Attitude control device

Abstract

To provide an attitude control device that can stabilize an attitude of a fuselage.SOLUTION: A rotor control device 50 comprises: a vertical rotor control unit 72 that controls respective VTOL rotors on the basis of a first allocation command value; a horizontal rotor control unit 74 that controls respective cruise rotors on the basis of a second allocation command value; and an allocation command value calculation unit 66 that sets, as the first allocation command value, a difference between a command value of a yaw moment and the second allocation command value, and that sets the magnitude of the second allocation command value to zero when the command value of the yaw moment is less than a threshold, or that sets the magnitude of the second allocation command value to a value larger than zero when the command value of the yaw moment is equal to or greater than the threshold.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to an attitude control device. [Background technology]

[0002] The following Patent Document 1 discloses a VTOL aircraft, which rotates in a yaw direction by generating a difference between the rotational speed of a vertical rotor rotating in a first direction and the rotational speed of a vertical rotor rotating in a second direction. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] US Patent Application Publication No. 2021 / 0245873 Summary of the Invention [Problem to be solved by the invention]

[0004] The technology disclosed in Patent Document 1 has the problem that if the required yaw moment is excessively large, the vertical rotor cannot generate a yaw moment of sufficient magnitude, making it impossible to stabilize the attitude of the aircraft.

[0005] The present invention aims to solve the above-mentioned problems. [Means for solving the problem]

[0006] One aspect of the present invention is an attitude control device that controls the attitude of an aircraft airframe having a plurality of vertical rotors that generate thrust in a vertical direction and a plurality of horizontal rotors that generate thrust in a horizontal direction. The attitude control device includes a yaw moment command value calculation unit that calculates a yaw moment command value to be applied to the airframe, an allocation command value calculation unit that calculates a first allocation command value and a second allocation command value in accordance with the yaw moment command value, a vertical rotor control unit that controls each of the vertical rotors based on the first allocation command value, and a horizontal rotor control unit that controls each of the horizontal rotors based on the second allocation command value. The allocation command value calculation unit sets the first allocation command value to the difference between the yaw moment command value and the second allocation command value, and sets the magnitude of the second allocation command value to 0 if the yaw moment command value is less than a threshold, and sets the magnitude of the second allocation command value to a value greater than 0 if the yaw moment command value is equal to or greater than the threshold. [Effects of the Invention]

[0007] According to the present invention, the attitude of the aircraft can be stabilized. [Brief explanation of the drawings]

[0008] [Figure 1] Figure 1 is a schematic diagram of an aircraft. [Figure 2] FIG. 2 is a diagram showing the configuration of the power supply system. [Figure 3] FIG. 3 is a diagram showing the configuration of the power supply system. [Figure 4] FIG. 4 is a control block diagram of the rotor control device. [Figure 5] FIG. 5 is a graph showing an example of time changes in the yaw moment command value, the moving average of the yaw moment command value, and the second allocation command value. [Figure 6] FIG. 6 is a flowchart showing the flow of rotor control processing performed by the rotor control device. DETAILED DESCRIPTION OF THE INVENTION

[0009] [First embodiment] [Aircraft configuration] FIG. 1 is a schematic diagram of an aircraft 10. The aircraft 10 of this embodiment is an electric vertical take-off and landing aircraft (eVTOL aircraft). In the aircraft 10 of this embodiment, a rotor is driven by an electric motor. In the aircraft 10 of this embodiment, the rotor generates vertical thrust and horizontal thrust. In addition, the aircraft 10 of this embodiment is a hybrid aircraft. The aircraft 10 of this embodiment has a motor generator and a battery as power sources for the electric motor.

[0010] The aircraft 10 has a fuselage 12. The fuselage 12 is provided with a cockpit, a cabin, etc. A pilot sits in the cockpit and pilots the aircraft 10. The cabin houses passengers, etc. The aircraft 10 may be piloted automatically without a pilot on board.

[0011] The aircraft 10 has a front wing 14 and a rear wing 16. The front wing 14 is attached forward of the center of gravity G of the fuselage 12. The rear wing 16 is attached aft of the center of gravity G of the fuselage 12. When the aircraft 10 moves forward, lift is generated on each of the front wing 14 and the rear wing 16.

[0012] The aircraft 10 has eight VTOL rotors 18. The eight VTOL rotors 18 are rotor 18FLa, rotor 18FLb, rotor 18RLa, rotor 18RLb, rotor 18FRa, rotor 18FRb, rotor 18RRa, and rotor 18RRb. Each of the VTOL rotors 18 corresponds to a vertical rotor of the present invention.

[0013] The rotors 18FLa, 18FLb, 18RLa, and 18RLb are attached to a boom 20L. The boom 20L extends in the front-to-rear direction. The boom 20L is attached to the front wing 14 and the rear wing 16. The boom 20L is provided to the left of the center of gravity G. In other words, the rotors 18FLa, 18FLb, 18RLa, and 18RLb are disposed to the left of the center of gravity G.

