CN113212755A - Control method for hybrid-electric multi-rotor unmanned aerial vehicle - Google Patents
Control method for hybrid-electric multi-rotor unmanned aerial vehicle Download PDFInfo
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- CN113212755A CN113212755A CN202010071723.6A CN202010071723A CN113212755A CN 113212755 A CN113212755 A CN 113212755A CN 202010071723 A CN202010071723 A CN 202010071723A CN 113212755 A CN113212755 A CN 113212755A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/026—Aircraft characterised by the type or position of power plants comprising different types of power plants, e.g. combination of a piston engine and a gas-turbine
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/11—Propulsion using internal combustion piston engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
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Abstract
本发明公开了一种油电混动多旋翼无人机控制方法，油电混动多旋翼无人机包括多对以所述机身为中点中心对称连接于所述机身的机臂；任一所述机臂的中部设有燃油驱动螺旋桨、末端设有电动螺旋桨；所述方法包括：检测所述燃油驱动螺旋桨和所述电动螺旋桨的工作状况；在所述燃油驱动螺旋桨和所述电动螺旋桨中的任意一个或多个发生故障时，调整未故障的燃油驱动螺旋桨和/或所述电动螺旋桨的功率。上述方法通过获取并调节燃油驱动螺旋桨、电动螺旋桨的工作状态以应对无人机飞行故障，令燃油驱动螺旋桨和电动螺旋桨共同介入控制，为控制无人机提供充足的冗余度。
The invention discloses a control method for an oil-electric hybrid multi-rotor unmanned aerial vehicle. The oil-electric hybrid multi-rotor unmanned aerial vehicle comprises a plurality of pairs of arms that are symmetrically connected to the fuselage with the fuselage as a midpoint; A fuel-driven propeller is arranged in the middle of any of the arms, and an electric propeller is arranged at the end; the method includes: detecting the working conditions of the fuel-driven propeller and the electric propeller; When any one or more of the propellers fail, adjust the power of the non-failed fuel-driven propellers and/or the electric propellers. The above method responds to the flight failure of the UAV by acquiring and adjusting the working status of the fuel-driven propeller and the electric propeller, so that the fuel-driven propeller and the electric propeller are jointly involved in the control, providing sufficient redundancy for controlling the UAV.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a control method of an oil-electricity hybrid multi-rotor unmanned aerial vehicle.
Background
Many rotor unmanned aerial vehicle are moved to oil can effectively promote unmanned aerial vehicle's loading capacity and duration, however the response time of fuel drive screw is slower, has certain influence to unmanned aerial vehicle's flexibility and nature controlled. Therefore, some unmanned aerial vehicles using fuel-driven propellers for providing lift for flight and electric propellers for controlling flight as hybrid have appeared in the market at present. However, such control methods still have disadvantages, such as failure of the fuel driven propeller or the electric propeller, which do not provide sufficient redundancy of control operation.
Disclosure of Invention
The invention aims to provide a control method of an oil-electric hybrid multi-rotor unmanned aerial vehicle, which can safely and effectively deal with the fault state of a fuel oil driven propeller or an electric propeller and improve the redundancy of unmanned aerial vehicle control.
In order to achieve the purpose, the invention provides a control method of an oil-electric hybrid multi-rotor unmanned aerial vehicle, wherein the oil-electric hybrid multi-rotor unmanned aerial vehicle comprises a plurality of pairs of arms which are centrosymmetrically connected to a fuselage by taking the fuselage as a midpoint; the middle part of any one of the machine arms is provided with a fuel oil driving propeller, and the tail end of the machine arm is provided with an electric propeller;
the method comprises the following steps:
detecting the working conditions of the fuel driven propeller and the electric propeller;
upon failure of any one or more of the fuel driven propeller and the electrically powered propeller, adjusting the power of the non-failed fuel driven propeller and/or the electrically powered propeller.
Preferably, the number of the horn is two pairs; the step of adjusting the power of the non-failed fuel driven propeller and/or the electrically powered propeller in the event of a failure of any one or more of the fuel driven propeller and the electrically powered propeller comprises:
and when the failure stop of only one fuel driving propeller is detected, closing the other fuel driving propeller which is positioned on the same straight line with the failed fuel driving propeller, improving the power of the two electric propellers which are positioned on the same straight line with the failed fuel driving propeller, simultaneously improving the power of the two fuel driving propellers on the other straight line, and closing the two electric propellers on the other straight line.
