Propeller breaking protection method and device based on six-rotor aircraft

Abstract

The application provides a hexacopter-based propeller break protection method and device. By monitoring the rotational speed of each engine of the hexacopter, if the rotational speed of any engine is not within the preset range, it indicates that the engine is faulty, then Control the hexacopter to enter the propeller break protection mode, wherein, in the break propeller protection mode, at least one of the following control processes is executed: the speed of the diagonal engine of the faulty engine is controlled to be consistent with the speed of the faulty engine, and the speed of the faulty engine is not at the preset speed reduce the fuel output of each engine; control engine braking to decelerate the hexacopter at a preset acceleration; reduce the flying altitude of the hexacopter. When a certain engine fails, the flight attitude and flight safety of the hexacopter can be maintained by executing the above control process.

Description

technical field [0001] The present application relates to the technical field of unmanned aerial vehicle control, and in particular to a method and device for protection against propeller breakage based on a six-rotor aircraft. Background technique [0002] With the rapid development of the aircraft industry, compared with the electric hexacopter, the fuel engine direct drive hexacopter has significant advantages of large load and long endurance, which makes the fuel engine direct drive hexacopter has been widely used. [0003] At present, the fuel-driven hexacopter relies on the speed control of 6 engines to achieve stable flight. When a certain engine fails, such as a single cylinder or stalls or the speed cannot reach the desired speed, the pulling force will be lost, which will affect the flight attitude and Flight safety. [0004] Therefore, it is necessary to provide a series of processing methods to maintain the flight attitude and flight safety of the fuel engine di...

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