Asymmetric four-rotor UAV (unmanned aerial vehicle) and control method thereof

A quadrotor unmanned aerial vehicle, asymmetric technology, applied in the aerospace field, can solve problems such as loss of lift, poor maneuverability of the aircraft, and shortened flight time of the aircraft

Active Publication Date: 2013-11-06
HUNAN AEROSPACE ELECTROMECHANICAL EQUIP & SPECIAL MATERIAL INST
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  • Abstract
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AI Technical Summary

Problems solved by technology

This layout method increases the coupling degree of control, which increases the difficulty of control and deteriorates the maneuverability of the aircraft; in addition...

Method used

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  • Asymmetric four-rotor UAV (unmanned aerial vehicle) and control method thereof
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  • Asymmetric four-rotor UAV (unmanned aerial vehicle) and control method thereof

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Embodiment Construction

[0065] An embodiment of the present invention is an asymmetric quadrotor UAV such as figure 1 As shown, circles 1-4 represent motor propellers 1-4 respectively, small rectangles 5 and 6 are steering gear deflectors, and large motor propellers 1 and 3 correspond to asymmetric quadrotor drones respectively. In the forward and backward direction of the aircraft, the No. 2 and No. 4 small motor propellers correspond to the left and right directions of the asymmetric quadrotor UAV, and No. 5 and No. 6 are arranged directly below the No. 1 and No. 3 large motor propellers along the axis.

[0066] The main frame material of the asymmetric quadrotor UAV is aluminum alloy pipe, which is connected by welding process to ensure the low weight and high strength of the body; the No. 1 and No. 3 large motor power systems are made by FLYTEC in Germany. One anti-rotation, control the pitch through the differential speed, and provide the main lift of the flight; the propeller of the small motor...

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Abstract

The invention discloses an asymmetric four-motor UAV and a control method thereof. According to the asymmetric four-motor UAV, the connection line between two large motor propellers is perpendicular to that between two small motor propellers, and the connection line between the two small motor propellers is shorter than that of the two large motor propellers; the problem of control system divergence is solved through a Smith prediction algorithm; fuzzy control rules are designed and fuzzy inferences are utilized to achieve the optimized adjustment of PID (proportion-integral-derivative) parameters under different flight working conditions. The asymmetric four-motor UAV has the advantages of large take-off weight and good control robustness. The control method of the asymmetric four-motor UAV solves the problems of inaccurate control model and large system interference and reduces the control coupling degree of the four-rotor UAV, thereby reducing the control difficulty and achieving the smooth control of the four-rotor UAV.

Description

technical field [0001] The invention relates to the field of aerospace technology, in particular to an asymmetric quadrotor drone and a control method thereof. Background technique [0002] At present, the control system of the traditional symmetrical quadrotor UAV is relatively mature, and there are many corresponding control methods. The four rotors of the traditional symmetrical quadrotor UAV are symmetrically arranged on the body. The four rotors not only need to provide lift synchronously, but also need to participate in attitude adjustment. This layout method increases the coupling degree of control, which increases the difficulty of control and deteriorates the maneuverability of the aircraft; in addition, the four rotors must frequently change the rotor speed due to participation in attitude adjustment, resulting in loss of lift and shortening the flight time of the aircraft. . Contents of the invention [0003] The technical problem to be solved by the present i...

Claims

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Application Information

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IPC IPC(8): G05D1/10G05D1/08
Inventor 阳衡杨尔卫刘辉余安郑佳吴大庆
Owner HUNAN AEROSPACE ELECTROMECHANICAL EQUIP & SPECIAL MATERIAL INST
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