• 专利附录
  • 专利说明
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    • 专利摘要:
    The invention relates to a method for the dynamic conversion of attitude of a rotary wing drone comprising a drone body (12) comprising an electronic card controlling the piloting of the drone and four link arms (16), each arm comprising fixedly secured a propulsion unit (14). The connecting arms (16) form load-bearing wings. The method comprises the execution, upon receipt of a flight conversion instruction enabling the drone to perform a conversion of the flight between a flight using the rotary wing and a flight using at least partly the lift of the wings, said conversion being defined by a pitch angle to reach θref, a sequence of steps repeated until said pitch angle θref, estimate the current pitch angle θ is said drone, determine an angular trajectory as a function of the angle of pitch to reach θref, and sending one or more differentiated commands to one or more thrusters to produce a rotation of the drone about the pitch axis, servocontrolled to the angle trajectory and the estimated current pitch angle θ is .
    公开号:FR3053133A1
    申请号:FR1655986
    申请日:2016-06-27
    公开日:2017-12-29
    发明作者:Mari Marc Mari；Yoni Benatar
    申请人:Parrot Drones SAS；
    IPC主号:
    专利说明:

    The invention relates to recreational drones, especially rotary wing drones such as quadricopters and the like.
    These flying drones comprise a drone body and a plurality of propulsion units mounted at the connecting arm end, each propulsion unit being provided with a propeller driven by an individual engine. The different engines are controllable in a differentiated way to pilot the drone in attitude and speed.
    One such example is the Rolling Spider marketed by Parrot Drones SAS, Paris, France.
    These quadricopters are equipped with four propellant units each provided with propeller. The propellers of two thrusters turn clockwise and the propellers of the other two thrusters turn counterclockwise. Propulsion units equipped with propellers rotating in the same direction of rotation are placed on the same diagonal. Each propeller exerts on the drone a pulling force due to the lift of the propeller, this pulling force being directed upwards, and a moment which is of direction opposite to its direction of rotation.
    WO 2010/061099 A2, EP 2 364 757 A1 and EP 2 450 862 A1 (Parrot) describe the principle of controlling a drone via a touch screen multimedia tablet or telephone and integrated accelerometers, for example an iPhone type smartphone or an iPad type tablet (registered trademarks).
    The commands emitted by the piloting device are four in number, namely the rotation in roll, that is to say the rotational movement about its longitudinal axis, the pitching, that is to say the movement of rotation around the transverse axis, the course also called yaw, that is to say the direction towards which the drone is oriented and the vertical acceleration. When a command of course is requested to the drone, the propulsion units having propellers rotating in one direction turn faster, that is to say that an acceleration of the propulsion units is achieved while the other two propulsion units turn less quickly.
    In this way, the sum of the lift forces compensates for the weight of the drone but the sum of the moments is no longer zero and therefore the drone turns on a course. The rotation according to a heading of the drone on the right or on the left depends on the two diagonal propulsion units for which an acceleration of their rotation is required.
    When a pitch command is requested from the drone, the propulsion units located in the direction of the drone are slowed down and the propulsion units located at the rear relative to the direction of movement of the drone are accelerated.
    When a roll command is requested from the drone, the thrusters located in the desired direction of rotation of the drone are slowed down and the thrusters located on the opposite side are accelerated. However, this type of drone is limited in its application, since it allows only a quadrocopter flight that is to say rotary wing.
    It is known in the field of reduced models, a number of flying devices, of the airplane type, which allow not a flight by levitation and propulsion by a rotary wing, but a flight ensured by a thruster and whose lift is provided by the carrying wings of said aircraft. Airplanes are therefore considered as fixed-wing aircraft.
    However, it is observed that these reduced models present piloting difficulties and are often the subject of damaging falls to the reduced model.
    The object of the invention is to propose a rotary wing drone enabling such a drone to fly not only by using the lift of the rotating surfaces, namely the rotary wing, but also to fly such as an airplane using a fixed wing, while enjoying the easy control offered by drones today. To do this, the conventional flying drone using the rotary wing must make a conversion to fly using the fixed wing of the drone. For this purpose, the invention proposes a dynamic attitude conversion method of a rotary wing drone comprising a drone body comprising an electronic card controlling the piloting of the drone, four link arms, each arm comprising a solidarily fixed block propellant.
    Characteristically, the connecting arms forming load-bearing wings, the method comprises the execution, upon receipt of a flight conversion instruction allowing the drone to perform a conversion of the flight between a flight using the rotary wing and a flight. using at least in part the lift of the wings, said conversion being defined by a pitch angle to reach Gref, a sequence of steps repeated until reaching said pitch angle Gref: estimate the current pitch angle Gest of said drone, determine an angular trajectory as a function of the pitch angle to reach Gref, send one or more differentiated commands to one or more thrusters so as to produce a rotation of the drone around the pitch axis, slaved to the trajectory angle and current pitch angle estimated Gest.
