CN107077142B - Multi-rotor aerocraft and its control method, control device and flight control system - Google Patents
Multi-rotor aerocraft and its control method, control device and flight control system Download PDFInfo
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- CN107077142B CN107077142B CN201680002336.9A CN201680002336A CN107077142B CN 107077142 B CN107077142 B CN 107077142B CN 201680002336 A CN201680002336 A CN 201680002336A CN 107077142 B CN107077142 B CN 107077142B
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims abstract description 99
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000000429 assembly Methods 0.000 claims abstract description 519
- 230000000712 assembly Effects 0.000 claims abstract description 519
- 206010003549 asthenia Diseases 0.000 claims abstract description 159
- 238000005096 rolling process Methods 0.000 claims abstract description 14
- 230000009194 climbing Effects 0.000 claims description 17
- 230000005611 electricity Effects 0.000 claims description 10
- 230000009187 flying Effects 0.000 claims description 9
- 230000004888 barrier function Effects 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 12
- 230000005484 gravity Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
- Control Of Multiple Motors (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
This application discloses a kind of flight control method of multi-rotor aerocraft, multi-rotor aerocraft includes multiple rotor assemblies, and each rotor assemblies include motor and the rotor by motor driving rotation, control method include：Judge that rotor assemblies whether there is adynamia；If there are adynamia, according to the rotation direction of at least motor of a rotor assemblies other than the rotor assemblies for rolling direction change adynamia of multi-rotor aerocraft.Disclosed herein as well is a kind of flight control assemblies of multi-rotor aerocraft, control system and multi-rotor aerocrafts.
Description
Technical field
This application involves multi-rotor aerocraft control fields, more particularly to a kind of multi-rotor aerocraft and its controlling party
Method, control device and flight control system.
Background technology
Currently, multi-rotor aerocraft is widely used in every field, multi-rotor aerocraft can carry profession cloud of taking photo by plane
Platform and high-definition camera equipment can widely carry out such as ecological environmental protection, mineral resources exploration, land use survey, water money
Source exploitation, agricultural operation, natural calamity detection, the reference of city construction planning and building overhead imagery and various advertisement high-altitude photos etc.
There is the wide market demand in field.
Each rotor of existing multi-rotor aerocraft has motor driving to provide power, when the electricity of multi-rotor aerocraft
After machine breaks down or rotor penetrates paddle or disconnected paddle, aircraft runs out of steam source, it will leads to rollover aircraft bombing.
Invention content
In order at least partly solve problem above, present applicant proposes a kind of flight control method of multi-rotor aerocraft,
The multi-rotor aerocraft includes multiple rotor assemblies, and each rotor assemblies include motor and drive rotation by the motor
The rotor turned, the described method comprises the following steps：Judge that the rotor assemblies whether there is adynamia；If there are power to lack
It loses, then according at least rotor other than the rotor assemblies for rolling direction change adynamia of the multi-rotor aerocraft
The rotation direction of the motor of component.
Wherein, an at least rotor assemblies be during the inclination of the multi-rotor aerocraft with the adynamia
The reversed each other rotor assemblies of rotor assemblies component motion in the vertical direction.
Wherein, the quantity of the multiple rotor assemblies is four, wherein an at least rotor assemblies are and the power
The rotor assemblies that the rotor assemblies of missing are diagonally arranged.
Wherein, described to judge that the step of rotor assemblies whether there is adynamia includes：Flown according to more rotors
The side tilt angle of row device and at least one of the working condition of the motor judge that the rotor assemblies are lacked with the presence or absence of power
It loses.
Wherein, it is described according in the side tilt angle of the multi-rotor aerocraft and the working condition of the motor at least one
Person judges that the step of rotor assemblies whether there is adynamia includes：Judge the multi-rotor aerocraft towards a certain described
Whether the side tilt angle of rotor assemblies is greater than or equal to preset tilt threshold；If more than or equal to the preset inclination angle threshold
Value, then there are adynamias for a certain rotor assemblies.
