CN-121978886-A - Aircraft control method, device, electronic equipment, multi-rotor aircraft and medium

CN121978886ACN 121978886 ACN121978886 ACN 121978886ACN-121978886-A

Abstract

The invention discloses an aircraft control method, an aircraft control device, electronic equipment, an aircraft and a storage medium. The method comprises the steps of obtaining a target position corresponding to a multi-rotor aircraft, wherein a rotor of the multi-rotor aircraft is provided with a mounting angle, determining a position error corresponding to the current moment based on the target position of the multi-rotor aircraft and an actual measurement position corresponding to the current moment fed back by the multi-rotor aircraft, determining a target acceleration corresponding to the current moment based on the position error corresponding to the current moment and an actual measurement speed corresponding to the current moment fed back by the multi-rotor aircraft, determining a target rotating speed corresponding to the current moment based on the target acceleration corresponding to the current moment, and controlling the multi-rotor aircraft to work based on the target rotating speed corresponding to the current moment. The method can improve the response speed and the control bandwidth of the aircraft in the horizontal direction.

Inventors

SU QINGPENG
XIE SHUCHUN
LONG TIANXIANG

Assignees

广东高域科技有限公司

Dates

Publication Date: 20260505
Application Date: 20251231

Claims (11)

1. A method of aircraft control, comprising: acquiring a target position corresponding to a multi-rotor aircraft, wherein a rotor of the multi-rotor aircraft is provided with a mounting angle; determining a position error corresponding to the current moment based on the target position of the multi-rotor aircraft and the actual measurement position corresponding to the current moment fed back by the multi-rotor aircraft; determining a target acceleration corresponding to the current moment based on the position error corresponding to the current moment and the actually measured speed corresponding to the current moment fed back by the multi-rotor aircraft; And determining a target rotating speed corresponding to the current moment based on the target acceleration corresponding to the current moment, and controlling the multi-rotor aircraft to work based on the target rotating speed corresponding to the current moment.
2. The aircraft control method according to claim 1, wherein the determining the target acceleration corresponding to the current time based on the position error corresponding to the current time and the measured speed corresponding to the current time fed back by the multi-rotor aircraft includes: Determining a tracking speed and a tracking acceleration corresponding to the current moment based on the position error corresponding to the current moment and a preset position error tracking model; Determining a speed error corresponding to the current moment based on the tracking speed corresponding to the current moment and the actual measurement speed corresponding to the current moment fed back by the multi-rotor aircraft; and correcting the tracking acceleration corresponding to the current moment based on the speed error corresponding to the current moment, and determining the target acceleration corresponding to the current moment.
3. The aircraft control method of claim 2, wherein the position error tracking model comprises a second order reference model based on position error; the determining the tracking speed and the tracking acceleration corresponding to the current moment based on the position error corresponding to the current moment comprises the following steps: inputting the position error corresponding to the current moment into a second-order reference model based on the position error to perform model solving, and determining the reference speed corresponding to the current moment; Amplitude limitation is carried out on the reference speed corresponding to the current moment, and the limiting speed corresponding to the current moment is determined; and carrying out rate limiting on the limiting speed corresponding to the current moment, and determining the tracking speed and the tracking acceleration corresponding to the current moment.
4. The aircraft control method according to claim 2, wherein the correcting the tracking acceleration corresponding to the current time based on the velocity error corresponding to the current time, determining the target acceleration corresponding to the current time, includes: Determining the feedback acceleration corresponding to the current moment based on the speed error corresponding to the current moment and the feedback acceleration corresponding to the last moment output by the speed loop feedback model; and correcting the tracking acceleration corresponding to the current moment based on the feedback acceleration corresponding to the current moment, and determining the target acceleration corresponding to the current moment.
5. The aircraft control method according to claim 4, wherein the determining the feedback acceleration corresponding to the current time based on the speed error corresponding to the current time and the feedback acceleration corresponding to the last time output by the speed loop feedback model includes: inputting the speed error corresponding to the current moment into a PID algorithm to perform closed-loop operation, and determining the original acceleration corresponding to the current moment; limiting the amplitude of the original acceleration corresponding to the current moment, and determining the limiting acceleration corresponding to the current moment; And carrying out rate limiting based on the limiting acceleration corresponding to the current moment and the feedback acceleration corresponding to the last moment, and determining the feedback acceleration corresponding to the current moment.
6. The aircraft control method according to claim 1, wherein the determining the target rotational speed corresponding to the current time based on the target acceleration corresponding to the current time includes: Determining the transverse acceleration and the longitudinal acceleration corresponding to the current moment based on the target acceleration corresponding to the current moment; Solving a space state equation based on thrust distribution based on the acceleration increment corresponding to the current moment, and determining a rotation speed increment corresponding to the current moment, wherein the acceleration increment is determined based on the transverse acceleration and the longitudinal acceleration; and determining the target rotating speed corresponding to the current moment based on the rotating speed increment corresponding to the current moment and the actually measured rotating speed corresponding to the last moment.
7. An aircraft control device, comprising: the target position acquisition module is used for acquiring a target position corresponding to the multi-rotor aircraft, and the rotor of the multi-rotor aircraft is provided with a mounting angle; The position error determining module is used for determining a position error corresponding to the current moment based on the target position of the multi-rotor aircraft and the actual measurement position corresponding to the current moment fed back by the multi-rotor aircraft; the target acceleration determining module is used for determining target acceleration corresponding to the current moment based on the position error corresponding to the current moment and the actually measured speed corresponding to the current moment fed back by the multi-rotor aircraft; And the rotating speed control module is used for determining a target rotating speed corresponding to the current moment based on the target acceleration corresponding to the current moment and controlling the multi-rotor aircraft to work based on the target rotating speed corresponding to the current moment.
8. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the aircraft control method according to any one of claims 1 to 6 when executing the computer program.
9. A multi-rotor aircraft, wherein the rotor of the multi-rotor aircraft is provided with a mounting angle, further comprising the electronic device of claim 8.
10. The multi-rotor aircraft of claim 9, wherein the multi-rotor aircraft comprises a fuselage and six rotor shafts disposed on the fuselage, each rotor shaft having an upper rotor blade and a lower rotor blade, the lower rotor blade having a mounting angle.
11. A computer-readable storage medium, which stores a computer program, characterized in that the computer program, when executed by a processor, implements the aircraft control method of any one of claims 1 to 6.