    According to various subsidiary characteristics, taken separately or in combination: said conversion instruction comprises the pitch angle to be achieved Gref; the angular trajectory is a target trajectory in angular acceleration and / or in angular velocity and / or in angle; the step of estimating the current pitch angle Gest of said drone is performed from the measurement of the angular velocity of the drone, - the method further comprises a step of determining an anticipation of anticipation from the angular trajectory and the estimated current pitch angle, - from the determined angular trajectory and the anticipation pre-control, the method furthermore comprises generating setpoint values corresponding to an angular position at the instant given and apply these setpoints to a control servo control loop of the drone motors, - the set values are instructions angle of inclination of the drone relative to its pitch axis, - the method further comprises the steps of: determining the altitude of said drone preceding the execution of the conversion instruction, estimating the current altitude of the drone , determine a trajectory in altitude and in vertical speed as a function of the altitude preceding the execution of the conversion instruction, send one or more differentiated commands to one or more propulsion units so as to produce a correction of the altitude of the drone, servocontrolled to the trajectory at altitude and in vertical speed and at the estimated current altitude. the drone further comprises a battery pack, and the method further comprises a step of measuring the voltage of said battery pack and the one or more differentiated controls are further determined from the voltage of said measured battery pack, the drone comprises in addition, at least one ultrasound sensor, the method further comprises a step of activating / deactivating the ultrasound sensor; during a flight conversion between a flight using the rotary wing to a flight using at least partly the lift of the wings, the method further comprises a preliminary step of reducing the maximum angular speed on the pitch axis and / or the maximum angular velocity on the roll axis. - During a flight conversion between a flight using at least partly the lift of the wings to a flight using the rotary wing, the pitch angle to be achieved is substantially zero. The invention also relates to a rotary wing drone comprising a drone body comprising an electronic card controlling the control of the drone and four link arms, each arm comprising a solidarily fixed propulsion unit. The link arms form load-bearing wings and the drone is able to implement the dynamic control method previously described. The invention also relates to an assembly comprising a device for controlling a rotary wing drone and a rotary wing drone as described above, the control device comprises a set of piloting instructions, an instruction of this set of instruction is a drone flight conversion instruction to convert between a rotary wing flight and a flight using wing lift.
    According to a particular embodiment, during a conversion instruction between a flight using the rotary wing to a flight using at least partly the lift of the wings, the conversion instruction comprises a pitch angle to reach 0ref. 0
    We will now describe an exemplary implementation of the present invention, with reference to the accompanying drawings.
    Figure 1 is an overview showing the drone object of the invention seen from above when the drone is on the ground.
    Figure 2 is a side view of the drone according to the invention when the drone is in flight using the wing lift.
    Figure 3 is a top view of the drone according to the invention when the drone is in flight using the wing lift.
    Figure 4 illustrates a rear view of the drone according to the invention when the drone is in flight using the wing lift.
    Figure 5 is a state diagram of the preliminary steps to the dynamic conversion of the drone.
    Figure 6 is a state diagram of the dynamic conversion of the drone according to the invention.
    FIG. 7 is a block diagram of the various control and servocontrol members as well as the dynamic conversion of a rotary wing drone according to the invention. 0
    We will now describe an exemplary embodiment of the invention. In Figure 1, reference numeral 10 generally designates a rotary wing drone. According to the example illustrated in FIG. 1, it is a quadrocopter-type drone derived from the Rolling Spider model marketed by Parrot Drones SAS, Paris, France.
    The quadrocopter drone comprises a drone body 12 comprising an electronic card controlling the control of the drone, and four propulsion units 14 fixed respectively to the four link arms 16.
    The propulsion units 14 are controlled independently by an integrated navigation and attitude control system. Each propellant unit 14 is provided with a propeller 18 driven by an individual engine. The different engines are controllable in a differentiated way to pilot the drone in attitude and speed and with the production of a climbing force.
    The propellers 18 of two propulsion units turn clockwise and the propellers of the two other propulsion units turn counterclockwise. Propulsion units equipped with propellers rotating in the same direction of rotation are placed on the same diagonal.
    In a manner characteristic of the invention, the connecting arms 16 form load-bearing wings, substantially perpendicular to the plane of the propellers, allowing the drone to ensure a flight either in rotary wing or a flight called in flight plane, so as to benefit from the lift of the load-bearing wings.
    According to a particular embodiment, the propulsion units are fixed substantially to the end of the load-bearing wings as illustrated in FIG.
    Alternatively, the propulsion units can be fixed on almost the entire length of the load-bearing wings, especially at the leading edge of each of the wings, however a minimum distance between two neighboring propellant blocks is to be respected, this distance not having to to be less than the sum of the radii of the two propellers of said neighboring propellant units.
    According to the invention, the drone comprises flight conversion means allowing the drone, after takeoff in quadricopter mode, that is to say by using the lift of the rotational surfaces, to perform a conversion so that the drone flies using wing lift.
    To do this, the drone performs a conversion of a given angle, namely a pitch angle Θ for example of 20 ° to 90 °, and preferably a pitch angle Θ of between 20 ° and 80 ° so that the drone benefits from the lift of the wings to fly. Thus, the drone is able to fly conventionally using the lift of the rotating surfaces or such as an airplane using the lift of the wings. Such a drone has the advantage of being able to fly like an airplane but allows good control of the flight speed since it is also able to fly very slowly especially if the angle of conversion is a low angle.
