Control method and device of multi-shaft vertical elevator

Abstract

The invention relates to a control method of a multi-axis vertical elevator, which comprises the following steps: acquiring a target flight height, inputting a target model, and obtaining a preset motor rotating speed required by the target flight height; a motor is started according to the preset motor rotating speed, propellers are driven to rotate at the same rotating speed, and the elevator body starts to take off; an inertial measurement unit (IMU) monitors the flight speed in real time; a height sensor monitors the flight height in real time, and real-time height data is obtained and compared with the target height; height comparison data and speed feedback are obtained, and the rotating speed of the motor is dynamically adjusted till the elevator body reaches the preset height; and the motor rotating speed and the flying speed are adjusted to keep the elevator body in a stable hovering state. The motors and the propellers serve as lifting power sources, even if one or more power sources break down, the amount of air sprayed out of the exhaust air outlet can be controlled by adjusting the rotating speed of the remaining motors, and therefore stable control over lifting and posture of the lifter body is achieved.

Description

Technical Field

[0001] This invention belongs to the field of elevator technology, specifically relating to a control method and device for a multi-axis vertical elevator. Background Art

[0002] With the rapid development of technology, the application of aerial equipment such as drones and unmanned lifts is becoming more and more widespread, covering multiple fields from aerial photography and environmental monitoring to cargo transportation. Common vertical take-off aircraft such as helicopters and drones usually use a single and mechanically complex lifting mechanism to achieve vertical take-off and landing and hovering of the aircraft in order to ensure reliability and stability during flight.

[0003] In recent years, multi-rotor aircraft have emerged, primarily employing multiple motors and propellers as their lift and takeoff power sources. While this offers greater design flexibility, the failure of one or more power sources severely impacts the overall stability and lift capability of the aircraft. Therefore, this invention proposes a multi-rotor vertical lift that allows air to enter the machine along a specific spiral trajectory and be expelled in an optimized manner by the internal structure, generating total lift. Multiple motors drive the propellers, and when a single motor fails, the system rapidly responds to the control chip, calculating and adjusting the speeds of the remaining motors to maintain a constant total lift. This enables rapid and stable operation of the vertical lift, thereby achieving stable control of the aircraft's lift, takeoff, and attitude.

[0004] Therefore, based on the above-mentioned technical content, the present invention proposes a control method and device for a multi-axis vertical lift, which is used to illustrate the specific control of the above-mentioned multi-axis vertical lift. Summary of the Invention

[0005] To achieve the above objectives, the present invention provides a control method for a multi-axis vertical lift, the method comprising:

[0006] Obtain the target flight altitude, input the target model, and obtain the preset motor speed required to achieve the target flight altitude;

[0007] The motor starts according to the preset motor speed, driving the propeller to rotate at the same speed, and the elevator body begins to take off;

[0008] The inertial measurement unit (IMU) monitors the flight speed in real time;

[0009] The altitude sensor monitors the flight altitude in real time and compares the real-time altitude data with the target flight altitude;

[0010] The height comparison data and speed feedback are acquired, and the motor speed is dynamically adjusted until the elevator body reaches the preset height.

[0011] Adjust the motor speed and flight speed to keep the elevator body in a stable hovering state.

[0012] Preferably, in the process of obtaining the target flight altitude, inputting the target model, and obtaining the preset motor speed required for the target flight altitude, the calculation data also includes air density, propeller area, and radius.

[0013] Preferably, the motor is started using a multi-motor system coordinated control method according to the preset motor speed.

[0014] Preferably, the cooperative control method for the multi-motor system includes:

[0015] Obtain the performance parameters and current status data of each motor to be adjusted;

[0016] The target speed value of the motor is set based on the work requirements;

[0017] Based on the motor's performance parameters and current status data, calculate the fastest time required for each motor to accelerate from its current speed to the target speed.

[0018] The fastest time value is obtained, and acceleration control commands for each motor are generated so that each motor can smoothly accelerate to the target speed within the coordinated control time.

