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Method and apparatus for controlling overturning of multi-rotor aircraft

A multi-rotor aircraft and remote control technology, applied in the field of aircraft control, can solve the problem of high hardware cost

Active Publication Date: 2016-05-11
深圳昂瑞微电子技术有限公司
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Problems solved by technology

[0005] In view of this, the present invention provides a method and device for controlling the overturning of a multi-rotor aircraft to overcome the need to add other sensors to the quad-rotor aircraft in the prior art due to the obtained attitude angle being -90° to +90°. The problem of high hardware cost caused by distinguishing two symmetrical postures corresponding to the same posture angle

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  • Method and apparatus for controlling overturning of multi-rotor aircraft
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  • Method and apparatus for controlling overturning of multi-rotor aircraft

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[0053]The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0054] The terms "first", "second" and the like in the description and claims of the present invention and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It should be understood that the terms used in this way can be interchanged under appropriate circumstances, and this is merely a description of the manner in which objects with the same attribute are described in the embodim...

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Abstract

The invention discloses a method and apparatus for controlling overturning of a multi-rotor aircraft. The method comprises receiving an overturning command transmitted from a remote controller; during the overturning process of the multi-rotor aircraft, circularly executing the following steps until the attitude angle of the multi-rotor aircraft satisfies a preset overturning stopping condition; detecting the attitude angle of the multi-rotor aircraft, wherein the value range of the attitude angle is -180DEG to +180DEG; acquiring the target angular speed corresponding to the current attitude angle; calculating the overturning power corresponding to the target angular speed; utilizing the overturning power to control overturning of the multi-rotor aircraft; and when the attitude angle of the multi-rotor aircraft satisfies the preset overturning stopping condition, controlling autonomous stabilization of the multi-rotor aircraft. The method for controlling overturning of a multi-rotor aircraft can realize unique correspondence between the attitude angle and the multi-rotor aircraft so as to provide the overturning power which changes stage by stage during the whole overturning process of the multi-rotor aircraft, and completes smooth and stable overturning of the multi-rotor aircraft.

Description

technical field [0001] The present invention relates to the technical field of aircraft control, and more specifically, relates to a method and device for controlling the overturning of a multi-rotor aircraft. Background technique [0002] The quadrotor aircraft is mainly composed of MCU (MicrocontrollerUnit, micro control unit), sensors, frame and four-way motors. The MCU collects sensor data to control the four-way motors through the attitude algorithm of the quadrotor aircraft to realize the attitude adjustment of the quadrotor aircraft. Specifically, the PID operation is performed in combination with the angular velocity target value and the attitude angle during the flipping process of the quadrotor aircraft to realize the attitude adjustment of the aircraft. [0003] At present, the attitude angle of the four-rotor aircraft during the flipping process is mainly obtained from the six-axis gyroscope data (three-axis angular velocity and three-axis acceleration) through t...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
CPCG05D1/0825
Inventor 杨亮肖金红张冰川钱永学苗俊涛
Owner 深圳昂瑞微电子技术有限公司
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