    If we define the drone before takeoff along the three orthogonal axes X, Y and Z, then it will be called: - axis X, the roll axis which is defined by the fact that a rotation of the drone on this axis allows to move the drone to the right or to the left, and - Y axis, the pitch axis which is defined by the fact that a rotation of the drone on this axis makes it possible to advance or retreat the drone, - Z axis , axis of heading or yaw axis, which is defined by the fact that a rotation of the drone on this axis has the effect of pivoting to the right or to the left the main axis of the drone, therefore the direction of progression of the drone.
    Thus, the conversion can be defined by the fact that the Z axis of the drone, corresponding to the yaw axis during the flight of the drone in conventional mode, that is to say using the lift of the rotary wing, becomes the axis of roll when the drone goes into airplane flight mode, that is to say using the fixed wing, in other words the lift of the wings.
    The drone illustrated in Figure 1 comprises four connecting arms in the form of load-bearing wings, however, such a drone could have more than four supporting wings.
    According to a particular embodiment, the drone body 12 is shaped for example elongated. According to this embodiment, the carrying wings of the drone are fixed on all or part of the length of the drone body.
    The drone illustrated in FIG. 1 is such that the load-bearing wings 16 are positioned respectively on each side of the drone body defined by the horizontal median plane of the drone body 12 when the drone is in the airplane flight position and the airfoils are symmetrical and form for example a dihedron.
    According to another embodiment, the load-bearing wings on either side of the drone body may not be symmetrical with respect to said horizontal median plane of the drone body.
    It is also observed that the drone illustrated in FIG. 1 is such that the load-bearing wings 16 are situated on each side of the drone with respect to the vertical median plane 12 when the drone is in flight position and the airfoils are symmetrical.
    According to another embodiment, the carrying wings on either side of the drone body may not be symmetrical with respect to said vertical median plane of the drone body.
    The structure of the drone as illustrated in FIG. 1 has an X shape having a positive dihedral angle on the upper wings with respect to the horizontal median plane of the drone body when the drone is in flight position and a dihedral angle. negative of the same value on the lower wings with respect to said horizontal median plane. However, the drone may include positive and negative dihedral angles of different values.
    For example, the angle of positive dihedron on the upper wings is between 15 and 25 ° and preferably 20 °. Similarly, according to the illustrated drone, the negative dihedral angle on the lower wings is between 15 ° and 25 ° and preferably 20 °.
    As can be seen in FIG. 1, the load-bearing wings have a span such that the lever arm between the center of gravity of the drone and the propulsion unit allows a stable flight in airplane mode. According to the example illustrated in Figure 1, the span is 30 cm.
    In addition, the load-bearing wings have a suitable lift surface so as to allow the drone to fly in airplane mode using the wing lift. The surface of the wings is determined so as to offer good lift without major impact on the flying performance of the conventional flying drone.
    As illustrated in FIG. 1, the load-bearing wings 16 of the drone form an angle of deflection β relative to the drone body 12, the angle of deflection β can be between 5 ° and 20 ° and preferably about 10 °.
    According to a particular embodiment, each of the propulsion units (excluding propellers) of the drone is in the same plane as the wing on which it is fixed. In other words, each propeller of the propulsion units is on a plane substantially perpendicular to the plane of the bearing surface of the wing on which the propeller is fixed.
    However, according to the exemplary embodiment illustrated in FIG. 1 and in FIG. 4, the four propulsion units form an angle of inclination with respect to the horizontal median plane of the drone body, the two propulsion units positioned on one side of the body of the drone body. drone being inclined toward each other respectively at a predetermined positive vertical inclination angle and a predetermined negative vertical inclination angle. And symmetrically, the two thrusters positioned on the other side of the drone body are inclined towards each other respectively at the same positive vertical predetermined inclination angle and the same negative vertical predetermined inclination angle.
    In other words, the propulsion units located on either side of the drone body above the horizontal median plane of the drone body, when the drone is in flight position, are inclined respectively to the propulsion units located on the same side of the drone body below said horizontal median plane, and vice versa. The propulsion units located on either side of the drone body below said horizontal median plane are inclined respectively to the propulsion units located on the same side of the drone body above the horizontal median plane. The inclination of the propulsion units makes it possible, in airplane mode, to create a traction component perpendicular to the horizontal direction of travel, which contributes to increasing the available torque on the yaw axis of the drone, which would otherwise result solely from the pair of propellers of the drone. . This increase in torque may be advantageous for flying in airplane mode, that is to say using the lift of the wings of the drone. Indeed, the increase in torque makes it possible to compensate for the inertia of displacement of the drone on the axis of yaw in airplane mode, which is much higher than on a conventional drone, that is to say without wings, because of the presence of load-bearing wings. The inclination of the motors causes a decrease in the lift generated since only a portion of the traction produced by the motors is applied on the horizontal plane. However, such an inclination creating a perpendicular component of traction makes it possible to contribute to increasing the control of the drone on the yaw axis in airplane mode since the application of a horizontal force on the lever arm existing between the engines and the center of gravity of the drone, optimized by the placement of the propulsion units substantially on the ends of the wings, allows to create a torque on the yaw axis which will be added to the pair of propellers.
