The invention provides a hydraulic multi-leg unmanned aerial vehicle undercarriage control method adapted to an uneven working condition, and the method comprises the specific steps: obtaining a difference value between a real-time inclination angle of an unmanned aerial vehicle collected by a pose sensor and a target inclination angle when the unmanned aerial vehicle inclines, and obtaining a control signal of a servo valve on a nose undercarriage; the difference between the real-time position collected by a position sensor installed on the rear landing gear and the target position, obtained according to the target inclination angle of the unmanned aerial vehicle, of a hydraulic cylinder on the rear landing gear is obtained, and a first difference value is obtained; the difference between the real-time force collected by a force sensor installed on the rear landing gear and the target force, obtained according to the target inclination angle of the unmanned aerial vehicle, of a hydraulic cylinder on the rear landing gear is obtained, and the difference value passes through a second-order impedance control function to obtain a second difference value; and a control signal of a servo valve on the rear landing gear for controlling the motion of the rear landing gear is obtained. According to the invention, through double-closed-loop control, the unmanned aerial vehicle can accurately incline at any angle in the front-back direction under the uneven working condition, and the unmanned aerial vehicle can adjust the cargo loading and unloading angle according to the cargo demand.
本发明提供一种适应不平整工况的液压多腿无人机起落架控制方法,具体步骤为:将位姿传感器采集无人机的实时倾角与无人机出现倾斜时的目标倾角作差值,得到前起落架上伺服阀的控制信号;将安装于后起落架上的位置传感器采集的实时位置与根据无人机目标倾斜角度得到的后起落架上液压缸的目标位置作差,得到第一差值;将安装于后起落架上的力传感器采集的实时力与根据无人机目标倾角得到的后起落架上液压缸的目标力作差,将差值经过二阶阻抗控制函数得到第二差值;得到控制后起落架运动的后起落架上伺服阀的控制信号。本发明通过双闭环控制,使无人机在不平整工况下实现前后任意角度精准倾斜,保证无人机根据货物需求调整装卸货物时的角度。
Hydraulic multi-leg unmanned aerial vehicle undercarriage control method adapting to uneven working conditions
适应不平整工况的液压多腿无人机起落架控制方法
2024-09-17
Patent
Electronic Resource
Chinese
Hydraulic actuating mechanism and unmanned aerial vehicle undercarriage
European Patent Office | 2021
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