[0019] After all motors reach the target speed simultaneously, the operating status of each motor is continuously monitored.

[0020] Preferably, the performance parameters of each motor include the maximum speed, response time, and power consumption of the motor;

[0021] The status data includes the motor's current speed, load, and temperature.

[0022] Preferably, the cooperative control method for the multi-motor system further includes:

[0023] The system collects real-time operating data from each motor and continuously optimizes the control strategy based on this data.

[0024] Preferably, the altitude sensor monitors the flight altitude in real time, and the PID controller obtains the real-time altitude data and compares it with the target flight altitude.

[0025] Another aspect of the present invention provides an apparatus for control using the control method of the multi-axis vertical lift, comprising:

[0026] The elevator body has a circulating air duct.

[0027] The motor is installed inside the elevator body, and the propeller is driven by the motor.

[0028] Remote control, used by ground personnel to send commands;

[0029] Signal receiver: Receives signals sent by ground personnel using a remote control to enable remote control;

[0030] A microcontroller (MCU) is used to process sensor data, execute control algorithms, and output control commands.

[0031] An inertial measurement unit (IMU) is used to monitor the flight speed and attitude of the elevator body, providing flight stability.

[0032] Altitude sensors monitor flight altitude in real time, providing precise data for altitude control.

[0033] Furthermore, it also includes a storage device and a processor, the storage device storing a computer program, and the processor executing the computer program as steps of the control method for the multi-axis vertical lift.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] This invention uses a motor and a propeller as the lifting power source. Even if one or more of the power sources fail, the speed of the remaining motors can be adjusted to control the amount of air ejected from the exhaust outlet, thereby achieving stable control of the lifting and attitude of the elevator body.

[0036] This invention utilizes an inertial measurement unit (IMU) and an altitude sensor to monitor flight speed and altitude in real time, and combines a PID controller to dynamically adjust the motor speed, ensuring that the elevator can accurately reach the preset altitude and maintain a stable hover.

[0037] This invention employs a cooperative control method for multi-motor systems. Based on the performance parameters and current status data of each motor, it calculates and generates acceleration control commands, enabling each motor to smoothly accelerate to the target speed, thereby improving the system's response speed and stability.

[0038] When obtaining the target flight altitude, this invention considers calculation data such as air density, propeller area and radius, so that the elevator can adapt to different flight environments and conditions.

[0039] When using the elevator body, this invention also collects the operating data of each motor in real time and continuously optimizes the control strategy based on this data, which improves the system's flexibility and adaptability to different working conditions, reduces the flight safety risks caused by power source failure, and improves the safety of use.

[0040] This invention is equipped with telecommunications modules such as a remote controller and a signal receiver, enabling ground personnel to remotely control the elevator, including controlling flight altitude, speed, and various flight modes such as takeoff, hovering, and grounding. Attached Figure Description

[0041] Figure 1 This is a flowchart of the control method in this invention;

[0042] Figure 2 This is an overall flowchart of the present invention;

[0043] Figure 3 This is a perspective view of the device in this invention;

[0044] Figure 4 This is an exploded view of the device in this invention.

[0045] The numbers in the diagram are: 1-lift body, 2-circulating air duct, 3-motor, 4-propeller. Detailed Implementation

[0046] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0047] Example 1

[0048] like Figures 1 to 4 The control method for a multi-axis vertical lift shown includes the following steps:

[0049] S01 acquires the target flight altitude, inputs the target model, and obtains the preset motor speed 3 required for the target flight altitude;

[0050] S02 motor 3 starts according to the preset motor 3 speed, drives propeller 4 to rotate at the same speed, and elevator body 1 begins to take off;

[0051] The S03 inertial measurement unit (IMU) monitors flight speed in real time;

[0052] The S04 altitude sensor monitors the flight altitude in real time and compares the real-time altitude data with the target altitude.

