UAV Servo Feedback Control for Precise Position Holding
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Solution Overview
Problem
Current UAV servos cannot directly obtain information about their operating status, such as position and health, which limits their ability to accurately rotate to and stay at predetermined positions.
Innovation Solution
Incorporating a sensor-equipped servo system within the UAV that includes a driving apparatus, a control apparatus, and sensors to detect operating parameters like position and current, allowing precise control and monitoring of the servo's operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a one-way control method using PWM signal is used to control the servo, then the control structure is simple, but the operating status information of the servo cannot be obtained
Solution Approach 1:
The patent implements a feedback mechanism where the servo sends status information (position, current, voltage, temperature) back to the control device. The control device receives this feedback through a communication interface and can monitor the servo's operating status in real-time, enabling closed-loop control while maintaining relatively simple system architecture.
2Device complexity
If no sensor is equipped on the servo, then the device complexity is low, but the position control precision cannot be ensured
Solution Approach 1:
The patent incorporates sensors (such as encoders or potentiometers) on the servo to detect the actual position of the driving apparatus. This position information is fed back to the control apparatus, which compares it with the target position and adjusts the PWM signal accordingly to achieve precise position control, enabling the servo to accurately rotate to and maintain predetermined positions.
3Device complexity
If the servo can only switch between pre-set positions, then the control system is simple, but the adaptability to arbitrary predetermined positions is limited
Solution Approach 1:
The patent implements continuous feedback control where the control device receives real-time position information from the servo and dynamically adjusts the PWM signal duration to achieve any predetermined position within the servo's rotation range. This enables the servo to rotate to arbitrary positions rather than being limited to pre-set positions, significantly improving adaptability while maintaining a relatively simple control system.
Data Source
AI summary
An unmanned aerial vehicle (UAV) includes a central part, a frame assembly, and a propulsion assembly mounted to the frame assembly. The UAV also includes a servo mounted to the central part. The servo includes a driving apparatus, a control apparatus operably coupled with the driving apparatus, and a sensor configured to obtain operating parameters of the driving apparatus. The operating parameters include operating positions of the driving apparatus. The control apparatus is configured to control the driving apparatus to rotate to a predetermined position and stay at the predetermined position based on the operating positions of the driving apparatus obtained by the sensor.