Description

Aircraft control method, device, electronic equipment, multi-rotor aircraft and medium Technical Field The present invention relates to the field of aircraft control technologies, and in particular, to an aircraft control method, an apparatus, an electronic device, an aircraft, and a storage medium. Background Multiple rotor aircraft use multiple distributed rotor drive system layouts with distributed rotors surrounding different locations on the fuselage to provide vertical lift to the aircraft and control moment about the center of gravity. The existing multi-rotor aircraft is mostly an underactuated system, and horizontal movement is realized by adopting a posture angle change control strategy, essentially, because the multi-rotor aircraft can only provide four degrees of freedom of vertical lift force, rolling moment, pitching moment and yawing moment, and the two degrees of freedom of longitudinal tension and transverse tension lack of an actuator which is directly driven, only horizontal acceleration can be controlled by horizontal component force generated by the vertical tension in the horizontal direction after the attitude angle is generated by the aircraft, and the horizontal speed and the horizontal position of the multi-rotor aircraft can be determined. The control method of the aircraft has a longer control chain, so that the control bandwidth of the aircraft at the holding position is low, and the horizontal speed and the horizontal position of the aircraft cannot be quickly corrected under gusts or other scenes needing larger control bandwidth. Disclosure of Invention The embodiment of the invention provides an aircraft control method, an aircraft control device, electronic equipment, an aircraft and a storage medium, which are used for solving the problems of low response speed and low control bandwidth in the horizontal control process of the existing multi-rotor aircraft. An aircraft control method, comprising: acquiring a target position corresponding to a multi-rotor aircraft, wherein a rotor of the multi-rotor aircraft is provided with a mounting angle; determining a position error corresponding to the current moment based on the target position of the multi-rotor aircraft and the actual measurement position corresponding to the current moment fed back by the multi-rotor aircraft; determining a target acceleration corresponding to the current moment based on the position error corresponding to the current moment and the actually measured speed corresponding to the current moment fed back by the multi-rotor aircraft; And determining a target rotating speed corresponding to the current moment based on the target acceleration corresponding to the current moment, and controlling the multi-rotor aircraft to work based on the target rotating speed corresponding to the current moment. Preferably, the determining the target acceleration corresponding to the current moment based on the position error corresponding to the current moment and the measured speed corresponding to the current moment fed back by the multi-rotor aircraft includes: Determining a tracking speed and a tracking acceleration corresponding to the current moment based on the position error corresponding to the current moment and a preset position error tracking model; Determining a speed error corresponding to the current moment based on the tracking speed corresponding to the current moment and the actual measurement speed corresponding to the current moment fed back by the multi-rotor aircraft; and correcting the tracking acceleration corresponding to the current moment based on the speed error corresponding to the current moment, and determining the target acceleration corresponding to the current moment. Preferably, the position error tracking model comprises a second order reference model based on position error; the determining the tracking speed and the tracking acceleration corresponding to the current moment based on the position error corresponding to the current moment comprises the following steps: inputting the position error corresponding to the current moment into a second-order reference model based on the position error to perform model solving, and determining the reference speed corresponding to the current moment; Amplitude limitation is carried out on the reference speed corresponding to the current moment, and the limiting speed corresponding to the current moment is determined; and carrying out rate limiting on the limiting speed corresponding to the current moment, and determining the tracking speed and the tracking acceleration corresponding to the current moment. Preferably, the correcting the tracking acceleration corresponding to the current time based on the speed error corresponding to the current time, and determining the target acceleration corresponding to the current time, includes: Determining the feedback acceleration corresponding to the current moment based on the speed error correspondin