rotor, which can completely cover the vertical downward airflow area generated when the rotor is working. The guide vanes 3 follow the corresponding output shaft 2 to complete the deflection movement synchronously, and can change their deflection angle relative to the vertical airflow according to the flight control requirements.

[0024] When the UAV experiences a heading deviation during flight and requires yaw adjustment, the flight control system outputs a control signal to drive the servo motor 13, which in turn drives the gear commutator 14. The gear commutator 14, through four cross-shaped output shafts 2, synchronously drives four guide vanes 3 to deflect in the same direction, changing the direction of the downwash airflow from the rotor and the direction of the force applied. Utilizing the reverse aerodynamic force generated by the airflow deflection, a corresponding additional yaw torque is provided to the UAV body, thereby offsetting the heading deviation error and achieving real-time heading correction and stable maintenance.

[0025] The entire structure relies on mechanical transmission to achieve synchronous and coordinated deflection of multiple guide vanes, without changing the basic rotational speed and power output of the UAV rotor. It generates yaw adjustment torque solely through airflow guidance. This effectively avoids the response lag and attitude fluctuation problems existing in traditional motor differential yaw control, significantly improving the real-time performance and stability of UAV yaw control, and adapting to the refined heading control requirements of various UAV operation scenarios.

[0026] In one possible implementation, the gear commutator 14 includes a driving bevel gear 11 and a plurality of driven bevel gears 10.

[0027] The driving bevel gear 11 is fixedly connected to the output shaft 2. The driven bevel gear 10 meshes with the driving bevel gear 11; the driven bevel gear 10 corresponds one-to-one with the output shaft 2.

[0028] Specifically, there are four driven bevel gears 10. Both the driving bevel gear 11 and the driven bevel gear 10 have a module of 0.5, and their transmission ratio is 2:1. The gear commutator 14 includes four side plates 4, one upper plate 6, and one lower plate. The four side plates 4, the upper plate 6, and the lower plate form a square housing, inside which the driving bevel gear 11 and the driven bevel gear 10 are located. The servo motor 13 is fixedly connected to the outer surface of the lower plate, the driving bevel gear 11 is mounted on the inner surface of the lower plate, and the four driven bevel gears 10 are respectively mounted on the four side plates 4. Flange bearings 9 are installed on both the side plates 4 and the lower plate. The input shaft is rotatably connected to the lower plate via the flange bearings 9, and the output shaft 2 is rotatably connected to the side plates 4 via the flange bearings 9. When the servo motor 13 drives the input shaft to rotate, the input shaft drives the four output shafts 2 to rotate synchronously through the meshing of the active bevel gear 11 and the driven bevel gear 10, thereby adjusting the angle of the guide vane 3 and realizing the yaw of the UAV.

[0029] In one possible implementation, connector 1 is used for fixed connection with the UAV; the end of output shaft 2 is rotatably connected to connector 1.

[0030] Connector 1 is located at the end of output shaft 2, providing stable support for output shaft 2, enabling output shaft 2 to work stably and ensuring the stability of the overall structure.

[0031] See Figure 3 The diagram illustrates the structure of the UAV provided in an embodiment of the present invention, and is described in detail below: The drone includes: drone body A and yaw device B as described in the first aspect; Servo motor 13 and gear commutator 14 are located below the center of gravity of the UAV body A; the number of output shafts 2 is the same as the number of rotors of the UAV body, and they correspond one-to-one; the output shafts 2 are located directly below the rotors of the UAV body.

[0032] For example, the drone generally consists of two parts: one part is the conventional quadcopter drone body A, and the other part is the yaw device B located below the quadcopter drone body.

[0033] The conventional quadcopter drone body A is a typical quadcopter drone structure found in existing technology, used to provide basic lift and flight control functions for the drone. The yaw device B is installed below the drone body and includes four deflectors 3. Each deflector 3 is positioned directly below its corresponding rotor and within the main action area of ​​the rotor's downwash airflow. It is used to deflect the downwash airflow, thereby generating an additional yaw moment on the drone.

