The invention provides a variable-pitch mechanism rotor thrust estimation method and device and application thereof, and the method comprises the following two steps: 1, placing a variable-pitch mechanism on a thrust test rack, and testing the true values of the voltage, current, rotating speed, pitch and thrust of the variable-pitch mechanism; and the second part is based on thrust estimation of high-frequency signals (motor feedback measured by self electric speed controller, steering engine instructions and steering engine feedback delay) and low-frequency signals (steering engine angle feedback), then thrust control compensation calculation of the state of the unmanned aerial vehicle is used, and the whole process is carried out on the unmanned aerial vehicle. According to the method, effective thrust estimation and state prediction can be realized, and thrust compensation is realized, so that rapid and accurate control of thrust is realized, and the method is of great significance to control research of high-maneuverability and high-performance variable-pitch unmanned aerial vehicles in the future.
本发明提出了可变桨距机构旋翼推力估计方法、装置及其应用,包括分为两部分进行,其中一部分是先将变桨距机构放置于推力测试架上测试其电压,电流,转速,桨距与推力的真值,然后。第二部分是基于高频信号(自身电调测量的电机反馈,舵机指令,舵机反馈延迟)和低频信号(舵机角度反馈)的推力估计,然后使用无人机状态的推力控制补偿计算,其全部流程均在无人机上进行。本发明能够实现有效的推力估计与状态预测,并实现推力补偿,从而实现推力的快速准确控制,对未来高机动,高性能变桨距无人机控制研究有重要意义。
Variable pitch mechanism rotor wing thrust estimation method and device and application of variable pitch mechanism rotor wing thrust estimation method and device
可变桨距机构旋翼推力估计方法、装置及其应用
2024-03-29
Patent
Electronic Resource
Chinese
IPC: | G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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