CN-121997450-A - Four-rotor unmanned aerial vehicle modeling method and device, four-rotor unmanned aerial vehicle and storage medium

CN121997450ACN 121997450 ACN121997450 ACN 121997450ACN-121997450-A

Abstract

The invention relates to the technical field of unmanned aerial vehicles and discloses a four-rotor unmanned aerial vehicle modeling method, a four-rotor unmanned aerial vehicle modeling device, a four-rotor unmanned aerial vehicle and a storage medium, wherein the method comprises the steps of establishing a machine body, a stator, a rotor and a world coordinate system; the method comprises the steps of obtaining a four-rotor unmanned aerial vehicle model, obtaining a first propeller, obtaining a dynamic equation from a machine body to a first propeller through translation and rotation transformation between coordinate systems, carrying out stress analysis and moment analysis on other propellers based on the dynamic equation, obtaining forces and moments of all propellers in the machine body coordinate system, constructing an overall dynamic equation based on the forces and moments, determining the four-rotor unmanned aerial vehicle model, carrying out accurate modeling by comprehensively considering factors such as wind speed, airflow and load change received by an actual four-rotor unmanned aerial vehicle during flight, and enabling the actual four-rotor unmanned aerial vehicle model to be closer to an actual flight state.

Inventors

WANG YUWEI
SU HANG
ZHUO DAWEI
LIU TIANHE
WANG YUN
REN DINGYI
ZHANG JIANGLEI

Assignees

中国华电科工集团有限公司
北京华科恒基数智科技有限公司

Dates

Publication Date: 20260508
Application Date: 20251223

Claims (10)

