阅读说明：本技术 一种螺旋桨稳定调速无人机及其控制方法 (Propeller stable speed regulation unmanned aerial vehicle and control method thereof ) 是由 施博闻 张何 韦啸成 迪马·普勒斯图帕 姜保罗·布题驰 克里斯·杰拉得 关秋峰 王正一 于 2020-06-08 设计创作，主要内容包括：本发明所采用的技术方案是,一种螺旋桨稳定调速无人机,包括无人机本体,中央飞控控制器,所述无人机本体上设置有n个螺旋桨动力单元,所述每个螺旋桨动力单元分别通过各自的解耦控制器与中央飞控控制器电连接,所述每个螺旋桨动力单元都包括q个负载螺旋桨和m个调速螺旋桨,其中,n、m和q为正整数；所述负载螺旋桨使用大尺寸螺旋桨,所述调速螺旋桨使用小尺寸螺旋桨。负载螺旋桨负责为无人机提供主要升力,但是由于尺寸大,响应速度较慢,调速螺旋桨为无人机提供辅助升力,由于尺寸较小,响应速度极快。负载螺旋桨通过其大尺寸螺旋桨的优势为系统提供充足的升力以及极高的效率,保证了系统的经济性。调速螺旋桨则通过其快速响应的特性来补偿负载螺旋桨在响应速度上的不足,为系统提供足够的响应性能。通过两套螺旋桨的配合输出,本系统能够提供最佳的经济性和响应性能。(The invention adopts the technical scheme that the propeller stable speed regulation unmanned aerial vehicle comprises an unmanned aerial vehicle body and a central flight control controller, wherein n propeller power units are arranged on the unmanned aerial vehicle body, each propeller power unit is electrically connected with the central flight control controller through a respective decoupling controller, each propeller power unit comprises q load propellers and m speed regulation propellers, and n, m and q are positive integers; the load propeller uses a large-size propeller, and the speed regulation propeller uses a small-size propeller. The load screw is responsible for providing main lift for unmanned aerial vehicle, but because the size is big, response speed is slower, and the speed governing screw provides supplementary lift for unmanned aerial vehicle, because the size is less, and response speed is very fast. The advantages of the load propeller through the large-size propeller provide sufficient lift force and extremely high efficiency for the system, and the economical efficiency of the system is guaranteed. The speed-regulating propeller compensates the deficiency of the load propeller in response speed through the characteristic of quick response of the speed-regulating propeller, and provides enough response performance for the system. The system can provide the best economy and response performance through the matched output of the two propellers.)

1. The utility model provides a speed governing unmanned aerial vehicle is stabilized to screw, includes the unmanned aerial vehicle body, central authorities fly the accuse controller, its characterized in that: be provided with n power pack on the unmanned aerial vehicle body, every power pack flies the accuse controller electricity through respective decoupling controller and central authorities respectively and is connected, every power pack all includes q load screw and m speed governing screw, and wherein, n, m and q are positive integer.

2. The propeller-stabilized speed-regulation unmanned aerial vehicle of claim 1, characterized in that: the power unit comprises a load propeller and a speed regulation propeller, and the size of the load propeller is larger than that of the speed regulation propeller.

3. The propeller-stabilized speed-regulation unmanned aerial vehicle of claim 2, characterized in that: the propeller of the load propeller faces upwards, and the speed regulation propeller is inverted downwards and is positioned right below the load propeller and fixedly connected with the load propeller.

4. The propeller-stabilized speed-regulation unmanned aerial vehicle of claim 1, characterized in that: in the same power unit, the speed regulation propeller and the load propeller are electrically connected with the decoupling controller through respective rotating motors, namely the speed regulation motor and the load motor.

5. A method for controlling the stable speed regulation of an unmanned aerial vehicle propeller comprises the following steps:

s1, the flight control system in the central flight control controller respectively sends out flight control instructions to the decoupling controller corresponding to each power unit;

s2, after receiving the signal instruction of the flight control system, the decoupling controller decouples the signal and respectively outputs a speed regulation propeller control instruction and a load propeller control instruction;

s3, the speed regulating motor receives a control instruction of the speed regulating propeller, and then the speed regulating propeller is regulated by the speed regulating motor; and the load motor receives the control instruction of the load propeller and then adjusts the load propeller through the load motor.

6. The method for controlling the stable speed regulation of the propeller of the unmanned aerial vehicle according to claim 5, wherein the method comprises the following steps: the S1 includes:

and the flight control instruction sent by the flight control system to the decoupling controller of the power unit is a rotating speed instruction of the load propeller in the previous period and a rotating speed instruction of the load propeller in the current period.

