The invention discloses an unmanned aerial vehicle attitude control method for hospital blood sample transportation and an unmanned aerial vehicle. The method comprises the steps of receiving a control instruction of the target attitude of the unmanned aerial vehicle, obtaining the current attitude of the unmanned aerial vehicle, and calculating the attitude angle control error state quantity between the current attitude and the target attitude, obtaining the current flight speed of the unmanned aerial vehicle, updating the initial P gain based on a gain scheduling algorithm and the current flight speed of the unmanned aerial vehicle to obtain an updated P gain, calculating control output according to the updated P gain and attitude angle control error state quantity, and controlling the attitude of the unmanned aerial vehicle based on the control output. According to the method, the updated P gain is obtained by acquiring the flight speed of the unmanned aerial vehicle and combining the gain scheduling algorithm, and the control output is calculated according to the updated P gain and the attitude angle control error state quantity, so that the control precision is improved, and the flight stability of the unmanned aerial vehicle is ensured.

    本发明公开了用于医院血液样本运输的无人机姿态控制方法及无人机,其中,方法包括:接收无人机目标姿态的控制指令;获取无人机当前姿态,并计算出当前姿态与目标姿态之间的姿态角控制误差状态量;获取无人机当前的飞行速度;基于增益调度算法和无人机当前的飞行速度,对初始P增益进行更新,得到更新后的P增益;根据更新后的P增益和姿态角控制误差状态量,计算出控制输出;基于控制输出,控制无人机的姿态。该方法通过获取无人机的飞行速度并结合增益调度算法,得到更新后的P增益,再根据更新后的P增益和姿态角控制误差状态量计算出控制输出,提高了控制精度,确保了无人机飞行的稳定性。


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    Title :

    Unmanned aerial vehicle attitude control method for hospital blood sample transportation and unmanned aerial vehicle


    Additional title:

    用于医院血液样本运输的无人机姿态控制方法及无人机


    Contributors:
    SHI SHENGYING (author) / DING HONG (author) / LIU WENLIAN (author) / XU HUIYING (author) / ZHANG GUANGQING (author) / SONG HUIJUAN (author)

    Publication date :

    2020-06-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B64C AEROPLANES , Flugzeuge



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