Control distributing method of eight-rotor aircraft

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...

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.

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