[0034] Each guide vane 3 in the yaw device B is a rectangular plate structure used to guide and deflect the downwash airflow generated by the rotor. Each guide vane 3 is connected to a one-in-four-out gear commutator 14 via a rotating shaft, the axis of which is parallel to the extension direction of the corresponding arm. Figure 4 As shown, a UAV body coordinate system O1X1Y1Z1 is established on the UAV body A, where the O1Z1 axis is vertically aligned with the UAV body A and points downwards. The O1X1 and O1Y1 axes are located within the UAV's horizontal plane. A yaw device coordinate system O2X2Y2Z2 is established on the additional rudder device, where the O2Z2 axis is also vertically aligned and points downwards. The rudder device is located below the UAV body, and the O2Z2 axis is collinear with the O1Z1 axis. The origin O2 of the coordinate system is at a fixed distance ΔZ relative to O1 along the Z-axis, and the X and Y axes of the two coordinate systems are aligned when viewed from the Z-axis direction.

[0035] In this invention, the state in which the plane of the guide vane is parallel to the O2Z2 axis is defined as the 0° angle position of the guide vane. In this position, the lateral guiding effect of the guide vane 3 on the rotor downwash airflow is minimal, and the resulting additional yaw moment can be ignored.

[0036] When the deflector 3 deflects to either side about its rotation axis relative to the 0° angle position, the plane of the deflector deflects relative to the O2Z2 axis. The rotor downwash airflow is guided to one side by the deflector, thus forming an aerodynamic force with a horizontal component on the surface of the deflector 3. This horizontal aerodynamic force acts on the UAV body, forming an additional yaw moment about the O1Z1 axis in the coordinate system O1X1Y1Z1.

[0037] As the deflection angle of the guide vane 3 relative to the 0° position increases, the horizontal component of the aerodynamic force increases accordingly, resulting in an increase in the additional yawing moment. By continuously adjusting the deflection angle of the guide vane 3 relative to the 0° position, the magnitude of the additional yawing moment can be continuously and controllably adjusted.

[0038] See Figure 4 The flowchart illustrating the implementation of the control method provided in the embodiment of the present invention is shown below: A yaw control method, applied to a UAV as described in the second aspect, includes: S410. Obtain the desired yaw angle and the current yaw angle.

[0039] For example, the desired yaw angle is input by the user into the drone's flight control system. The current yaw angle is obtained by the drone's flight control system from the drone's current flight parameters.

[0040] S420. Calculate the yaw error based on the desired yaw angle and the current yaw angle.

[0041] For example, the yaw error is calculated according to the following formula: ; in: This refers to yaw error; The desired yaw angle; This is the current yaw angle.

[0042] S430. Obtain the current yaw rate and calculate the additional yaw moment based on the current yaw rate and yaw error.

[0043] For example, the flight control system constructs a yaw state feedback controller based on the yaw error and the current yaw angular velocity, and calculates the additional yaw torque using the following formula: in: To add yaw moment; This refers to yaw error; This is the current yaw rate; , These are the gain parameters for the state feedback controller.

[0044] S440. Obtain the motor control input and calculate the target deflection angle of the guide vane based on the motor control input and the additional yaw torque.

[0045] In one embodiment, step S440 includes: S441. Construct the inverse solution equation based on the pre-built mapping relationship between the additional yaw torque, the target yaw angle, and the motor control quantity.

[0046] For example, in this invention, a mapping relationship between the deflection angle of the guide vane, the motor control quantity, and the additional yawing torque is established through aerodynamic testing. Based on the experimental data, surface fitting is performed to obtain the relationship between the additional yawing torque, the deflection angle of the guide vane, and the motor control quantity: ; in: To add yaw moment; This refers to the deflection angle of the guide vane; This is a motor control variable.

[0047] For example, the motor control quantity is the rotor motor control quantity of the UAV body A, and the movement state of the UAV body A can be controlled through the motor control quantity.