1. A method of modeling a quad-rotor unmanned helicopter, the quad-rotor unmanned helicopter comprising a body on which are mounted a first propeller, a second propeller, a third propeller, and a fourth propeller, the method comprising: establishing a machine body coordinate system, a stator coordinate system, a rotor coordinate system and a world coordinate system; obtaining a kinetic equation from the engine body to the first propeller based on translational transformation and rotational transformation among the engine body coordinate system, the stator coordinate system, the rotor coordinate system and the world coordinate system; Based on a kinetic equation from the engine body to the first propeller, carrying out stress analysis and moment analysis on the second propeller, the third propeller and the fourth propeller to obtain expressions of forces and represented moments of the forces applied to the engine body by all propellers on a coordinate system of the engine body; and constructing an overall dynamics equation based on the expression of the forces applied to the motor rotor by all the propellers on the machine body coordinate system and the represented moment, and determining a four-rotor unmanned aerial vehicle model based on the overall dynamics equation.
2. The method of claim 1, wherein the deriving a kinetic equation of the body to the first propeller based on a translational transformation and a rotational transformation between the body coordinate system, the stator coordinate system, the rotor coordinate system, and the world coordinate system comprises: determining a motion parameter conversion equation of a motion parameter of a first propeller between the machine body coordinate system and the stator coordinate system and between the stator coordinate system and the rotor coordinate system based on a translation matrix between the machine body coordinate system and the stator coordinate system, a translation matrix between the stator coordinate system and the rotor coordinate system and a rotation matrix; carrying out stress analysis and moment analysis on the first propeller based on each motion parameter conversion equation to obtain momentum expressions corresponding to rotation conversion of the first propeller between the machine body coordinate system and the stator coordinate system and between the stator coordinate system and the rotor coordinate system; The kinetic equation of the body to the first propeller is determined based on each of the kinetic parameter conversion equations and each of the momentum expressions.
3. The method of claim 2, wherein the determining a motion parameter conversion equation for the motion parameters of the first propeller between the machine body coordinate system and the stator coordinate system and between the stator coordinate system and the rotor coordinate system based on the translation matrix between the machine body coordinate system and the stator coordinate system, the translation matrix between the stator coordinate system and the rotor coordinate system, and the rotation matrix comprises: determining a first motion parameter conversion equation of the first propeller from the machine body coordinate system to the stator coordinate system based on a translation matrix between the machine body coordinate system and the stator coordinate system; A second motion parameter conversion equation of the first propeller from a stator coordinate system to a rotor coordinate system is determined based on a translation matrix and a rotation matrix between the stator coordinate system and the rotor coordinate system.
4. A method according to claim 3, wherein the stress analysis and the moment analysis are performed on the first propeller based on each motion parameter conversion equation, so as to obtain momentum expressions corresponding to rotation transformation of the first propeller between the machine body coordinate system and the stator coordinate system and between the stator coordinate system and the rotor coordinate system; Analyzing the force and moment applied by the unmanned aerial vehicle connecting rod arm to the motor rotor on the machine body coordinate system between the rotor coordinate system and the stator coordinate system by the first propeller based on the first motion parameter conversion equation and the second motion parameter conversion equation, and determining a first momentum expression; And analyzing the force and moment applied to the world coordinate system by the unmanned aerial vehicle body connecting rod arm on the motor rotor between the stator coordinate system and the body coordinate system by the first propeller based on the first motion parameter conversion equation and the second motion parameter conversion equation, and determining a second momentum expression.
5. The method of claim 4, wherein said determining said kinetic equation of said body to said first propeller based on each said kinetic parameter conversion equation and each said momentum expression comprises: And calculating the rotation momentum of the first propeller based on the first motion parameter conversion equation, the second motion parameter conversion equation, the first momentum expression and the second momentum expression, and determining a kinetic equation of the body to the first propeller.
6. The method according to claim 1, wherein said subjecting the second, third and fourth propellers to a force analysis and a moment analysis based on the equation of dynamics of the body to the first propeller results in an expression and a characterized moment of the corresponding forces applied by all propellers to the motor rotor on the body coordinate system, comprising: Determining a motion parameter conversion equation of the motion parameters of the second propeller, the third propeller and the fourth propeller between the machine body coordinate system and the stator coordinate system and between the stator coordinate system and the rotor coordinate system based on a translation matrix between the machine body coordinate system and the stator coordinate system, a translation matrix between the stator coordinate system and the rotor coordinate system and a rotation matrix respectively; based on each motion parameter conversion equation, calculating forward rotation motion parameters and reverse rotation motion parameters between every two propellers, and determining the expression of the corresponding force applied to the motor rotor by all propellers on the machine body coordinate system and the represented moment.
7. The method of claim 1, wherein the constructing an overall kinetic equation based on the expression of the forces applied by all propellers to the motor rotor and the characterized moment on the body coordinate system, determining a four-rotor unmanned aerial vehicle model based on the overall kinetic equation, comprises: Calculating the overall rotational momentum based on the expression of the corresponding forces applied to the motor rotor by all propellers on the machine body coordinate system and the represented moment; Constructing an overall kinetic equation based on the overall rotational momentum; The overall kinetic equation is shown by the following equation: Wherein, the A unit array representing a dimension of 3; Representing an inertial tensor of the body; linear acceleration representing rotation of the machine body; angular acceleration representing the rotation of the machine body; The angular velocity of the rotation of the machine body is represented; representing moment brought by accurate identification of the model; Representing the resultant force of the rotation of the machine body; Indicating the rotation torque of the machine body; Representing the linear speed of the machine body; Indicating the angular velocity of the machine body; m represents the total mass of the machine body; Representing a cross-over matrix (anti-symmetric matrix), representing the object to be represented Conversion to the corresponding antisymmetric matrix Then multiplying the coefficient m to obtain Then taking the negative of the operation result to obtain ; Representing a cross-over matrix, representing pairs And Is converted into a corresponding antisymmetric matrix 。
8. Four rotor unmanned aerial vehicle modeling means, its characterized in that, four rotor unmanned aerial vehicle includes the organism, install first screw, second screw, third screw and fourth screw on the organism, the device includes: The calculation module is used for establishing a machine body coordinate system, a stator coordinate system, a rotor coordinate system and a world coordinate system; The transformation processing module is used for obtaining a kinetic equation from the engine body to the first propeller based on translation transformation and rotation transformation among an engine body coordinate system, a stator coordinate system, a rotor coordinate system and a world coordinate system; the analysis module is used for carrying out stress analysis and moment analysis on the second propeller, the third propeller and the fourth propeller based on a kinetic equation from the engine body to the first propeller so as to obtain expressions of forces and represented moments of all propellers applied to the motor rotor on the engine body coordinate system; And the determining module is used for constructing an overall dynamics equation based on the expression of the forces applied to the motor rotor by all the propellers on the machine body coordinate system and the represented moment, and determining a four-rotor unmanned aerial vehicle model based on the overall dynamics equation.
9. The four-rotor unmanned aerial vehicle is characterized by comprising a controller, wherein the controller comprises: a memory and a processor communicatively coupled to each other, the memory having stored therein computer instructions that, upon execution, perform the four-rotor unmanned aerial vehicle modeling method of any of claims 1-7.
10. A computer-readable storage medium having stored thereon computer instructions for causing a computer to perform the four-rotor unmanned aerial vehicle modeling method of any of claims 1 to 7.