Preferably, the number of the horn is two pairs; the step of adjusting the power of the non-failed fuel driven propeller and/or the electrically powered propeller in the event of a failure of any one or more of the fuel driven propeller and the electrically powered propeller comprises:
when the two fuel-driven propellers on one straight line are detected to be in fault stop, the power of the two electric propellers which are positioned on the same straight line with the fuel-driven propellers in fault is increased, the power of the two fuel-driven propellers on the other straight line is increased, and the two electric propellers on the other straight line are closed.
Preferably, the number of the horn is two pairs; the step of adjusting the power of the non-failed fuel driven propeller and/or the electrically powered propeller in the event of a failure of any one or more of the fuel driven propeller and the electrically powered propeller comprises:
when only one fuel driving propeller is detected to be out of order and stopped respectively on the two straight lines, the power of two fuel driving propellers which are not out of order is increased, the two electric propellers which are positioned on the same machine arm with the fuel driving propeller which is out of order are increased, and the electric propellers which are positioned on the same machine arm with the fuel driving propeller which is not out of order are closed.
Preferably, the number of the horn is two pairs; the step of adjusting the power of the non-failed fuel driven propeller and/or the electrically powered propeller in the event of a failure of any one or more of the fuel driven propeller and the electrically powered propeller comprises:
and when the fault stop of the three fuel oil driving propellers is detected, improving the power of the fuel oil driving propellers which do not have faults, and improving the power of all the electric propellers.
Preferably, the number of the horn is two pairs; the step of adjusting the power of the non-failed fuel driven propeller and/or the electrically powered propeller in the event of a failure of any one or more of the fuel driven propeller and the electrically powered propeller comprises:
when one electric propeller is detected to be in fault stop, the power of the fuel oil driving propeller which is positioned on the same machine arm with the electric propeller in fault is adjusted to realize the balance of the unmanned aerial vehicle.
Preferably, the step of adjusting the power of the fuel-driven propeller located on the same arm as the failed electric propeller to achieve unmanned aerial vehicle balance specifically includes:
according to the rotating speed to be increased of the electric propeller with the fault, the rotating speed of the fuel oil driving propeller of the same machine arm is increased by taking the ratio of the force arm of the electric propeller to the force arm of the fuel oil driving propeller of the same machine arm as a proportion;
and according to the rotating speed to be reduced of the electric propeller with the fault, reducing the rotating speed of the fuel oil driving propeller of the same horn by taking the ratio of the force arm of the electric propeller to the force arm of the fuel oil driving propeller of the same horn as a proportion.
Preferably, the method further comprises:
and when all the fuel oil driven propellers and all the electric propellers are not in fault stop, coordinating the electric propellers and the fuel oil driven propellers to realize flight control.
Preferably, the step of coordinating the electric propeller and the fuel-driven propeller to realize flight control specifically includes:
according to a control signal of the inclination of the machine body, the rotating speed of all the fuel oil driven propellers is kept unchanged, and the electric propeller of only one machine arm is started or the electric propellers of two adjacent machine arms are started;
starting all the electric propellers which are respectively fixed on different machine arms on the same straight line according to a yaw control signal;
starting all the electric propellers and maintaining all the fuel oil driving propellers to realize ascending or stopping all the electric propellers and reducing the rotating speed of all the fuel oil driving propellers to realize descending according to a control signal of the ascending and descending of the machine body;
and according to a control signal of speed change, controlling the inclined machine body to increase the rotating speed of all the fuel oil driven propellers so as to realize horizontal acceleration, or controlling the inclined machine body to decrease the rotating speed of all the fuel oil driven propellers so as to realize horizontal deceleration.
Preferably, the ratio of the maximum pull of any one of the electrically powered propellers to the maximum pull of any one of the fuel driven propellers is set to 1: 2.
Compared with the background art, the control method of the hybrid oil-electric multi-rotor unmanned aerial vehicle is applied to the hybrid oil-electric multi-rotor unmanned aerial vehicle.
The oil-electric hybrid multi-rotor unmanned aerial vehicle comprises a plurality of pairs of machine arms which are centrosymmetrically connected to the machine body by taking the machine body as a midpoint; the middle part of any machine arm is provided with a fuel oil driving propeller, and the tail end of the machine arm is provided with an electric propeller.
The method comprises the following steps: detecting the working conditions of the fuel driven propeller and the electric propeller; upon failure of any one or more of the fuel driven propeller and the electrically powered propeller, adjusting the power of the non-failed fuel driven propeller and/or the electrically powered propeller.
