CN-121979261-A - Flight attitude instability control device and control method for fire-fighting unmanned aerial vehicle

CN121979261ACN 121979261 ACN121979261 ACN 121979261ACN-121979261-A

Abstract

The invention relates to the technical field of unmanned aerial vehicle control, and discloses a fire-fighting unmanned aerial vehicle flight attitude instability control device and a control method thereof. The device at least comprises a control module and an execution module, wherein the control module is configured to utilize an extended state observer to estimate an equivalent interference moment vector generated by throwing fire extinguishing bomb in real time according to a posture state quantity, a load state parameter and a current motor control instruction, and to fuse the equivalent interference moment vector with a feedback control quantity obtained by slip-form control based on a current posture error through a self-adaptive slip-form controller to generate a total compensation moment instruction required by the fire-fighting unmanned aerial vehicle to restore stability and decompose the total compensation moment instruction into a target displacement instruction and a differential speed adjustment instruction, and the execution module is configured to utilize a movable counterweight mechanism to execute the target displacement instruction to drive a counterweight to move and to execute the differential speed adjustment instruction through a power micro-adjustment mechanism to adjust the motor rotating speed. The invention effectively solves the problem of instability of the posture of the firefighting unmanned aerial vehicle after the firefighting unmanned aerial vehicle is thrown.

Inventors

DING JIAN
QIAN SHAOFENG
YANG XIANJIN
SHI YUCHAO
GAO YUFENG
WU WEIHUA
BIAN XUEJING
CHEN YIFANG
HUANG BINBIN

Assignees

国网浙江省电力有限公司杭州供电公司

Dates

Publication Date: 20260505
Application Date: 20260129

Claims (10)

1. The device is characterized by being arranged in the middle of a fire-fighting unmanned aerial vehicle body carrying fire extinguishing bombs, and comprises a sensing module, a control module and an execution module, wherein the control module comprises an extended state observer and a self-adaptive sliding mode controller, and the execution module comprises a movable counterweight mechanism and a power fine-tuning mechanism; the sensing module is configured to respond to a fire extinguishing bomb throwing instruction and collect attitude state quantity and load state parameters of the fire-fighting unmanned aerial vehicle; The control module is in communication connection with the sensing module, and is configured to estimate an equivalent interference moment vector generated by throwing fire extinguishing bombs in real time by utilizing the extended state observer according to the attitude state quantity, the load state parameter and the current motor control instruction, fuse the equivalent interference moment vector with a feedback control quantity obtained by sliding mode control based on the current attitude error through the self-adaptive sliding mode controller, generate a total compensation moment instruction required by the recovery stability of the fire-fighting unmanned aerial vehicle, and decompose the total compensation moment instruction into a target displacement instruction and a differential speed adjustment instruction; The execution module is in communication connection with the control module and is configured to execute the target displacement instruction by utilizing the movable counterweight mechanism to drive the counterweight to move, and execute the differential speed adjustment instruction by utilizing the power fine adjustment mechanism to adjust the rotating speed of the motor.
2. The unmanned fire plane flight attitude instability control device of claim 1, wherein the sensing module comprises an inertial measurement unit and a load sensor; the inertial measurement unit is configured to acquire a pitch angle, a corresponding angular velocity, a roll angle, a corresponding angular velocity, a yaw angle and a corresponding angular velocity of the fire-fighting unmanned aerial vehicle; The load sensor is installed at a fire extinguishing bomb mounting mechanism of the fire fighting unmanned aerial vehicle, and the load sensor is configured to detect a fire extinguishing bomb mounting state and real-time load quality.
3. The unmanned fire-fighting aircraft flight attitude instability control device of claim 1, wherein the extended state observer is configured to reconstruct the extended state of the received attitude state quantity, the load state parameter and the current motor control command, and estimate in real time an equivalent disturbance moment vector generated by throwing fire extinguishing bombs.
4. The unmanned fire plane flight attitude instability control device of claim 1, wherein the adaptive slip-mode controller is configured to: introducing the equivalent disturbance moment vector as a feedforward control quantity; calculating a feedback control quantity through a sliding mode control law based on the current attitude error of the fire-fighting unmanned aerial vehicle fed back by the sensing module; Fusing the feedforward control quantity and the feedback control quantity to generate a total compensation moment instruction required by the stability recovery of the fire-fighting unmanned aerial vehicle; And decomposing the total compensation moment command into a target displacement command and a differential speed regulating command according to different moment components.
5. The unmanned fire plane flying attitude unsteady control device of claim 4, wherein the decomposing the total compensation torque command into a target displacement command and a differential speed adjustment command according to different torque components comprises: Resolving moment components for counteracting steady-state centroid offset in the total compensation moment instruction into a target displacement instruction; and resolving moment components used for inhibiting transient high-frequency disturbance in the total compensation moment command into a differential speed regulating command.
6. The unmanned fire-fighting aircraft flight attitude instability control device of claim 1, wherein the movable counterweight mechanism comprises a counterweight, an X-axis drive motor, a Y-axis drive motor, and a displacement sensor; the process of the movable weight mechanism executing the target displacement instruction comprises the following steps: And driving the balancing weight to move in a two-dimensional plane where the X-axis guide rail and the Y-axis guide rail are mutually orthogonal according to the target displacement instruction by using the X-axis driving motor and the Y-axis driving motor, and detecting the position of the balancing weight in real time through the displacement sensor.
7. The unmanned fire fighting vehicle flight attitude instability control device of claim 1, wherein the power fine adjustment mechanism is configured to differentially adjust each rotor motor of the unmanned fire fighting vehicle based on the differential adjustment command.
8. The unmanned fire plane flight attitude instability control device of claim 1, further comprising a power module in the form of a lithium battery pack and DC-DC voltage regulation module combination, and configured to provide DC power to the sensing module, the control module, and the execution module.
9. A method for controlling instability of flight attitude of unmanned fire-fighting vehicle, which is applied to the device for controlling instability of flight attitude of unmanned fire-fighting vehicle according to any one of claims 1 to 8, the method comprising: Responding to a fire extinguishing bomb throwing instruction, and collecting attitude state quantity and load state parameters of the fire-fighting unmanned aerial vehicle; According to the attitude state quantity, the load state parameter and the current motor control instruction, estimating an equivalent disturbance moment vector generated by throwing fire extinguishing bomb in real time; Fusing the equivalent disturbance moment vector with a feedback control quantity obtained by sliding mode control based on the current attitude error, and generating a total compensation moment instruction required by the recovery and stabilization of the fire-fighting unmanned aerial vehicle; Decomposing the total compensation moment command into a target displacement command and a differential speed regulating command; and executing the target displacement instruction to drive the balancing weight to move, and executing the differential speed adjusting instruction to adjust the rotating speed of the motor.
10. The method for controlling the instability of the flight attitude of the fire-fighting unmanned aerial vehicle according to claim 9, wherein the estimating in real time the equivalent disturbance moment vector generated by throwing fire extinguishing bomb according to the attitude state quantity, the load state parameter and the current motor control command comprises: and reconstructing the state of expansion of the attitude state quantity, the load state parameter and the current motor control instruction, and estimating an equivalent disturbance moment vector generated by throwing fire extinguishing bomb in real time.

