52 results about "Multirotor" patented technology

Unmanned and remotely controlled airship constituted from system of multirotor combined with inflatable envelope. The airship may be lifted / powered by a power system comprising three or more rotors. In some embodiments, the airship may be constructed using rods, connectors, the main system / control box and the rotors. The airship system may have a systemic symmetry for weight distribution and flight control and may be, for example, a symmetric ellipsoid envelope / blimp.

The invention belongs to the technical field of multi-rotor unmanned aerial vehicle control, and particularly relates to a multi-rotor unmanned aerial vehicle self-adaptive feedforward control method based on a mesoscopic wind field model. Comprising the following steps: firstly, based on a relaxation time model of a lattice Boltzmann method, establishing a mapping relation between a Knudsen number and turbulence intensity and thermal noise intensity of a macroscopic wind field, and realizing parameterized representation of a mesoscopic wind field; then, constructing a mesoscopic wind field model by synthesizing a real-time wind field containing average wind, turbulent flow, gust and thermal noise components; then, calculating the wind resistance according to the predicted wind speed, designing a self-adaptive gain mechanism fusing a real-time tracking error, an error wind direction included angle and a historical error trend, and generating a dynamic feedforward control quantity; and finally, combining the feedforward control quantity with a feedback control quantity based on gravity compensation to form a comprehensive wind resistance control law. Starting from the mesoscale, the disturbance suppression capability and trajectory tracking precision of the unmanned aerial vehicle in complex environments such as strong wind and turbulent flow are enhanced.

This invention belongs to the field of unmanned aerial vehicle (UAV) control technology, and particularly relates to a feedforward control method for multi-rotor UAVs based on a dynamic cascaded spiking neural network (RCN). The method includes: S1: constructing a network model of the RCN based on pulse signals; S2: constructing a cost function of the RCN based on the network model and pulse errors; S3: solving for the weights of the RCN; S4: setting a preset similarity threshold and determining the learning rules for the dynamic cascaded structure based on the preset similarity threshold; S5: obtaining the output signal of the RCN according to the weights and the learning rules of the dynamic cascaded structure, and implementing feedforward control of the multi-rotor UAV based on the output signal. This invention improves the adaptability and robustness of multi-rotor UAVs in complex flight environments.

The invention discloses a coaxial main rotor-tiltable multi-slave rotor heterogeneous vertical take-off and landing layout, and relates to the technical field of vertical take-off and landing aircrafts, the coaxial main rotor-tiltable multi-slave rotor heterogeneous vertical take-off and landing layout comprises a fuselage, a fixed wing surface, a coaxial main rotor system and a vector slave rotor system; the vector slave rotor systems are divided into a front group and a rear group in the longitudinal direction and have independent tilting capacity; the method is characterized in that in a helicopter mode, a large-size coaxial main rotor specially optimized for hovering provides main lift force, and a vector slave rotor provides attitude control through tilting and differential speed; in the fixed wing mode, the coaxial main rotor stops rotating and is locked as an auxiliary wing surface, the fixed wing surface in the middle of the auxiliary fuselage provides lift force, and a vector is converted into horizontal from a rotor system to provide forward flying thrust / pull force; transition between the two modes is achieved by controlling the front slave rotor wing set and the rear slave rotor wing set to execute different-direction tilting, the pitching moment can be naturally balanced in the process, and it is ensured that conversion is stable. Unification of high hovering efficiency, high cruising speed and high reliability of the aircraft is realized.

1. Name of this design product: Multirotor manned aircraft concept airframe. 2. Purpose of this design: This design is for an aircraft concept. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

This disclosure relates to the field of multirotor aircraft technology, specifically to a degradation control method, device, multirotor aircraft, and chip. The method includes: when a fault is detected in at least one of the multiple motors of the multirotor aircraft, acquiring the current original motion attitude control command vector and degrading it based on a preset degradation strategy; acquiring faulty motor information to update the position of the current reference control point; generating a degraded control allocation matrix based on the updated reference control point position; obtaining the thrust command vector of the normal motors on the multirotor aircraft based on the degraded motion attitude control command vector and the degraded control allocation matrix; and controlling the multirotor aircraft based on the thrust command vector. Therefore, after detecting a faulty motor, the stability and controllability of the aircraft are maximized, improving the attitude stability and controllability of the multirotor aircraft and thus avoiding serious consequences.