The control method of the hybrid oil-electricity multi-rotor unmanned aerial vehicle takes the hybrid oil-electricity multi-rotor unmanned aerial vehicle as a structural basis, and operates according to different fault conditions or realizes continuation of the journey or safe return journey and landing by acquiring the fault conditions of a fuel oil driving screw and an electric screw rotor in the flight process. In the flight action of difference, make fuel drive screw and electric screw intervene unmanned aerial vehicle's control jointly, for unmanned aerial vehicle provides sufficient redundancy, realize the optimization of control effect.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is an operation schematic diagram of the oil-electric hybrid multi-rotor unmanned aerial vehicle control method for realizing endurance when only one fuel-driven propeller fails;
fig. 2 is an operation schematic diagram of the control method of the hybrid oil-electric multi-rotor unmanned aerial vehicle, according to the embodiment of the invention, when two fuel-driven propellers on the same straight line fail, the endurance is realized;
fig. 3 is an operation schematic diagram of the control method of the hybrid oil-electric multi-rotor unmanned aerial vehicle according to the embodiment of the invention, when two adjacent fuel-driven propellers fail, the endurance is realized;
fig. 4 is a schematic diagram illustrating an operation of the control method of the hybrid oil-electric multi-rotor unmanned aerial vehicle to realize rotating and descending when three fuel-driven propellers fail;
fig. 5 is a schematic diagram illustrating an operation of the control method of the hybrid oil-electric multi-rotor unmanned aerial vehicle to realize rotary landing when all the fuel-driven propellers have faults;
fig. 6 is an operation schematic diagram of the control method of the hybrid oil-electric multi-rotor unmanned aerial vehicle according to the embodiment of the invention, which is used for realizing cruising when an engine fails;
fig. 7 is an operation schematic diagram of the hybrid oil-electric multi-rotor unmanned aerial vehicle control method according to the embodiment of the invention for realizing the inclination of the body in the first direction;
fig. 8 is an operation schematic diagram of the hybrid oil-electric multi-rotor unmanned aerial vehicle control method according to the embodiment of the present invention for realizing the inclination of the body in the second direction;
fig. 9 is an operation schematic diagram of the hybrid oil-electric multi-rotor unmanned aerial vehicle control method according to the embodiment of the invention for realizing yaw;
fig. 10 is an operation schematic diagram of the hybrid oil-electric multi-rotor unmanned aerial vehicle control method according to the embodiment of the present invention for realizing the fuselage ascent;
fig. 11 is an operation schematic diagram of the hybrid oil-electric multi-rotor unmanned aerial vehicle control method for achieving fuselage descent according to the embodiment of the invention;
fig. 12 is an operation schematic diagram of the control method of the hybrid oil-electric multi-rotor unmanned aerial vehicle according to the embodiment of the present invention for realizing horizontal acceleration flight;
fig. 13 is an operation schematic diagram of the control method of the hybrid oil-electric multi-rotor unmanned aerial vehicle according to the embodiment of the present invention, for realizing horizontal deceleration flight;
fig. 14 is a schematic flowchart of a first control method of a hybrid oil-electric multi-rotor drone according to an embodiment of the present invention;
fig. 15 is a schematic flow chart of a second control method of an oil-electric hybrid multi-rotor unmanned aerial vehicle according to an embodiment of the present invention.
