CN106809382A - 一种飞行器及其控制方法 - Google Patents
一种飞行器及其控制方法 Download PDFInfo
- Publication number
- CN106809382A CN106809382A CN201710042794.1A CN201710042794A CN106809382A CN 106809382 A CN106809382 A CN 106809382A CN 201710042794 A CN201710042794 A CN 201710042794A CN 106809382 A CN106809382 A CN 106809382A
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- CN
- China
- Prior art keywords
- aircraft
- horn
- propeller
- angle
- pitch
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 35
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000005183 dynamical system Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000001154 acute effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Toys (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims (12)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710042794.1A CN106809382B (zh) | 2017-01-20 | 2017-01-20 | 一种飞行器及其控制方法 |
CN201811569840.4A CN109552611B (zh) | 2017-01-20 | 2017-01-20 | 一种飞行器 |
PCT/CN2017/115870 WO2018133588A1 (zh) | 2017-01-20 | 2017-12-13 | 一种飞行器及其控制方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710042794.1A CN106809382B (zh) | 2017-01-20 | 2017-01-20 | 一种飞行器及其控制方法 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201811569840.4A Division CN109552611B (zh) | 2017-01-20 | 2017-01-20 | 一种飞行器 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106809382A true CN106809382A (zh) | 2017-06-09 |
CN106809382B CN106809382B (zh) | 2019-01-15 |
Family
ID=59111555
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710042794.1A Active CN106809382B (zh) | 2017-01-20 | 2017-01-20 | 一种飞行器及其控制方法 |
CN201811569840.4A Active CN109552611B (zh) | 2017-01-20 | 2017-01-20 | 一种飞行器 |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201811569840.4A Active CN109552611B (zh) | 2017-01-20 | 2017-01-20 | 一种飞行器 |
Country Status (2)
Country | Link |
---|---|
CN (2) | CN106809382B (zh) |
WO (1) | WO2018133588A1 (zh) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2018133588A1 (zh) * | 2017-01-20 | 2018-07-26 | 亿航智能设备(广州)有限公司 | 一种飞行器及其控制方法 |
WO2019109621A1 (en) * | 2017-12-07 | 2019-06-13 | Guangdong Kang Yun Technologies Limited | Optimizing propeller speed in drone design using onboard network of sensors |
EP3594117A1 (en) * | 2018-07-13 | 2020-01-15 | The Boeing Company | Canted co-axial rotors for a rotorcraft |
CN111061281A (zh) * | 2018-10-16 | 2020-04-24 | 海鹰航空通用装备有限责任公司 | 飞行器飞行方案生成方法、生成系统及具有其的飞行器 |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113673036B (zh) * | 2021-08-31 | 2024-01-23 | 北京航空航天大学 | 一种扑翼飞行器的升力和功耗协同优化方法 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1901153A1 (en) * | 2006-09-12 | 2008-03-19 | OFFIS e.V. | Control system for unmanned 4-rotor-helicopter |
CN104590557A (zh) * | 2015-02-05 | 2015-05-06 | 中电科(德阳广汉)特种飞机系统工程有限公司 | 一种多旋翼和固定翼复合飞行器的飞行控制方法及装置 |
US9296477B1 (en) * | 2014-07-21 | 2016-03-29 | Glenn Coburn | Multi-rotor helicopter |
CN105620735A (zh) * | 2014-11-26 | 2016-06-01 | 艾克斯克拉夫特企业公司 | 高速多旋翼垂直起降飞行器 |
CN105882953A (zh) * | 2016-05-17 | 2016-08-24 | 亿航智能设备(广州)有限公司 | 飞行器 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6751529B1 (en) * | 2002-06-03 | 2004-06-15 | Neural Robotics, Inc. | System and method for controlling model aircraft |