[0053] S05 acquires height comparison data and speed feedback, and dynamically adjusts the speed of motor 3 until the elevator body 1 reaches the preset height;

[0054] S06 adjusts the speed of motor 3 and the flight speed to keep the elevator body 1 in a stable hovering state.

[0055] Specifically, traditional multi-rotor aircraft generally use multiple motors 3 and propellers 4 as the power source for lifting and lowering. If one of the power sources fails, the aircraft will lose the power to lift and lower, causing the multi-rotor aircraft to lose balance. This seriously affects the stability of the aircraft or unmanned elevator. Based on the above background, this embodiment proposes a multi-rotor vertical elevator with multiple motors 3. By controlling the multiple motors 3 to drive the propellers 4 on them to rotate, the rotation of the propellers 4 generates lift, which drives the entire multi-rotor vertical elevator to lift and lower.

[0056] To maintain the lifting stability and flight attitude stability of the multi-axis vertical lift, the main consideration is whether the actions of each motor 3 driving the propeller 4 are unified, that is, whether the motor 3 has the ability to coordinate. By starting the motor 3 to operate at the same time and at the same speed, a stable output of wind force at the same speed to the propeller 4 is achieved. The wind force of the propeller 4 enters the circulating air duct 2 and generates lift downward, ensuring the stability of the multi-axis vertical lift during flight.

[0057] It should be noted that in the elevator, each propeller 4 driven by the motor 3 generates a certain amount of lift. The force that ultimately drives the elevator to rise and fall is the sum of the lift generated by each propeller 4. The more propellers 4 there are, the greater the total lift output, which enables the elevator to carry a heavier load and maintain stable flight in strong winds or other harsh environments.

[0058] Specifically, the number of propellers * propeller lift = total lift. When one or more motors 3 fail, only the speed of the remaining single propeller 4 needs to be adjusted to keep the total lift constant, thus achieving continuous stability of the elevator after losing part of the power source. At this time, it is even more necessary to perform precise synchronous control of propeller 4 (motor 3) to ensure the stability and balance of the elevator.

[0059] This invention uses motor 3 and propeller 4 as the lifting power source. Even if one or more of the power sources fail, the speed of the remaining motor 3 can be adjusted to control the amount of air ejected from the exhaust vent, thereby achieving stable control of the lifting and attitude of the elevator body 1. This invention utilizes an inertial measurement unit (IMU) and an altitude sensor to monitor flight speed and altitude in real time, and combines this with a PID controller to dynamically adjust the motor speed, ensuring that the elevator body 1 can accurately reach the preset altitude and maintain stable hovering. This invention employs a multi-motor system cooperative control method, calculating and generating acceleration control commands based on the performance parameters and current status data of each motor, enabling each motor 3 to smoothly accelerate to the target speed, thus improving the system's performance. Response speed and stability; when acquiring the target flight altitude, this invention considers calculation data such as air density, propeller area and radius 4, enabling the elevator body 1 to adapt to different flight environments and conditions; when using the elevator body 1, this invention also collects the operating data of each motor 3 in real time and continuously optimizes the control strategy based on this data, improving the system's flexibility and adaptability to different working conditions, reducing flight safety risks caused by power source failure, and improving operational safety; this invention is equipped with telecommunications modules such as a remote controller and signal receiver, enabling ground personnel to remotely control the elevator body 1, including controlling flight altitude, speed, and various flight modes such as takeoff, hovering, and grounding.

[0060] Example 2

[0061] like Figures 1 to 4 The control method for a multi-axis vertical lift shown includes the following steps:

[0062] S01 Obtain the target flight altitude, input the target model, and obtain the preset motor speed 3 required for the target flight altitude.

[0063] In addition to the target flight altitude, the following calculation data also needs to be obtained: air density, area of ​​propeller 4, radius, etc.