The invention relates to a power transmission device of a high-speed multi-rotor aircraft, which belongs to the technical field of aircrafts, and is provided with a transmission worm and a transmission worm gear, when a transmission shaft rotates, the transmission worm is controlled to rotate, then the transmission worm gear in meshed connection with the transmission worm is driven to rotate, and finally the rotation of power paddles is realized. According to the scheme, the transmission shaft and the transmission assembly are integrated, when the transmission shaft rotates, the transmission assembly can be driven to rotate, on the premise that flight blades and power blades are controlled to rotate, the number of power systems is reduced, and the problem that according to an existing aircraft, due to the fact that any power motor is used for controlling rotation of the corresponding blade, the power system is damaged is solved. The problems that the number of power motors on the aircraft is large, the weight is too heavy, and finally the actual load of the aircraft is reduced are inevitably caused.

The invention relates to a large-scale firefighting system, particularly for forest fires, using a refractory ceramic tarp transported by several multirotor drones. This system allows for the rapid and effective covering of fire hotspots, thus limiting the oxygen supply and contributing to their extinguishment.

A system for controlling yaw during vertical take-off and landing (VTOL) operation of an airborne craft, where the airborne craft comprises multiple crossflow fan lift, propulsion and control elements (LPCEs) disposed around a central longitudinal fuselage in a compact quadrotor format comprises: means for vectoring the thrust from one or more of the LPCEs on one side of the craft from a substantially vertical direction as it will be arranged for VTOL operation to a more horizontal forward or rearward direction, generating a forward or rearward thrust component perpendicular to the LPCE rotor axis, and means for adjusting the rotor speed to compensate for the loss of vertical lift, where the forward thrust component from a front and / or rear Right Hand LPCE or rearward thrust component from a front and / or rear Left Hand LPCE produces a clockwise torque when viewed from above about the central vertical axis of the airborne craft and the rearward thrust component from a front and / or rear Right Hand LPCE or rearward thrust component from a front and / or rear Left Hand LPCE produces an anticlockwise torque when viewed from above about the central vertical axis of the airborne craft.

1. Name of the product in this design: Multirotor UAV flight control enclosure. 2. Purpose of this design: This design is used for positioning and controlling the flight attitude and movements of multi-rotor drones based on real-time dynamic carrier phase differential technology. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

1. Name of the product in this design: Unmanned Aerial Vehicle (Yunqi Phantom Wing Multirotor). 2. Purpose of this design: A multi-rotor unmanned aerial vehicle. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

This invention discloses a heterogeneous multi-rotor layout with a single main rotor and partially tilted multiple slave rotors, relating to the field of unmanned aerial vehicle (UAV) design technology. It includes a large main rotor providing primary lift and n control rotors arranged around it, with some control rotors mounted horizontally and the rest tilted at a fixed angle. During steady-state flight, the anti-torsional torque of the main rotor is statically balanced by the horizontal component torque of the pull force from the tilted slave rotors. Attitude control of the UAV is achieved by differentially adjusting the rotational speeds of the control rotors, including pitch control, roll control, and yaw control. Pitch and roll control are achieved by differentially adjusting the rotational speeds of symmetrically positioned control rotors, while yaw control is achieved by differentially adjusting the rotational speeds between the horizontally mounted and tilted control rotor groups. This invention achieves a fusion of high aerodynamic efficiency and easy operation, effectively improving the UAV's endurance and flight performance.