    The traction necessary for the drone to fly in airplane mode, that is to say by using the lift of the wings, is less than the traction necessary to allow the drone in its conventional flight configuration to maintain a fixed point, c that is, a hover.
    In addition, it should be noted that the Z axis of the drone, corresponding to the yaw axis when the drone flies in conventional mode, that is to say using the rotary wing, becomes the axis of roll when the drone flies in airplane mode, that is to say substantially horizontally using the wing lift.
    According to a particular embodiment, the predetermined inclination angles of the four propulsion units are identical in absolute value. However, according to another embodiment, the propulsion units situated above the horizontal median plane of the drone body when the drone is in flight position, can have an angle of inclination in absolute value different from the angles of inclination. thrusters located below said horizontal median plane.
    According to a particular embodiment, the predetermined angles of inclination are between 10 ° and 30 °, and preferably about 20 °.
    It has been observed that an inclination angle of 20 ° in absolute value applied to the propulsion units results in tensile losses of approximately 6%. In addition, the circulation of the air flow around the wings when the engines rotate results in an increase in traction losses due to the inclination of the propulsion units. Thus according to this embodiment, the tensile losses are about 24%.
    According to a particular embodiment, the propulsion units may be substantially inclined by converging on the main median axis of the drone and therefore have a tilt angle value relative to the vertical median plane of the drone body when the drone is in motion. airplane flight position.
    The drone illustrated in Figures 1, 2 and 3 comprises four load-bearing wings fixed on the drone body, each wing having a parallelogram shape. However, other forms of wings can be envisaged.
    The load-bearing wings 16 may be connected together in pairs by at least one reinforcing means 22.
    According to a particular embodiment, the load-bearing wings located on the same side of the vertical median plane of the drone body when the drone is in flight position, are interconnected by at least one reinforcing means 22 fixed for example substantially near the power packs. FIG. 1 illustrates an embodiment in which a single reinforcement means is fixed between the load-bearing wings on one and the same side of the drone.
    According to a particular embodiment of the drone, the wings may be provided with fins for controlling the rotations of the drone during a flight in airplane mode.
    According to another particular embodiment, the drone may be devoid of a rudder such as ailerons type rudders. The flight of the drone in flight in airplane mode will then be controlled by a control of the speed of rotation of the various propulsion units.
    The drone is also equipped with inertial sensors (accelerometers and gyro-meters) to measure with a certain accuracy the angular velocities and attitude angles of the drone, that is to say the angles of Euler (pitch Θ , roll çet cap ψ) describing the inclination of the drone with respect to a horizontal plane of a terrestrial reference established before takeoff of the drone at the time of powering up the drone according to the conventional convention NED ("North, East, Down "in English terminology), it being understood that the two longitudinal and transverse components of the horizontal speed are intimately related to the inclination along the two respective axes of pitch and roll.
    The drone 10 is controlled by a remote control device such as a telephone or a multimedia tablet with touch screen and integrated accelerometers, for example a cellular phone type iPhone (trademark) or other, or a tablet type iPad (brand filed) or other. This is a standard device, unmodified if not the loading of a specific application software to control the control of the drone 10. According to this embodiment, the user controls in real time the movement of the drone 10 via the control device.
    The remote control device is a device provided with a touch screen displaying a number of symbols for activating commands by simply touching a finger of a user on the touch screen.
    The control device communicates with the drone 10 via a bidirectional exchange of data over wireless LAN type Wi-Fi (IEEE 802.11) or Bluetooth (registered trademarks): from the drone 10 to the control device, particularly for the transmission of data. flight data, and the steering device to the drone 10 for sending pilot commands.
    The steering device is also provided with inclination sensors making it possible to control the attitude of the drone by sending commands according to roll, heading and pitch axes in the drone mark (reference may be made to WO 2010/061099 A2 for more details on these aspects of the system).
    Whatever the flight mode of the drone, the control device has on the touch screen the same navigation symbols, however, the navigation commands issued to the drone will be analyzed against the actual reference of the drone.
    Thus, the user directly controls the drone for example, by a combination of: • commands available on the touch screen, including "mon-tée / descent" and • signals emitted by the tilt detector of the device: for example, to advance the drone the user tilts his device according to the corresponding pitch axis, and to move the drone right or left it tilts the same device relative to the roll axis. The touch screen also includes one or more symbols to control the conversion of the drone from a conventional flight mode, that is to say by using the lift of the rotary wing in flight mode, that is, that is to say using the fixed wing, in other words the lift of the wings and vice versa.
    In addition, the touch screen may include one or more symbols allowing a flight conversion of the conventional flight mode drone to a plane flight but on the back of the aircraft.
    In addition, it may be possible to indicate on the touch screen a pitch angle indication for the desired conversion either directly or indirectly by selecting for example a level of ability to fly in airplane mode or by varying a cursor proportional to the pitch angle of the drone in the desired airplane mode.
    According to another embodiment, the transition from the conventional flight mode to airplane flight mode is performed on the touch screen from a gearbox-type graphic interface component, where each step of the gearbox corresponds at a certain angle of pitch of the drone in airplane mode.
