The invention provides a wheel type take-off and landing unmanned aerial vehicle brake control method and system. The method comprises the steps that the taxiing lift force of an unmanned aerial vehicle is calculated; the pneumatic pitching moment of the unmanned aerial vehicle is calculated; based on the skating lift force, the pneumatic pitching moment, parameters of the unmanned aerial vehicle and a main wheel supporting force formula of the unmanned aerial vehicle, main wheel supporting force of the ground to main wheels of the unmanned aerial vehicle is obtained; obtaining the critical braking torque of the unmanned aerial vehicle based on the main wheel supporting force; and setting the brake instruction quantity of the unmanned aerial vehicle based on the critical brake torque, so that the brake instruction quantity of the unmanned aerial vehicle can be accurately set during takeoff and taxiing or landing and taxiing of the unmanned aerial vehicle, and the problems that the brake instruction quantity of an existing wheel type takeoff and landing unmanned aerial vehicle is inaccurate in control and cannot be accurately controlled are solved. Therefore, the problem that the braking distance is too long or the unmanned aerial vehicle swings laterally is solved.
本申请提供了一种轮式起降无人机刹车控制方法及系统,通过计算所述无人机的滑跑升力;计算所述无人机的气动俯仰力矩;基于所述滑跑升力、所述气动俯仰力矩、所述无人机的自身参数及所述无人机的主轮支撑力公式得到地面对所述无人机主轮的主轮支撑力;基于所述主轮支撑力得到所述无人机的临界刹车力矩;基于所述临界刹车力矩设置所述无人机的刹车指令量,能够在无人机起飞滑跑、或着陆滑跑中准确设置所述无人机的刹车指令量,解决现有轮式起降无人机存在的刹车指令量控制不准确,从而导致刹车距离过长、或无人机出现侧向摆动的问题。
Wheel type take-off and landing unmanned aerial vehicle brake control method and system
一种轮式起降无人机刹车控制方法及系统
2025-02-14
Patent
Electronic Resource
Chinese
European Patent Office | 2024
|European Patent Office | 2023
|Unmanned aerial vehicle nest, unmanned aerial vehicle take-off and landing method and system
European Patent Office | 2023
|