This invention discloses a tiltrotor dynamics simulation method based on multibody dynamics, belonging to the field of aircraft dynamics modeling and simulation technology. It constructs a modular system including an input module, an output module, a fuselage module, a propeller module, a coupling mechanism module, and a dynamics solution module. The fuselage module has six generalized coordinates. In the propeller module, each propeller is independently modeled as a rigid body. The coupling mechanism module models the active actuator hinge between the rotor and the fuselage through rigid connections. The Kane method is used to perform dynamic modeling of the system, forming the system's equations of motion by constructing partial velocity expressions and inertial force forms for each component. The equations of motion are then numerically integrated and solved using a solver in the Simulink environment. The advantages of this invention are: accurate description of gyrocoupling effects, support for rapid changes in multirotor configurations, provision of comprehensive component-level mechanical data output, and improved simulation fidelity and engineering application value.

The invention discloses a tiltable coaxial main rotor-multi-slave rotor heterogeneous multi-rotor layout, and relates to the technical field of aircraft design, the tiltable coaxial main rotor-multi-slave rotor heterogeneous multi-rotor layout comprises a coaxial main rotor mounted on a fuselage through a tilting mechanism, and N slave rotors symmetrically distributed around the coaxial main rotor, the tilt angle of the thrust axis of the coaxial main rotor wing is changed by controlling the tilting mechanism, and switching of two working modes can be achieved: in a hovering mode and a low-speed mode, the coaxial main rotor wing provides main lift force, and the slave rotor wing achieves attitude control through differential control; in a forward flight or backward flight mode, the coaxial main rotor inclines to generate a horizontal thrust component to drive flight, and meanwhile, the slave rotor is responsible for attitude stabilization through differential control; according to the layout, the lift force generation function and the attitude control function are separated, the high aerodynamic efficiency of the main rotor and the quick response characteristic of the slave rotor are considered, the cruise resistance is reduced by keeping the horizontal attitude of the aircraft body, and the comprehensive performance of the aircraft is remarkably improved.

1. Name of the product in this design: Multirotor aircraft with enhanced wing lift. 2. Purpose of this design: for use in composite configuration aircraft. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

The utility model relates to multirotor unmanned plane technical field discloses a kind of motor seat subassembly of coaxial multirotor unmanned plane, including motor seat main body, motor seat adapter, motor seat adapter baffle, motor seat plug and electric governing installation piece;The motor seat main body is equipped with sliding slot structure, for with motor seat adapter sliding fit.This scheme aims at the functional defects such as insufficient power, channel response delay and poor stability that traditional multi-axis unmanned plane faces when executing roll, pitch and other attitude adjustment, and structural complexity, high manufacturing cost, weak environmental adaptability and other structural disadvantages, and innovative solution is proposed.The scheme simplifies the motor installation form adjustment process of multirotor coaxial unmanned plane, improves the adaptability and economy of unmanned plane in diversified application and flight environment, effectively avoids the flight instability phenomenon caused by insufficient power or response delay, significantly enhances the reliability and flight stability of system as a whole.

This invention relates to an environmental interactive control method and system for tiltable multi-rotor UAVs, specifically for fully driven tiltable hexacopter UAVs used in contact inspection tasks. The algorithm can simultaneously control position and force, exhibiting accurate force tracking capabilities. Furthermore, it is equipped with an active disturbance rejection controller, providing strong anti-interference functionality and performing well even under wind disturbances along the pole direction. This invention fills the gaps in traditional UAVs' underactuation and inaccurate force detection, significantly improving the control precision of the UAV and enhancing its ability to perform contact inspection tasks, thus providing a new solution for contact-operation UAVs.

To provide an aircraft (especially a multirotor) whose body shape reduces unwanted positive lift and drag in the aircraft's cruising attitude, thereby improving its cruising speed. [Solution] An aircraft comprising a plurality of rotor blades including propellers and motors, characterized in that it comprises a main body with an inverted wing shape. The main body has an angle of attack that does not generate lift or generates negative lift during cruising. The main body has a positive angle of attack of 12 degrees or less. Furthermore, it comprises a payload section capable of carrying payloads. The payload section is connected to the main body via a connecting section.

