Multi-Rotor UAV Thrust Vector Speed Control During Continuous Rolling
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Solution Overview
Problem
Existing speed control methods for multi-rotor unmanned aerial vehicles, which rely on Euler angles for attitude control, result in non-continuous angular speed commands, particularly during continuous rolling, leading to poor speed control effectiveness.
Innovation Solution
A method that adjusts the flight speed of multi-rotor UAVs by directly obtaining acceleration commands and specific force acceleration commands, allowing for thrust adjustments without relying on Euler angles, thereby ensuring continuous speed control at any attitude.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If Euler angle is used to represent attitude and angular speed is changed to control thrust direction, then the multi-rotor UAV can control its flight speed, but the angular speed becomes non-continuous during rotation, especially during continuous rolling, resulting in poor speed control effect
Solution Approach 1:
The patent extracts and eliminates the Euler angle representation from the control system. Instead of using Euler angles (roll, pitch, yaw) to represent attitude, the system directly uses a thrust vector control approach where the attitude is represented by a unit vector. This extraction of the problematic Euler angle component resolves the non-continuity issue while maintaining speed control capability.
Solution Approach 2:
The patent changes the parameter representation from Euler angles (angular coordinates) to a unit vector (directional coordinates). This parameter transformation allows for continuous control of thrust direction without the discontinuities inherent in Euler angle representations, especially during continuous rolling maneuvers. The control input becomes a continuous unit vector rather than discrete angular speed commands.
2Speed
If Euler angle angular speed control is used to adjust thrust direction, then speed control can be achieved, but the control method cannot ensure continuous speed control during continuous rolling operations
Solution Approach 1:
The patent creates a universal control method that works for all flight maneuvers including continuous rolling. By using thrust vector control with unit vector representation, the system achieves multi-functionality where the same control framework handles both standard flight operations and continuous rolling scenarios without requiring different control strategies, thereby improving adaptability.
Solution Approach 2:
The patent replaces the mechanical Euler angle rotation system with a direct thrust vector control system. Instead of controlling speed through sequential Euler angle rotations (which have mechanical discontinuities), the system directly controls the thrust vector direction using a unit vector, substituting the angular mechanical control paradigm with a direct vector control paradigm that is continuous and applicable to all maneuvers.
Data Source
AI summary
Embodiments of the present application relate to the technical field of unmanned aerial vehicles, and particularly relate to a speed control method, device, multi-rotor unmanned aerial vehicles and a storage medium. The speed control method is applied to a multi-rotor unmanned aerial vehicle, the method including: acquiring a speed adjustment command and obtaining an acceleration adjustment command according to the speed adjustment command; obtaining a specific force acceleration adjustment command according to the acceleration adjustment command; and adjusting a current thrust of the multi-rotor unmanned aerial vehicle to a target thrust according to the specific force acceleration adjustment command, so as to realize the adjustment of a flight speed of the multi-rotor unmanned aerial vehicle. The above-mentioned method can ensure the speed control over multi-rotor unmanned aerial vehicle at any attitude such as continuous rolling and has a wider application range.