[0014] The rotors 18FRa, 18FRb, 18RRa, and 18RRb are attached to a boom 20R. The boom 20R extends in the fore-and-aft direction. The boom 20R is attached to the front wing 14 and the rear wing 16. The boom 20R is provided to the right of the center of gravity G. In other words, the rotors 18FRa, 18FRb, 18RRa, and 18RRb are disposed to the right of the center of gravity G.

[0015] When viewed from above the aircraft 10, the rotors 18FLa, 18RLa, 18FRb, and 18RRb each rotate counterclockwise. When viewed from above the aircraft 10, the rotors 18FRa, 18RRa, 18FLb, and 18RLb each rotate clockwise.

[0016] The rotating shafts (not shown) of the VTOL rotors 18 extend in the vertical direction. The thrust of each of the VTOL rotors 18 is controlled by adjusting the rotor rotation speed and the blade pitch angle. Each of the VTOL rotors 18 is used during vertical takeoff, when transitioning from vertical takeoff to cruising, when transitioning from cruising to vertical landing, when vertical landing, when hovering in the air, etc. Each of the VTOL rotors 18 is also used during attitude control. The rotating shafts of each of the VTOL rotors 18 may be angled (canted) by several degrees relative to the vertical direction.

[0017] Lift thrust is generated by controlling the thrust of each of the eight VTOL rotors 18. Lift thrust refers to thrust in the vertical direction. The magnitude of the lift thrust is determined according to the sum of the thrust of each of the eight VTOL rotors 18.

[0018] Controlling the thrust of each of the eight VTOL rotors 18 causes a roll moment to act on the airframe 12. The magnitude of the roll moment is determined according to the difference between the sum of the thrusts of the four VTOL rotors 18 arranged to the left of the center of gravity G and the sum of the thrusts of the four VTOL rotors 18 arranged to the right of the center of gravity G.

[0019] The four VTOL rotors 18 arranged to the left of the center of gravity G refer to rotor 18FLa, rotor 18FLb, rotor 18RLa, and rotor 18RLb. The four VTOL rotors 18 arranged to the right of the center of gravity G refer to rotor 18FRa, rotor 18FRb, rotor 18RRa, and rotor 18RRb.

[0020] Controlling the thrust of each of the eight VTOL rotors 18 applies a pitch moment to the airframe 12. The magnitude of the pitch moment is determined according to the difference between the sum of the thrusts of the four VTOL rotors 18 arranged forward with respect to the center of gravity G and the sum of the thrusts of the four VTOL rotors 18 arranged aft with respect to the center of gravity G.

[0021] The four VTOL rotors 18 arranged forward with respect to the center of gravity G refer to rotor 18FLa, rotor 18FLb, rotor 18FRa, and rotor 18FRb. The four VTOL rotors 18 arranged rearward with respect to the center of gravity G refer to rotor 18RLa, rotor 18RLb, rotor 18RRa, and rotor 18RRb.

[0022] By controlling the counter torque of each of the eight VTOL rotors 18, a yaw moment is applied to the airframe 12. The magnitude of the yaw moment is determined according to the difference between the sum of the counter torques of the four VTOL rotors 18 rotating counterclockwise and the sum of the counter torques of the four VTOL rotors 18 rotating clockwise.

[0023] When each rotating shaft of the VTOL rotors 18 is angled (canted) by several degrees relative to the vertical direction, the VTOL rotors 18 generate thrust in the lateral direction of the airframe 12. In this case, the magnitude of the yaw moment is determined by the difference in the total of the aforementioned counter torques, as well as the difference between the moment generated by the thrust generated in the counterclockwise rotation direction of the airframe 12 and the moment generated by the thrust generated in the clockwise rotation direction of the airframe 12.

[0024] The four VTOL rotors 18 that rotate counterclockwise refer to rotor 18FLa, rotor 18RLa, rotor 18FRb, and rotor 18RRb. The four VTOL rotors 18 that rotate clockwise refer to rotor 18FRa, rotor 18RRa, rotor 18FLb, and rotor 18RLb.

[0025] The aircraft 10 has two cruise rotors 22. The two cruise rotors 22 are rotor 22L and rotor 22R. Each of the cruise rotors 22 corresponds to a horizontal rotor of the present invention.

[0026] The rotor 22L and the rotor 22R are attached to the rear of the airframe 12. The rotor 22L is disposed to the left of the center line A of the airframe 12. The rotor 22R is disposed to the right of the center line A of the airframe 12.

