A high-redundancy multi-rotor unmanned aerial vehicle based on a hexa-rotor layout and an attitude control method

Abstract

The application discloses a kind of high redundancy multi-rotor unmanned aerial vehicle and attitude control method based on sixteen rotor wing layout, comprising: unmanned aerial vehicle main body, the outer wall of unmanned aerial vehicle main body is fixedly provided with eight groups of installation components, and the outer wall of unmanned aerial vehicle main body is inserted with support arm by installation component.The present application adopts sixteen rotor wing high redundancy layout, cooperates with fault-tolerant control algorithm based on pseudo-inverse matrix reconstruction, can still reconstruct power distribution in real time and keep attitude stable after part of power unit fails, significantly improves flight safety;Through the support arm of radial symmetry distribution, effectively disperses the downwash airflow, reduces vortex interference, takes into account large load capacity and aerodynamic efficiency, combines wrinkle skin and notch filter to suppress vibration from structure and control, guarantee load stability;Build complete intelligent decision link from fault detection, attitude compensation to margin evaluation and emergency landing, realize autonomous hierarchical guarantee of flight safety.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) technology, specifically a highly redundant multi-rotor UAV based on a sixteen-rotor configuration and its attitude control method. Background Technology

[0002] Multirotor drones, due to their simple structure, flexible vertical takeoff and landing, and superior hovering performance, have been widely used in aerial surveying, agricultural plant protection, power line inspection, logistics transportation, and emergency rescue. With the continuous expansion of application scenarios, especially in tasks such as power grid tower construction in mountainous areas, material hoisting for infrastructure projects, fire fighting, and express delivery to islands, the market is placing increasingly higher demands on the payload capacity, flight safety, and environmental adaptability of multirotor drones. To improve payload capacity, increasing the number of rotors has become one of the most direct technical paths, leading to the development of six-rotor, eight-rotor, and even more-rotor drone solutions.

[0003] However, existing heavy-load multi-rotor drones still have the following shortcomings:

[0004] First, the power redundancy is limited, and the fault tolerance is insufficient. The rotor is the only actuator for multi-rotor UAVs to achieve motion and control. Once a motor or propeller fails, the UAV faces the risk of losing control and crashing. Quadcopter UAVs often cannot maintain attitude balance after a single motor fails; hexacopters have some fault tolerance, but the control margin is extremely limited; octocopters can cope with single motor failures due to hardware redundancy, but they still face the risk of crashing when two adjacent power units are lost. Existing research has proposed active fault-tolerant control methods and redundant power control strategies based on control allocation for multi-rotor UAVs. However, in configurations with a limited number of rotors, the physical basis of fault-tolerant control—that is, sufficient power margin—is itself limited by the number of actuators. Simply relying on control algorithms cannot fundamentally solve the problem of insufficient redundancy.

[0005] Secondly, there is an inherent contradiction between increasing the number of rotors and aerodynamic efficiency. Simply increasing the number of rotors to improve payload capacity often leads to the cutting of the downwash airflow between rotors, generating severe vortex interference, which in turn reduces overall aerodynamic efficiency and increases noise. Studies have shown that reasonable rotor spacing and layout design are crucial for improving the aerodynamic performance of multi-rotors, but existing heavy-duty multi-rotor designs still lack a systematic optimized layout design that balances payload capacity and aerodynamic efficiency.

[0006] Third, the contradiction between heavy-load requirements and ease of transportation is prominent. To achieve a takeoff weight of 2.5 tons or even higher, drones typically require large propellers and long support arms to ensure sufficient lift and flight stability, resulting in an extremely large span after unfolding, making it difficult to directly load them into standard road transport vehicles for relocation. Existing folding mechanisms mostly use spring shafts or threaded connections, which suffer from short lifespans and low disassembly and assembly efficiency. How to achieve convenient folding and storage and rapid disassembly and assembly while ensuring structural strength under heavy-load conditions is a technical challenge that urgently needs to be solved.

[0007] Fourth, long support arm structures are prone to elastic deformation and structural resonance under heavy load and high speed conditions, affecting load stability and flight safety. Traditional UAVs mainly rely on structural reinforcement to suppress vibration, but excessive reinforcement will increase structural weight and reduce effective payload capacity, making it difficult to achieve a reasonable balance between structural rigidity and lightweight.

