High-error-tolerance-rate deformable four-rotor aircraft and control method

Abstract

The invention provides a high-error-tolerance-rate deformable four-rotor aircraft and a control method, the number of rotors of the aircraft is not less than four, and the rotors are all arranged at arms of the aircraft; each arm comprises a first joint and a second joint; the starting end of the first joint is fixed to a fuselage of the aircraft, and the first joint is connected with the startingend of the second joint through a first rotating mechanism capable of horizontally rotating relative to the horizontal plane of the fuselage, so that the second joint can horizontally rotate relativeto the horizontal plane of the fuselage. The second joint is connected with a rotor wing of the vehicle arm through a second rotating mechanism capable of vertically rotating relative to the horizontal plane of the vehicle body, so that the rotor wing can vertically rotate relative to the horizontal plane of the vehicle body; the rotor wings can provide lift force for the aircraft through forwardrotation or reverse rotation; the four-rotor aircraft can solve the problem that the four-rotor aircraft damages people or objects during failure and falling and the problem of how to reduce the failure loss of the aircraft, and can continue to complete the flight task when a small number of rotors fail.

Description

technical field [0001] The invention relates to the technical field of multi-rotor aircraft, in particular to a highly fault-tolerant deformable quad-rotor aircraft and a control method. Background technique [0002] In recent years, there have been many micro-drone MAV failures; such as the case of Madonna di Campiglio Marcel Hirscher (Austrian World Cup alpine ski racer) avoiding being hit by a drone during an alpine slalom race in Italy, Therefore, these failures not only bring the risk of destroying expensive airborne equipment and the UAV itself, but also threaten people's health and even life. [0003] The most common multirotor design is the quadrotor. If one engine is damaged, the entire aircraft will fail and fall. At present, the number of multi-rotor engines has been doubled or even tripled to solve this problem. Although this enhances flexibility and reduces flight time, it also significantly increases the weight and cost of the aircraft. Contents of the inve...

AI Technical Summary

Problems solved by technology

[0004] The present invention proposes a deformable quadrotor aircraft with a high fault tolerance rate and a control method, which can solve the problem of damage to people or objects caused by the quadrotor aircraft when it fails and falls, and how to reduce the loss of aircraft failure, and can solve the problem of failure of a small number of rotors. continue to complete the flight mission

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