Wherein, it is described according in the side tilt angle of the multi-rotor aerocraft and the working condition of the motor at least one
Person judges that the step of rotor assemblies whether there is adynamia includes：Judging the motor of a certain rotor assemblies is
It is no there are failure or be in light condition；If there are failure or being in light condition, there are power for a certain rotor assemblies
Missing.
Wherein, the motor for judging a certain rotor assemblies whether there is failure or the step in light condition
Suddenly include：It is preset to judge whether current value of the motor of a certain rotor assemblies under desired speed is less than or equal to
Whether the ratio of current threshold or rotating speed and electric current is less than or equal to preset proportion threshold value；If the current value is less than or waits
It is less than or equal to preset proportion threshold value in preset current threshold or the ratio, then the motor is in light condition.
Wherein, the rolling other than the rotor assemblies that direction changes adynamia according to the multi-rotor aerocraft
An at least rotor assemblies the motor rotation direction the step of include：If the multi-rotor aerocraft is towards the power
The rotor assemblies side of missing tilts, then the motor of an at least rotor assemblies described in control is rotated backward to provide drop-down
Power, or control described in an at least rotor assemblies motor stalls；If the multi-rotor aerocraft at least one rotation described in
Wing component side tilts, then the motor of an at least rotor assemblies described in control is rotated forward to provide climbing power.
Wherein, described at least partly the rotating speed of period is more than when the motor of an at least rotor assemblies is rotated forward
The maximum (top) speed when motor of an at least rotor assemblies is rotated backward.
In order at least partly solve problem above, present applicant proposes a kind of flight control assemblies of multi-rotor aerocraft,
The multi-rotor aerocraft includes multiple rotor assemblies, and each rotor assemblies include motor and drive rotation by the motor
The rotor turned, the flight control assemblies include：Judgment module, for judging that the rotor assemblies whether there is adynamia；
Motor control module, if there are adynamia, the motor control module is according to the multi-rotor aerocraft
Roll the rotation direction of the motor of at least rotor assemblies other than the rotor assemblies of direction change adynamia.
Wherein, an at least rotor assemblies be during the inclination of the multi-rotor aerocraft with the adynamia
The reversed each other rotor assemblies of rotor assemblies component motion in the vertical direction.
Wherein, the quantity of the multiple rotor assemblies is four, wherein an at least rotor assemblies are and the power
The rotor assemblies that the rotor assemblies of missing are diagonally arranged.
Wherein, the judgment module is according in the side tilt angle of the multi-rotor aerocraft and the working condition of the motor
At least one judge the rotor assemblies whether there is adynamia.
Wherein, the judgment module includes angled state judging submodule, for judging the multi-rotor aerocraft direction
Whether the side tilt angle of a certain rotor assemblies is greater than or equal to preset tilt threshold, if more than or equal to described preset
Tilt threshold, then there are adynamias for a certain rotor assemblies.
Wherein, the judgment module includes motor status judging submodule, the institute for judging a certain rotor assemblies
Motor is stated with the presence or absence of failure or is in light condition；If there are failure or being in light condition, a certain rotor assemblies
There are adynamias.
Wherein, the motor status judging submodule is used to judge that the motor of a certain rotor assemblies to turn predetermined
Whether the current value under speed is less than or equal to preset current threshold or whether the ratio of rotating speed and electric current is less than or equal in advance
If proportion threshold value, if the current value be less than or equal to preset current threshold or the ratio be less than or equal to it is preset
Proportion threshold value, then the motor be in light condition.
Wherein, if the multi-rotor aerocraft is tilted towards the rotor assemblies side of the adynamia, the motor
The motor of an at least rotor assemblies described in control module control is rotated backward to provide lower pulling force, or at least one described in control
The motor stalls of rotor assemblies, if the multi-rotor aerocraft at least rotor assemblies side described in tilts, institute
The motor for stating an at least rotor assemblies described in motor control module control is rotated forward to provide climbing power.