Wherein, 1-machine arm, 2-fuel oil driving propeller and 3-electric propeller.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 to 15, fig. 1 is a schematic diagram illustrating an operation of a hybrid oil-electric multi-rotor unmanned aerial vehicle control method for realizing endurance when only one fuel-driven propeller fails according to an embodiment of the present invention; fig. 2 is an operation schematic diagram of the control method of the hybrid oil-electric multi-rotor unmanned aerial vehicle, according to the embodiment of the invention, when two fuel-driven propellers on the same straight line fail, the endurance is realized; fig. 3 is an operation schematic diagram of the control method of the hybrid oil-electric multi-rotor unmanned aerial vehicle according to the embodiment of the invention, when two adjacent fuel-driven propellers fail, the endurance is realized; fig. 4 is a schematic diagram illustrating an operation of the control method of the hybrid oil-electric multi-rotor unmanned aerial vehicle to realize rotating and descending when three fuel-driven propellers fail; fig. 5 is a schematic diagram illustrating an operation of the control method of the hybrid oil-electric multi-rotor unmanned aerial vehicle to realize rotary landing when all the fuel-driven propellers have faults; fig. 6 is an operation schematic diagram of the control method of the hybrid oil-electric multi-rotor unmanned aerial vehicle according to the embodiment of the invention, which is used for realizing cruising when an engine fails; fig. 7 is an operation schematic diagram of the hybrid oil-electric multi-rotor unmanned aerial vehicle control method according to the embodiment of the invention for realizing the inclination of the body in the first direction; fig. 8 is an operation schematic diagram of the hybrid oil-electric multi-rotor unmanned aerial vehicle control method according to the embodiment of the present invention for realizing the inclination of the body in the second direction; fig. 9 is an operation schematic diagram of the hybrid oil-electric multi-rotor unmanned aerial vehicle control method according to the embodiment of the invention for realizing yaw; fig. 10 is an operation schematic diagram of the hybrid oil-electric multi-rotor unmanned aerial vehicle control method according to the embodiment of the present invention for realizing the fuselage ascent; fig. 11 is an operation schematic diagram of the hybrid oil-electric multi-rotor unmanned aerial vehicle control method for achieving fuselage descent according to the embodiment of the invention; fig. 12 is an operation schematic diagram of the control method of the hybrid oil-electric multi-rotor unmanned aerial vehicle according to the embodiment of the present invention for realizing horizontal acceleration flight; fig. 13 is an operation schematic diagram of the control method of the hybrid oil-electric multi-rotor unmanned aerial vehicle according to the embodiment of the present invention, for realizing horizontal deceleration flight; fig. 14 is a schematic flowchart of a first control method of a hybrid oil-electric multi-rotor drone according to an embodiment of the present invention; fig. 15 is a schematic flow chart of a second control method of an oil-electric hybrid multi-rotor unmanned aerial vehicle according to an embodiment of the present invention.
With respect to fig. 1 to 13, it should be noted that the cross in the drawings indicates that the structure is shut down due to a fault, the prohibition symbol indicates that the structure is shut down due to an operation, the solid arrow pointing vertically upwards indicates that the structure increases the rotation speed and/or power, the solid arrow pointing vertically downwards indicates that the structure decreases the rotation speed and/or power, the dotted line distributed along the symmetry axis of the fuselage indicates the rotation axis when the fuselage tilts, the dotted line intersecting the symmetry axis of the fuselage indicates the desired heading when yawing, the dotted arrow pointing vertically upwards indicates that the fuselage rises, the dotted arrow pointing vertically downwards indicates that the fuselage falls, the dotted arrow pointing horizontally in the same direction as the tilting of the fuselage indicates horizontal acceleration, and the dotted arrow pointing horizontally in the opposite direction to the tilting of the fuselage indicates horizontal deceleration.
The invention provides a control method of an oil-electricity hybrid multi-rotor unmanned aerial vehicle, wherein the oil-electricity hybrid multi-rotor unmanned aerial vehicle comprises a plurality of pairs of machine arms 1 which are centrosymmetrically connected to a machine body by taking the machine body as a midpoint; the middle part of any one of the machine arms 1 is provided with a fuel oil driving propeller 2, and the tail end of the machine arm is provided with an electric propeller 3; the control method of the oil-electric hybrid multi-rotor unmanned aerial vehicle comprises the following steps:
detecting the working conditions of the fuel oil driving propeller 2 and the electric propeller 3;
in the event of a failure of any one or more of the fuel driven propellers 2 and the electrically powered propellers 3, the power of the non-failed fuel driven propeller 2 and/or electrically powered propeller 3 is adjusted.
As for the detection of the working conditions of the fuel driven propeller 2 and the electric propeller 3, the circuit signals of the fuel driven propeller 2 and the electric propeller 3 can be monitored, and the circuit signal of the fuel driven propeller 2 or the circuit signal abnormality of the electric propeller 3 is used as a judgment parameter for the fault of the fuel driven propeller 2 or the fault of the electric propeller 3; monitoring devices can be arranged on each fuel oil driving propeller 2 and each electric propeller 3, all the fuel oil driving propellers 2 and all the electric propellers 3 are monitored through the monitoring devices in the flight process, and once any fuel oil driving propeller 2 or any electric propeller 3 breaks down, the monitoring device corresponding to the fuel oil driving propeller transmits, stores and even displays the collected fault signals so as to facilitate subsequent operation.
It should be noted that the fuel driven propeller 2 refers to any fuel engine and its connected propeller, and the electric propeller 3 refers to any electric motor and its connected propeller, so that the fuel driven propeller 2 failure includes fuel engine failure and propeller failure, and for the field, it is generally referred to as fuel engine failure. The electric propeller 3 works in the same way.
