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Control distribution method, device and multi-rotor aircraft
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A multi-rotor aircraft and control distribution technology, applied in the field of aircraft control, can solve problems such as dynamic system instability, endangering flight safety, and insufficient control authority
Active Publication Date: 2020-12-15
CHENGDU JOUAV AUTOMATION TECH
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Due to the unique control distribution method of the multi-rotor aircraft, it is easy to cause one or more power systems to reach the maximum power and saturate during the process of rapid and large-scale change of state. The gravity-stabilized dynamic system of multi-rotor aircraft is unstable, endangering flight safety
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no. 1 example
[0031] Please refer to figure 2 , figure 2 A flow chart of the control allocation method provided by the embodiment of the present invention is shown. The control assignment method includes the following steps:
[0032] Step S101, acquiring a plurality of state control errors, wherein each state control error corresponds to a direction, and the plurality of directions include a roll direction, a pitch direction, a yaw direction and a height direction.
[0033] In the embodiment of the present invention, the method for obtaining state control errors corresponding to the roll direction, pitch direction, yaw direction and altitude direction may be as follows: first, the processor 130 calculates the desired roll Euler angles, pitch Euler angles, yaw Euler angles, and altitude values; then, compare the desired roll Euler angles, pitch Euler angles, yaw Euler angles, and altitude values with the actual The roll Euler angle, pitch Euler angle, yaw Euler angle and the height va...
no. 2 example
[0102] Please refer to Figure 11 , Figure 11 A schematic block diagram of the control distribution device 200 provided by the embodiment of the present invention is shown. The control allocation device 200 includes a state control error acquisition module 210 , a normalized control quantity acquisition module 220 , an allocation matrix establishment module 230 and a final control quantity acquisition module 240 .
[0103] The state control error acquiring module 210 is configured to acquire a plurality of state control errors, wherein each state control error corresponds to a direction, and the plurality of directions include a roll direction, a pitch direction, a yaw direction and a height direction.
[0104] In the embodiment of the present invention, the state control error acquiring module 210 may be used to execute step S101.
[0105] The normalized control quantity obtaining module 220 is configured to use the feedback controller to calculate the state control error ...
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Abstract
The invention relates to the technical field of aircraft control, and provides a control distribution method and device, and a multi-rotor aircraft. The multi-rotor aircraft includes a plurality of power systems. A distribution matrix is used to distribute normalized control variables in the rolling direction, the pitch direction, the yaw direction and the height direction to each power system. The process includes the steps of distributing normalized control variables in the rolling direction and the pitch direction to obtain a first control quantity; distributing the normalized control variable in the height direction to obtain a height control quantity, and performing combination of the control quantity with the first control variable to obtain a second control quantity; distributing the normalized control variable in the yaw direction to obtain a yaw control quantity, and performing superposition of the yaw control quantity and the second control quantity to obtain a third controlquantity; and reducing and outputting the third control quantity to obtain a final control quantity, to avoid saturation of the power systems. Compared with the prior art, the control distribution method and device and the multi-rotor aircraft are in a direct distribution method, so that it can be ensured that the power systems can exert the maximum control capability on the premise of certain control accuracy.
Description
technical field [0001] The present invention relates to the technical field of aircraft control, in particular to a control distribution method, device and multi-rotor aircraft. Background technique [0002] Multi-rotor aircraft and aircraft with multi-rotor components are multivariable, nonlinear, and strongly coupled dynamical systems, and their strong coupling characteristics are concentrated in the control distribution link, that is, an even number of centrosymmetric rotors respond in a coordinated manner to roll Euler angle, pitch Euler angle, yaw Euler angle, and control output in the four directions of height. This control allocation link is a problem that has been optimized by those skilled in the art. Due to the unique control distribution method of the multi-rotor aircraft, it is easy to cause one or more power systems to reach the maximum power and saturate during the process of rapid and large-scale change of state. The gravity-stabilized dynamical system of mul...
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