Control method and control device for thrust vector tail-sitting vertical take-off and landing unmanned aerial vehicle

Abstract

The invention discloses a control method and a control device for a thrust vector tail-sitting type vertical take-off and landing unmanned aerial vehicle. The control method comprises control in a rotor wing mode, a forward transition mode, a reverse transition mode and a fixed mode. When the unmanned aerial vehicle is in a rotor wing mode, S1, tensile force is provided through a first left side vector moving fan, a first right side vector moving fan, a second left side fixed moving fan and a second right side fixed moving fan; a first left side vector moving fan and a first right side vector moving fan are arranged. The invention provides a corresponding control method through four flight modes of a rotor wing mode, a forward transition mode, a reverse transition mode and a fixed wing mode, and effectively solves the problems that wind resistance of a four-rotor wing tail-sitting type aircraft depends on rotor wings to increase the rotating speed and change the posture to resist wind, power consumption is high, an aircraft hovering accelerator is afraid to be too high, and the wind resistance is poor. The takeoff weight of the aircraft cannot be too large, the thrust-weight ratio of 1.5-2 needs to be guaranteed, and the loading capacity is limited.

Description

technical field [0001] The invention relates to a control method of an unmanned aerial vehicle, in particular to a control method and a control device of a thrust vector tail-sitting vertical take-off and landing unmanned aerial vehicle, belonging to the technical field of unmanned aerial vehicles. Background technique [0002] Among the vertical take-off and landing drones, the tail-sitting vertical take-off and landing drone has the advantages of low deadweight and good flight performance, and has been fully developed in the market. Most of them adopt quad-rotor tail-sitting or coaxial reverse-rotor tail-sitting However, the wind resistance of the four-rotor tail-sitting type relies on the rotor to increase the speed and change the attitude to resist. The thrust-to-weight ratio is limited, and the load capacity is limited; although the coaxial reverse propeller stern sit type has higher efficiency, the design difficulty and engineering complexity of the coaxial reverse pro...

AI Technical Summary

Problems solved by technology

[0002] Among the vertical take-off and landing drones, the tail-sitting vertical take-off and landing drone has the advantages of low deadweight and good flight performance, and has been fully developed in the market. Most of them adopt quad-rotor tail-sitting or coaxial reverse-rotor tail-sitting However, the wind resistance of the four-rotor tail-sitting type relies on the rotor to increase the speed and change the attitude to resist. The thrust-to-weight ratio is limited, and the load capacity is limited; although the coaxial reverse propeller stern sit type has higher efficiency, the design difficulty and engineering complexity of the coaxial reverse propeller technology itself are relatively high, and the reliability is average.

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