[0064] Specifically, the target flight altitude is obtained, input into the target calculation model, and the preset motor speed 3 required for the target flight altitude is obtained. That is, the ground staff sets the target aircraft altitude of the elevator body 1 according to the required working altitude, and calculates the preset motor speed 3 required for the target flight altitude. A larger preset motor speed 3 is more suitable for higher working altitudes, ensuring that the elevator body 1 can quickly reach the vicinity of the target altitude, and then the motor speed 3 is dynamically adjusted until the elevator body 1 reaches the preset altitude; a smaller preset motor speed 3 is suitable for lower working altitudes. A smaller motor speed 3 indicates that the flight speed of the elevator body 1 is relatively slow, causing the elevator body 1 to slowly climb to the target altitude.

[0065] The control panel has at least three altitude modes: low altitude mode, normal mode, and high altitude mode. The initial flight arrival time is limited to 1 minute. Based on the actual working altitude and the estimated arrival time, the preset flight speed required for the target flight altitude is obtained. The specific calculation formula is: Flight speed = Target flight altitude / Estimated arrival time.

[0066] Input the preset flight speed into the target calculation model and perform the following calculations:

[0067]

[0068] in, It is the preset flight speed. It is the total mass of the aircraft. It is the acceleration due to gravity, which we obtain (Total lift generated by propeller 4)

[0069]

[0070] in, It is the total lift generated by propeller 4. This is the current number of motors (3). This refers to the lift generated by each motor 3 driving the propeller 4. ρ is the lift coefficient, ρ is the air density, and A is the area of ​​propeller 4. Given the radius of propeller 4, we can obtain ω (angular velocity of propeller 4), which is the rotational speed of propeller 4 and motor 3.

[0071] Example 3

[0072] like Figures 1 to 4 The control method for a multi-axis vertical lift shown includes the following steps:

[0073] S01 Obtain the target flight altitude, input the target model, and obtain the preset motor 3 speed required for the target flight altitude;

[0074] S02 motor 3 starts according to the preset motor 3 speed, driving propeller 4 to rotate at the same speed, and the elevator begins to take off.

[0075] It should be noted that the number of motors 3 is the same as the number of propellers 4, and at least eight motors 3 are provided. The lift generated by this number of motors 3 driving the propellers 4 provides the minimum basic lift required for the elevator, ensuring stable operation of the elevator under light or standard loads. More than eight motors 3 can provide greater lift, making them more suitable for high-load or long-distance transportation. However, increasing the number of motors 3 also means increasing the overall load capacity of the elevator. Therefore, in practical applications, the number of motors 3 can be adjusted and set according to the elevator's operating environment and expected load. For ease of understanding, this embodiment uses eight motors 3, equipped with propellers 4 symmetrically installed within the elevator body 1. To ensure the stability of the entire machine during takeoff and the uniform distribution of lift during flight, it is necessary to ensure that all eight motors 3 operate at the same speed at the same time, avoiding tilting or instability caused by uneven lift.

[0076] Therefore, this embodiment employs a cooperative control method for a multi-motor 3 system to control and start each motor 3. Specifically:

[0077] S201 acquires the performance parameters and current status data of each motor 3 to be adjusted;

[0078] S202 sets the target speed value of motor 3 based on work requirements;

[0079] S203 calculates the fastest time required for each motor 3 to accelerate from its current speed to the target speed based on the performance parameters and current status data of motor 3.

[0080] S204 obtains the fastest time value and generates acceleration control commands for each motor 3, so that each motor 3 can smoothly accelerate to the target speed within the cooperative control time.

[0081] After all motors 3 reach the target speed simultaneously, S205 continuously monitors the operating status of each motor 3.