[0027] The rotating shafts (not shown) of the cruise rotors 22 extend in the fore-and-aft direction. The thrust of each cruise rotor 22 is controlled by adjusting the rotor rotation speed and blade pitch angle. Each cruise rotor 22 is used during transition from vertical takeoff to cruise, during cruise, and during transition from cruise to vertical landing. Each cruise rotor 22 is also used during attitude control. The rotating shafts of each cruise rotor 22 may be angled (canted) by several degrees relative to the fore-and-aft direction.

[0028] Cruise thrust is generated by controlling the thrust of each of the two cruise rotors 22. Cruise thrust refers to thrust in the horizontal direction. The magnitude of the cruise thrust is determined by the sum of the thrust of each of the two cruise rotors 22.

[0029] A yaw moment is applied to the aircraft 12 by controlling the thrust of each of the two cruise rotors 22. The magnitude of the yaw moment is determined according to the difference between the magnitude of the thrust of the rotor 22L and the magnitude of the thrust of the rotor 22R.

[0030] [Power supply system configuration] Fig. 2 is a diagram showing the configuration of the power supply system 24. Fig. 2 mainly shows the connection relationship between the four batteries 30 and the twelve electric motors 32. Fig. 3 is a diagram showing the configuration of the power supply system 24.

[0031] A set of drive units 26 is provided for each VTOL rotor 18. A drive unit 26FLa is provided for rotor 18FLa. A drive unit 26FLb is provided for rotor 18FLb. A drive unit 26RLa is provided for rotor 18RLa. A drive unit 26RLb is provided for rotor 18RLb. A drive unit 26FRa is provided for rotor 18FRb. A drive unit 26RRa is provided for rotor 18RRa. A drive unit 26RRb is provided for rotor 18RRb.

[0032] Two sets of drive units 26 are provided for each cruise rotor 22. A drive unit 26La and a drive unit 26Lb are provided for the rotor 22L, and a drive unit 26Ra and a drive unit 26Rb are provided for the rotor 22R.

[0033] One battery 30 is connected to three sets of drive units 26. Battery 30a is connected to drive unit 26FRa, drive unit 26RLa, and drive unit 26Ra. Battery 30b is connected to drive unit 26FLa, drive unit 26RRa, and drive unit 26La. Battery 30c is connected to drive unit 26FRb, drive unit 26RLb, and drive unit 26Rb. Battery 30d is connected to drive unit 26FLb, drive unit 26RRb, and drive unit 26Lb.

[0034] Each drive unit 26 has an electric motor 32 and an inverter 34. The electric motor 32 is a three-phase motor. An output shaft (not shown) of the electric motor 32 is coupled to the rotating shaft of the respective VTOL rotor 18 or the rotating shaft of the cruise rotor 22. The inverter 34 converts input DC power into three-phase AC power and outputs it to the electric motor 32.

[0035] As shown in Fig. 3, a drive module 36 is made up of three drive units 26 and one battery 30. Drive unit 26FRa, drive unit 26RLa, drive unit 26Ra, and battery 30a make up drive module 36a. Drive unit 26FLa, drive unit 26RRa, drive unit 26La, and battery 30b make up drive module 36b. Drive unit 26FRb, drive unit 26RLb, drive unit 26Rb, and battery 30c make up drive module 36c. Drive unit 26FLb, drive unit 26RRb, drive unit 26Lb, and battery 30d make up drive module 36d.

[0036] Each drive module 36 is connected to a power generation module 38. The power generation module 38 includes an engine 40, a motor generator 42, and a power control unit (hereinafter, PCU) 44.

[0037] The engine 40 is a gas turbine engine. The engine 40 may be a reciprocating engine. The motor generator 42 functions as a three-phase motor and also as a three-phase generator. A rotating shaft (not shown) of the motor generator 42 is connected to an output shaft (not shown) of the engine 40.

[0038] The PCU 44 is an inverter and converter. The PCU 44 converts three-phase AC power input from the motor generator 42 into DC power and outputs it. The PCU 44 also converts DC power input from each battery 30 into three-phase AC power and outputs it to the motor generator 42.

[0039] 3 , each drive module 36 has a switch 48. Each switch 48 has a switching element such as an IGBT and a diode. Each switch 48 always allows power to be supplied from the power generation module 38 to the drive module 36. When each switch 48 is on, it allows power to be supplied from the drive module 36 to the power generation module 38.

[0040] When each switch 48 is on, power is supplied from each battery 30 to each motor generator 42. This causes the motor generator 42 to operate and start the engine 40. When the engine 40 is operating, power generated by the motor generator 42 is supplied to each battery 30 and each electric motor 32. This causes each battery 30 to be charged. Also, each electric motor 32 operates.

[0041] 2 and 3 show an outline of the power supply system 24. Some components are omitted from the power supply system 24 shown in Figures 2 and 3. The omitted components include, for example, electrical loads other than the electric motor 32, resistors, coils, capacitors, various sensors, fuses, relays, breakers, precharge circuits, DC-DC converters, etc.

