Control distributing method of eight-rotor aircraft

An eight-rotor aircraft and control distribution technology, which is applied in attitude control, height or depth control, etc., can solve the problems of no public eight-rotor aircraft control distribution methods, etc., and achieve the effect of simplifying the control distribution process, clear physical concepts, and simple principles

Active Publication Date: 2015-06-10
FLIGHT AUTOMATIC CONTROL RES INST
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the existing literature and public information, there is no disclosed control distribution method for the octorotor aircraft.

Method used

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  • Control distributing method of eight-rotor aircraft
  • Control distributing method of eight-rotor aircraft
  • Control distributing method of eight-rotor aircraft

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Embodiment Construction

[0025] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be clear that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention.

[0026] The invention provides a method for controlling and distributing an octorotor aircraft, the principle structure of which is as follows: figure 1 shown. The expected attitude angle and altitude calculation module calculates the expected attitude angle and altitude value according to the corresponding attitude angle and altitude commands, and subtracts the actual attitude angle and altitude value of the eight-rotor aircraft fed back by the attitude angle and altitude sensor to obtain the attitude Angle and altitude control errors. The control quantity calculation module obtains the correspond...

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Abstract

The invention discloses a control distributing method of an eight-rotor aircraft and is applied to flight control of the eight-rotor aircraft. The control distributing method includes firstly calculating to obtain expected posture angle and altitude value, subtracting actual posture angle and altitude value fed back by posture angle and altitude sensors to obtain control error of posture altitude and altitude. A controlled quantity resolving module resolves control error of the posture angle and altitude to obtain four corresponding controlled quantities including pitching control quantity, rolling controlled quantity, yaw controlled quantity and accelerator controlled quantity, and a control distributing module controls and distributes the four controlled quantities to obtain controlled quantities of eight rotors. The controlled quantities of the eight rotors are given to the corresponding executing mechanisms of the eight-rotor aircraft, and the eight-rotor aircraft is effectively controlled. The control distributing method is simple, easy to implement, high in efficiency and clear in physical concept, integrates with an eight-rotor controller and effectively controls the eight-rotor aircraft.

Description

technical field [0001] The invention relates to the field of flight control of an octorotor aircraft, in particular to a control distribution method of an octorotor aircraft. Background technique [0002] The eight-rotor aircraft has a relatively large load capacity and is maneuverable and flexible. It is a multi-rotor aircraft with a very wide application prospect. The octorotor aircraft is a multivariable, nonlinear, and strongly coupled system, and its control is more complicated than that of general control objects. For the controller of the octorotor aircraft, its output is generally four control quantities: pitch control quantity, roll control quantity, yaw control quantity and throttle control quantity. After obtaining the four control quantities of the eight-rotor, how to effectively distribute these four control quantities to multiple individual rotors, so that multiple rotors can work together efficiently and harmoniously, is an essential step to realize the contr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/04
Inventor 宋栋梁唐强史龙雷志荣张奕烜陈小龙
Owner FLIGHT AUTOMATIC CONTROL RES INST
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