New-configuration unmanned aerial vehicle and control method thereof

Abstract

The invention discloses a novel-configuration unmanned aerial vehicle and a control method thereof. The novel-configuration unmanned aerial vehicle comprises a vehicle body, vehicle arm assemblies androtor wing power assemblies. The multiple vehicle arm assemblies are arranged on the vehicle body and are symmetrical relative to the center of the vehicle body. The rotor wing power assembly comprises a vertical power assembly and a horizontal power assembly. The vertical power assemblies are arranged on the vehicle arm assemblies and are only used for attitude control and providing lifting force for the unmanned aerial vehicle, so that the unmanned aerial vehicle is kept stable in the horizontal plane; the horizontal power assemblies are vertically arranged on at least one pair of vehicle arms and provide power for the unmanned aerial vehicle to act in the horizontal plane, and each pair of horizontal power assemblies is symmetrically distributed relative to the vehicle body in a central axis mode. When the unmanned aerial vehicle reaches the preset height, the horizontal power assembly drives the unmanned aerial vehicle to move in the horizontal plane, and the unmanned aerial vehicle completes a series of actions under the condition that the inclination angle is not changed through rotor rotating speed control. According to the invention, the coupling between the horizontal motion and the pitch angle of the traditional multi-rotor unmanned aerial vehicle is avoided, and the attitude control precision of the unmanned aerial vehicle is effectively improved.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle, in particular to a new configuration unmanned aerial vehicle and its control method. Background technique [0002] Because of its low cost and simple control method, multi-rotor UAVs are widely used in many fields. In some special fields, such as warehouse freight, precise measurement, and military precision strikes, there are high requirements for the control accuracy of UAVs, which require UAVs to maintain a stable attitude during flight. The traditional multi-rotor UAV system achieves flight attitude control by changing the rotational speed or pitch of multiple propellers parallel to the ground to generate thrust difference or torque difference. Such a control mode leads to the coupling of attitude and position of the multi-rotor UAV. In the process of attitude adjustment, the fuselage will inevitably tilt, which is not conducive to maintaining the balanced and stable flight a...

AI Technical Summary

Problems solved by technology

However, it is still inevitable that the fuselage will tilt during the attitude change process, and the mechanical structure is complicated, making production difficult

[0007] The main defects of the existing schemes are: 1. The vertical take-off and landing fixed-wing UAV cannot perform the action of "braking" or even flying backward in the air, and it cannot achieve ideal tracking and docking for docking targets with high-speed and complex movements

2. The conversion control of the flight mode of the vertical take-off and landing fixed-wing UAV is complicated, and the overall performance is between the rotor and the fixed wing.

It is difficult to achieve precise docking and targeting of dynamic, especially non-cooperative targets

3. The control of traditional multi-rotor drones is not flexible enough. In the process of attitude adjustment, there will inevitably be changes in pitch angles and deviations, that is, the tilt of the fuselage, resulting in insufficient docking and tracking accuracy, and the docking task cannot be completed or Equipped with precise measuring instruments

Such a flight control method will inevitably produce a large body inclination during the adjustment of the UAV's flight attitude. Such an inclination is unacceptable in tasks that require high precision such as precise docking, aiming, and measurement.

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