[0008] To address the above problems, this invention proposes a highly redundant multi-rotor UAV based on a sixteen-rotor layout and a land transport adaptation system. Summary of the Invention

[0009] The technical solution adopted in this invention is as follows: A high-redundancy multi-rotor unmanned aerial vehicle based on a sixteen-rotor configuration, comprising:

[0010] The main body of the drone has eight sets of mounting components fixedly installed on its outer wall.

[0011] The outer wall of the drone body is fitted with support arms via mounting components. Each support arm has slots at both ends for embedding brushless motors. Every two brushless motors form a group, with the output ends of the two brushless motors being far apart from each other. Each output end of the brushless motor is fitted with a propeller. A landing bracket is fixedly installed at the bottom of the outer wall of the drone body.

[0012] Furthermore, each of the support arms has a battery compartment and an avionics compartment fixedly installed on its inner wall.

[0013] Furthermore, the main body of the drone is a high-strength carbon fiber skin structure, and the skin is provided with a pleated structure to improve the skin stiffness and reduce the skin thickness.

[0014] Furthermore, the eight support arms are symmetrically distributed radially around the circumference of the UAV body, with equal included angles between adjacent support arms.

[0015] Furthermore, the mounting component is a quick-release locking mechanism or a folding hinge structure, used to achieve quick assembly and disassembly of the support arm and the drone body, as well as folding and storage.

[0016] Furthermore, the outer shell of the drone body is equipped with heat dissipation ducts.

[0017] A high-redundancy multirotor unmanned aerial vehicle (UAV) control system based on a sixteen-rotor configuration, applied to any one of the above-described high-redundancy multirotor UAVs based on a sixteen-rotor configuration, comprising:

[0018] The input layer is used to collect sensor data;

[0019] The core processing layer is used to execute the power allocation algorithm;

[0020] Output layer, used to control brushless motors;

[0021] The input layer is connected to the core processing layer by signal, the core processing layer is connected to the output layer by signal, and the output layer is connected to the input layer by signal.

[0022] Furthermore, the core processing layer incorporates a sixteen-rotor dynamics model, which, when any motor failure is detected, redistributes the thrust of the remaining motors through a pseudo-inverse matrix solution to counteract the yaw torque and maintain fuselage attitude balance.

[0023] Furthermore, the core processing layer also has a built-in notch filter, which is used to filter the structural resonant frequency signal in real time according to the motor speed, so as to suppress the elastic deformation vibration of the support arm.

[0024] An attitude control method for a highly redundant multi-rotor UAV based on a sixteen-rotor configuration, applied to any one of the above-described highly redundant multi-rotor UAV control systems based on a sixteen-rotor configuration, includes the following steps:

[0025] S1. Real-time monitoring of the operating status of sixteen brushless motors;

[0026] S2. When the failure of motor N is detected, the flight control system immediately cuts off that output;

[0027] S3. Calculate the pseudo-inverse matrix solution when one torque source is missing, based on the sixteen-rotor dynamics model;

[0028] S4. Based on the pseudo-inverse matrix solution, automatically adjust the speed vectors of the remaining fifteen motors and redistribute the thrust of each motor;

[0029] S5. The yaw moment is counteracted by the redistributed thrust vector, maintaining the fuselage attitude balance;

[0030] S6. Determine if the attitude error exceeds the set threshold. If it does, automatically reduce the load and return to base or land.

[0031] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0032] (1) The invention offers extremely high power redundancy and flight safety. Traditional quadcopter UAVs face the risk of crashing after a single motor failure. While hexacopters have some fault tolerance, their control margin is extremely limited. Octopuses struggle to maintain attitude balance when two adjacent power units are lost. This invention employs a sixteen-rotor layout, with eight support arms symmetrically distributed radially, each with a brushless motor embedded at both ends, achieving power redundancy far exceeding existing technologies. Combined with a fault-tolerant control allocation algorithm based on a pseudo-inverse matrix, when any motor fails, the system can reconstruct the reduced-order power allocation matrix in real time and redistribute the thrust vectors of the remaining fifteen motors, ensuring that the UAV can maintain attitude balance and controlled flight even with a loss of approximately 12.5% ​​of its power. Even in extreme cases where two adjacent motors are lost, basic attitude stability can still be maintained through derating operation of the intact motors in coaxial alignment. This feature fundamentally solves the safety pain point of existing drones that "crash upon first malfunction" for high-value and high-risk application scenarios such as heavy-duty transportation, fire fighting, and emergency rescue, and greatly improves the success rate of flight missions and the safety of personnel and property on the ground.

