Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Attitude control system and control method of four-rotor aircraft

A four-rotor aircraft and attitude control technology, applied in the field of aircraft control, can solve problems affecting the application range of multi-rotor aircraft, control quality decline, and high model accuracy requirements

Active Publication Date: 2015-01-14
南京傲翼飞控智能科技有限公司
View PDF5 Cites 1 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, most of the above control methods have high requirements on the accuracy of the model. When the model is perturbed or disturbed by the outside world, its control quality will be significantly reduced, which seriously affects the application range of multi-rotor aircraft.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Attitude control system and control method of four-rotor aircraft
  • Attitude control system and control method of four-rotor aircraft
  • Attitude control system and control method of four-rotor aircraft

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0049] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0050] Such as figure 1 As shown, a four-rotor aircraft attitude control system includes a DC-DC circuit 1, a three-axis accelerometer 3, a geomagnetometer 4, a gyroscope 2, an analog-to-digital converter 5, and a microprocessor 6. The three-axis accelerometer The geomagnetometer and gyroscope are connected to the microprocessor through the analog-to-digital converter. The three-axis accelerometer, geomagnetometer and gyroscope will send the detected analog signals to the microprocessor for processing and control after analog-to-digital conversion.

[0051] 1. DC-DC circuit: The DC-DC circuit is a DC to DC power conversion module, which is used to convert DC power into the required DC voltage. In this example, the voltage regulator chip LM2575 is selected, the maximum input voltage is 45v, the maximum output current can reach 1A, the output voltage is 3.3v, 5v, 1...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses an attitude control system and a control method of a four-rotor aircraft. Firstly, the information of attitude angles of the current aircraft is obtained, and the attitude angles include a roll angle, a pitch angle and a yaw angle; secondly, controllers for the roll angle, the pitch angle and the yaw angle are respectively designed, wherein the controller for the roll angle is the same as that for the pitch angle; and finally, after obtained control inputs of the three controllers are overlapped, a total driving signal is output, thereby driving a motor to operate, so as to control the attitude of the aircraft. A gyroscope and an accelerometer are combined, and a Kalman filter is designed in accordance with models of the attitude angles of the aircraft, so as to conjecture the attitude angles on line. Additionally, variables of the intermediate state of the system can be obtained, and a certain filtering effect is achieved.

Description

Technical field [0001] The invention relates to a four-rotor aircraft attitude control system, which belongs to the technical field of aircraft control. Background technique [0002] As early as the middle of the last century, miniature multi-rotor aircraft have attracted the attention of some overseas research institutions, but multi-rotor aircraft are generally small in size and relatively poor in load capacity, and cannot carry traditional high-precision sensors. Until the beginning of this century, the development of MEMS sensor technology made a breakthrough in the research of miniature multi-rotor aircraft. [0003] Attitude control is the basis of multi-rotor flight control. In order to complete the attitude control, the attitude information of the aircraft must first be obtained. At present, the measurement methods of aircraft attitude angle mainly include: 1. Using high-precision gyroscope. Although the price is relatively low, the gyroscope itself has drift, and as tim...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08
Inventor 王伟马浩胡凯翁理国夏旻朱海飞
Owner 南京傲翼飞控智能科技有限公司
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products