Multi-Rotor UAV Balance Control After Rotor Power Failure
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Solution Overview
Problem
Multi-rotor UAVs are prone to crashes due to power failures, such as motor stoppages or blade ejection, which can lead to safety issues and increased crash probabilities.
Innovation Solution
A control method that monitors the power status of each rotor and, upon detecting a power failure, controls the UAV to enter a balance mode characterized by an angular velocity greater than a threshold and minimal horizontal displacement, allowing for effective safety measures to be taken before a crash occurs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional control algorithms are used for multi-rotor UAV, then the structure remains simple and costs remain low, but the UAV crashes immediately when a rotor power failure occurs
Solution Approach 1:
The control system performs preliminary actions by detecting rotor power status continuously and preparing balance mode control parameters in advance. When power failure is detected, the system has already computed the necessary control adjustments, enabling immediate transition to safe operation without complex real-time calculations during the emergency
Solution Approach 2:
The system converts the harmful effect of asymmetric thrust from failed rotors into a beneficial controlled rotation. By intentionally inducing rotation at a controlled angular velocity, the system transforms the unstable asymmetric force distribution into a predictable motion pattern that maintains horizontal position while enabling safe operation
2Reliability
If the UAV rotates at high angular velocity to maintain balance after power failure, then safety is improved, but energy consumption increases
Solution Approach 1:
The system applies partial action by rotating the UAV at a specific angular velocity that is sufficient to generate the necessary gyroscopic effect for balance, but not excessively high. This optimized rotation speed provides just enough stability to maintain horizontal position while minimizing unnecessary energy consumption from over-rotation
Solution Approach 2:
The control system dynamically adjusts the rotation angular velocity parameter based on the power failure condition. By changing this parameter to an optimal value that balances safety requirements with energy efficiency, the system achieves reliable operation without excessive energy consumption
Data Source
AI summary
A multi-rotor UAV control method, a multi-rotor UAV, a control apparatus, and a non-volatile computer-readable storage medium are provided. The multi-rotor UAV control method includes: obtaining a power status of each rotor of the UAV; and when it is determined, based on the power status, that the power of any one of the rotors of the UAV fails, controlling the UAV to enter a balance mode. In the balance mode, the UAV rotates at an angular velocity greater than a first threshold, and a displacement of the UAV in the horizontal direction is less than a preset displacement amount.