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Control method, aircraft and storage medium based on multi-vector technology

A control method and vector technology, applied in the field of flight control, can solve the problems of too few control inputs and weak driving ability.

Active Publication Date: 2019-06-28
SHENZHEN SMART DRONE UAV CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The main purpose of the present invention is to provide a control method based on multi-vector technology, which aims to solve the technical problem of weak drive capability on a certain degree of freedom caused by too few control inputs when the tiltrotor aircraft flies in multi-rotor mode

Method used

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  • Control method, aircraft and storage medium based on multi-vector technology
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  • Control method, aircraft and storage medium based on multi-vector technology

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Embodiment Construction

[0028] It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In the following description, use of suffixes such as 'module', 'part' or 'unit' for denoting elements is only for facilitating description of the present invention and has no specific meaning by itself. Therefore, 'module', 'part' or 'unit' may be used in combination.

[0029] In order to facilitate the understanding of the present invention, the prior art related to the present invention and the core invention points of the present invention are briefly described.

[0030] In the prior art, the attitude control of the aircraft is realized by adjusting the rotational speed of the motor, and the process of changing the aircraft from the multi-rotor mode to the fixed-wing mode is to drive the specific rotor and the motor on the aircraft (generally the head of the aircraft) by the tilting mechanism. Rotors at both ends) ...

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Abstract

The invention discloses a control method based on a multi-vector technique, an aircraft and a storage medium. The control method comprises: acquiring actual attitude angle and expected angle of an aircraft along Z axis of a preset coordinate system, determining an angle difference between the expected angle and the actual attitude angle, and determining a first expected vector according to the angle difference; determining first target vector angles of motors of the aircraft based on the first expected vector, and adjusting actual vector angles of the motors of the aircraft according to the first target vector angle such that the actual attitude angle of the aircraft reaches the expected angle. The control method allows aircraft power control to be more flexible and driving capacity to bemore effective.

Description

technical field [0001] The invention relates to the technical field of flight control, in particular to a control method based on multi-vector technology, an aircraft and a storage medium. Background technique [0002] When a tiltrotor aircraft normally flies in multi-rotor mode, it is an underactuated control system, that is, multiple motors on the same plane control the rotation and movement of three axes. Wherein the force rotating along the Z axis is driven by the anti-torque force of the rotation of multiple rotors, which leads to the characteristic of insufficient driving force. [0003] In the prior art, when installing the motor, the motor is preinstalled with an installation angle, and this problem is alleviated by a constant force component of each motor. However, due to the existence of this preinstalled angle, the power loss is relatively large during the entire flight process, and the constant Preloaded angles are also not enough for effective control. [0004...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 贺剑乔自强
Owner SHENZHEN SMART DRONE UAV CO LTD
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