    In particular, this graphical interface component can take the form of a slider ("slider" in English terminology). According to this embodiment, the user of the drone moves his finger on the scroll cursor to reach the first rung. At each level of the GUI component corresponds a pitch angle of the drone in airplane mode. The user of the drone can then decide to change the pitch angle of the drone either with a higher angle or with a lower angle. For this, the user can move the scroll cursor of the GUI component so as to select the upper echelon including the second echelon to increase the pitch angle of the drone.
    In a particular embodiment, the graphical interface component comprises three steps respectively corresponding to three different angles of pitch of the drone, the first step corresponding to a low pitch angle while the third step corresponding to a high pitch angle.
    The GUI component may also include a slider around the echelon so as to vary the current speed of the drone in airplane flight mode.
    To do this, from the instructions of the user given by manipulation, for example the graphical interface component, control commands are issued to the drone to then determine the commands to be sent to the different power units so as to produce a rotation of the drone around the axis of pitch of the drone according to the control of the user.
    This control command may comprise a pitch angle desired by the user, that is to say the pitch angle to be reached Brief.
    In order to allow the implementation of the conversion control by the drone, in particular, in order to dynamically convert the attitude of the drone, it is implemented a dynamic attitude conversion method according to the invention which is now described.
    The method as described below is the dynamic attitude conversion method of a rotary wing drone implemented on receipt of a flight conversion instruction allowing the drone to perform a flight conversion between a flight using rotary wing and flight using at least partly wing lift. In other words, the method according to the invention allows conversion of the drone from a conventional flight mode to the airplane flight mode and conversion of the drone from an airplane flight mode to a conventional flight mode. In the first case, the pitch angle to be reached by the drone is indicated and in the second case, the pitch angle is a substantially zero angle, for example equal to 0 °.
    According to the invention, the conversion will be performed according to a desired pitch angle θref. To achieve this conversion, the attitude of the drone is controlled by sending differentiated commands to one or more of said thrusters 14 so as to produce a rotation of the drone around the pitch axis of the drone from a current angular position to a final angular position, these axes being defined in the reference of the drone.
    Thus, the conversion of the drone between a flight using the rotary wing and a flight using at least partly the lift of the wings, will be achieved by sending differentiated commands to one or more of said propulsion units. The user will therefore by activation of one or more control commands on the remote control device, allow the conversion of the flight mode of the drone, the control commands causing an adaptation of the rotational speed of the propulsion units.
    In order to perform a coordinated conversion of the drone, according to one embodiment of the invention, the integrated navigation and attitude control system of the drone will execute a repeated sequence of steps until reaching said pitch angle 0ref . Said sequence comprises in particular i) the estimation of the current pitch angle θ is of said drone from the measurement of the angular velocity of the drone, ii) the determination of an angular trajectory from the pitch angle to be reached 0ref, and iii) sending one or more differentiated commands to one or more thrusters to produce a rotation of the drone about the pitch axis, servocontrolled to the angular trajectory and pitch angle valued.
    The angular trajectory is a target trajectory in angular acceleration and / or angular velocity and / or angle.
    It will now be described the different steps of the method implemented in the drone to achieve the dynamic conversion of attitude of the drone and in particular to determine the differentiated commands to send to one or more thrusters of the drone.
    The dynamic conversion method may comprise a first conversion preparation phase illustrated in Figure 5.
    The method comprises a step E1 implemented during a flight conversion between a flight using the rotary wing to a flight using at least partly the lift of the wings. During this step, the method comprises reducing the maximum angular velocity on the pitch axis and / or the maximum angular velocity on the roll axis.
    The method comprises a step E2 consisting of a step of determining the engine setpoint to be applied to the engine when the drone is in conventional flight mode when the pitch angle θ is zero or substantially zero.
    The method comprises a step E3 consisting of a step of determining the engine setpoint to be applied to the engine when the drone is in flight mode when the pitch angle θ is zero or substantially zero.
    The engine instructions of the step E2 and of the step E3 are respectively calculated by a conventional equilibrium flight equation estimation means and by an aerodynamic model of the drone (see below) describing the instructions to be applied to the aircraft. engines for each pitch angle of the drone in airplane flight mode to maintain the aircraft at a constant altitude.
    The method may further comprise a step E4 for determining the current value of the battery voltage of the drone.
    During the preparation phase for the conversion, the method may comprise a step E5 which deactivates the use of the ultrasonic rangefinder sensor especially during a flight conversion of the conventional flight mode drone using the lift of the propellers to a flight mode airplane using the wing lift. However, during a drone flight conversion from the airplane flight mode to the conventional flight mode, the step E5 activates the use of the ultrasonic rangefinder sensor.
    In a particular embodiment, the deactivation of the ultrasonic rangefinder sensor is performed only when the pitch angle of the drone is greater than a given threshold. In other words, when the angle of inclination of the drone with respect to the horizontal is below a certain threshold then the ultrasonic telemetry sensor is deactivated.
    According to another embodiment, the ultrasonic rangefinder sensor is not deactivated but the signal emitted by it is taken into account only when the pitch angle of the drone is below a predetermined threshold, for example 45 degrees.
    It should be noted that steps E1 to E5 can be executed sequentially. Similarly, the steps E1 to E5 can be performed in parallel with each other, as illustrated in FIG.