[0048] Based on the current motor control quantity and the additional yaw torque output by the state feedback controller Construct the following equation: S442. Substitute the motor control quantity and additional yaw torque into the inverse solution equation to calculate the target deflection angle of the guide vane.

[0049] For example, the deflection angle of the target guide vane can be calculated using the quadratic formula: .

[0050] S450. Adjust the angle of the deflector according to the target deflection angle.

[0051] In one possible implementation, step S450 includes: S451. Calculate the servo deflection angle based on the target deflection angle.

[0052] In this embodiment, the relationship between the target deflection angle and the servo deflection angle is determined by the transmission ratio between the driving bevel gear and the driven bevel gear in the gear steering gear. Therefore, the servo deflection angle is calculated based on the transmission ratio between the driving bevel gear and the driven bevel gear.

[0053] S452. Control servo deflection based on servo deflection angle.

[0054] After obtaining the servo deflection angle, the flight control system selects the solution that satisfies the constraints as the target deflection angle based on the allowable deflection range of the deflector. The data is then converted into servo control commands and sent to the drive servo. After the drive servo rotates, the rotation is synchronously transmitted to the four deflector plates via a one-in-four-out gear commutator synchronous transmission mechanism, causing the four deflector plates to deflect synchronously. When the deflector plate is at its 0° angle position, its guiding effect on the rotor downwash airflow is zero, and no additional yawing moment is generated. When the four deflector plates deviate from the 0° angle position, the rotor downwash airflow is guided to one side under the action of the deflector plates, forming an aerodynamic force on the surface of the deflector plates. The horizontal component of this force forms an additional yawing moment on the UAV body.

[0055] By changing the deflection direction of the deflector, the direction of the additional yaw torque can be controlled; by changing the deflection angle of the deflector relative to the 0° position, the magnitude of the additional yaw torque can be adjusted, thereby achieving control of the yaw motion of the UAV.

[0056] In practical control, yaw control is achieved through yaw mechanisms. The rotor speed is primarily used to provide lift and maintain attitude stability, and its variation is relatively small. When rapid yaw maneuvers are required, the flight control system adjusts the drive servos to increase the deflection angle of the deflector, generating a larger horizontal aerodynamic force from the downwash airflow, thereby quickly establishing the yaw rate. This method allows each rotor to continue primarily providing lift during yaw maneuvers, avoiding the impact on overall lift levels caused by yaw control consuming lift adjustment capabilities. This is particularly beneficial for fully utilizing the rotor's lift-providing capacity under high-load flight conditions.

[0057] Reference Figure 7 and Figure 8 After employing the yaw device described in this invention for yaw control, the UAV can stably complete circular and Lisajous trajectory flight missions. The actual flight trajectory basically coincides with the reference trajectory, and the trajectory tracking error is small, indicating that the proposed yaw control scheme has good path tracking and trajectory holding capabilities.

[0058] Reference Figure 9 and Figure 10 The data shows the drone's flight path during circular and Lisza-like trajectories. x , y , z Position tracking curves in three directions are shown. The actual position output can quickly track changes in the reference command, with small tracking errors on each axis and no obvious oscillations or divergence, verifying that the invention has good position control performance and system stability under complex maneuvering flight conditions.

[0059] Reference Figure 11 and Figure 12 The attitude angle tracking results during the corresponding trajectory flight process are given, including roll angle. φ Pitch angle θ and yaw angle ψ Simulation results show that the actual attitude angles can accurately track the reference commands. The yaw angle, with the added linkage rudder device, responds quickly and has high tracking accuracy, maintaining good dynamic performance and stability even during large-scale continuous yaw maneuvers. Especially in complex maneuvering missions requiring frequent heading adjustments, such as the Lissar trajectory, the yaw device effectively enhances the UAV's yaw control capability, improving heading control accuracy and trajectory tracking performance.

