An independently controllable four-rotor unmanned aerial vehicle with six degrees of freedom in space and its control method

Abstract

The invention discloses an independently controllable four-rotor unmanned aerial vehicle with six degrees of freedom in space and a control method thereof. Rotor nacelle system with high degree of control, the rotor adopts a central hinged hub, and is driven by a motor, with variable pitch and variable speed. The steering gear controls the automatic tilter to realize the control of collective pitch and periodic variable pitch of the rotor. Under the control of the steering gear, the paddle can be tilted in any direction; the collective pitch, vertical and horizontal periodic pitch and rotational speed of each rotor are independently controlled. Each pair of rotors provides forces in three directions and moments in three directions. The combination and coordination of four rotors decouples the six degrees of freedom (three linear velocities and three attitude angles) of the aircraft when it is flying in the air. The attitude is independent and controllable. The aircraft has six input channels: front and rear speed, left and right speed, up and down speed, pitch attitude, roll attitude, and heading attitude, which correspond to the six degrees of freedom of the aircraft flight.

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.

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