In summary, the control method of the hybrid electric-oil multi-rotor unmanned aerial vehicle provided by the invention takes the hybrid electric-oil multi-rotor unmanned aerial vehicle as a structural basis, and solves the problem of fault flight of the unmanned aerial vehicle by acquiring and adjusting the working states of the fuel oil driving screw 2 and the electric screw 3, so that the fuel oil driving screw 2 and the electric screw 3 are jointly involved in the control of the unmanned aerial vehicle, or normal endurance is realized, or safe spin-down is realized, sufficient redundancy is provided for the unmanned aerial vehicle, and the optimization of the control effect is realized.
The oil-electric hybrid multi-rotor unmanned aerial vehicle control method provided by the invention is further described below with reference to the accompanying drawings and the implementation mode.
In the above embodiment, the positions and the number of the fuel-driven propellers 2 and/or the electric propellers 3 stopped due to a fault are different, and the subsequent adjustment modes are also different, so that, taking the case that the airframe is connected with four centrally-symmetrically-arranged booms 1, the control method of the hybrid oil-electric multi-rotor unmanned aerial vehicle provided by the invention can include the following specific embodiments:
in a first embodiment, only one fuel driven propeller 2 is stopped in failure, and the method of adjusting the non-failed fuel and/or electrically powered propeller 3 comprises in particular:
the other fuel driven propeller 2 in line with the failed fuel driven propeller 2 is turned off and the power of the two electric propellers 3 in line with the failed fuel driven propeller 2 is increased while the power of the two fuel driven propellers 2 in the other line is increased and the two electric propellers 3 in the other line are turned off.
Referring to fig. 1, fig. 1 is an operation schematic diagram of the oil-electric hybrid multi-rotor unmanned aerial vehicle control method for realizing endurance when only one fuel-driven propeller 2 fails, in fig. 1, the fuel-driven propeller 2 located at the lower right corner stops running due to the failure, at this time, the fuel-driven propeller 2 at the upper left corner is shut down at first, the machine is ensured to be balanced in stress along a symmetry axis from the upper right corner to the lower left corner, then the power of the fuel-driven propeller 2 at the upper right corner and the power of the fuel-driven propeller 2 at the lower left corner are increased, the electric propeller 3 at the upper right corner and the electric propeller 3 at the lower left corner are shut down, and the machine body is prevented from deflecting.
In a second embodiment, both fuel driven propellers 2 in a straight line fail to stop, and the method of adjusting the non-failed fuel and/or electrically driven propellers 3 comprises in particular:
the power of the two electric propellers 3 located in the same straight line as the failed fuel driven propeller 2 is increased while the power of the two fuel driven propellers 2 of the other straight line is increased and the two electric propellers 3 of the other straight line are turned off.
Referring to fig. 2, fig. 2 is an operation schematic diagram of the control method of the hybrid oil-electric multi-rotor unmanned aerial vehicle according to the embodiment of the present invention, when two fuel-driven propellers 2 on the same straight line have a fault, the fuel-driven propeller 2 located in the upper left corner and the fuel-driven propeller 2 located in the lower right corner in fig. 1 are shut down due to the fault, at this time, the machine maintains stress balance along the axis of symmetry from the upper right corner to the lower left corner, and only the power of the fuel-driven propeller 2 in the upper right corner and the power of the fuel-driven propeller 2 in the lower left corner need to be increased, and the electric propeller 3 in the upper right corner and the electric propeller 3 in the lower left corner are shut down, so as to avoid the deflection of the machine body.
No matter only one fuel-driven propeller 2 is stopped due to a fault and then the opposite-angle fuel-driven propeller 2 is stopped, or two fuel-driven propellers 2 in the same straight line are stopped due to a fault, taking fig. 1 and 2 as examples, the fuel-driven propellers 2 at the upper right corner and the lower left corner can be lifted to the maximum power, each fuel-driven propeller 2 generates about 0.3G of lift force, the electric propellers 3 at the upper right corner and the lower left corner among the four electric propellers 3 are stopped, and the electric propellers 3 at the upper left corner and the lower right corner respectively generate 0.15G of lift force and are finely adjusted nearby to keep the unmanned aerial vehicle balanced. Wherein, G is many rotor unmanned aerial vehicle's of oil-electricity hybrid's gross weight.
