Quadrotor aircraft vector control method and quadrotor aircraft

Abstract

The invention discloses a vector control method for a quadrotor aircraft and the quadrotor aircraft, wherein the method includes the following steps: receiving a deflection command; detecting the current mode of the quadrotor aircraft to adopt a different control strategy; if the current mode is four-axis linkage mode, define the x-axis direction of the coordinate system as the forward direction of the aircraft, and the four rotors are distributed in four quadrants; if the current two-axis linkage mode is defined, the x1-axis direction of the coordinate system is defined as the forward direction of the aircraft, and the four rotors are distributed on the coordinate axes In both modes, the yaw system is controlled according to the deflection command to deflect the rotor system or the rotor structure of the four-rotor system swings at a corresponding angle around the connecting rod axis. In specific implementation, the two linkage modes can be used independently. The method realizes the maneuvering of the aircraft by controlling the deflection / or tilting of the rotor system, so that the aircraft can fly in all directions at any attitude, effectively enhances the maneuverability of the aircraft, and reduces the difficulty of using attitude-sensitive payloads.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a vector control method for a quadrotor aircraft and a quadrotor aircraft. Background technique [0002] Quadcopters are becoming more and more popular in the field of model aircraft and unmanned aerial vehicles, and have good application prospects in many fields. However, the maneuverability of traditional quadcopters is not strong, which limits its application to a certain extent. A traditional quadcopter consists of four symmetrically distributed rotor systems. When the fuselage of the aircraft is kept in horizontal flight, the pulling force provided by the four sets of rotor systems is theoretically the same, and the direction is perpendicular to the fuselage. Flying in a certain direction is to control the rotation speed of the four rotors, thereby changing the pulling force of the rotor system, making the aircraft fuselage produce a certain tilt. Since the rotor ...

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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