Description

Flight attitude instability control device and control method for fire-fighting unmanned aerial vehicle Technical Field The invention relates to the technical field of unmanned aerial vehicle control, in particular to a flight attitude instability control device and a control method of a fire-fighting unmanned aerial vehicle. Background In the fire control emergency rescue scene, the fire control unmanned aerial vehicle who carries on fire extinguishing bomb can break through topography and space restriction fast, and accurate delivery fire extinguishing bomb implements the target and puts out a fire, has effectively filled the ground fire control equipment in the high altitude, the short slab of long-range condition of a fire in handling, has promoted emergency rescue efficiency by a wide margin. However, fire extinguishing bombs are an important load, the mass of which is typically 10% -30% of the total mass of the unmanned aerial vehicle, and this proportion of partially small fire fighting unmanned aerial vehicles is even higher. When the fire extinguishing bomb is put in, the total mass of the unmanned aerial vehicle can be suddenly changed in a very short time to directly trigger the mass center to suddenly shift, and meanwhile, the instantaneous impact disturbance can be generated by the separation of the fire extinguishing bomb from the mounting mechanism in the instant of putting in, so that the gesture of the unmanned aerial vehicle is extremely easy to be severely fluctuated under the double effects. At present, the main unmanned aerial vehicle attitude control algorithm (such as traditional PID control, LQR control and the like) mostly takes a fixed mass center and a stable load as design preconditions, and has insufficient anti-interference robustness on sudden load change and mass center deviation. Under such extreme working conditions that fire extinguishing bomb is put in, the existing algorithm is difficult to quickly respond and compensate interference, the problems that the pitch angle and the roll angle are excessively adjusted often occur, unmanned aerial vehicle posture instability and crash accidents can be caused when serious, the fire extinguishing operation process can be interrupted, equipment damage can be caused, and even secondary safety risks are caused. In order to solve the control problem caused by the abrupt change of the load, the prior art provides partial improvement schemes, namely, an adaptive control algorithm is adopted, but most of the algorithms depend on an accurate system mathematical model, so that the method is difficult to effectively cope with unmodeled dynamics such as aerodynamic disturbance, mechanical structure elastic deformation and the like existing in the throwing process, and the other method is that the redundancy of control is improved by adding a redundancy executing mechanism, but the dead weight and the energy consumption of the unmanned aerial vehicle are obviously increased by adding an additional mechanism, the endurance capacity and the operation radius of the unmanned aerial vehicle are directly weakened, and the practical requirements of the fire-fighting unmanned aerial vehicle are conflicting. Disclosure of Invention In order to solve the problem of stable attitude of the unmanned fire-fighting vehicle after putting fire extinguishing bomb, the invention provides the unmanned fire-fighting vehicle flight attitude instability control device and the control method thereof, which can quickly and directly compensate centroid change and also give consideration to the flight attitude instability control of the system with light weight. In a first aspect, an embodiment of the present invention provides a flight attitude instability control device of a fire-fighting unmanned aerial vehicle, which is built in a middle part of a fire-fighting unmanned aerial vehicle body carrying fire extinguishing bomb, the device includes a sensing module, a control module and an execution module, wherein the control module includes an extended state observer and an adaptive sliding mode controller, and the execution module includes a movable counterweight mechanism and a power fine adjustment mechanism; the sensing module is configured to respond to a fire extinguishing bomb throwing instruction and collect attitude state quantity and load state parameters of the fire-fighting unmanned aerial vehicle; The control module is in communication connection with the sensing module, and is configured to estimate an equivalent interference moment vector generated by throwing fire extinguishing bombs in real time by utilizing the extended state observer according to the attitude state quantity, the load state parameter and the current motor control instruction, fuse the equivalent interference moment vector with a feedback control quantity obtained by sliding mode control based on the current attitude error through the self-adaptive sliding mode controller, generate a t