[0042] [Configuration of rotor control device] 4 is a control block diagram of the rotor control device 50. The rotor control device 50 controls the thrust of each VTOL rotor 18 and the thrust of each cruise rotor 22. The rotor control device 50 corresponds to the attitude control device of the present invention. The rotor control device 50 has a calculation unit 52 and a memory unit 54.

[0043] The calculation unit 52 is a processor such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), etc. The calculation unit 52 has a lift thrust command value calculation unit 56, a roll moment command value calculation unit 58, a pitch moment command value calculation unit 60, a yaw moment command value calculation unit 62, a cruise thrust command value calculation unit 64, an allocation command value calculation unit 66, a VTOL rotor thrust command value generation unit 68, a cruise rotor thrust command value generation unit 70, a VTOL rotor control unit 72, and a cruise rotor control unit 74.

[0044] The lift thrust command value calculation unit 56, the roll moment command value calculation unit 58, the pitch moment command value calculation unit 60, the yaw moment command value calculation unit 62, the cruise thrust command value calculation unit 64, the allocation command value calculation unit 66, the VTOL rotor thrust command value generation unit 68, the cruise rotor thrust command value generation unit 70, the VTOL rotor control unit 72, and the cruise rotor control unit 74 are realized by the calculation unit 52 executing a program stored in the memory unit 54.

[0045] At least a portion of the lift thrust command value calculation unit 56, the roll moment command value calculation unit 58, the pitch moment command value calculation unit 60, the yaw moment command value calculation unit 62, the cruise thrust command value calculation unit 64, the allocation command value calculation unit 66, the VTOL rotor thrust command value generation unit 68, the cruise rotor thrust command value generation unit 70, the VTOL rotor control unit 72, and the cruise rotor control unit 74 may be realized by an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array).

[0046] At least a portion of the lift thrust command value calculation unit 56, the roll moment command value calculation unit 58, the pitch moment command value calculation unit 60, the yaw moment command value calculation unit 62, the cruise thrust command value calculation unit 64, the allocation command value calculation unit 66, the VTOL rotor thrust command value generation unit 68, the cruise rotor thrust command value generation unit 70, the VTOL rotor control unit 72, and the cruise rotor control unit 74 may be realized by electronic circuits including discrete devices.

[0047] The storage unit 54 is configured by a volatile memory (not shown) and a nonvolatile memory (not shown), which are computer-readable storage media. The volatile memory is, for example, a random access memory (RAM). The nonvolatile memory is, for example, a read-only memory (ROM), a flash memory, etc. Data, etc., are stored in the volatile memory. Programs, tables, maps, etc., are stored in the nonvolatile memory. At least a part of the storage unit 54 may be provided in the processor, integrated circuit, etc. described above.

[0048] The lift thrust command value calculation unit 56 calculates a lift thrust command value. The lift thrust command value is determined, for example, according to the amount of operation of an operation input unit by the pilot. The operation input unit is, for example, a control stick, pedals, levers, etc. The amount of operation of the operation input unit and the lift thrust command value do not need to correspond one-to-one. The lift thrust command value may be made variable relative to the amount of operation of the operation input unit depending on the operation range of the operation input unit, the operation speed of the operation input unit, the altitude of the aircraft 12, etc. The altitude of the aircraft 12 is estimated, for example, based on the distance between the ground and the aircraft 12 detected by a ground range finder (not shown). The altitude of the aircraft 12 is estimated, for example, based on a signal received from a GNSS (Global Navigation Satellite System).

[0049] If the pilot does not input an operation to the operation input unit, the lift and thrust command values ​​may be automatically determined and the aircraft may hover, regardless of the amount of operation of the operation input unit. Also, if the aircraft 10 is automatically controlled, the lift and thrust command values ​​may be automatically determined according to a preset flight path, regardless of the amount of operation of the operation input unit.

[0050] The roll moment command value calculation unit 58 calculates a roll moment command value. The roll moment command value is determined according to the amount of operation of the operation input unit by the pilot. The amount of operation of the operation input unit and the roll moment command value do not need to correspond one-to-one. The roll moment command value may be made variable relative to the amount of operation of the operation input unit according to the operation range of the operation input unit, the operation speed of the operation input unit, the angular velocity of the aircraft 12, etc. The angular velocity of the aircraft 12 is detected by, for example, a gyro sensor (not shown).

[0051] If the pilot does not input an operation to the operation input unit, the roll moment command value may be automatically determined and the aircraft may hover, regardless of the amount of operation of the operation input unit. Also, if the aircraft 10 is automatically controlled, the roll moment command value may be automatically determined according to a preset flight path, regardless of the amount of operation of the operation input unit.

