The invention discloses an unmanned aerial vehicle recoil force control method and device and an unmanned aerial vehicle. The method comprises the steps that current attitude information of the unmanned aerial vehicle is collected in real time; comparing a deviation value between the current attitude information of the unmanned aerial vehicle and preset attitude information of the unmanned aerial vehicle; generating a first control signal for controlling operation parameters of a ducted fan on the unmanned aerial vehicle according to the size of the deviation value; the rotating speed and rotating direction information of the ducted fan is collected in real time; and data fusion processing is performed on the rotating speed and rotating direction information, fed back in real time, of the ducted fan and the first control signal for controlling the operation parameters of the ducted fan, a second control signal for controlling the rotating speed and rotating direction of the ducted fan is generated, and the operation parameters of the ducted fan are controlled according to the second control signal so as to adjust the recoil force of the unmanned aerial vehicle. According to the method, on the basis that the force opposite to the recoil force in direction is generated by the ducted fan to eliminate the recoil force, real-time data of the encoder is combined for fusion processing, precise control over the recoil force is achieved, and the unmanned aerial vehicle can keep the attitude stable.
本发明公开了一种无人机后坐力控制方法、装置及无人机,包括实时采集无人机的当前姿态信息;比较无人机的当前姿态信息和无人机的预设姿态信息之间的偏差值大小;根据偏差值的大小生成控制无人机上涵道风扇的运行参数的第一控制信号;实时采集涵道风扇的转速和转向信息;对实时反馈的涵道风扇的转速和转向信息和控制涵道风扇运行参数的第一控制信号进行数据融合处理,生成控制涵道风扇的转速和转向的第二控制信号,根据第二控制信号控制涵道风扇的运行参数以对无人机的后坐力进行调节。该方法在利用涵道风扇产生与后坐力方向相反的力来消除后坐力的基础上,结合编码器实时数据进行融合处理,实现对后坐力的精准控制,使得无人机可以保持姿态稳定。
Unmanned aerial vehicle recoil force control method and device and unmanned aerial vehicle
一种无人机后坐力控制方法、装置及无人机
2023-07-04
Patent
Electronic Resource
Chinese
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