[0033] (2) The optimized aerodynamic layout and improved flight efficiency of this invention. In the prior art, simply increasing the number of rotors to increase lift often results in the downwash airflow cutting each other due to the dense arrangement of rotors, causing severe vortex interference, which in turn reduces the overall aerodynamic efficiency and increases noise. In this invention, eight support arms are evenly and symmetrically distributed radially along the circumference of the UAV body, with equal included angles between adjacent support arms. The sixteen rotors form a uniformly distributed thrust distribution surface in space, effectively reducing the overlapping cutting area of ​​the downwash airflow and reducing the aerodynamic coupling interference between the rotors. Under the same total thrust output conditions, hovering efficiency and cruise efficiency are improved. At the same time, the UAV body adopts a split capsule structure combined with the shell heat dissipation duct design, which further reduces flight drag while ensuring the heat dissipation requirements of the internal electronic equipment. This allows the invention to achieve a 2.5-ton-class heavy payload capacity while taking into account the economic efficiency of aerodynamic performance.

[0034] (3) The modular quick-release structure of this invention balances transportation convenience and structural strength. Existing heavy-load UAVs typically require huge blade diameters and long lever arms to achieve a takeoff weight of 2.5 tons, resulting in an extremely large span after unfolding, making it impossible to directly load into a standard 6-meter box truck or semi-trailer for road transport. Traditional quick-release or simple folding structures are also difficult to provide sufficient rigid connection strength under heavy load conditions, easily leading to fatigue failure. This invention achieves a detachable plug-in connection between the support arms and the UAV body through a quick-release locking mechanism. This ensures rigid locking between the arms and the fuselage in flight to meet the strength requirements of heavy load flight, while also allowing the eight support arms to be disassembled or folded away one by one during transport, significantly reducing the UAV's footprint to meet standard road transport size restrictions. In addition, the standardized and unified support arm design allows on-site maintenance to be completed by replacing only a single damaged component, without the need for complex disassembly of the UAV body, significantly reducing maintenance time costs and technical barriers.

[0035] (4) The multi-layered vibration suppression of this invention ensures load stability. Long boom structures are prone to elastic deformation and structural resonance under heavy load and high speed conditions, severely affecting the performance of airborne loads (such as high-precision aerial survey cameras and fire monitors). This invention addresses vibration issues from both structural and control perspectives: Structurally, the UAV body uses high-strength carbon fiber skin with a pleated structure, effectively increasing skin stiffness to reduce skin thickness and prevent skin flutter during flight; Control-wise, the core processing layer incorporates a notch filter, dynamically filtering structural resonance frequency signals based on the real-time speed of each brushless motor, actively suppressing vibration transmission caused by elastic deformation of the support arm. The synergistic effect of these dual vibration suppression methods ensures high stability of the load platform even under 2.5-ton heavy load and long boom conditions, meeting the requirements of high-precision missions.

[0036] (5) The intelligent fault-tolerant decision-making and emergency response mechanism of this invention. This invention not only possesses passive power redundancy capability, but also constructs a complete intelligent fault-tolerant control link of "fault detection - matrix reconstruction - compensation allocation - closed-loop adjustment - margin assessment - emergency decision-making". When a single motor fails, the system continuously monitors the convergence of attitude deviation and angular rate deviation through the attitude control loop, and performs quantitative assessment in combination with the control margin of the remaining motors - when the remaining motor margin is greater than 30%, it is determined to be controllable and continues to execute the mission; when the attitude cannot converge and the margin is less than 30%, it automatically triggers forced degraded flight and forced landing operations, rather than passively waiting to crash. This intelligent decision-making mechanism enables the UAV to automatically select the optimal response strategy under different fault severity levels, maximizing flight safety. Furthermore, the allocation principle of "roll / pitch priority, yaw second, and altitude last" in the compensation priority strategy fully considers the core contradiction of multi-rotor flight safety—the loss of control over roll and pitch attitude is the direct cause of crashes, while the moderate sacrifice of altitude and yaw can gain more control resources for attitude stability, reflecting a profound understanding of the physical nature of flight and an engineering trade-off. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the present invention;

[0038] Figure 2 This is an enlarged schematic diagram of invention A;

[0039] Figure 3 This is a schematic diagram of the system architecture of the present invention;

[0040] Figure 4 This is a flowchart illustrating the method of the present invention.