In a third embodiment, in which only one of the fuel driven propellers 2 of each of the two straight lines fails, the method of adjusting the non-failed fuel driven propeller and/or the electrically driven propeller 3 comprises:
increasing the power of the two fuel driven propellers 2 that are not faulty, increasing the two electric propellers 3 located on the same horn 1 as the faulty fuel driven propeller 2, and turning off the electric propellers 3 located on the same horn 1 as the non-faulty fuel driven propeller 2.
Referring to fig. 3, the fuel driving propellers 2 at the upper left corner and the lower left corner stop due to faults, at the moment, the two fuel driving propellers 2 at the upper left corner and the lower left corner are improved to be located at the maximum power of the electric propellers 3 of the same horn 1, namely the electric propellers 3 at the upper left corner and the lower left corner are improved to be maximum power, the two electric propellers 3 make up the lift force of the two fuel driving propellers 2 at the faults, and the continuation of the journey of the hybrid oil-electric multi-rotor unmanned aerial vehicle is realized.
In a fourth embodiment, three fuel driven propellers 2 are stopped in failure, and the method of adjusting the non-failed fuel driven and/or electrically driven propellers 3 comprises in particular:
the power of the non-failed fuel driven propeller 2 is increased and the power of all the electric propellers 3 is increased.
Referring to fig. 4, the fuel driven propellers 2 at the upper left corner, the lower left corner and the upper right corner are all stopped due to faults, at this time, the electric propellers 3 located on the same horn 1 as the faulty fuel driven propeller 2 are increased to the maximum power, that is, the electric propellers 3 at the upper left corner, the lower left corner and the upper right corner are increased to the maximum power, the fuel driven propeller 2 and the electric propellers 3 at the lower right corner are increased to the maximum power, the fuselage is unbalanced in stress, and finally rotates and descends, so that safe landing is realized.
Similarly, fig. 5 shows four operation modes for realizing safe landing when all the fuel-driven propellers 2 are in failure.
In a fifth embodiment, one of the electric propellers 3 is stopped in case of failure, and the method of adjusting the non-failed fuel propeller and/or the electric propeller 3 comprises:
the power of the fuel oil driving propeller 2 which is positioned on the same machine arm 1 with the electric propeller 3 with the fault is adjusted to realize the balance of the unmanned aerial vehicle.
Referring to fig. 6, the electric propeller 3 at the lower right corner in fig. 6 stops due to a fault, and at this time, the fuel oil driving propeller 2 at the lower right corner is increased, so that the lift force of the fuel oil driving propeller 2 compensates for the lift force of the faulty electric propeller 3.
In a fifth embodiment, the original working state of the failed electric propeller 3 and the ratio of the moment arm of the electric propeller 3 to the moment arm of the fuel oil driven propeller 2 can be adjusted, for example, if the failed electric propeller 3 should originally increase the rotation speed, the rotation speed of the fuel oil driven propeller 2 of the same horn 1 is increased according to the ratio of the moment arm of the electric propeller 3 of the same horn 1 to the moment arm of the fuel oil driven propeller 2 to the rotation speed to be increased after the electric propeller 3 fails; the failed electric propeller 3 should reduce the rotation speed originally, and then after the electric propeller 3 fails, the rotation speed of the fuel oil driving propeller 2 of the same horn 1 is reduced according to the rotation speed to be reduced by taking the ratio of the moment arm of the electric propeller 3 of the same horn 1 to the moment arm of the fuel oil driving propeller 2 as a proportion.
In any of the above embodiments, the electric propeller 3 and the fuel driven propeller 2 are optionally used with a ratio of maximum pull force of 1: 2.
On the basis of any one of the above embodiments, the control method for the hybrid oil-electric multi-rotor unmanned aerial vehicle further includes:
and when detecting that all the fuel oil driven propellers 2 and all the electric propellers 3 are not in fault stop, coordinating the electric propellers 3 and the fuel oil driven propellers 2 to realize flight control. Briefly, the present invention specifically explains in the above contents how to control the hybrid oil-electric multi-rotor drone to fly normally or land safely after the failure of the fuel-driven propellers 2 and/or the electric propellers 3, and explains in the following embodiments how to operate the hybrid oil-electric multi-rotor drone when all the fuel-driven propellers 2 and all the electric propellers 3 are not failed.
Because this many rotor unmanned aerial vehicle of oil-electricity hybrid moves when normal flight, received control signal can include that the fuselage inclines, drifts, the fuselage goes up and down, this four kinds of variable speed. Thus, in another embodiment of the present invention,
for the control signal of the inclination of the body, reference is made to fig. 7 and 8, where the body in the direction indicated by the dotted line in fig. 7 and 8 is a symmetry axis, and one side of the symmetry axis is turned over to the other side, and in short, the body rotates around the symmetry axis by a certain angle.