Description

Four-rotor unmanned aerial vehicle modeling method and device, four-rotor unmanned aerial vehicle and storage medium Technical Field The invention relates to the technical field of unmanned aerial vehicles, in particular to a four-rotor unmanned aerial vehicle modeling method and device, a four-rotor unmanned aerial vehicle and a storage medium. Background Conventional four-rotor dynamics models rely mostly on simplified assumptions and small-disturbance linearization processes, with classical linear control methods such as proportional-integral-derivative (PID) control to achieve attitude stabilization. However, conventional simplified models and linear control strategies increasingly expose certain limitations in dealing with high precision control problems in complex environments. In the related art, nonlinear control methods (such as sliding mode control and backstepping control) and intelligent optimization control methods (such as Model Predictive Control (MPC)) are generated, and have certain effects on improving the control performance of the unmanned aerial vehicle, but most of the methods depend on a high-precision mathematical model, and are not accurately modeled, so that the robustness on the change of model parameters and external disturbance still has a defect. Disclosure of Invention The invention provides a four-rotor unmanned aerial vehicle modeling method, a four-rotor unmanned aerial vehicle modeling device, a four-rotor unmanned aerial vehicle and a storage medium, and aims to solve the problem that robustness of model parameter change and external disturbance caused by inaccurate modeling still exists. In a first aspect, the present invention provides a method for modeling a quadrotor unmanned aerial vehicle, the quadrotor unmanned aerial vehicle including a body on which a first propeller, a second propeller, a third propeller, and a fourth propeller are mounted, the method comprising: establishing a machine body coordinate system, a stator coordinate system, a rotor coordinate system and a world coordinate system; obtaining a kinetic equation from the engine body to the first propeller based on translation transformation and rotation transformation among the engine body coordinate system, the stator coordinate system, the rotor coordinate system and the world coordinate system; Based on a dynamic equation from the engine body to the first propeller, carrying out stress analysis and moment analysis on the second propeller, the third propeller and the fourth propeller to obtain expressions of forces and represented moments of the forces applied to the motor rotor on an engine body coordinate system by all the propellers; Based on the expression of the forces and the represented moment of the corresponding forces applied to the motor rotor on the machine body coordinate system by all propellers, an overall dynamics equation is constructed, and a four-rotor unmanned aerial vehicle model is determined based on the overall dynamics equation. Through establishing different coordinate systems, the motion condition of unmanned aerial vehicle is correctly represented, the contribution of single screw to unmanned aerial vehicle operation is analyzed, the contribution of all screws to unmanned aerial vehicle operation is further analyzed, the rotation momentum of the four-rotor unmanned aerial vehicle is obtained through carrying out stress analysis and moment analysis on the screw, the four-rotor unmanned aerial vehicle model is more close to the actual flight state, the deviation brought by a simplified model is overcome, the precision of unmanned aerial vehicle simulation and control is remarkably improved, the stable flight of the unmanned aerial vehicle under a complex environment is ensured, and the accurate control of the four-rotor unmanned aerial vehicle flight is realized. In an alternative embodiment, the dynamic equation of the body to the first propeller is obtained based on a translational transformation and a rotational transformation between the body coordinate system, the stator coordinate system, the rotor coordinate system and the world coordinate system, comprising: Determining a motion parameter conversion equation of the motion parameters of the first propeller between the machine body coordinate system and the stator coordinate system and between the stator coordinate system and the rotor coordinate system based on a translation matrix between the machine body coordinate system and the stator coordinate system, a translation matrix between the stator coordinate system and the rotor coordinate system and a rotation matrix; carrying out stress analysis and moment analysis on the first propeller based on each motion parameter conversion equation to obtain momentum expressions corresponding to rotation transformation of the first propeller between a machine body coordinate system and a stator coordinate system and between the stator coordinate system and a rotor coordinate sys