The invention discloses a single main rotor-double vector slave rotor heterogeneous multi-rotor layout, and relates to the technical field of unmanned aerial vehicle aircraft design, the layout comprises a main rotor arranged in the middle of a fuselage and two vector slave rotors symmetrically arranged on the left and right sides of the main rotor; the main rotor provides main lift force, the two vector slave rotors are provided with independent vector control systems respectively, the tension directions of the vector slave rotors can be deflected independently so as to carry out attitude control of pitching and yawing, rolling control is carried out by adjusting the rotating speed in a differential mode, and meanwhile the reaction torque of the main rotor is balanced by installing a preset inclination angle. According to the layout, the aerodynamic efficiency, the cruising ability and the flight control performance of the unmanned aerial vehicle are remarkably improved through a decoupled lift force and attitude control strategy.

According to a first aspect of the invention, there is provided a method for operating a multicopter experiencing a failure during flight, the multicopter comprising a body, and at least four effectors attached to the body, each operable to produce both a torque and a thrust force which can cause the multicopter to fly when not experiencing said failure. The method may comprise the step of identifying a failure wherein the failure affects the torque and / or thrust force produced by an effector, and in response to identifying a failure carrying out the following steps, (1) computing an estimate of the orientation of a primary axis of said body with respect to a predefined reference frame, wherein said primary axis is an axis about which said multicopter rotates when flying, (2) computing an estimate of the angular velocity of said multicopter, (3) controlling one or more of said at least four effectors based on said estimate of the orientation of the primary axis of said body with respect to said predefined reference frame and said estimate of the angular velocity of the multicopter. The step of controlling one or more of said at least four effectors may be performed such that (a) said one or more effectors collectively produce a torque along said primary axis and a torque perpendicular to said primary axis, wherein (i) the torque along said primary axis causes said multicopter to rotate about said primary axis, and (ii) the torque perpendicular to said primary axis causes said multicopter to move such that the orientation of said primary axis converges to a target orientation with respect to said predefined reference frame, and (b) such that said one or more effectors individually produce a thrust force along said primary axis.

A multirotor UAV 10 flies under control of an on-board flight controller (40, fig 2). The UAV 10 has sensors e.g. laser scanner / LIDAR 30, camera 32, GPS 34, compass 35 sending signals to the flight c

This invention belongs to the field of aircraft aeroelasticity, and specifically discloses a method for analyzing the spiral flutter of multirotor aircraft. It is designed for the configuration characteristics (hingedless small-diameter propeller) and flight modes (vertical takeoff and landing, large pitch angles in forward flight) of multirotor aircraft. The 2-DOF model in the preliminary design stage does not require complex modeling and software operation, supports rapid adjustment of structural, overall, and aerodynamic parameters, and can complete the analysis of multiple sets of parameters in a short time, meeting the needs of rapid iteration in the preliminary design. The 2-DOF (rapid analysis) and 4-DOF (precise verification) models can be flexibly switched according to the design stage, taking into account both analysis efficiency and calculation accuracy, and adapting to the needs of the entire process from preliminary design to detailed design.

The invention relates to an unloading mechanism for a power assembly of a multi-axis aircraft and the aircraft, and aims to solve the technical problem that the power assembly cannot be controllably separated during flight due to a rigid connection structure in the prior art. The multi-axis aircraft comprises a fuselage main body and a vehicle arm connected between the fuselage main body and a power assembly, the unloading mechanism comprises a locking and unlocking assembly, and the locking and unlocking assembly is configured to release the power assembly when receiving an unlocking signal, so that the power assembly is separated from the vehicle arm under the inertia effect. When the locking and unlocking assembly receives the unlocking signal, the locking and unlocking assembly can quickly release the power assembly, so that the power assembly is separated from the vehicle arm under the inertia effect, controllable unloading of the power assembly in the flight of the aircraft is achieved, the flexibility of the aircraft is improved, and the aircraft can better adapt to increasingly complex execution tasks.