In fig. 7, the rotating speed of all the fuel oil driven propellers 2 is unchanged, the electric propellers 3 of two adjacent arms 1, namely the electric propellers 3 at the upper right corner and the lower right corner in fig. 7, are started, so that the half body at the right of the dotted line is lifted upwards, and the half body at the left of the dotted line is settled downwards, so that the inclination of the body is realized.
In fig. 8, the rotating speed of all the fuel-driven propellers 2 is unchanged, and the electric propeller 3 of only one horn 1, namely the electric propeller 3 at the upper left corner in fig. 8, is started, so that the dotted line is lifted upwards by the left half body, and the dotted line is sunk downwards by the right half body, thereby realizing the inclination of the body.
Reference may be made to fig. 7 and 9 for control signals for yaw, where yaw may be understood as a drone that would otherwise fly in the direction indicated by the dashed line in fig. 7, and in turn fly in the direction indicated by the dashed line in fig. 9. The specific operation of realizing yaw is shown in fig. 9, all the electric propellers 3 respectively fixed on different arms 1 on the same straight line, that is, the electric propellers 3 at the upper left corner and the lower right corner in fig. 9 are started, so that the two electric propellers 3 generate moment to the airframe, the airframe rotates a certain angle in the flight plane, and the change of the heading from fig. 7 to fig. 9 is realized.
For the control signal of the body raising and lowering, fig. 10 and 11 can be referred to. Fig. 10 shows a specific operation when the body is raised, starting all the electric propellers 3 and maintaining all the fuel driven propellers 2. Fig. 11 shows a specific operation when the body is lowered, stopping all the electric propellers 3 and reducing the rotation speed of all the fuel driven propellers 2.
For the control signals for shifting, reference is made to fig. 12 and 13. Fig. 12 shows horizontal leftward acceleration, the operation consisting of controlling the inclination of the fuselage and then increasing the rotational speed of the entire fuel-driven propeller 2. Figure 13 shows horizontal right deceleration, the operation consisting of controlling the inclination of the fuselage and then reducing the speed of rotation of the entire fuel driven propeller 2.
In the above embodiments, the manner of implementing the inclination of the body may be implemented by referring to the operation manner shown in fig. 7, and will not be described herein again.
The oil-electric hybrid multi-rotor unmanned aerial vehicle control method provided by the invention is described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A control method of an oil-electricity hybrid multi-rotor unmanned aerial vehicle is characterized in that the oil-electricity hybrid multi-rotor unmanned aerial vehicle comprises a plurality of pairs of machine arms (1) which are centrosymmetrically connected to a machine body by taking the machine body as a midpoint; the middle part of any one of the machine arms (1) is provided with a fuel oil driving propeller (2), and the tail end of the machine arm is provided with an electric propeller (3);
the method comprises the following steps:
detecting the working conditions of the fuel driven propeller (2) and the electric propeller (3);
upon failure of any one or more of the fuel driven propeller (2) and the electrically powered propeller (3), adjusting the power of the non-failed fuel driven propeller (2) and/or the electrically powered propeller (3).
2. The control method of an oil-electric hybrid multi-rotor unmanned aerial vehicle according to claim 1, wherein the number of the horn (1) is two pairs; the step of adjusting the power of the non-failed fuel driven propeller (2) and/or the electric propeller (3) in case of failure of any one or more of the fuel driven propeller (2) and the electric propeller (3) comprises:
when the failure stop of only one fuel driving propeller (2) is detected, the other fuel driving propeller (2) which is positioned on the same straight line with the failed fuel driving propeller (2) is closed, the power of the two electric propellers (3) which are positioned on the same straight line with the failed fuel driving propeller (2) is increased, the power of the two fuel driving propellers (2) on the other straight line is increased, and the two electric propellers (3) on the other straight line are closed.
3. The control method of an oil-electric hybrid multi-rotor unmanned aerial vehicle according to claim 1, wherein the number of the horn (1) is two pairs; the step of adjusting the power of the non-failed fuel driven propeller (2) and/or the electric propeller (3) in case of failure of any one or more of the fuel driven propeller (2) and the electric propeller (3) comprises:
when the two fuel driving propellers (2) of one straight line are detected to be in fault stop, the power of the two electric propellers (3) which are positioned on the same straight line with the fuel driving propellers (2) in fault is increased, the power of the two fuel driving propellers (2) of the other straight line is increased at the same time, and the two electric propellers (3) of the other straight line are closed.
