Flight control method and device of multi-rotor and fixed wing composite aircraft

Abstract

The invention discloses a flight control method and a flight control device of a multi-rotor and fixed wing composite aircraft. When the composite aircraft is at a mixed working mode, the current attitude angle is subtracted from the attitude angle instruction of the composite aircraft to obtain an attitude angle deviation signal, the attitude angle deviation signal is operated by a controlled quantity allocation technology and is respectively configured to a lifting steering engine, a direction steering engine, an aileron steering engine and multi-rotor equipment, so as to enable the steering engines of the fixed wing to drive the control surface thereof to deflect, the multi-rotor equipment controls a rotating speed or a propeller pitch to change, and the fixed wing and the multi-rotor respectively generate corresponding control forces to drive the machine body to move towards the direction reducing the attitude angle deviation, so as to eliminate the attitude angle deviation. Therefore, the controlled quantity allocation technology is adopted by the flight control method and the flight control device disclosed by the invention to simultaneously control the control surface of the fixed wing and the rotating speed or the propeller pitch of the multi-rotor and control the posture of the composite aircraft, and the flight control function of the composite aircraft formed by the fixed wing and the multi-rotor at the mixed working mode is achieved.

Description

Technical field [0001] The invention relates to the technical field of composite aircraft, and more specifically, to a flight control method and device for a multi-rotor and fixed-wing composite aircraft. Background technique [0002] The composite aircraft composed of fixed wing and multi-rotor is a new type of aircraft that has emerged in recent years. The composite aircraft combines the advantages of fixed wing and multi-rotor. It can not only take off and land vertically and fly like a helicopter, but also can be like a fixed-wing aircraft. As with take-off and landing and flying, the two power system hybrid working modes can also be used to achieve take-off and landing and flying. [0003] The composite aircraft includes a multi-rotor power system, a fixed-wing power system and a control system. The fixed-wing power system and the multi-rotor power system are structurally independent of each other. The control system includes a fixed-wing control system and a multi-rotor contr...

AI Technical Summary

Problems solved by technology

However, in the mixed working mode, when the airspeed of the composite aircraft is small, or even close to zero, the control force generated by the fixed-wing rudder is not enough to complete the control of the composite aircraft. The multi-rotor speed or pitch control attitude to reduce the attitude angle deviation does not use the fixed-wing control surface, resulting in waste of resources and low control efficiency of the control system

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