    The method continues with a sequence of steps implemented in the drone to perform the dynamic attitude conversion of the drone illustrated in Figure 6, the sequence of steps will be performed iteratively until the completion of the realization of conversion. In other words, this sequence of steps is performed as long as the estimated pitch angle Best of the drone has not reached the pitch angle Brief.
    The sequence of steps begins with the step E10 of determining an angular trajectory and an anticipation of anticipation from the data of speed of movement of the drone in a reference frame related to the body of the drone, that is to say - say the horizontal speed of movement of the drone, the estimated pitch angle of the drone and the pitch angle to be reached.
    Thus, the integrated navigation system and attitude control of the drone will determine, from a model of the dynamics of the drone: - an angular trajectory, that is to say, a target trajectory in angular acceleration and / or in angular velocity and / or angle, corresponding to the instruction given by the user and used as a reference by the integrated navigation system and attitude control of the drone, and - an anticipation pre-order to perform this open-loop trajectory, this pre-command being transmitted to the integrated navigation and attitude control system of the drone in order to anticipate the trajectory to be traveled. This anticipation pre-control makes it possible to orient the moving drone towards the pitch inclination desired by the user, the integrated navigation and attitude control system of the drone neutralizing the disturbances with respect to the trajectory as a function of the estimated current pitch angle.
    During steps E11 and E12 of the method, starting from the determined angular trajectory, the anticipation of anticipation and the measurements coming from the inertial unit of the drone, the integrated system of navigation and attitude control of the drone will generate a or differentiated commands and will transmit them to one or more of the propulsion units of the drone so as to produce the rotation of the drone around the axis of pitch of the drone.
    According to one embodiment, the estimate of the current pitch angle Gest of said drone is made from the measurement of the angular velocity of the drone.
    Indeed, the step E10 is followed by a step E11 of calculating attitude commands from the determined angular trajectory, the anticipation of anticipation and measurements from the inertial unit of the drone. To do this, step E11 comprises generating pitch pitch instruction values. Step E11 is followed by a step E12 of sending one or more determined differentiated commands to one or more of said drone thrusters as a function of pitch pitch setpoint values generated. To do this, step E12 includes the application of these setpoints to a servo control loop of the drone engines.
    In parallel with the management of the attitude change of the drone between the conventional flight position and the airplane flight mode, the method furthermore comprises determining the altitude of said drone and determining one or more differentiated commands from the altitude of the drone, in order to control during the conversion the altitude of the drone including maintaining the drone at the altitude before the execution of the conversion instruction. The management of the altitude of the drone is carried out in particular in steps E13 to E15 described below. The step E15 carried out for example in parallel with the step E10, determines a trajectory in altitude and in vertical speed and an anticipation of anticipation.
    To do this, it is estimated the current altitude of the drone and then from (i) the estimated current altitude of the drone, (ii) the estimated altitude of the drone preceding the execution of the conversion instruction and (iii) the the aerodynamic speed of movement of the drone, that is to say the horizontal speed of movement of the drone, the integrated navigation system and attitude control of the drone will determine, from a model of the dynamics of the drone an altitude and vertical velocity trajectory corresponding to the altitude information of the drone determined before the execution of the conversion instruction and used as a reference by the integrated navigation and altitude control system of the drone and an anticipation pre-order in order to execute this trajectory in an open loop, this pre-command being transmitted to the integrated navigation and altitude control system of the drone in order to anticipate the trajectories. jectory to go. This anticipation pre-order makes it possible to orient the drone in motion on the determined trajectory, the integrated system of navigation and altitude control of the drone neutralizing the disturbances with respect to the trajectory. The step E13 is followed by a step E14 for generating the altitude setpoints from the trajectory at altitude and at a determined vertical speed, the anticipation of anticipation and the measurements coming from the inertial unit of the drone. To do this, step E14 comprises the generation of altitude setpoint values. The step E13 may also take into account, if necessary, an ascending speed instruction added by the user to the aforementioned altitude setpoint. Step E14 is followed by a step E15 of sending one or more determined differentiated commands to one or more of said drone propulsion units as a function of the altitude setpoint values generated. To do this, step E15 comprises the application of these setpoints to a control servo control loop of the drone engines.
    The method also comprises a step E16 carried out for example in parallel with steps E11 and E14, for compensating the balance control of the drone as a function of the battery voltage, determined in particular during step E4.
    In particular, the one or more differentiated commands generated by said method are further determined from the voltage of said measured battery pack.
    According to a particular embodiment, the differentiated commands determined in steps E12 and E15 in order to control the propulsion units of the drone can be mixed before sending these commands to said propulsion units of the drone.
    In order to determine the aerodynamic speed V of the drone, it is first necessary to determine the lift coefficient of the wings, in particular from the geometry of these. According to a particular embodiment, the theory of thin profiles is used. This theory is mainly valid when the drone is flying almost with a roll angle of 90 °. This theory makes it possible to obtain a speed curve for the various pitch angle values of the drone. The speed values are slightly underestimated but still allow a good evaluation of the coefficient of lift of the wings. The lift coefficient c ^ is defined as follows:
    With h being the span of the wing, s the wing surface and the angle of incidence.
