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Convergence control method and device for quadrotor aircraft

A quadrotor aircraft, convergent control technology, applied in the aerospace field, can solve the problem that there is no convergent control method for multiple quadrotor aircraft systems, etc.

Inactive Publication Date: 2017-08-29
SPACE STAR TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of this, the present invention provides a kind of quadrotor aircraft convergent control method, device and system and quadrotor aircraft, to overcome the problem that there is no convergent control method of multi-quadrotor aircraft system in the prior art

Method used

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  • Convergence control method and device for quadrotor aircraft
  • Convergence control method and device for quadrotor aircraft
  • Convergence control method and device for quadrotor aircraft

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Embodiment Construction

[0033] For reference and clarity, descriptions, abbreviations or abbreviations of technical terms used in the following text are summarized as follows:

[0034] STP: Spanning Tree Protocol, Spanning Tree Protocol;

[0035] SMC: sliding mode control, sliding mode control;

[0036] Backstepping, push back step by step.

[0037] 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.

[0038] Please refer to the attached figure 2 , provides a schematic flow chart of a quadrotor convergence control method for an embodiment ...

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Abstract

The embodiment of the invention provides a four-rotor aircraft convergence control method, device and system and four-rotor aircrafts. The method comprises the steps that the position state information of all the four-rotor aircrafts in a second four-rotor aircraft set is received; and the thrust of four engines of a first four-rotor aircraft is determined according to the preset relational information of the thrust and the ground reactive force of the four engines of the first four-rotor aircraft and the position state information of the first four-rotor aircraft, and the position state information of all the four-rotor aircrafts in the second four-rotor aircraft set, so that the first four-rotor aircraft tends to the first space position range corresponding to the second four-rotor aircraft set. By the adoption of the four-rotor aircraft convergence control method, device and system and the four-rotor aircrafts, the purpose that the first four-rotor aircraft tends to each four-rotor aircraft in the second four-rotor aircraft set can be achieved.

Description

technical field [0001] The present invention relates to the field of aerospace technology, and more specifically, relates to a quadrotor aircraft convergence control method, device and system and the quadrotor aircraft. Background technique [0002] In recent years, quadrotor aircraft has received more and more attention and research. Because of its simple structure, lightness, flexibility and unmanned driving, it has been widely used in military and civilian fields, such as search and rescue and investigation of complex battlefields, and forest fire control. Monitoring and rescue. [0003] The four propellers of the quadrotor aircraft, namely propeller 1, propeller 2, propeller 3 and propeller 4, are distributed in the four directions of front, rear, left and right of the body 101, and the four propellers are on the same height plane. Each propeller corresponds to an engine, and the engine is symmetrical. installed on the bracket 5 end of the quadrotor aircraft, such as f...

Claims

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Application Information

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IPC IPC(8): B64C27/54B64D35/00
Inventor 王垚
Owner SPACE STAR TECH CO LTD
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