[0060] Reference Figure 13 and Figure 14 The angular velocity response curves of the UAV during circular trajectory flight missions and Lissajous trajectory flight missions are presented respectively. p , q , rThe figures represent the angular velocities around the roll axis, pitch axis, and yaw axis, respectively. As shown in the figure, after the introduction of the yaw device, the UAV can generate a yaw torque through the rudder. When performing heading adjustments and complex maneuvering flight missions, the angular velocities of each axis remain stable. This helps to resolve the contradiction between the total thrust requirement and the yaw maneuvering requirement during heavy load flight, thereby improving yaw control efficiency and flight quality.

[0061] Reference Figure 15 and Figure 16 The changes in motor thrust and rudder deflection angle in the linked direction are presented during UAV flight tests on circular and Lisajous trajectories, respectively. The test results show that the thrust of the four motors can be reasonably distributed according to the flight state, and the rudder deflection angle in the linked direction is adjusted in real time according to the flight state and participates in yaw control. Throughout the flight, all actuators functioned normally without significant saturation or abnormal fluctuations, verifying that the yaw device proposed in this invention can work in conjunction with the quadcopter power system to achieve stable, effective, and highly maneuverable yaw control.

[0062] In summary, by adding an additional linked rudder device to a quadcopter UAV, the present invention enables the UAV to achieve better yaw control when performing complex spatial trajectory flight missions, thereby improving the system's maneuverability, trajectory tracking accuracy, and flight stability, and verifying the effectiveness and practical value of the present invention.

[0063] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0064] The following are device embodiments of the present invention. For details not described in detail, please refer to the corresponding method embodiments described above.

[0065] Figure 5 A schematic diagram of the yaw control system provided in an embodiment of the present invention is shown. For ease of explanation, only the parts related to the embodiment of the present invention are shown, and are described in detail below: like Figure 5 As shown, a yaw control system 5 includes: Data acquisition module 51 is used to acquire the desired yaw angle and the current yaw angle; Yaw error calculation module 52 is used to calculate yaw error based on the desired yaw angle and the current yaw angle; The additional yaw moment calculation module 53 is used to obtain the current yaw angular velocity and calculate the additional yaw moment based on the current yaw angular velocity and yaw error; The target deflection angle calculation module 54 is used to obtain the motor control quantity and calculate the target deflection angle of the guide vane based on the motor control quantity and the additional yaw torque. The deflector adjustment module 55 is used to adjust the angle of the deflector according to the target deflection angle. In one possible implementation, In one possible implementation, the target yaw angle calculation module 54 is used to construct the inverse solution equation based on the pre-built mapping relationship between the additional yaw torque, the target yaw angle and the motor control quantity; The motor control quantity and additional yaw torque are substituted into the inverse solution equation to calculate the target deflection angle of the guide vane.

[0066] In one possible implementation, the deflector adjustment module 55 is used to calculate the servo deflection angle based on the target deflection angle; The servo deflection is controlled based on the servo deflection angle.

[0067] Figure 6 This is a schematic diagram of an electronic device provided in an embodiment of the present invention. For example... Figure 6 As shown, the electronic device 6 of this embodiment includes a processor 60 and a memory 61. The memory 61 stores a computer program 62. When the processor 60 executes the computer program 62, it implements the steps in the various method embodiments described above. Alternatively, when the processor 60 executes the computer program 62, it implements the functions of each module / unit in the various device embodiments described above.

[0068] For example, computer program 62 may be divided into one or more modules / units, which are stored in memory 61 and executed by processor 60 to complete the present invention. The one or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of computer program 62 in electronic device 6.

[0069] Electronic device 6 may include, but is not limited to, processor 60 and memory 61. Those skilled in the art will understand that... Figure 6 This is merely an example of electronic device 6 and does not constitute a limitation on electronic device 6. It may include more or fewer components than shown, or combine certain components, or different components. For example, electronic device 6 may also include input / output devices, network access devices, buses, etc.

[0070] The processor 60 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0071] The memory 61 can be an internal storage unit of the electronic device 6, such as a hard disk or RAM. The memory 61 can also be an external storage device of the electronic device 6, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card. Furthermore, the memory 61 can include both internal and external storage units of the electronic device 6. The memory 61 is used to store the computer program 62 and other programs and data required by the electronic device 6. The memory 61 can also be used to temporarily store data that has been output or will be output.