[0082] The performance parameters of each motor 3 include the maximum speed, response time, and power consumption of the motor 3. The status data of each motor 3 includes the current speed, load, and temperature of the motor 3. The calculated value of ω (the speed of the propeller 4 and the motor 3) is the target speed value of the motor 3, which should be within the performance range of the motor 3. Based on the performance parameters and current status data of each motor 3, the fastest time required for each motor 3 to accelerate from the current speed to the target speed is calculated. This time value must take into account both the acceleration of the motor 3 and the current load. Based on the performance parameters and status data of each motor 3, an acceleration control command is generated for each motor 3 to smoothly accelerate to the target speed within the cooperative control time (5s). The control command should take into account the dynamic characteristics and load changes of the motor 3 to avoid overload or runaway. The generated control command is implemented in the microcontroller (MCU), which monitors the speed changes of each motor 3 in real time and adjusts the control command according to the real-time feedback to ensure that all motors 3 reach the same target speed within the cooperative control time.

[0083] Furthermore, after motor 3 reaches the target speed, the operating status of motor 3 needs to be continuously monitored to ensure that it operates in a stable state. At the same time, the operating data of each motor 3 is collected in real time, and the control strategy is continuously optimized based on the operating data. Ultimately, the response speed and stability of the multi-motor 3 system are improved, ensuring that each motor 3 operates at the same speed at the same time, and continues to operate stably at the same speed after reaching the target speed, driving the elevator to fly upwards stably.

[0084] Example 4

[0085] like Figures 1 to 4 The control method for a multi-axis vertical lift shown includes the following steps:

[0086] S01 acquires the target flight altitude, inputs the target model, and obtains the preset motor speed 3 required for the target flight altitude;

[0087] S02 motor 3 starts according to the preset motor 3 speed, drives propeller 4 to rotate at the same speed, and elevator body 1 begins to take off;

[0088] The S03 inertial measurement unit (IMU) monitors flight speed in real time;

[0089] The S04 altitude sensor monitors the flight altitude in real time and compares the real-time altitude data with the target altitude.

[0090] S05 acquires height comparison data and speed feedback, and dynamically adjusts the speed of motor 3 until the elevator body 1 reaches the preset height;

[0091] S06 adjusts the speed of motor 3 and the flight speed to keep the elevator body 1 in a stable hovering state.

[0092] The inertial measurement unit (IMU) and the altitude sensor are used to monitor the flight status of the elevator in real time. Specifically, the inertial measurement unit (IMU) monitors the flight speed and the altitude sensor monitors the flight altitude.

[0093] Specifically, during the ascent of the elevator body 1, the air density gradually decreases, resulting in a reduction in the lift generated by the propeller 4. In order to maintain the same lift, the rotational speed of the motor 3 needs to be gradually increased, and the rotational speed of the propeller 4 will directly affect the flight speed of the elevator, thus the flight speed will also change.

[0094] During this period, the inertial measurement unit (IMU) is used to monitor the flight speed in real time. The IMU mainly relies on its internal sensors such as accelerometers and gyroscopes to measure the acceleration and angular velocity information of the aircraft. Then, the data processing unit contained in the unit performs comprehensive processing on the signals output by the accelerometers and gyroscopes, which can not only obtain more accurate and stable flight speed information, but also output the flight speed information of the elevator in real time, thus meeting the real-time requirements of flight control.

[0095] Meanwhile, after the altitude sensor monitors the flight altitude, it continuously acquires real-time altitude data and compares it with the target altitude to determine whether the elevator body 1 has reached the target altitude, and feeds back the deviation between the current altitude and the target altitude to the control system.

[0096] Continuing from the previous point, the control system receives altitude comparison data and real-time flight speed feedback. It then uses a PID controller to dynamically adjust motor 3. PID control is a common control algorithm that adjusts the control input based on the error, i.e., the difference between the target altitude and the current altitude. The PID controller calculates the adjustment amount based on the deviation of altitude and speed and applies the adjustment amount to the speed control of each motor 3. By continuously adjusting the speed of motor 3, it ensures that the elevator can maintain the required lift during ascent and fly stably at the preset speed and altitude until the preset altitude is reached.