    It should be noted that cIr is the coefficient of zero incidence lift, which is 0 when the wing profile is symmetrical. From the coefficient cbn of the determined lift required to compensate the weight of the drone for each inclination according to the pitch angle of the drone, the aerodynamic speed of the drone V is determined. For this purpose, the lift force L is determined according to the following formula:
    p being the density of the air.
    We deduce that the aerodynamic speed V of the drone is:
    In addition, the drag coefficient Cx of the wings is determined using a model for the symmetrical profiles known from the literature. For example, the drag coefficient Cx is determined according to the following formula:
    With Fx being the drag which is the aerodynamic component parallel to the nets of area of the relative wind, p being the density of the air, V being the aerodynamic speed of the drone previously determined, S being the surface of the wing.
    The drag coefficient varies according to the angle of incidence of the wings. The angle of incidence a is determined for example as a function of the pitch angle Θ of said drone body. In particular, the angle of incidence can be determined such that:
    Θ being defined as the angle of rotation of the drone, in other words the pitch angle of the drone.
    Thus, it will be determined the drag coefficient for each pitch angle of the drone between 0 ° and 90 °.
    To achieve equilibrium in flight drone aircraft, the traction of the drone must compensate for the aerodynamic drag Fx and the component of the weight of the drone on the yaw axis in the drone mark.
    Thus, from the drag coefficient for each pitch angle value, the lift coefficient, the component of the weight of the drone, it is determined the engine setpoint to be applied corresponding to the flight balance control of the drone. airplane flight mode.
    It should be noted that, in accordance with the invention, the sending of one or more differentiated commands is executed after the generation of pitch angle setpoint values corresponding to the angle of inclination to be implemented and the application of these setpoints to a control servo control loop of the drone engines.
    The angle setpoint is determined as an ideal angular trajectory that the drone should follow and will be used as a setpoint by the integrated navigation system and attitude control of the drone. The command making it possible to execute this open-loop trajectory comprises an anticipation pre-command which completes the command of the integrated navigation and attitude control system of the drone, this anticipation pre-order being determined from a loop of enslavement by considering the difference between the ideal trajectory that the drone should pursue according to the instruction received and the trajectory that it actually performs.
    Figure 7 is a functional block diagram of the various controls and servo control of the drone. It will be noted, however, that although this diagram is presented in the form of interconnected circuits, the implementation of the various functions is essentially software, and this representation is only illustrative.
    The dynamic attitude conversion method of a rotary wing drone according to the invention involves several nested loops for the control of the angular velocity and the attitude of the drone, in addition to the control of altitude variations. automatically.
    The most central loop, which is the control loop 52 for controlling the angular velocity, uses on the one hand the signals supplied by gyrometers 54, and on the other hand a reference constituted by speed instructions 54, these different information being applied at the input of a stage 58 for correcting the angular velocity. This stage 58 controls a motor control stage 60 to separately control the speed of the various motors to control the angular velocity of the drone by the combined action of the rotors driven by these motors.
    The loop 52 for controlling the angular velocity is embedded in an attitude control loop 64, which operates on the basis of the indications provided by the gyrometers 54 and the accelerometers 66, these data being applied at the input of an estimation stage. attitude 68 whose output is applied to a PI-type attitude correction stage 70 (Proportional-Integrator). The stage 70 delivers to the stage 56 angular velocity instructions, which are also a function of angle commands generated by a circuit 72 from commands directly applied by the user 74, these angle instructions are generated in accordance with FIG. the dynamic attitude conversion method of a rotary wing drone according to the invention. From the error between the setpoint and the measurement of the angle given by the attitude estimation circuit 68, the attitude control loop 64 (circuits 54 to 70) calculates a setpoint in angular velocity at 100.degree. The control of the angular velocity control (circuits 54 to 60) then calculates the difference between the previous angular speed setpoint and the angular velocity effectively measured by the gyrometers 54. The loop calculates at from this information the different speed of rotation instructions to be sent to the engines 62 of the drone to perform the rotation requested by the user. The estimation of the horizontal velocity V by the circuit 84 is carried out on the basis of the information provided by the attitude estimation circuit 68 and the altitude estimation given by the circuit 86, in particular by means of a sensor ultrasound telemetry 80, as well as a model. The estimation of the horizontal velocity V carried out by the circuit 84 is supplied to the circuit 72 for the implementation of the dynamic attitude control method of the drone according to the invention.
    权利要求:
    Claims (15)
    [1" id="c-fr-0001]
    A method of dynamic attitude conversion of a rotary wing drone comprising: a drone body (12) comprising an electronic card controlling the piloting of the drone, four link arms (16), each arm comprising a solidarily fixed one propulsion unit (14), characterized in that the connecting arms (16) forming load-bearing wings, the method comprises the execution, upon receipt of a flight conversion instruction allowing the drone to perform a conversion of the flight between a flight using the rotary wing and a flight using at least in part the lift of the wings, said conversion being defined by a pitch angle to reach 6ref, a sequence of steps repeated until said pitch angle 0ref! estimating the current pitch angle 0 is said drone, determining an angular trajectory as a function of the pitch angle to reach 0ref (E10), sending one or more differentiated commands to one or more propulsion units (E12) so as to produce a rotation of the drone around the pitch axis, servocontrolled to the angular trajectory and the estimated current pitch angle 0est.