[0052] The pitch moment command value calculation unit 60 calculates a pitch moment command value. The pitch moment command value is determined, for example, according to the amount of operation of the operation input unit by the pilot. The amount of operation of the operation input unit and the pitch moment command value do not necessarily correspond one-to-one. The pitch moment command value may be made variable relative to the amount of operation of the operation input unit, according to the operation range of the operation input unit, the operation speed of the operation input unit, the angular velocity of the aircraft 12, etc.

[0053] If the pilot does not input an operation to the operation input unit, the pitch moment command value may be automatically determined and the aircraft may hover, regardless of the amount of operation of the operation input unit. Also, if the aircraft 10 is automatically controlled, the pitch moment command value may be automatically determined according to a preset flight path, regardless of the amount of operation of the operation input unit.

[0054] The yaw moment command value calculation unit 62 calculates a yaw moment command value. The yaw moment command value is determined, for example, according to the amount of operation of the operation input unit by the pilot. The amount of operation of the operation input unit and the yaw moment command value do not necessarily correspond one-to-one. The yaw moment command value may be made variable relative to the amount of operation of the operation input unit, according to the operation range of the operation input unit, the operation speed of the operation input unit, the angular velocity of the aircraft 12, etc.

[0055] If the pilot does not input an operation to the operation input unit, the yaw moment command value may be determined automatically, regardless of the amount of operation of the operation input unit, and the aircraft 10 may hover. Also, if the aircraft 10 is automatically controlled, the yaw moment command value may be determined automatically in accordance with a preset flight path, regardless of the amount of operation of the operation input unit.

[0056] The cruise thrust command value calculation unit 64 calculates a cruise thrust command value. The cruise thrust command value is determined, for example, according to the amount of operation of the operation input unit by the pilot. The amount of operation of the operation input unit and the cruise thrust command value do not need to correspond one-to-one. The cruise thrust command value may be made variable relative to the amount of operation of the operation input unit, depending on the operation range of the operation input unit, the operation speed of the operation input unit, the airspeed of the aircraft 12, etc. The airspeed of the aircraft 12 is detected, for example, by an airspeed sensor (not shown).

[0057] If the pilot does not input an operation to the operation input unit, the cruise thrust command value may be determined automatically, and the aircraft 10 may fly at a constant speed. Also, if the aircraft 10 is automatically controlled, the cruise thrust command value may be determined automatically according to a preset flight path, regardless of the amount of operation of the operation input unit.

[0058] The allocation command value calculation unit 66 calculates a first allocation command value and a second allocation command value. The first allocation command value indicates a command value of the yaw moment command value that causes a yaw moment to be generated by the eight VTOL rotors 18. The second allocation command value indicates a command value of the yaw moment command value that causes a yaw moment to be generated by the two cruise rotors 22.

[0059] FIG. 5 is a graph showing an example of time changes in the yaw moment command value, the moving average of the yaw moment command value, and the second allocation command value.

[0060] Allocation command value calculation unit 66 sets the first allocation command value to the difference between the yaw moment command value and the second allocation command value. If the moving average of the yaw moment command values ​​is less than the threshold value, allocation command value calculation unit 66 sets the magnitude of the second allocation command value to 0. If the moving average of the yaw moment command values ​​is equal to or greater than the threshold value, allocation command value calculation unit 66 sets the magnitude of the second allocation command value to a value greater than 0. Specifically, allocation command value calculation unit 66 sets the second allocation command value to the difference between the moving average of the yaw moment command values ​​and the threshold value.

[0061] As a result, the steady-state component of the yaw moment command value is set as the second assigned command value. The unsteady-state component of the yaw moment command value is set as the first assigned command value. In other words, the component of the yaw moment command value that fluctuates rapidly is assigned as the command value for the VTOL rotor 18, and the component that fluctuates slowly is assigned as the command value for the cruise rotor 22.

[0062] The threshold value is a predetermined value. The allocation command value calculation unit 66 may variably set the threshold value. For example, if some of the eight VTOL rotors 18 have failed, the allocation command value calculation unit 66 may reduce the threshold value. The allocation command value calculation unit 66 may set the threshold value according to, for example, the number of failed VTOL rotors 18 out of the eight VTOL rotors 18. The allocation command value calculation unit 66 may also variably set the threshold value according to the airspeed of the aircraft 12. For example, if the airspeed is equal to or higher than a predetermined speed, the threshold value may be reduced as the airspeed increases.

[0063] The VTOL rotor thrust command value generation unit 68 generates a thrust command value for each VTOL rotor 18. The VTOL rotor thrust command value generation unit 68 generates the thrust command value based on the lift thrust command value, the roll moment command value, the pitch moment command value, and the first allocation command value.

[0064] The cruise rotor thrust command value generating unit 70 generates a thrust command value for each cruise rotor 22. The cruise rotor thrust command value generating unit 70 generates the thrust command value based on the cruise thrust command value and the second allocation command value.