[0041] The markings in the diagram are: 1. Main body of the drone; 2. Landing bracket; 3. Support arm; 4. Brushless motor; 5. Propeller blades; 6. Battery compartment; 7. Avionics compartment. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0043] Example 1

[0044] Reference Figure 1 - Figure 4A high-redundancy multi-rotor UAV based on a sixteen-rotor layout includes: a UAV body 1, eight sets of mounting components fixedly installed on the outer wall of the UAV body 1, support arms 3 inserted into the outer wall of the UAV body 1 through the mounting components, each support arm 3 having a slot at both ends for embedding a brushless motor 4, with two brushless motors 4 forming a group, the output ends of the two brushless motors 4 being far apart from each other, and a propeller 5 sleeved on the output end of each brushless motor 4, a landing bracket 2 fixedly installed at the bottom of the outer wall of the UAV body 1, a battery compartment 6 and an avionics compartment 7 fixedly installed on the inner wall of each support arm 3, the UAV body 1 having a high-strength carbon fiber skin structure, the skin having a pleated structure to improve skin stiffness and reduce skin thickness, the eight support arms 3 being radially and symmetrically distributed around the circumference of the UAV body 1, the included angle between adjacent support arms 3 being equal, and the mounting components being quick-release locking mechanisms or folding hinge structures for connecting the support arms 3 to the UAV. The main body 1 features quick assembly, disassembly, and folding for storage. The outer shell of the main body 1 is equipped with heat dissipation ducts, and sixteen propeller blades 5 are evenly distributed around the main body, effectively dispersing downwash airflow, reducing eddy interference, and improving hovering efficiency. The battery compartment 6 houses a high-density battery pack to meet the energy consumption requirements of heavy-load flight. The avionics compartment 7 houses the flight control system and related electronic equipment. The outer shell of the main body 1 is equipped with heat dissipation ducts, utilizing the fuselage shell as a heat dissipation channel to effectively reduce the temperature rise of internal electronic equipment. The support arm 3 uses a high-torque, low-KV brushless motor 4, paired with large-size propeller blades 5, focusing on improving load capacity rather than high-speed flight. When a support arm 3 is damaged, the operator only needs to disassemble the entire support arm 3 using a quick-release locking mechanism and replace it with a new one to complete the repair, without the need for complex disassembly of the main body 1, significantly reducing the difficulty and time cost of on-site maintenance.

[0045] Reference Figure 1 - Figure 4A high-redundancy multi-rotor UAV control system based on a 16-rotor configuration is applied to any of the above-mentioned high-redundancy multi-rotor UAVs based on a 16-rotor configuration. The system includes an input layer, a core processing layer, and an output layer. The input layer collects sensor data, including but not limited to inertial measurement unit (IMU) data, GPS positioning data, barometer data, and speed feedback signals and current detection signals from each brushless motor 4. The core processing layer is signal-connected to the input layer for executing a power distribution algorithm. The output layer is signal-connected to the core processing layer for controlling the speed of each brushless motor 4. Simultaneously, the output layer and input layer are signal-connected to form a closed-loop feedback control loop. The core processing layer incorporates a 16-rotor dynamics model. Under normal flight conditions, the core processing layer calculates the target thrust value of each motor based on the attitude information and desired attitude commands collected by the input layer, and drives the 16 brushless motors 4 to work collaboratively via the output layer to achieve stable flight of the UAV. The core processing layer also incorporates... The system includes a fault-tolerant control algorithm module. When the system detects the failure of motor N, the flight control system immediately cuts off the output of that motor and automatically adjusts the speed vectors of the remaining fifteen motors. Specifically, the core processing layer establishes a sixteen-rotor dynamic model, calculates the pseudo-inverse matrix solution when one torque source is missing, and redistributes the thrust of the remaining motors to offset the yaw torque caused by the failure of a single motor, maintaining the fuselage attitude balance. This pseudo-inverse matrix control allocation method is based on the control allocation theory of overdrive systems, mapping the desired virtual control vector (including total thrust, roll torque, pitch torque, and yaw torque) to the speed of each rotor. In the case of motor failure, the optimal allocation of control quantities is achieved by recalculating the pseudo-inverse matrix. In addition, the core processing layer also has a built-in notch filter to address the elastic deformation problem that may occur in the long support arm 3 under high-speed rotation. It filters the structural resonance signal of a specific frequency in real time according to the motor speed, effectively suppressing the elastic deformation vibration of the support arm 3, and ensuring the stability of the load and flight safety.