This invention discloses a fault-tolerant flight control method for a multi-rotor UAV based on end-to-end direct thrust control. The method includes: constructing a purely analytical differentiable simulation environment for a quadrotor UAV oriented towards implicit feature observation and gradient backpropagation, embedding a continuously differentiable fault injection and actuator mapping mechanism, and using a fourth-order Runge-Kutta method to discretize and iterate continuous operators; constructing an end-to-end control network based on spatiotemporal feature structure decoupling and latent variable direct drive, and outputting four-motor action commands through dual-stream feature extraction; training the end-to-end control network in the differentiable simulation environment, and optimizing the control network parameters based on a differentiable physics engine and time-varying backpropagation; and combining an adaptive composite loss function and a multi-order course learning mechanism to enable the control network to converge to an effective fault-tolerant control strategy. This invention can achieve adaptive control without an independent fault detection and diagnosis module under single-motor fault conditions, establishing a smooth transition mechanism from normal operation to single-motor failure.

A mobile towing and lifting system and associated methods, comprising a retractable tug, coupled to an aerial vehicle, wherein the tug is configured to transfer electrical power and data to and from the aerial vehicle. The aerial vehicle may comprise an airship, multirotor aircraft, fixed wing aircraft, buoyant aircraft or a combination of the like. The mobile towing and lifting system may be applied to wireless charging, and aerial logistics applications.

The invention discloses a heterogeneous multi-rotor layout with a single main rotor and multiple tilt slave rotors, which belongs to the technical field of helicopter design and comprises a main rotor and at least three slave rotors. The main rotor wing is large in radius and provides main lift force. The auxiliary rotor wings are small in radius and incline towards the tangential direction of rotation of the main rotor wing; the rotation directions of the slave rotors are consistent and are opposite to the rotation direction of the main rotor; according to the design, the slave rotor pull force horizontal component is allowed to cooperate with the torque of the slave rotor to jointly efficiently balance the reaction torque of the main rotor, and omni-directional attitude control can be completed through differential control of the main rotor and the slave rotor without a periodic pitch-variable mechanism; on the aspect of parameters, by optimizing the size ratio, the distance and the inclination angle range of the master rotor and the slave rotor, the interference between the rotors is minimized while the aerodynamic efficiency is guaranteed; according to the invention, the advantages of high Reynolds number and good aerodynamic characteristics of a single-rotor layout blade tip can be played, the advantage of low structural complexity of a multi-rotor layout can also be played, and the cruising ability and aerodynamic efficiency of the helicopter are remarkably improved.

A method for controlling a multi-rotor wind turbine (1) comprising two or more energy generation units (5) is disclosed. At least one load-bearing structure (3) is connected to a base or tower (2) via a yaw device (4), the load-bearing structure (3) carrying at least two energy generation units (5). A need for an operational change in at least a first energy generation unit (5) is detected. Control commands are generated for the first energy generation unit (5) and at least a second energy generation unit (5) mounted on the same load-bearing structure (3). The control commands result in the desired operational change and coordinated operation of at least the first energy generation unit (5) and the second energy generation unit (5). The control commands are generated under the constraint that the yaw moment (9) of the yaw device (4) is maintained below a predefined threshold level.

The application discloses a kind of geometric invariant configuration full-drive multi-rotor unmanned aerial vehicle key performance evaluation method.It includes the following steps:S1, obtaining full-drive multi-rotor unmanned aerial vehicle, initial information is collected;S2, establishing performance evaluation model, the flight ability, flat flying acceleration performance, attitude operating performance, configuration influence degree on controllability of unmanned aerial vehicle are evaluated based on the initial information;Wherein, the evaluation standard of the flight ability is the minimum value in each orientation maximum pull force and the ratio of total machine gravity, the evaluation standard of the flat flying acceleration performance is the maximum translational acceleration of unmanned aerial vehicle along the three-axis direction of body coordinate system, the evaluation standard of the attitude operating performance is the maximum angular acceleration of rotation around the three-axis direction of body coordinate system, and the evaluation standard of the configuration influence degree on controllability is the change degree of inertia tensor with attitude reference coordinate system;S3, output evaluation result.The application has the characteristics of comprehensive, intuitive and efficient evaluation.