[0065] The VTOL rotor control unit 72 controls the thrust in each VTOL rotor 18 based on the thrust command value for each VTOL rotor 18. The VTOL rotor control unit 72 corresponds to the vertical rotor control unit of the present invention.

[0066] The cruise rotor control unit 74 controls the thrust of each cruise rotor 22 based on the thrust command value for each cruise rotor 22. The cruise rotor control unit 74 corresponds to the horizontal rotor control unit of the present invention.

[0067] [Rotor Control] 6 is a flowchart showing the flow of rotor control processing performed by the rotor control device 50. The rotor control processing is repeatedly executed at a predetermined cycle while the aircraft 10 is in flight.

[0068] In step S1, the allocation command value calculation unit 66 calculates a first allocation command value and a second allocation command value, and then the process proceeds to step S2.

[0069] In step S2, the VTOL rotor thrust command value generation unit 68 generates thrust command values ​​for each VTOL rotor 18. The VTOL rotor thrust command value generation unit 68 generates the thrust command values ​​based on the lift thrust command value, the roll moment command value, the pitch moment command value, and the first allocated command value. Then, the process proceeds to step S3.

[0070] In step S3, the cruise rotor thrust command value generator 70 generates a thrust command value for each cruise rotor 22. The cruise rotor thrust command value generator 70 generates the thrust command value based on the cruise thrust. Then, the process proceeds to step S4.

[0071] In step S4, the VTOL rotor control unit 72 controls the thrust in each VTOL rotor 18 based on the thrust command value for each VTOL rotor 18. Thereafter, the process proceeds to step S5.

[0072] In step S5, the cruise rotor control unit 74 controls the thrust of each cruise rotor 22 based on the thrust command value for each cruise rotor 22. Thereafter, the rotor control ends.

[0073] [Action and effect] In the aircraft 10 of this embodiment, the rotor control device 50 applies a roll moment, a pitch moment, and a yaw moment to the airframe 12 by generating differences in the thrust of the eight VTOL rotors 18. In this way, the rotor control device 50 performs attitude control to stabilize the attitude of the airframe 12. Even when attitude control of the airframe 12 is performed, it is necessary to ensure lift thrust by the eight VTOL rotors 18 to prevent the aircraft 10 from diving. The proportion of thrust generated by each VTOL rotor 18 to ensure lift thrust is large compared to the upper limit of thrust that can be generated by each VTOL rotor 18. Therefore, it may not be possible to generate a sufficient difference in the thrust of the multiple VTOL rotors 18 while ensuring lift thrust.

[0074] Therefore, the rotor control device 50 of this embodiment generates a yaw moment using the eight VTOL rotors 18 and also generates a yaw moment using the two cruise rotors 22. As a result, the rotor control device 50 of this embodiment can reduce the yaw moment generated by the eight VTOL rotors 18 relative to the yaw moment command value calculated by the yaw moment command value calculation unit 62. Therefore, a larger thrust can be allocated to each VTOL rotor 18 for control of the roll moment and pitch moment. As a result, it is possible to increase the difference in thrust between each VTOL rotor 18. Therefore, the attitude of the airframe 12 can be quickly stabilized in the roll direction and the pitch direction. As a result, the rotor control device 50 of this embodiment can quickly stabilize the attitude of the airframe 12 in the roll direction and the pitch direction, while also quickly stabilizing the attitude of the airframe 12 in the yaw direction.

[0075] When the magnitude of the cruise thrust command value is relatively large, it is possible to generate a cruise thrust according to the cruise thrust command value while creating a sufficient difference between the thrust of the two cruise rotors 22 to generate a yaw moment. However, when the magnitude of the cruise thrust command value is relatively small, creating a sufficient difference between the thrust of the two cruise rotors 22 results in the cruise thrust being excessively large relative to the cruise thrust command value.

[0076] If the cruise thrust becomes excessive relative to the cruise thrust command value, the following two problems arise.

[0077] The first problem is a decrease in energy efficiency. When a yaw moment is generated by eight VTOL rotors 18, the output power of each electric motor 32 that drives each VTOL rotor 18 is used as energy to apply a yaw moment to the airframe 12 and to apply a lift thrust to the airframe 12. For example, during hovering, it is necessary to constantly apply a lift thrust to the airframe 12. Therefore, the output power of each electric motor 32 that drives the VTOL rotor 18 is effectively consumed as energy to apply a lift thrust to the airframe 12.

[0078] On the other hand, when a yaw moment is generated by the two cruise rotors 22, the output power of the electric motors 32 that drive each cruise rotor 22 is used as energy to apply a yaw moment to the airframe 12 and to apply cruise thrust to the airframe 12. For example, there are cases in which almost no cruise thrust is required even during flight, such as when hovering the airframe 12. Despite this, the output power of each electric motor 32 that drives the cruise rotor 22 is wasted as energy to apply cruise thrust to the airframe 12.

