The invention relates to an autonomous balance control method for an unmanned aerial vehicle carrying a manipulator. Dynamic adjustment of the gravity center of an unmanned aerial vehicle manipulator assembly can be achieved by changing the rotating speed of rotors of the unmanned aerial vehicle, and unmanned aerial vehicle instability caused when the manipulator works is prevented. During normal use, active balance of the gravity center of the unmanned aerial vehicle can be realized; and compared with a passive technology that the balance of the unmanned aerial vehicle can be completed only by sensing work of a gyroscope after the fuselage tilts, due to the real-time corresponding gravity center adjusting function, the autonomous balance control method can reduce burden of a flight control system in balancing the fuselage, and the flight control performance of the unmanned aerial vehicle can be enhanced; and if the working path of the manipulator is known, the rotor rotating speed adjusting quantity of the unmanned aerial vehicle can be calculated, and the unmanned aerial vehicle is kept stable in real time.
本申请涉及一种搭载机械手的无人机自主平衡控制方法,通过改变无人机旋翼转速可实现无人机机械手组合体重心的动态调整,以防机械手工作时导致的无人机失稳。在正常使用时,它可以实现无人机重心的主动平衡,相较于目前在已造成机身倾侧后陀螺仪传感工作才能完成无人机平衡的被动技术,本发明由于其实时的对应重心调节功能,可降低飞控系统平衡机身的负担,增强无人机的飞控性能。若已知机械手的工作路径,则可计算出无人机旋翼转速调节量,实时保持无人机稳定。
Autonomous balance control method for unmanned aerial vehicle carrying manipulator
一种搭载机械手的无人机自主平衡控制方法
2021-11-05
Patent
Elektronische Ressource
Chinesisch
IPC: | B64C AEROPLANES , Flugzeuge |
Europäisches Patentamt | 2021
|Europäisches Patentamt | 2020
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