Wherein, at least portion when the motor of an at least rotor assemblies described in motor control module control is rotated forward
The maximum (top) speed when motor that rotating speed at times is more than an at least rotor assemblies is rotated backward.
In order at least partly solve problem above, present applicant proposes a kind of flight control assemblies of multi-rotor aerocraft,
The multi-rotor aerocraft includes multiple rotor assemblies, and each rotor assemblies include motor and drive rotation by the motor
The rotor turned, the flight control assemblies include processor and the memory that communicate with the processor, and the processor leads to
Cross the program execution following steps for running the memory storage：Judge that the rotor assemblies whether there is adynamia；If depositing
In adynamia, then changed according to the inclination direction of the multi-rotor aerocraft other than the rotor assemblies of adynamia extremely
The rotation direction of the motor of few rotor assemblies.
Wherein, an at least rotor assemblies be during the inclination of the multi-rotor aerocraft with the adynamia
The reversed each other rotor assemblies of rotor assemblies component motion in the vertical direction.
Wherein, the quantity of the multiple rotor assemblies is four, wherein an at least rotor assemblies are and the power
The rotor assemblies that the rotor assemblies of missing are diagonally arranged.
Wherein, described to judge that the step of rotor assemblies whether there is adynamia includes：Flown according to more rotors
The side tilt angle of row device and at least one of the working condition of the motor judge that the rotor assemblies are lacked with the presence or absence of power
It loses.
Wherein, it is described according in the side tilt angle of the multi-rotor aerocraft and the working condition of the motor at least one
Person judges that the step of rotor assemblies whether there is adynamia includes：Judge the multi-rotor aerocraft towards a certain described
Whether the side tilt angle of rotor assemblies is greater than or equal to preset tilt threshold；If more than or equal to the preset inclination angle threshold
Value, then there are adynamias for a certain rotor assemblies.
Wherein, it is described according in the side tilt angle of the multi-rotor aerocraft and the working condition of the motor at least one
Person judges that the step of rotor assemblies whether there is adynamia includes：Judging the motor of a certain rotor assemblies is
It is no there are failure or be in light condition；If there are failure or being in light condition, there are power for a certain rotor assemblies
Missing.
Wherein, the motor for judging a certain rotor assemblies whether there is failure or the step in light condition
Suddenly include：It is preset to judge whether current value of the motor of a certain rotor assemblies under desired speed is less than or equal to
Whether the ratio of current threshold or rotating speed and electric current is less than or equal to preset proportion threshold value；If the current value is less than or waits
It is less than or equal to preset proportion threshold value in preset current threshold or the ratio, then the motor is in light condition.
Wherein, the rolling other than the rotor assemblies that direction changes adynamia according to the multi-rotor aerocraft
An at least rotor assemblies the motor rotation direction the step of include：If the multi-rotor aerocraft is towards the power
The rotor assemblies side of missing tilts, then the motor of an at least rotor assemblies described in control is rotated backward to provide drop-down
Power, or control described in an at least rotor assemblies motor stalls；If the multi-rotor aerocraft at least one rotation described in
Wing component side tilts, then the motor of an at least rotor assemblies described in control is rotated forward to provide climbing power.
Wherein, described at least partly the rotating speed of period is more than when the motor of an at least rotor assemblies is rotated forward
The maximum (top) speed when motor of an at least rotor assemblies is rotated backward.
In order at least partly solve problem above, present applicant proposes a kind of flight control system of multi-rotor aerocraft,
The multi-rotor aerocraft includes multiple rotor assemblies, and each rotor assemblies include motor and drive rotation by the motor
The rotor turned, the flight control system includes at least a sensor and flight control assemblies, wherein the sensor is used for
The working condition of the rotor assemblies is detected, the flight control assemblies are used to judge according to the working condition of the rotor assemblies
The rotor assemblies whether there is adynamia, and according to the inclination direction of the multi-rotor aerocraft when there are adynamia
Change the rotation direction of the motor of at least rotor assemblies other than the rotor assemblies of adynamia.