4. The control method of an oil-electric hybrid multi-rotor unmanned aerial vehicle according to claim 1, wherein the number of the horn (1) is two pairs; the step of adjusting the power of the non-failed fuel driven propeller (2) and/or the electric propeller (3) in case of failure of any one or more of the fuel driven propeller (2) and the electric propeller (3) comprises:
when only one fuel driving propeller (2) is detected to be stopped due to failure, the power of two fuel driving propellers (3) which are not failed is increased, the power of two electric propellers (3) which are positioned on the same machine arm (1) with the fuel driving propeller (2) which is failed is increased, and the electric propellers (3) which are positioned on the same machine arm (1) with the fuel driving propeller (2) which is not failed are closed.
5. The control method of an oil-electric hybrid multi-rotor unmanned aerial vehicle according to claim 1, wherein the number of the horn (1) is two pairs; the step of adjusting the power of the non-failed fuel driven propeller (2) and/or the electric propeller (3) in case of failure of any one or more of the fuel driven propeller (2) and the electric propeller (3) comprises:
and when the fault stop of the three fuel driving propellers (2) is detected, the power of the fuel driving propeller (2) which is not in fault is increased, and the power of all the electric propellers (3) is increased.
6. The control method of an oil-electric hybrid multi-rotor unmanned aerial vehicle according to claim 1, wherein the number of the horn (1) is two pairs; the step of adjusting the power of the non-failed fuel driven propeller (2) and/or the electric propeller (3) in case of failure of any one or more of the fuel driven propeller (2) and the electric propeller (3) comprises:
when one electric propeller (3) is detected to be stopped due to faults, the power of the fuel oil driving propeller (2) of the same machine arm (1) is adjusted and failed, and therefore balance of the unmanned aerial vehicle is achieved.
7. Method for controlling an oil-electric hybrid multi-rotor drone, according to claim 6, characterized in that the step of adjusting the power of the fuel-driven propellers (2) located on the same arm (1) as the electric propellers (3) in failure, in order to achieve drone balancing, in particular comprises:
according to the rotating speed to be increased of the electric propeller (3) with the fault, the rotating speed of the fuel oil driving propeller (2) of the same machine arm (1) is increased in proportion to the ratio of the moment arm of the electric propeller (3) to the moment arm of the fuel oil driving propeller (2) of the same machine arm (1);
and according to the rotating speed to be reduced of the electric propeller (3) with the fault, reducing the rotating speed of the fuel oil driving propeller (2) of the same machine arm (1) by taking the ratio of the moment arm of the electric propeller (3) to the moment arm of the fuel oil driving propeller (2) of the same machine arm (1) as a proportion.
8. The method of controlling an oil-electric hybrid multi-rotor drone according to any one of claims 1 to 7, characterized in that the method further comprises:
and when detecting that all the fuel oil driven propellers (2) and all the electric propellers (3) are not in fault stop, coordinating the electric propellers (3) and the fuel oil driven propellers (2) to realize flight control.
9. The control method of the hybrid electric-oil multi-rotor unmanned aerial vehicle according to claim 8, wherein the step of coordinating the electric propellers (3) and the fuel-driven propellers (2) to achieve flight control specifically comprises:
according to a control signal of the inclination of the machine body, the rotating speed of all the fuel oil driven propellers (2) is kept unchanged, and the electric propeller (3) of only one machine arm (1) is started or the electric propellers (3) of two adjacent machine arms (1) are started;
according to a yaw control signal, starting all the electric propellers (3) which are respectively fixed on different machine arms (1) on the same straight line;
according to a control signal of the lifting of the machine body, all the electric propellers (3) are started and the rotating speed of all the fuel oil driving propellers (2) is kept unchanged to realize the lifting, or all the electric propellers (3) are stopped and the rotating speed of all the fuel oil driving propellers (2) is reduced to realize the lowering;
and according to the control signal of speed change, the rotating speed of all the fuel oil driven propellers (2) is increased after the machine body is controlled to incline so as to realize horizontal acceleration, or the rotating speed of all the fuel oil driven propellers (2) is reduced after the machine body is controlled to incline so as to realize horizontal deceleration.
10. The control method of the hybrid electric multi-rotor unmanned aerial vehicle according to any one of claims 1 to 7, wherein a ratio of a maximum pulling force of any one of the electric propellers (3) to a maximum pulling force of any one of the fuel driven propellers (2) is set to 1: 2.
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