The invention relates to an autonomous balance control method for an unmanned aerial vehicle carrying a manipulator and a gravity balance device. Dynamic adjustment of the gravity center of an unmanned aerial vehicle manipulator assembly can be realized by adjusting a counterweight coordinate position, and instability of the unmanned aerial vehicle caused when the manipulator works is prevented. During normal use, active balance of the gravity center of the unmanned aerial vehicle can be realized; 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 the burden of a flight control system for 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 moving path of the counterweight 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和重力平衡装置的无人机自主平衡控制方法,通过调整配重坐标位置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,则可计算出配重的移动路径,实时保持无人机稳定。
Autonomous balance control method for unmanned aerial vehicle carrying manipulator and gravity balance device
搭载机械手和重力平衡装置的无人机自主平衡控制方法
2021-11-05
Patent
Electronic Resource
Chinese
IPC: | B64C AEROPLANES , Flugzeuge |
Autonomous balance control method for unmanned aerial vehicle carrying manipulator
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