The invention discloses a water washing unmanned aerial vehicle vibration suppression method and device, and belongs to the technical field of unmanned aerial vehicles. The water washing unmanned aerial vehicle vibration suppression method comprises the steps that vibration information of a spray pipe and vibration information of an unmanned aerial vehicle body are acquired, and the vibration information comprises accelerated velocity and angular velocity; according to the vibration information of the spray pipe and the vibration information of the unmanned aerial vehicle body, frequency domain analysis is performed to obtain a target vibration elimination frequency point, and a corresponding PWM control signal is generated; and the rotating speed of a motor is adjusted according to the PWM control signal, and vibration with the same vibration frequency and opposite phase as the target vibration elimination frequency point is generated to eliminate the vibration. By means of the water washing unmanned aerial vehicle vibration suppression method and device, the unmanned aerial vehicle body can be effectively prevented from being affected by the vibration of a cleaning device.
本发明公开了一种水冲洗无人机振动抑制方法及装置,属于无人机技术领域,包括获取喷管的振动信息和无人机本体的振动信息,该振动信息包括加速度和角速度;根据喷管的振动信息和无人机本体的振动信息,进行频域分析,得到目标消振频点,并生成相应PWM控制信号;根据PWM控制信号调节电机转速,产生与目标消振点振动频率相同且相位相反的振动,以消除振动。本发明可有效避免了清洗装置的振动影响到无人机主体。
Water washing unmanned aerial vehicle vibration suppression method and device
一种水冲洗无人机振动抑制方法及装置
2021-09-28
Patent
Electronic Resource
Chinese
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