[0072] For the sake of simplicity and clarity, only the above-described functional modules / units are used as examples. In practical applications, the functions described above can be assigned to different functional modules / units as needed. These modules / units can be implemented in hardware, software, or a combination of both.

[0073] This invention also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the methods described in the above-described method embodiments.

[0074] This invention also provides a computer program product, including a computer program. When the computer program is executed by a processor, it implements the methods described in the above-described method embodiments.

[0075] Computer programs include computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. Computer-readable media can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc.

[0076] In the above embodiments, the descriptions of each embodiment have their own emphasis. Parts not detailed or described in a particular embodiment can be referred to in the relevant descriptions of other embodiments. Unless otherwise specified or in conflict with logic, the terminology and / or descriptions between different embodiments are consistent and can be referenced interchangeably. Technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0077] The above-described 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 the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A yaw device, characterized in that, include: The gear commutator is fixedly connected to the bottom of the drone; The gear commutator has one input shaft and multiple output shafts; A servo motor is fixedly connected to the bottom of the gear commutator; the servo motor is fixedly connected to the input shaft. A guide vane is fixedly connected to the output shaft; the guide vane is located directly below the rotor of the UAV and is vertically positioned. The servo motor synchronously drives each of the output shafts to rotate via the output shaft, thereby driving each of the guide vanes to deflect synchronously.

2. The yaw device according to claim 1, characterized in that, The gear commutator includes: The drive bevel gear is fixedly connected to the output shaft; and Multiple driven bevel gears mesh with the driving bevel gear; each driven bevel gear corresponds to one of the output shafts.

3. The yaw device according to claim 1, characterized in that, It also includes a connector for fixed connection with the drone; the end of the output shaft is rotatably connected to the connector.

4. A drone, characterized in that, include: The unmanned aerial vehicle body and the yaw device as described in any one of claims 1 to 3; The servo motor and the gear commutator are located below the center of gravity of the UAV body; the number of output shafts is the same as the number of rotors of the UAV body, and they correspond one-to-one; the output shafts are located directly below the rotors of the UAV body.

5. A yaw control method, characterized in that, Applied to the drone as described in claim 4, comprising: Obtain the desired yaw angle and the current yaw angle; The yaw error is calculated based on the expected yaw angle and the current yaw angle. Obtain the current yaw rate and calculate the additional yaw moment based on the current yaw rate and the yaw error; Obtain the motor control quantity, and calculate the target deflection angle of the guide vane based on the motor control quantity and the additional yaw torque; Adjust the angle of the deflector according to the target deflection angle.

6. The yaw control method according to claim 5, characterized in that, The calculation of the target deflection angle of the guide vane based on the motor control quantity and the additional yaw torque includes: The inverse equation is constructed based on the pre-built mapping relationship between the additional yaw torque, the target yaw angle, and the motor control quantity; The motor control quantity and the additional yaw torque are substituted into the inverse solution equation to calculate the target deflection angle of the guide vane.

7. The yaw control method according to claim 5, characterized in that, Adjusting the angle of the guide vane according to the target deflection angle includes: Calculate the servo deflection angle based on the target deflection angle; The servo deflection is controlled based on the servo deflection angle.

8. A yaw control system, characterized in that, include: The data acquisition module is used to obtain the desired yaw angle and the current yaw angle; The yaw error calculation module is used to calculate the yaw error based on the desired yaw angle and the current yaw angle. An additional yaw moment calculation module is used to obtain the current yaw angular velocity and calculate the additional yaw moment based on the current yaw angular velocity and the yaw error; The target deflection angle calculation module is used to obtain the motor control quantity and calculate the target deflection angle of the guide vane based on the motor control quantity and the additional yaw torque. The deflector adjustment module is used to adjust the angle of the deflector according to the target deflection angle.

9. An electronic device, characterized in that, It includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the method as described in any one of claims 5 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method as described in any one of claims 5 to 7.

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