[0097] Furthermore, this embodiment also includes a situation where, once the elevator reaches the preset height, the PID controller stops adjusting the speed of motor 3, allowing the elevator to remain stably at the target height. At this time, the elevator flies stably with zero acceleration, and the lift of the elevator is equal to the gravity.

[0098] Example 5

[0099] like Figures 3 to 4The device shown is controlled by the control method of the multi-axis vertical lift, specifically a multi-axis vertical lift, including a spiral air guide lower cover plate, a matching air duct upper cover plate is provided on the spiral air guide lower cover plate, and an air duct inner guide plate is installed in the cavity formed by the air duct upper cover plate and the spiral air guide lower cover plate. The air duct upper cover plate, the air duct inner guide plate and the spiral air guide lower cover plate constitute an internal circulation air duct 2.

[0100] Furthermore, the inner guide disc of the air duct includes an inner guide disc body. Several inner guide disc bracket insertion holes are evenly distributed on the outer circumference of the upper part of the inner guide disc body. The inner circumference of the spiral air guide lower cover plate is evenly distributed with lower cover plate bracket insertion holes. A motor 3 bracket is installed by connecting one inner guide disc bracket insertion hole and one lower cover plate bracket insertion hole. A motor 3 is installed on each motor 3 bracket. A propeller 4 is installed at the front end of each motor 3.

[0101] It also has an air inlet guide ring installed on the top of the guide plate inside the air duct. The motor 3 drives the propeller 4 to generate air. After the air is redirected by the air inlet guide ring, it can enter the internal circulation air duct 2. After entering the internal circulation air duct 2, the circulating air is guided so that the air is sprayed out from the exhaust outlet in a direction perpendicular to the exhaust cover plate, which ultimately drives the multi-axis vertical lift to rise.

[0102] In this way, the size of the air ejected from the exhaust port can be adjusted by adjusting the speed of motor 3, thereby enabling the multi-axis vertical lift to be adjusted or controlled to achieve stable lifting and lowering. This solves the problem that if one of the power sources of a traditional aircraft fails, it will lose the power to lift and lower, resulting in loss of balance and affecting the lifting and lowering stability of the unmanned lift.

[0103] In addition, the elevator body 1 is equipped with a remote control, which is mainly used by ground personnel to send flight commands to the elevator body 1. The elevator body 1 has a built-in control chip, which includes a microcontroller (MCU). The microcontroller (MCU) is equipped with, but is not limited to, the following: a PID controller, a signal receiver, an inertial measurement unit (IMU), and an altitude sensor. The microcontroller (MCU) connects with the PID controller, signal receiver, inertial measurement unit (IMU), and altitude sensor to process data from various sensors, execute control algorithms, and output control commands. On the other hand, it connects wirelessly with or controls the remote control to receive control commands.

[0104] Specifically, the signal receiver is used to receive the output signals of the remote controller, including but not limited to the flight altitude, flight speed, and signals for setting and controlling various flight modes such as takeoff, hovering, and grounding of the multi-axis vertical lift. This enables the microcontroller (MCU) to receive the signals and then execute the flight operation of the lift body 1, ultimately achieving remote control.

[0105] An inertial measurement unit (IMU) is used to monitor the flight speed and attitude of the elevator and provide flight stability. When the operator sends an acceleration or retrieval command to the signal receiver via the remote control, or when the inertial measurement unit detects that the real-time flight speed of the multi-axis vertical elevator is less than the preset target flight speed, it will automatically send the monitored signal to the microcontroller (MCU). The microcontroller (MCU) will then issue an acceleration or deceleration command to adjust the flight speed of the elevator body 1.

[0106] An altitude sensor is used to monitor the flight altitude in real time and provide accurate data for altitude control. The altitude sensor monitors the flight altitude of the elevator body 1 in real time and compares it with the target altitude. The PID controller calculates the adjustment amount based on the deviation between altitude and speed and sends the adjustment amount data to the microcontroller (MCU). The microcontroller (MCU) sends acceleration commands to each motor 3, so that each motor 3 can drive the propellers 4 connected to it to accelerate their rotation until the elevator body 1 reaches the set target flight altitude.