7. The method for controlling the stable speed regulation of the propeller of the unmanned aerial vehicle according to claim 6, wherein the method comprises the following steps: the S2 includes:

s21, after receiving two rotating speed instructions of the flight control system, the decoupling controller calculates the pulling force variation according to the rotating speeds of two different load propellers;

s22, judging an input requirement according to the tension variation, judging that the current posture is maintained when the tension variation is less than or equal to K, and turning to S23; when the tension variation is larger than K, judging that the current power is changed, and switching to S24;

s23, executing an attitude maintaining scheme, wherein the decoupling controller sends a constant instruction for keeping the current rotating speed to the load motor and sends a dynamic speed regulating instruction to the speed regulating motor;

and S24, executing a power change scheme, and dynamically distributing the actual tension of the load propeller and the speed regulating propeller according to the tension change quantity of S21.

8. The method for controlling the stable speed regulation of the propeller of the unmanned aerial vehicle according to claim 7, wherein the method comprises the following steps: the S24 includes:

s241, detecting the load propeller, detecting whether the tension output value reaches the tension variable quantity calculated by the decoupling controller, and if so, executing S242; if not, go to S243;

s242, detecting whether the tension distribution reaches a maximum efficiency configuration point, and if so, maintaining the current posture; if not, calling a differential speed allocation control scheme, and then detecting whether the tension distribution reaches the highest efficiency allocation point again;

and S243, invoking a fastest response control scheme.

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle with a propeller capable of stably regulating speed and a control method thereof.

Background

Current rotor unmanned aerial vehicle adopts the screw speed governing to realize thrust control, and then realizes the regulation to the organism gesture. Since the propeller is affected by aerodynamic drag and self-rotational inertia while rotating, the propeller governor system cannot respond quickly to the speed/thrust control signal, which is particularly evident in high-thrust propeller governor systems using large-sized propellers.

For the unmanned aerial vehicle, the propeller speed control system with low response performance can reduce the stability of the posture of the unmanned aerial vehicle, and further influences the safe operation of the unmanned aerial vehicle. In order to solve the problem of low response of the propeller, the flight control system needs to introduce a more complex control method to realize the control of the propeller, which greatly increases the development difficulty of the flight control system. On the other hand, the response performance of the propeller speed regulating system can be partially improved by increasing the number of rotors or adopting a tandem type layout, but the system efficiency is greatly reduced. Along with the increase of load demand, the demand of the unmanned aerial vehicle system to the lift that single rotor can provide also rises thereupon, in order to solve this problem, generally include two kinds of schemes of promotion screw size and increase rotor quantity.

The method for improving the size of the propeller (the idea of a large propeller) is the most economical and effective method, the increase of the lift force can be directly brought by increasing the size of the propeller, meanwhile, the effect of the large-size propeller is better, and the economy of the whole system is stronger.

In addition, the overall lift of the system can be increased by increasing the number of the rotors (the idea of small propellers), and the size of the propellers is ensured to be unchanged while the equivalent lift is obtained, so that the response performance of the speed regulating system is kept unchanged.

In the aspect of improving the performance of the propeller speed regulating system, two methods of optimizing a propeller and optimizing a motor controller are adopted.

First, the propeller is optimized to have lower aerodynamic drag and better moment of inertia when operating by using lighter materials and better aerodynamic profile.

Second, the motor controller is optimized

In the existing unmanned aerial vehicle power system (only taking an electric propeller speed regulating system as an example), two motor control modes exist,

(1) the direct current Brushless control (BLDC-Brush-less DC) has the advantages of fast speed response, strong output capacity, large noise, low efficiency, poor adaptation to the external sudden change (open-loop control), and the output capacity reduced in the same proportion with the reduction of the battery voltage

(2) The magnetic Field directional Control/(FoC-Field ordered Control) has the advantages of low noise, high efficiency, strong single body anti-interference capability (closed rotation speed Control), almost no change of performance along with the reduction of battery voltage, and relatively weak dynamic speed change capability.

The two control methods can improve the performance of the propeller speed regulating system to a certain extent after optimization. Aiming at the dynamic response performance of the unmanned aerial vehicle, more optimization sets comprise the response speed of a motor controller (also called electric regulation) for the dead, the weight reduction of a propeller and the setting of flight control PID parameters.

Although the unmanned aerial vehicle adopting the idea of the large propeller has high power efficiency and economy on a single rotor wing, the whole aerodynamic resistance and the rotary inertia can be increased along with the increase of the size of the propeller, and the speed regulation response performance is reduced. Although the influence of a large-size propeller can be compensated by optimizing the motor driving algorithm, the parameter optimization adjustment at the motor controller end has very limited improvement of the response speed due to the limitation of physical properties. Secondly, the weight reduction of the propeller is also limited by the size and the material of the propeller, and the effect is not obvious; the aerodynamic profile optimization requires a lot of calculations and experiments, and is costly.