    [2" id="c-fr-0002]
    2. Dynamic control method according to the preceding claim, characterized in that said conversion instruction comprises the pitch angle to reach 0ref.
    [3" id="c-fr-0003]
    3. Dynamic control method according to any one of the preceding claims, characterized in that the angular trajectory is a target trajectory in angular acceleration and / or in angular velocity and / or angle.
    [4" id="c-fr-0004]
    4. Dynamic control method according to any one of the preceding claims, characterized in that the step of estimating the current pitch angle O is said drone is performed from the measurement of the angular velocity of the drone.
    [5" id="c-fr-0005]
    5. Dynamic control method according to the preceding claim, characterized in that the method further comprises a step of determining a pre-control anticipation from the angular trajectory and the estimated current pitch angle.
    [6" id="c-fr-0006]
    6. Dynamic control method according to the preceding claim, characterized in that, from the determined angular trajectory and anticipation pre-control, the method furthermore comprises the generation of setpoint values (E11) corresponding to an angular position. at the given time and apply these setpoints to a servo control loop of the drone engines.
    [7" id="c-fr-0007]
    7. Dynamic control method according to the preceding claim, characterized in that the set values are instructions for the angle of inclination of the drone relative to its pitch axis.
    [8" id="c-fr-0008]
    8. Dynamic control method according to any one of the preceding claims, characterized in that the method further comprises the steps of: determining the altitude of said UAV preceding the execution of the conversion instruction, estimating the current altitude of the drone, determine a trajectory in altitude and in vertical speed as a function of the altitude preceding the execution of the conversion instruction (E13), send one or more differentiated commands to one or more propulsion units (E15) so as to produce a correction of the altitude of the drone, enslaved to the trajectory in altitude and in vertical speed and the estimated current altitude.
    [9" id="c-fr-0009]
    A dynamic control method according to any one of the preceding claims, wherein the drone further comprises a battery pack, characterized in that the method further comprises a step of measuring the voltage of said battery pack (E4). and in that the one or more differentiated controls are further determined from the voltage of said measured battery pack.
    [10" id="c-fr-0010]
    10. Dynamic control method according to any one of the preceding claims, wherein the drone further comprises at least one ultrasound sensor, characterized in that the method further comprises a step of activation / deactivation of the ultrasonic sensor ( E5).
    [11" id="c-fr-0011]
    11. Dynamic control method according to any one of the preceding claims, characterized in that, during a flight conversion between a flight using the rotary wing to a flight using at least partly the lift of the wings, the method comprises in addition, a preliminary step of reducing the maximum angular velocity on the pitch axis and / or the maximum angular velocity on the roll axis (E1).
    [12" id="c-fr-0012]
    12. Dynamic control method according to any one of claims 1 to 10, characterized in that, during a flight conversion between a flight using at least partly the lift of the wings to a flight using the rotary wing, the pitch angle to be reached is substantially zero.
    [13" id="c-fr-0013]
    13. A rotary wing drone comprising: a drone body (12) comprising an electronic card controlling the piloting of the drone, four link arms (16), each arm comprising a solidarily fixed propulsion unit (14), characterized in that the connecting arms (16) form load-bearing wings, and in that the drone is able to implement the dynamic control method according to any one of claims 1 to 12.
    [14" id="c-fr-0014]
    14. An assembly comprising a control device of a rotary wing drone and a rotary wing drone according to claim 13, the control device comprises a set of flight instructions, an instruction of this instruction set is a drone flight conversion instruction to convert between a rotary wing flight and a flight using wing lift.
    [15" id="c-fr-0015]
    15. The assembly of claim 14, characterized in that, during a conversion instruction between a flight using the rotary wing to a flight using at least partly the lift of the wings, the conversion instruction comprises a pitch angle. to reach Gref.
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    同族专利:
    公开号 | 公开日
    CN107539467A|2018-01-05|
    FR3053133B1|2018-08-17|
    US20170371352A1|2017-12-28|
    EP3264214A1|2018-01-03|
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    法律状态:
    2017-06-16| PLFP| Fee payment|Year of fee payment: 2 |
    2017-12-29| PLSC| Publication of the preliminary search report|Effective date: 20171229 |
    2018-06-15| PLFP| Fee payment|Year of fee payment: 3 |
    2020-03-13| ST| Notification of lapse|Effective date: 20200206 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1655986|2016-06-27|
    FR1655986A|FR3053133B1|2016-06-27|2016-06-27|METHOD FOR THE DYNAMIC CONVERSION OF ATTITUDE OF A ROTARY SAIL DRONE|FR1655986A| FR3053133B1|2016-06-27|2016-06-27|METHOD FOR THE DYNAMIC CONVERSION OF ATTITUDE OF A ROTARY SAIL DRONE|
    EP17173552.5A| EP3264214A1|2016-06-27|2017-05-30|Method for dynamic attitude conversion of a rotary-wing drone|
    CN201710500007.3A| CN107539467A|2016-06-27|2017-06-27|A kind of method for being used to dynamically change the posture of rotor type unmanned plane|
    US15/635,138| US20170371352A1|2016-06-27|2017-06-27|Method for dynamically converting the attitude of a rotary-wing drone|
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