[0107] At this point, the PID controller stops calculating, and the microcontroller (MCU) sends a constant speed command to drive the propeller 4 to rotate at a constant speed, so that the elevator body 1 stays stably at the target height.

[0108] Example 6

[0109] A multi-axis vertical lift is defined as a control method for a multi-axis vertical lift, wherein each module can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0110] The computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides the environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores the capability parameters and status data of each motor 3, as well as target data and arrival speed data.

[0111] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0112] The above description is only used to illustrate the technical solution of the present invention and is not intended to limit it. Any other modifications or equivalent substitutions made by those skilled in the art to the technical solution of the present invention, as long as they do not depart from the spirit and scope of the technical solution of the present invention, should be covered within the scope of the claims of the present invention.

Claims

1. A control method for a multi-axis vertical lift, characterized in that, The method includes: Obtain the target flight altitude, input the target model, and obtain the preset motor speed required to achieve the target flight altitude; The motor starts according to the preset motor speed, driving the propeller to rotate at the same speed, and the elevator body begins to take off; The inertial measurement unit (IMU) monitors the flight speed in real time; The altitude sensor monitors the flight altitude in real time and compares the real-time altitude data with the target flight altitude; The height comparison data and speed feedback are acquired, and the motor speed is dynamically adjusted until the elevator body reaches the preset height. Adjust the motor speed and flight speed to keep the elevator body in a stable hovering state.

2. The control method for a multi-axis vertical lift according to claim 1, characterized in that, The calculation of obtaining the target flight altitude by inputting the target model and obtaining the preset motor speed required for the target flight altitude also involves air density, propeller area and radius.

3. The control method for a multi-axis vertical lift according to claim 1, characterized in that, The motor is started using a multi-motor system coordinated control method according to the preset motor speed.

4. The control method for a multi-axis vertical lift according to claim 3, characterized in that, The cooperative control method for the multi-motor system includes: Obtain the performance parameters and current status data of each motor to be adjusted; The target speed value of the motor is set based on the work requirements; Based on the motor's performance parameters and current status data, calculate the fastest time required for each motor to accelerate from its current speed to the target speed. The fastest time value is obtained, and acceleration control commands for each motor are generated so that each motor can smoothly accelerate to the target speed within the coordinated control time. After all motors reach the target speed simultaneously, the operating status of each motor is continuously monitored.

5. The control method for a multi-axis vertical lift according to claim 4, characterized in that: The performance parameters of each motor include the motor's maximum speed, response time, and power consumption. The status data includes the motor's current speed, load, and temperature.

6. The control method for a multi-axis vertical lift according to claim 3, characterized in that, The cooperative control method for the multi-motor system also includes: The system collects real-time operating data from each motor and continuously optimizes the control strategy based on this data.

7. The control method for a multi-axis vertical lift according to claim 1, characterized in that, The altitude sensor monitors the flight altitude in real time, and the PID controller compares the real-time altitude data with the target flight altitude.

8. A multi-axis vertical lift, controlled by the control method for a multi-axis vertical lift as described in claims 1-7, characterized in that, include: The elevator body has a circulating air duct. The motor is installed inside the elevator body, and the propeller is driven by the motor. Remote control, used by ground personnel to send commands; Signal receiver: Receives signals sent by ground personnel using a remote control to enable remote control; A microcontroller (MCU) is used to process sensor data, execute control algorithms, and output control commands. An inertial measurement unit (IMU) is used to monitor the flight speed and attitude of the elevator body, providing flight stability. Altitude sensors monitor flight altitude in real time, providing precise data for altitude control.

9. A multi-axis vertical lift, further comprising a storage unit and a processor, wherein the storage unit stores a computer program, characterized in that, The processor is used to execute the computer program as a step in implementing the method of any one of claims 1-8.

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