Although the unmanned aerial vehicle adopting the idea of small propellers changes higher response performance by increasing the number of the propellers, keeping the size of the propellers unchanged or reducing the size of the propellers, the power efficiency of the small propellers is far lower than that of the large propellers, and the increased propellers can bring more dead weight and cause the cruising and economic decline of the unmanned aerial vehicle system.

The two driving methods mentioned above are both directed at a single propeller speed regulating system, and the essence of the driving method is that the driving motor in the propeller speed regulating system is controlled, and only the driving motor is used as an actuating mechanism to output the rotating speed required by flight control, and the driving method does not participate in the control of thrust and attitude. On the unmanned aerial vehicle, the control logic of flight control is to control and calculate the relative speed of each propeller, and output a rotating speed demand signal to each controller so as to achieve the purpose of steady-state flight. Therefore, the whole set of power units is calibrated by taking the relative rotating speed as a core. However, in principle of drone flight, besides rotation (YAW), the drone has three other motion postures: the forward, up-down and rolling are realized by distributing different vertical pulling forces (lifting forces) on each propeller. Therefore, in order to realize the correspondence from the tension to the rotating speed, the flight control system needs to perform additional calculation, and the complexity and the development cost of the algorithm are greatly increased.

Disclosure of Invention

The invention aims to solve the technical problem of providing a propeller stable speed regulation unmanned aerial vehicle with good response performance and maximized system efficiency and a control method thereof.

The technical scheme adopted by the invention is that the propeller-stabilized speed-regulating unmanned aerial vehicle comprises an unmanned aerial vehicle body and a central flight control controller, wherein n power units are arranged on the unmanned aerial vehicle body, each power unit is electrically connected with the central flight control controller through a respective decoupling controller, each power unit comprises q load propellers and m speed-regulating propellers, and n, m and q are positive integers.

The invention has the beneficial effects that: the load propeller is responsible for providing main lift for the unmanned aerial vehicle, but because the size is big, response speed is slower, through increasing the governing screw that has the characteristic of quick response, compensates the load propeller not enough in response speed, provides sufficient response performance oar for the system. And meanwhile, the load propeller provides sufficient lift force and extremely high efficiency for the system through the advantages of a large-size propeller, and the economical efficiency of the system is ensured. The system can provide the best economy and response performance through the matched output of the two propellers.

Preferably, the propeller power unit comprises a load propeller and a speed regulation propeller, the size of the load propeller is larger than that of the speed regulation propeller, the number of the load propeller is set to better meet the use requirement, the cost is low, the efficiency is high, and the size of the speed regulation propeller is smaller than that of the load propeller, so that the response capability of the speed regulation propeller is better than that of the load propeller.

Preferably, the propellers of the load propellers face upwards, the speed regulation propellers face downwards in an inverted mode and are located under the load propellers and fixedly connected with the load propellers, so that the speed regulation propellers can better serve the load propellers in the same power unit, and auxiliary work is completed.

Preferably, in the same power unit, the speed regulation propeller and the load propeller are electrically connected with the decoupling controller through respective rotating motors, namely the speed regulation motor and the load motor, so that the rotating speed control of the two propellers is independent, and the operating speeds of the two propellers are independently changed according to the working conditions.

The invention also discloses a control method for the stable speed regulation of the propeller of the unmanned aerial vehicle, which comprises the following steps:

s1, the flight control system in the central flight control controller respectively sends out flight control instructions to the decoupling controller corresponding to each power unit;

s2, after receiving the signal instruction of the flight control system, the decoupling controller decouples the signal and respectively outputs a speed regulation propeller control instruction and a load propeller control instruction;

s3, the speed regulating motor receives a control instruction of the speed regulating propeller, and then the speed regulating propeller is regulated by the speed regulating motor; and the load motor receives the control instruction of the load propeller and then adjusts the load propeller through the load motor.

Preferably, the S1 includes:

and the flight control instruction sent by the flight control system to the decoupling controller of the power unit is a rotating speed instruction of the load propeller in the previous period and a rotating speed instruction of the load propeller in the current period.

Preferably, the S2 includes:

s21, after receiving two rotating speed instructions of the flight control system, the decoupling controller calculates the pulling force variation according to the rotating speeds of two different load propellers;

s22, judging an input requirement according to the tension variation, judging that the current posture is maintained when the tension variation is less than or equal to K, and turning to S23; when the tension variation is larger than K, judging that the current power is changed, and switching to S24;

s23, executing an attitude maintaining scheme, wherein the decoupling controller sends a constant instruction for keeping the current rotating speed to the load motor and sends a dynamic speed regulating instruction to the speed regulating motor;

and S24, executing a lifting power scheme, and dynamically distributing the actual tension of the load propeller and the speed regulating propeller according to the tension variation of the S21.