[0046] Reference Figure 1 - Figure 4A method for attitude control of a highly redundant multi-rotor UAV based on a sixteen-rotor configuration, applied to a control system of a highly redundant multi-rotor UAV based on a sixteen-rotor configuration as described above, includes the following steps: S1. Real-time monitoring of the operating status of the sixteen brushless motors 4. The input layer continuously collects the speed feedback signal and current detection signal of each brushless motor 4. The core processing layer performs real-time analysis and status judgment on the above signals. S2. When the failure of the Nth motor is detected, the flight control system immediately cuts off the output of that path. After confirming the motor failure, the core processing layer first cuts off the drive signal of the faulty motor to prevent the fault from further expanding. S3. Calculating the pseudo-inverse matrix solution when one torque source is missing according to the sixteen-rotor dynamics model. Based on the pre-established sixteen-rotor dynamics model, the core processing layer removes the thrust contribution of the faulty motor from the control allocation matrix, reconstructs the reduced-order control allocation matrix, and calculates its pseudo-inverse matrix. S4. Based on the pseudo-inverse matrix solution, automatically adjust the remaining fifteen... The speed vector of the motors is used to redistribute the thrust of each motor. The core processing layer multiplies the desired virtual control vector (total thrust T, roll torque L, pitch torque M, yaw torque N) with the calculated pseudo-inverse matrix to obtain the target speed commands for the remaining fifteen motors. S5. The yaw torque is offset by the redistributed thrust vector to maintain the balance of the fuselage attitude. The output layer drives the remaining fifteen brushless motors 4 to operate according to the new thrust distribution scheme based on the target speed commands of each motor calculated by the core processing layer, so as to achieve rapid recovery and stable maintenance of attitude. S6. It is determined whether the attitude error exceeds the set threshold. If it does, the payload is automatically reduced and the drone returns or lands. The core processing layer continuously monitors the attitude error of the fuselage. When the attitude error is within the set threshold range, the drone continues to perform the original mission. When the attitude error exceeds the set threshold, the system determines that the current power redundancy is insufficient to maintain full-load flight, and then issues an alarm signal and automatically performs a payload jettison operation to reduce the payload. Subsequently, the drone is controlled to return safely or land at the nearest airport.

[0047] Example 2

[0048] Reference Figure 1 - Figure 4 :

[0049] The present invention provides a flowchart of the attitude control method for a highly redundant multi-rotor UAV based on a sixteen-rotor configuration. (See flowchart for details.) Figure 4 As shown, the method includes the following steps:

[0050] S1. Initial State: Normal Flight Mode. All sixteen brushless motors participate in power distribution, and the drone is in normal power distribution mode. At this time, the core processing layer follows the baseline control distribution matrix. The speed of each brushless motor is calculated to maintain the aircraft's hovering or cruising flight.

[0051] S2. Real-time monitoring of the operating status of the sixteen brushless motors 4.

[0052] The input layer continuously collects the current signal, speed feedback signal and temperature signal of each brushless motor 4, and transmits the above data to the core processing layer in real time for status monitoring.

[0053] S3. Brushless motor 4 abnormality detection.

[0054] The core processing layer analyzes and judges the real-time acquired state parameters of the brushless motor:

[0055] When the current of a certain brushless motor 4 does not suddenly drop and the speed does not return to zero, it is determined that the brushless motor 4 is working normally, and the process returns to step S2 to continue normal monitoring.

[0056] When an abnormal characteristic of a brushless motor 4, such as a sudden drop in current or a speed dropping to zero, is detected, proceed to step S4.

[0057] S4. Fault location and failure type determination of brushless motor 4.

[0058] The core processing layer identifies the serial number of the failed brushless motor 4 based on the abnormal signal. (where k∈1-16), and further determine whether the failure belongs to the upper brushless motor 4 failure or the lower brushless motor 4 failure (i.e. the specific failure location in the coaxial pair).

