Automatic fault-tolerant attitude control method for six-rotor unmanned plane

Abstract

The invention provides an automatic fault-tolerant attitude control method for a six-rotor unmanned plane, and the method comprises the following steps: collecting currents and / voltages of a pluralityof motors on the six-rotor unmanned plane, and judging whether each motor has a fault or not according to the currents and / or voltages; turning off the motor which is adjacent to the motor with the fault and rotates in a direction opposite to the rotating direction of the motor with the fault when the motor is judged to be the motor with the fault; selecting a corresponding mapping matrix Ri according to the number of a propeller wing i driven by the motor with the fault, converting an input attitude angle into a control attitude angle according to the mapping matrix Ri, wherein i is a natural number which is greater than or equal to zero and is less than or equal to six; and inputting the control attitude angle into a flight control module of the six-rotor unmanned plane so as to controlthe six-rotor unmanned plane to fly. According to the invention, when each motor in the six-rotor unmanned plane has an inclined installation angle, the method can achieve the optimization of the power distribution according to the fault condition of the motor, and achieves the fault-tolerant control of the six-rotor unmanned plane.

Description

technical field [0001] The invention relates to a multi-rotor UAV, in particular to an automatic fault-tolerant attitude control method for a six-rotor UAV. Background technique [0002] A standard hexacopter drone has better stability than a quadcopter drone. More motors are installed for better control. In the case of a motor failure, the hexacopter UAV still has one more motor than the quadrotor UAV. At this time, it is often mistakenly believed that the aircraft with a motor failure is still controllable. [0003] But in fact, when the hexacopter UAV loses a motor, it cannot strictly guarantee hovering. As for the UAV with the motor installed at an inclination angle, in the case of 6 propellers working normally and 1 damaged, the flight control algorithm of the general UAV does not support the control of the UAV with the motor installed at an inclination angle and the bad propeller . Therefore, it is necessary to design a control algorithm and architecture to realiz...

AI Technical Summary

Problems solved by technology

[0003] But in fact, when the hexacopter UAV loses a motor, it cannot strictly guarantee hovering

As for the UAV with the motor installed at an inclination angle, in the case of 6 propellers working normally and 1 damaged, the flight control algorithm of the general UAV does not support the control of the UAV with the motor installed at an inclination angle and the bad propeller

Images