Preferably, the S24 includes:

s241, detecting the load propeller, detecting whether the tension output value reaches the tension variable quantity calculated by the decoupling controller, and if so, executing S242; if not, go to S243;

s242, detecting whether the tension distribution reaches a maximum efficiency configuration point, and if so, maintaining the current posture; if not, calling a differential speed allocation control scheme, and then detecting whether the distribution of the pulling-lifting force reaches the maximum efficiency configuration point again.

And S243, invoking a fastest response control scheme.

By the method, the load propeller and the speed regulation propeller can be well matched to realize a high response speed, and a control strategy under different application scenes is matched to realize a reward mechanism of reinforcement learning.

Drawings

FIG. 1 is a schematic view of a power unit according to the present invention;

FIG. 2 is a schematic diagram of control command routing according to the present invention;

FIG. 3 is a schematic flow chart of the method of the present invention.

Detailed Description

The invention is further described below with reference to the accompanying drawings in combination with specific embodiments so that those skilled in the art can practice the invention with reference to the description, and the scope of the invention is not limited to the specific embodiments.

The technical scheme adopted by the invention is that the propeller-stabilized speed-regulating unmanned aerial vehicle comprises an unmanned aerial vehicle body and a central flight control controller, wherein n power units are arranged on the unmanned aerial vehicle body, each power unit is electrically connected with the central flight control controller through a respective decoupling controller, each power unit comprises q load propellers and m speed-regulating propellers, and n, m and q are positive integers. The load propeller is responsible for providing main lift for the unmanned aerial vehicle, but because the size is big, response speed is slower, through increasing the governing screw that has the characteristic of quick response, compensates the load propeller not enough in response speed, provides sufficient response performance oar for the system. And meanwhile, the load propeller provides sufficient lift force and extremely high efficiency for the system through the advantages of a large-size propeller, and the economical efficiency of the system is ensured. The system can provide the best economy and response performance through the matched output of the two propellers.

The propeller power unit comprises a load propeller and a speed regulation propeller, the size of the load propeller is larger than that of the speed regulation propeller, the number of the load propeller is set to well meet the use requirement, the cost is low, the efficiency is high, and the size of the speed regulation propeller is smaller than that of the load propeller so that the response capability of the speed regulation propeller is better than that of the load propeller. The propeller of the load propeller faces upwards, the speed regulation propeller is inverted downwards and is located under the load propeller and fixedly connected with the load propeller, so that the speed regulation propeller can better serve the load propeller in the same power unit, and the auxiliary work is completed. In the same power unit, the speed regulation propeller and the load propeller are electrically connected with the decoupling controller through respective rotating motors, namely the speed regulation motor and the load motor, so that the rotating speed control of the two propellers is independent, and the operating speeds of the two propellers are independently changed according to the working conditions.

The invention also discloses a control method for the stable speed regulation of the propeller of the unmanned aerial vehicle, which comprises the following steps:

s1, the flight control system in the central flight control controller respectively sends out flight control instructions to the decoupling controller corresponding to each power unit;

s2, after receiving the signal instruction of the flight control system, the decoupling controller decouples the signal and respectively outputs a speed regulation propeller control instruction and a load propeller control instruction;

s3, the speed regulating motor receives a control instruction of the speed regulating propeller, and then the speed regulating propeller is regulated by the speed regulating motor; and the load motor receives the control instruction of the load propeller and then adjusts the load propeller through the load motor.

The S1 includes: and the flight control instruction sent by the flight control system to the decoupling controller of the power unit is a rotating speed instruction of the load propeller in the previous period and a rotating speed instruction of the load propeller in the current period.

The S2 includes:

s21, after receiving two rotating speed instructions of the flight control system, the decoupling controller calculates the pulling force variation according to the rotating speeds of two different load propellers;

s22, judging an input requirement according to the tension variation, judging that the current posture is maintained when the tension variation is less than or equal to K, and turning to S23; when the tension variation is larger than K, judging that the current power is changed, and switching to S24;

s23, executing an attitude maintaining scheme, wherein the decoupling controller sends a constant instruction for keeping the current rotating speed to the load motor and sends a dynamic speed regulating instruction to the speed regulating motor;

and S24, executing a lifting power scheme, and dynamically distributing the actual tension of the load propeller and the speed regulating propeller according to the tension variation of the S21.

The S24 includes:

s241, detecting the load propeller, detecting whether the tension output value reaches the tension variable quantity calculated by the decoupling controller, and if so, executing S242; if not, go to S243;

s242, detecting whether the tension distribution reaches a maximum efficiency configuration point, and if so, maintaining the current posture; if not, calling a differential speed allocation control scheme, and then detecting whether the distribution of the pulling-lifting force reaches the maximum efficiency configuration point again.

And S243, invoking a fastest response control scheme.

By the method, the load propeller and the speed regulation propeller can be well matched to realize a high response speed, and a control strategy under different application scenes is matched to realize a reward mechanism of reinforcement learning.