Wherein, an at least rotor assemblies be during the inclination of the multi-rotor aerocraft with the adynamia
The reversed each other rotor assemblies of rotor assemblies component motion in the vertical direction.
Wherein, the quantity of the multiple rotor assemblies is four, wherein an at least rotor assemblies are and the power
The rotor assemblies that the rotor assemblies of missing are diagonally arranged.
Wherein, the sensor is used to detect the working condition of the side tilt angle and the motor of the multi-rotor aerocraft
At least one of, the flight control assemblies are according to the side tilt angle of the multi-rotor aerocraft and the work shape of the motor
At least one of state judges that the rotor assemblies whether there is adynamia.
Wherein, the flight control assemblies judge more rotor flyings according to the side tilt angle of the multi-rotor aerocraft
Whether the side tilt angle of device towards a certain rotor assemblies is greater than or equal to preset tilt threshold；Described in if more than or equal to
Preset tilt threshold, then there are adynamias for a certain rotor assemblies.
Wherein, the flight control assemblies judge according to the working condition of the motor described in a certain rotor assemblies
Motor is with the presence or absence of failure or is in light condition, if there are failure or being in light condition, a certain rotor assemblies are deposited
In adynamia.
Wherein, the flight control assemblies judge electric current of the motor of a certain rotor assemblies under desired speed
Whether value is less than or equal to preset current threshold or whether the ratio of rotating speed and electric current is less than or equal to preset ratio threshold
Value, if the current value is less than or equal to preset current threshold or the ratio is less than or equal to preset proportion threshold value,
Then the motor is in light condition.
Wherein, when the multi-rotor aerocraft is tilted towards the rotor assemblies side of the adynamia, the flight
The motor of an at least rotor assemblies described in control device control is rotated backward to provide lower pulling force, or at least one described in control
The motor stalls of rotor assemblies, it is described when the multi-rotor aerocraft at least rotor assemblies side inclination described in
The motor of an at least rotor assemblies described in flight control assemblies control is rotated forward to provide climbing power.
Wherein, described at least partly the rotating speed of period is more than when the motor of an at least rotor assemblies is rotated forward
The maximum (top) speed when motor of an at least rotor assemblies is rotated backward.
In order at least partly solve problem above, present applicant proposes a kind of multi-rotor aerocraft, more rotor flyings
Device includes multiple rotor assemblies and flight control system, and each rotor assemblies include motor and driven by the motor
The rotor of rotation, the flight control system include at least a sensor and flight control assemblies, wherein the sensor is used
In the working condition for detecting the rotor assemblies, the flight control assemblies according to the working condition of the rotor assemblies for sentencing
The rotor assemblies of breaking whether there is adynamia, and according to the inclination side of the multi-rotor aerocraft when there are adynamia
The rotation direction of the motor of an at least rotor assemblies other than to the rotor assemblies for changing adynamia.
Wherein, an at least rotor assemblies be during the inclination of the multi-rotor aerocraft with the adynamia
The reversed each other rotor assemblies of rotor assemblies component motion in the vertical direction.
Wherein, the quantity of the multiple rotor assemblies is four, wherein an at least rotor assemblies are and the power
The rotor assemblies that the rotor assemblies of missing are diagonally arranged.
Wherein, the sensor is used to detect the working condition of the side tilt angle and the motor of the multi-rotor aerocraft
At least one of, the flight control assemblies are according to the side tilt angle of the multi-rotor aerocraft and the work shape of the motor
At least one of state judges that the rotor assemblies whether there is adynamia.
Wherein, the flight control assemblies judge more rotor flyings according to the side tilt angle of the multi-rotor aerocraft
Whether the side tilt angle of device towards a certain rotor assemblies is greater than or equal to preset tilt threshold；Described in if more than or equal to
Preset tilt threshold, then there are adynamias for a certain rotor assemblies.
Wherein, the flight control assemblies judge according to the working condition of the motor described in a certain rotor assemblies
Motor is with the presence or absence of failure or is in light condition, if there are failure or being in light condition, a certain rotor assemblies are deposited
In adynamia.