[0079] The second problem is that it destabilizes the attitude of the airframe 12 in the pitch direction. If the attachment positions of the cruise rotors 22 relative to the airframe 12 are located above or below the center of gravity G (Figure 1), a pitch moment is generated in the airframe 12 as each cruise rotor 22 generates thrust. The greater the cruise thrust, the greater the magnitude of the pitch moment, which destabilizes the attitude of the airframe 12.

[0080] Therefore, in the rotor control device 50 of this embodiment, if the moving average of the yaw moment command value is less than the threshold value, the allocation command value calculation unit 66 sets the magnitude of the second allocation command value to 0. The allocation command value calculation unit 66 sets the first allocation command value to the yaw moment command value. In this case, a yaw moment is generated by the eight VTOL rotors 18. The two cruise rotors 22 are not used to generate a yaw moment.

[0081] When the moving average of the yaw moment command value is less than the threshold, the required yaw moment is relatively small. Therefore, even with only eight VTOL rotors 18, a sufficient yaw moment can be generated while generating roll and pitch moments. The two cruise rotors 22 are not used to generate the yaw moment. As a result, the rotor control device 50 of this embodiment can prevent the output power of each electric motor 32 driving each cruise rotor 22 from becoming excessively large relative to the cruise thrust command value calculated by the cruise thrust command value calculation unit 64. As a result, deterioration of the energy efficiency of the aircraft 10 can be prevented. Furthermore, instability of the airframe 12 can be prevented.

[0082] In the rotor control device 50 of this embodiment, when the moving average of the yaw moment command value is equal to or greater than a threshold value, the allocation command value calculation unit 66 sets the magnitude of the second allocation command value to be greater than 0. The allocation command value calculation unit 66 sets the first allocation command value to the difference between the yaw moment command value and the second allocation command value. In this case, a yaw moment is generated by the eight VTOL rotors 18, and a yaw moment is generated by the two cruise rotors 22.

[0083] When the moving average of the yaw moment command value is equal to or greater than the threshold value, the required yaw moment is relatively large. Therefore, it may be impossible to generate a sufficiently large yaw moment while generating a roll moment and a pitch moment using only the eight VTOL rotors 18. Therefore, a yaw moment is generated by the eight VTOL rotors 18, and also by the two cruise rotors 22. In this way, the rotor control device 50 of this embodiment can apply a sufficiently large yaw moment to the airframe 12.

[0084] The response speed to changes in the yaw moment generated by the two cruise rotors 22 is slower than the response speed to changes in the yaw moment generated by the eight VTOL rotors 18. Therefore, the yaw moment generated by the two cruise rotors 22 may not be able to follow fluctuations in the yaw moment command value.

[0085] Therefore, in the rotor control device 50 of this embodiment, when the moving average of the yaw moment command value is equal to or greater than the threshold value, the allocated command value calculation unit 66 sets the second allocated command value to the difference between the moving average of the yaw moment command value and the threshold value. The allocated command value calculation unit 66 sets the first allocated command value to the difference between the yaw moment command value and the second allocated command value. In this case, the steady component of the yaw moment command value is set as the second allocated command value. The non-steady component of the yaw moment command value is set as the first allocated command value. In other words, the component of the yaw moment command value that fluctuates rapidly is assigned as the command value for the VTOL rotor 18, and the component that fluctuates slowly is assigned as the command value for the cruise rotor 22.

[0086] This allows the yaw moment generated by the two cruise rotors 22 to follow fluctuations in the second allocation command value. The yaw moment generated by the eight VTOL rotors 18 follows fluctuations in the yaw moment command value. As a result, the rotor control device 50 of this embodiment can ensure the magnitude of the yaw moment acting on the airframe 12 while causing the yaw moment acting on the airframe 12 to follow fluctuations in the yaw moment command value.

[0087] Furthermore, in the rotor control device 50 of this embodiment, if some of the eight VTOL rotors 18 fail, the allocation command value calculation unit 66 reduces the threshold value. This allows the cruise rotor 22 to generate a yaw moment early. Therefore, even if some of the VTOL rotors 18 fail, the rotor control device 50 of this embodiment can quickly stabilize the attitude of the aircraft 12 in the roll direction and pitch direction.

[0088] Furthermore, in the rotor control device 50 of this embodiment, the allocation command value calculation unit 66 may set a lower threshold value as the airspeed of the aircraft 12 increases. This allows the cruise rotor 22 to generate a yaw moment earlier.

[0089] The present invention is not limited to the above-described embodiment, and various configurations can be adopted without departing from the gist of the present invention.

[0090] In the rotor control device 50 of the first embodiment, when the moving average of the yaw moment command value is equal to or greater than the threshold value, the allocation command value calculation unit 66 sets the second allocation command value to the difference between the moving average of the yaw moment command value and the threshold value.