[0059] S5. Coaxial pair working status judgment.

[0060] The core processing layer determines whether the coaxial pair containing the failed brushless motor 4 can still continue to work (i.e., whether the other brushless motor 4 in the coaxial pair is intact):

[0061] If the other brushless motor 4 in the coaxial pair is intact, the coaxial pair will continue to operate under derating.

[0062] If both brushless motors 4 in the coaxial pair have failed, then the entire coaxial pair is marked as a failed unit.

[0063] S6. Reconstruct the power distribution matrix.

[0064] The core processing layer removes the column corresponding to the failed brushless motor 4 from the original 6×16 dimensional power distribution matrix D, and updates the lever arm coefficient of the coaxial pair containing brushless motor 4, thus reconstructing a 6×15 dimensional reduced-order power distribution matrix. .

[0065] S7. Recalculate the pseudo-inverse matrix.

[0066] The core processing layer is based on the reduced-order dynamic allocation matrix. The pseudo-inverse matrix is ​​recalculated using the least squares method. .

[0067] S8. Attitude compensation calculation and compensation priority allocation.

[0068] The core processing layer based on the desired control vector Using the reconstructed pseudo-inverse matrix, calculate the new rotational speed vector and solve for the attitude compensation amount. Furthermore, the thrust change of the brushless motor 4 was calculated. .

[0069] The following priority strategy will be followed during the allocation of compensation:

[0070] First priority: Prioritize ensuring compensation for roll and pitch moments to ensure stability of the fuselage's roll and pitch attitude;

[0071] Second priority: ensuring compensation for yaw moment;

[0072] Third priority: Finally, ensure the maintenance of altitude (total thrust).

[0073] S9. Constraint check and saturation limiting processing.

[0074] The core processing layer determines whether the target speed of the remaining fifteen brushless motors (4) exceeds the physical upper limit of the brushless motors (4) and the ESCs:

[0075] If the speed of all brushless motors 4 does not exceed the upper limit, then proceed to the redundancy optimization allocation step S10;

[0076] If the speed of one or more brushless motors 4 exceeds the upper limit, saturation limiting processing is performed to limit the speed of the brushless motor 4 that exceeds the limit to the maximum value. Under this condition, priority is given to ensuring the control accuracy of roll and pitch attitude, while appropriately sacrificing yaw accuracy and altitude maintenance accuracy.

[0077] S10. Redundancy optimization allocation.

[0078] Under the premise of meeting the constraints, the core processing layer uses the quadratic programming (QP) algorithm to solve the redundancy optimization problem. With the goal of minimizing the total current consumption or achieving the most balanced distribution of the speed of each brushless motor 4, the optimal speed command for the remaining fifteen brushless motors 4 is calculated.

[0079] S11. Generate PWM control signal and drive brushless motor 4.

[0080] The output layer generates fifteen PWM compensation control signals to drive the remaining normal brushless motors 4 to operate based on the optimal speed command calculated by the core processing layer; at the same time, it sets the PWM channel corresponding to the failed brushless motor 4 to zero and turns off the electronic speed controller of the failed brushless motor 4.

[0081] S12. Attitude control loop closed-loop adjustment.

[0082] The core processing layer compensates for residual attitude deviations through an attitude control loop (PID controller). The attitude deviation is calculated as follows: That is, comparing the difference between the desired posture and the current actual posture.

[0083] S13. Attitude convergence judgment and controllability assessment.

[0084] The core processing layer determines the attitude deviation. Is it less than the set threshold and the angular rate deviation? Is it less than the set threshold?

[0085] If both attitude deviation and angular rate deviation are less than the threshold, it is determined that the attitude has converged, the UAV resumes stable flight, and returns to step S2 to continue real-time monitoring and dynamically update the compensation amount to adapt to changes in flight status.

[0086] If the attitude deviation or angular rate deviation does not converge to within the threshold, then further evaluate whether the control margin of the remaining brushless motor 4 is greater than 30%.

[0087] S14. Emergency strategy triggered.

[0088] When it is determined in step S13 that the attitude has not converged and the remaining control margin of brushless motor 4 does not exceed 30%, the core processing layer determines that the current power redundancy is insufficient to maintain safe flight and triggers an emergency strategy:

[0089] The system issued an alarm signal;

[0090] Control the drone to execute a forced downgrade flight mode, reducing flight speed and maneuverability;

[0091] It automatically searches for a safe landing site and performs an emergency landing to ensure the safety of people and property on the ground.

