Multi-rotor craft control allocation method

A technology for multi-rotor aircraft and control distribution, which is applied in the field of flight control of multi-rotor aircraft, can solve the problems of undisclosed multi-rotor aircraft control distribution methods, etc., and achieve the effects of improving control distribution efficiency, easy implementation, and simple principle

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

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Problems solved by technology

However, in the existing literature and public information, there is no disclosed method for controlling the distribution of multi-rotor aircraft.

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[0031] 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.

[0032] The invention provides a control distribution method for a multi-rotor 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 multi-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 corresponding pitc...

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Abstract

The invention discloses a multi-rotor craft control allocation method which can be applied to multi-rotor craft flight control. According to the multi-rotor craft control allocation method, an expected attitude angle and height computing module computes to obtain expected attitude angle and height values according to corresponding attitude angle and height instructions, and subtracts actual attitude angle and height values fed by attitude angle and height sensors from the expected attitude angle and height values to obtain attitude angle and height control errors, a control quantity resolving module computes the attitude angle and height control errors to obtain corresponding pitch control quantity, roll control quantity, yaw control quantity and throttle control quantity, and a control allocation module allocates the four pitch control quantities to obtain control quantity of each rotor. The control quantity of each rotor is allocated to a corresponding actuator of the multi-rotor craft, so that a multi-rotor craft can be controlled effectively. The multi-rotor craft control allocation method is easy to implement and high in efficiency, and is integrated with a multi-rotor controller so as to achieve effective control of the multi-rotor craft commonly.

Description

technical field [0001] The invention relates to the field of flight control of multi-rotor aircraft, in particular to a control distribution method of multi-rotor aircraft. Background technique [0002] Multi-rotor aircraft is a multi-variable, nonlinear and strongly coupled system, and its control is more complicated than that of general control objects. For the controller of multi-rotor 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 multi-rotor, how to effectively distribute these four control quantities to multiple individual rotors so that multiple rotors can work together efficiently and in coordination is an essential step to realize multi-rotor control . However, in the existing literature and public information, there is no disclosed control distribution method for multi-rotor aircraft. Contents of the i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10G05B13/04
Inventor 宋栋梁陈小龙唐强史龙张奕烜雷志荣
Owner FLIGHT AUTOMATIC CONTROL RES INST
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