The invention discloses a cooperative control method for a distributed driving unmanned aerial vehicle, and relates to a motor control method for an unmanned aerial vehicle. The method comprises the following steps: S1, calculating a feedback gain compensation coefficient of a controlled motor; s2, calculating a synchronous compensation error of each motor; s3, calculating the driving torque of the current virtual main shaft; s4, calculating the output torque of the virtual main shaft; s5, calculating the angular velocity of the virtual spindle at the current moment according to the output torque and the rotational inertia of the virtual spindle; s6, the driving torque of each motor is calculated according to the angular velocity of the current virtual spindle, the angular velocity of each motor at the previous moment and the synchronous compensation error, and the driving torque is fed back to a forward channel of the virtual spindle controller; and S7, updating the current angular velocity of each motor according to the synchronous compensation error of each motor on the unmanned aerial vehicle and the angular velocity fed back at the previous moment. And S8, according to the basic formula of the motor, detecting the difference value between the rotating speed of each motor and the reference rotating speed, and measuring the effect of cooperative control of the system.
本发明一种分布式驱动无人机的协同控制方法涉及无人机的电机控制方法,其步骤为:S1.计算受控电机的反馈增益补偿系数;S2.计算得出各台电机的同步补偿误差;S3.计算当前虚拟主轴的驱动力矩;S4.计算虚拟主轴的输出力矩;S5.根据虚拟主轴的输出力矩和转动惯量计算当前时刻虚拟主轴的角速度;S6.根据当前虚拟主轴的角速度和各台电机上一时刻的角速度及同步补偿误差计算各台电机的驱动力矩,并反馈至虚拟主轴控制器的前向通道中;S7.根据无人机上各台电机的同步补偿误差和前一时刻反馈的角速度更新各台电机当前的角速度。S8.根据电机基本公式,检验各电机转速与参考转速之间的差值,衡量系统协同控制的效果。
Cooperative control method for distributed driving unmanned aerial vehicle
一种分布式驱动无人机的协同控制方法
2024-12-20
Patent
Electronic Resource
Chinese
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