US10240930B2 (en) * | 2013-12-10 | 2019-03-26 | SZ DJI Technology Co., Ltd. | Sensor fusion |
CN104460685A (zh) * | 2014-11-21 | 2015-03-25 | 南京信息工程大学 | 一种四旋翼飞行器的控制系统及其控制方法 |
CN105015767A (zh) * | 2015-07-09 | 2015-11-04 | 湖北省机电研究设计院股份公司 | 具有消防侦察功能的多旋翼无人机飞行器系统 |
CN106155076B (zh) * | 2016-08-23 | 2019-04-09 | 华南理工大学 | 一种多旋翼无人飞行器的稳定飞行控制方法 |
CN106809382B (zh) * | 2017-01-20 | 2019-01-15 | 亿航智能设备(广州)有限公司 | 一种飞行器及其控制方法 |
-
2017
- 2017-01-20 CN CN201710042794.1A patent/CN106809382B/zh active Active
- 2017-01-20 CN CN201811569840.4A patent/CN109552611B/zh active Active
- 2017-12-13 WO PCT/CN2017/115870 patent/WO2018133588A1/zh active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1901153A1 (en) * | 2006-09-12 | 2008-03-19 | OFFIS e.V. | Control system for unmanned 4-rotor-helicopter |
US9296477B1 (en) * | 2014-07-21 | 2016-03-29 | Glenn Coburn | Multi-rotor helicopter |
CN105620735A (zh) * | 2014-11-26 | 2016-06-01 | 艾克斯克拉夫特企业公司 | 高速多旋翼垂直起降飞行器 |
CN104590557A (zh) * | 2015-02-05 | 2015-05-06 | 中电科(德阳广汉)特种飞机系统工程有限公司 | 一种多旋翼和固定翼复合飞行器的飞行控制方法及装置 |
CN105882953A (zh) * | 2016-05-17 | 2016-08-24 | 亿航智能设备(广州)有限公司 | 飞行器 |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2018133588A1 (zh) * | 2017-01-20 | 2018-07-26 | 亿航智能设备(广州)有限公司 | 一种飞行器及其控制方法 |
WO2019109621A1 (en) * | 2017-12-07 | 2019-06-13 | Guangdong Kang Yun Technologies Limited | Optimizing propeller speed in drone design using onboard network of sensors |
EP3594117A1 (en) * | 2018-07-13 | 2020-01-15 | The Boeing Company | Canted co-axial rotors for a rotorcraft |
CN111061281A (zh) * | 2018-10-16 | 2020-04-24 | 海鹰航空通用装备有限责任公司 | 飞行器飞行方案生成方法、生成系统及具有其的飞行器 |
CN111061281B (zh) * | 2018-10-16 | 2023-08-15 | 海鹰航空通用装备有限责任公司 | 飞行器飞行方案生成方法、生成系统及具有其的飞行器 |
Also Published As
Publication number | Publication date |
---|---|
CN109552611A (zh) | 2019-04-02 |
CN109552611B (zh) | 2021-03-16 |
CN106809382B (zh) | 2019-01-15 |
WO2018133588A1 (zh) | 2018-07-26 |
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SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
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PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: An aircraft and its control method Effective date of registration: 20220927 Granted publication date: 20190115 Pledgee: Agricultural Bank of China Limited Guangzhou Tianhe sub branch Pledgor: EHANG INTELLIGENT EQUIPMENT (GUANGZHOU) Co.,Ltd. Registration number: Y2022440000256 |
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PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20231204 Granted publication date: 20190115 Pledgee: Agricultural Bank of China Limited Guangzhou Tianhe sub branch Pledgor: EHANG INTELLIGENT EQUIPMENT (GUANGZHOU) Co.,Ltd. Registration number: Y2022440000256 |
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PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A type of aircraft and its control method Effective date of registration: 20231212 Granted publication date: 20190115 Pledgee: Agricultural Bank of China Limited Guangzhou Tianhe sub branch Pledgor: EHANG INTELLIGENT EQUIPMENT (GUANGZHOU) Co.,Ltd. Registration number: Y2023980070901 |
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PE01 | Entry into force of the registration of the contract for pledge of patent right |