[0092] If the remaining control margin of brushless motor 4 is greater than 30%, the drone is determined to still be controllable, and the process returns to step S2 to continue monitoring the flight.

[0093] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A high-redundancy multi-rotor unmanned aerial vehicle (UAV) based on a sixteen-rotor configuration, characterized in that, include: The main body of the drone (1) has eight sets of mounting components fixedly installed on its outer wall; The outer wall of the drone body (1) is fitted with a support arm (3) by an installation component. Each support arm (3) has a slot at both ends for a brushless motor (4). Each pair of brushless motors (4) forms a group, with the output ends of the two brushless motors (4) being far apart from each other. Each output end of the brushless motor (4) is fitted with a propeller (5). A landing bracket (2) is fixedly installed at the bottom of the outer wall of the drone body (1).

2. A high-redundancy multi-rotor UAV based on a sixteen-rotor configuration according to claim 1, characterized in that, Each of the support arms (3) has a battery compartment (6) and an avionics compartment (7) fixedly installed on its inner wall.

3. A high-redundancy multi-rotor UAV based on a sixteen-rotor configuration according to claim 1, characterized in that, The main body (1) of the UAV is a high-strength carbon fiber skin structure, and the skin is provided with a pleated structure to improve the skin stiffness and reduce the skin thickness.

4. A high-redundancy multi-rotor UAV based on a sixteen-rotor configuration according to claim 1, characterized in that, The eight support arms (3) are symmetrically distributed radially around the circumference of the UAV body (1), and the included angles between adjacent support arms (3) are equal.

5. A high-redundancy multi-rotor UAV based on a sixteen-rotor configuration according to claim 1, characterized in that, The installation component is a quick-release locking mechanism or a folding hinge structure, used to achieve quick disassembly and folding storage between the support arm (3) and the drone body (1).

6. A high-redundancy multi-rotor UAV based on a sixteen-rotor configuration according to claim 1, characterized in that, The outer shell of the drone body (1) is provided with heat dissipation ducts.

7. A high-redundancy multi-rotor unmanned aerial vehicle (UAV) control system based on a sixteen-rotor configuration, characterized in that, Applied to any one of claims 1-6, a high-redundancy multi-rotor UAV based on a sixteen-rotor configuration, comprising: The input layer is used to collect sensor data; The core processing layer is used to execute the power allocation algorithm; Output layer, used to control brushless motor (4); The input layer is connected to the core processing layer by signal, the core processing layer is connected to the output layer by signal, and the output layer is connected to the input layer by signal.

8. A high-redundancy multi-rotor UAV control system based on a sixteen-rotor configuration according to claim 7, characterized in that, The core processing layer has a built-in sixteen-rotor dynamics model, which is used to redistribute the thrust of the remaining motors through a pseudo-inverse matrix solution when any motor failure is detected, in order to counteract the yaw torque and maintain the fuselage attitude balance.

9. A high-redundancy multi-rotor UAV control system based on a sixteen-rotor configuration according to claim 7, characterized in that, The core processing layer also has a built-in notch filter, which is used to filter the structural resonance frequency signal in real time according to the motor speed, so as to suppress the elastic deformation vibration of the support arm (3).

10. An attitude control method for a high-redundancy multi-rotor UAV based on a sixteen-rotor configuration, characterized in that, The application of a high-redundancy multi-rotor unmanned aerial vehicle control system based on a sixteen-rotor configuration as described in any one of claims 7-9 includes the following steps: S1. Real-time monitoring of the operating status of the sixteen brushless motors (4); S2. When the failure of motor N is detected, the flight control system immediately cuts off that output; S3. Calculate the pseudo-inverse matrix solution when one torque source is missing, based on the sixteen-rotor dynamics model; S4. Based on the pseudo-inverse matrix solution, automatically adjust the speed vectors of the remaining fifteen motors and redistribute the thrust of each motor; S5. The yaw moment is counteracted by the redistributed thrust vector, maintaining the fuselage attitude balance; S6. Determine if the attitude error exceeds the set threshold. If it does, automatically reduce the load and return to base or land.

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