Four-rotor-wing unmanned aerial vehicle with independent and controllable space six freedom degrees and control method thereof

Abstract

The invention discloses a four-rotor-wing unmanned aerial vehicle with independent and controllable space six freedom degrees and a control method thereof. The four-rotor-wing unmanned aerial vehicle comprises a vehicle body, vehicle arms and a controller. The four vehicle arms are fixed to the vehicle body. The tail ends of the vehicle arms are provided with multi-freedom-degree controllable rotor wing nacelle systems. Rotor wings adopt central hinge type propeller hubs and are driven by motors. The pitches and the rotating speeds of the rotor wings can be changed. Steering engines control automatic inclinators to achieve total pitch and cyclic pitch control over the rotor wings. Propeller discs can overturn in any direction under control of the steering engines. The total pitches, longitudinal and transverse cyclic pitches and rotating speeds of all the rotor wings are independently controlled. Each pair of rotor wings provides force in three directions and torque in three directions, and through combination coordination of the four pairs of rotor wings, the six freedom degrees (three linear speeds and three attitude angles) of the aerial vehicle flying in the sky can be decoupled, and the speed and posture of the aerial vehicle are independent and controllable. The aerial vehicle has input of six channels, namely a front-rear speed, a left-right speed, an up-down speed, a pitch attitude, a rolling attitude and a heading attitude which separately correspond to the six freedom degrees of the aerial vehicle.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a six-degree-of-freedom decoupling control technology for a multi-rotor aircraft, and specifically belongs to the technical field of unmanned aerial vehicle flight mechanics and control. Background technique [0002] The multi-rotor aircraft utilizes multiple rotors, can fly in any direction and hover in the air, and can complete various tasks. For example, use a multi-rotor drone to carry a miniature camera for aerial photography, or carry various measuring instruments for high-altitude detection or throwing objects. Today, multi-rotor aircraft have been widely used in many fields such as agriculture, meteorology, electric power, disaster warning and rescue. [0003] At present, most multi-rotor UAVs use propellers to provide lift. Since the propellers are not variable pitch, changing the pulling force is achieved by adjusting the motor speed, and because the d...

AI Technical Summary

Problems solved by technology

[0003] At present, most multi-rotor UAVs use propellers to provide lift. Since the propellers are not variable pitch, changing the pulling force is achieved by adjusting the motor speed, and because the direction of the propeller pulling force cannot be tilted relative to the fuselage, so whether it is flying forward Or changing the heading will inevitably lead to a change in the attitude of the fuselage, that is, there is a problem of coupling speed and attitude

In the case that the fuselage needs to be constantly tilted, the stability of the flight is affected, and the instruments and equipment work on a shaking platform, so it is difficult to achieve the best results

In order to eliminate this instability, stabilized gimbals such as three-axis stabilized gimbals are generally used, but unnecessary structures are added, and the requirements for the control system are relatively high, which undoubtedly increases the complexity of the aircraft.

Images