[0091] In response to this, allocation command value calculation unit 66 may compare the low frequency component of the yaw moment command value with a threshold value. If the low frequency component of the yaw moment command value is equal to or greater than the threshold value, allocation command value calculation unit 66 may set the second allocation command value to the difference between the low frequency component of the yaw moment command value and the threshold value.

[0092] Furthermore, allocation command value calculation unit 66 may compare the yaw moment command value with a threshold value. When the yaw moment command value is equal to or greater than the threshold value, allocation command value calculation unit 66 may change the second allocation command value in stages by a predetermined amount of change in accordance with the difference between the yaw moment command value and the threshold value. When the yaw moment command value is equal to or greater than the threshold value, allocation command value calculation unit 66 may set the second allocation command value to the difference between the yaw moment command value and the threshold value.

[0093] [Inventions Obtained from the Embodiments] The invention that can be understood from the above embodiment will be described below.

[0094] An attitude control device (50) for controlling the attitude of an airframe (12) of an aircraft (10) having a plurality of vertical rotors (18) that generate thrust in a vertical direction and a plurality of horizontal rotors (22) that generate thrust in a horizontal direction, the attitude control device includes: a yaw moment command value calculation unit (62) that calculates a command value of a yaw moment to be applied to the airframe; an allocation command value calculation unit (66) that calculates a first allocation command value and a second allocation command value in accordance with the yaw moment command value; a vertical rotor control unit (72) that controls each of the vertical rotors based on the first allocation command value; and a horizontal rotor control unit (74) that controls each of the horizontal rotors based on the second allocation command value, wherein the allocation command value calculation unit sets the first allocation command value to a difference between the yaw moment command value and the second allocation command value, and sets the magnitude of the second allocation command value to 0 when the yaw moment command value is less than a threshold value, and sets the magnitude of the second allocation command value to a value greater than 0 when the yaw moment command value is equal to or greater than the threshold value. This makes it possible to quickly stabilize the attitude of the aircraft in the yaw direction as well, while preventing the cruise thrust from becoming excessive relative to the cruise thrust command value.

[0095] In the attitude control device, the allocated command value calculation unit may set the magnitude of the second allocated command value to 0 when the yaw moment command value is less than the threshold, and may set the second allocated command value to a value corresponding to a low frequency component of the yaw moment command value when the yaw moment command value is equal to or greater than the threshold. This makes it possible to ensure the magnitude of the yaw moment acting on the airframe while causing the yaw moment acting on the airframe to follow fluctuations in the command value.

[0096] In the attitude control device, the allocation command value calculation unit may vary the threshold value, thereby enabling the attitude of the aircraft to be stabilized quickly in the roll direction and the pitch direction.

[0097] In the attitude control device, the allocation command value calculation unit may vary the threshold value depending on the number of failed vertical rotors, thereby enabling the attitude of the airframe to be stabilized quickly in the roll direction and the pitch direction. [Explanation of symbols]

[0098] 10...Aircraft 12...Aircraft 18...VTOL rotor (vertical rotor) 22...Cruise rotor (horizontal rotor) 50...Rotor control device (attitude control device) 62...Yaw moment command value calculation unit 66... ​​Allocation command value calculation unit 72...VTOL rotor control unit (vertical rotor control unit) 74... Cruise rotor control unit (horizontal rotor control unit)

Claims

1. 1. An attitude control device for controlling the attitude of an aircraft having a plurality of vertical rotors that generate thrust in a vertical direction and a plurality of horizontal rotors that generate thrust in a horizontal direction, a yaw moment command value calculation unit that calculates a yaw moment command value to be applied to the aircraft; an allocation command value calculation unit that calculates a first allocation command value and a second allocation command value in accordance with the yaw moment command value; a vertical rotor control unit that controls each of the vertical rotors based on the first assigned command value; a horizontal rotor control unit that controls each of the horizontal rotors based on the second assigned command value; Equipped with The allocation command value calculation unit setting the first allocation command value to a difference between the yaw moment command value and the second allocation command value; When the yaw moment command value is less than a threshold value, the magnitude of the second allocation command value is set to 0; When the yaw moment command value is equal to or greater than the threshold value, the attitude control device sets the magnitude of the second assigned command value to be greater than 0.

2. 2. The attitude control device according to claim 1, The allocation command value calculation unit When the yaw moment command value is less than the threshold value, the magnitude of the second allocation command value is set to 0; When the yaw moment command value is equal to or greater than the threshold value, the second assigned command value is set to a value corresponding to a low frequency component of the yaw moment command value.

3. 3. The attitude control device according to claim 1, The attitude control device wherein the allocation command value calculation unit makes the threshold value variable.

4. 4. The attitude control device according to claim 3, The attitude control device wherein the allocation command value calculation unit varies the threshold value depending on the number of failed vertical rotors.

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