Four-rotor aircraft and vector control method for four-rotor aircraft

Abstract

The invention discloses a four-rotor aircraft and a vector control method for the four-rotor aircraft. The method comprises the following steps: receiving a deflection instruction; detecting a currentmode of the four-rotor aircraft, for adopting different control strategies; defining an x-axis direction of coordinate system as a heading direction of aircraft and distributing four rotors in four quadrants, if a four-axis linkage mode is the current mode; defining an x1 axis direction of coordinate system as the heading direction of aircraft and distributing four rotors in the coordinate axis,if a two-axis linkage mode is the current mode; controlling a deflection system, a deflection rotor system or a rotor structure of four-rotor system to swing for corresponding angles around a connecting rod shaft according to the deflection instruction under the two modes. In embodiments, the two linkage modes can be singly used. According to the method, the maneuvering of aircraft can be realizedby controlling the deflection of rotor system or the rotation of rotor, so that the aircraft can omni-directionally fly in any postures, the maneuverability of aircraft can be effectively enhanced and the use difficulty of effective load with posture sensibility can be reduced.

Description

technical field [0001] The invention relates to the technical field of automation control, in particular to a vector control method for a quadrotor aircraft and the quadrotor aircraft. Background technique [0002] Quadcopters are becoming more and more popular in the field of model aircraft and drones, and have good application prospects in many fields, but the maneuverability of traditional quadcopters is not strong, which limits its application to a certain extent. A traditional quadcopter contains four symmetrically distributed rotor systems. When the fuselage of the aircraft is kept level, the pulling force provided by the four rotor systems is theoretically the same in size, and the direction is vertical to the fuselage upward. To control the aircraft to a certain To fly in one direction is to change the pulling force of the rotor system by controlling the rotation speed of the four rotors, so that the aircraft fuselage produces a certain tilt. Since the rotor system ...

AI Technical Summary

Problems solved by technology

[0002] Quadcopters are becoming more and more popular in the field of model aircraft and drones, and have good application prospects in many fields, but the maneuverability of traditional quadcopters is not strong, which limits its application to a certain extent

When this flight mode causes the aircraft to fly in a certain direction, it will cause the aircraft to have poor maneuverability, and it is impossible to realize the enlargement of the aircraft, and it is also difficult to work with attitude-sensitive payloads (such as cameras, positioning and targeting devices, etc.) and payloads. very unfavorable

[0003] Some inventions also attempt to improve some deficiencies of traditional quadrotor aircraft. For example, in related technology 1 "a vector quadcopter with the ability to maintain the level of the body", the connecting axes of the four rotor systems of the quadrotor are symmetrically distributed from the center. It is changed to a parallel arrangement, and the aircraft obtains forward power through the installation shaft of the tilt rotor system of the two transmission systems, but this method cannot control the lateral force and the rotational moment around the longitudinal axis, and it is difficult to achieve stable flight in the end; related technologies 2 "A Quadrotor Aircraft Realizing Full Control of Six Degrees of Freedom" mentioned the deflection of the rotor system, but the direction of its deflection is just perpendicular to the direction of the deflection of the present invention, and the obtained horizontal force components will pass through the center of the aircraft. , there is no way to realize the control of the rotation around the longitudinal axis of the aircraft through this deflection method, but in related technology 2, other methods are used to realize the rotation around the longitudinal axis, which has poor realizability and is difficult to decouple from the height control

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