Wherein, the flight control assemblies judge electric current of the motor of a certain rotor assemblies under desired speed
Whether value is less than or equal to preset current threshold or whether the ratio of rotating speed and electric current is less than or equal to preset ratio threshold
Value, if the current value is less than or equal to preset current threshold or the ratio is less than or equal to preset proportion threshold value,
Then the motor is in light condition.
Wherein, when the multi-rotor aerocraft is tilted towards the rotor assemblies side of the adynamia, the flight
The motor of an at least rotor assemblies described in control device control is rotated backward to provide lower pulling force, or at least one described in control
The motor stalls of rotor assemblies, it is described when the multi-rotor aerocraft at least rotor assemblies side inclination described in
The motor of an at least rotor assemblies described in flight control assemblies control is rotated forward to provide climbing power.
Wherein, described at least partly the rotating speed of period is more than when the motor of an at least rotor assemblies is rotated forward
The maximum (top) speed when motor of an at least rotor assemblies is rotated backward.
The advantageous effect of the application is：In the case where adynamia occurs in multi-rotor aerocraft, pass through change and power
The direction of motor rotation for at least rotor assemblies that missing rotor assemblies are correspondingly arranged, prevents further inclining for multi-rotor aerocraft
Side while loss is reduced to minimum, improves the security performance of multi-rotor aerocraft.
Description of the drawings
Fig. 1 is the structural schematic diagram of the multi-rotor aerocraft of the application；
Fig. 2 is that multi-rotor aerocraft shown in FIG. 1 generates tilt the case where there are adynamias for a certain rotor assemblies
Schematic diagram；
Fig. 3 is the flow chart of one embodiment of flight control method of the application multi-rotor aerocraft；
Fig. 4 is the one of the rotation direction for the motor that the application changes rotor assemblies according to the inclined direction of multi-rotor aerocraft
The schematic diagram of concrete mode；
Fig. 5 is the another of the rotation direction for the motor that the application changes rotor assemblies according to the inclined direction of multi-rotor aerocraft
The schematic diagram of one concrete mode；
Fig. 6 is the signal that the application judges multi-rotor aerocraft inclined direction according to the spin angle of multi-rotor aerocraft
Figure；
Fig. 7 is the structural schematic diagram of the flight control assemblies first embodiment of the application multi-rotor aerocraft；
Fig. 8 is the structural schematic diagram of the flight control assemblies second embodiment of the application multi-rotor aerocraft；
Fig. 9 is the structural schematic diagram of one embodiment of flight control system of the application multi-rotor aerocraft.
Specific implementation mode
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation describes, it is clear that described embodiment is only a part of the embodiment of the application, instead of all the embodiments.It is based on
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall in the protection scope of this application.
Referring to Fig. 1, Fig. 1 is the structural schematic diagram of the application multi-rotor aerocraft.In Fig. 1, with quadrotor
For be described in detail, certainly in other embodiments, multi-rotor aerocraft may be six rotorcraft or eight rotors
Aircraft etc..The multi-rotor aerocraft 10 includes four rotor assemblies 11-14, and rotor assemblies 11 are including motor 111 and by electricity
The rotor 112 of the driving rotation of machine 111.Rotor assemblies 12 include motor 121 and the rotor 122 by the driving rotation of motor 121.Rotation
Wing component 13 includes motor 131 and the rotor 132 by the driving rotation of motor 131.Rotor assemblies 14 include motor 141 and by
The rotor 142 of the driving rotation of motor 141.
In the present embodiment, by motor 111,121,131 and 141 rotate forward driving rotor 112,122,132 and
142 rotate around respective shaft to generate climbing power, so that multi-rotor aerocraft 10 can suspend in the air.In addition, being
The spin of balance multi-rotor aerocraft 10, further turns the forward direction of a part of motor in motor 111,121,131 and 141
Dynamic direction be arranged to other motors to rotate forward direction reversed each other so that rotor 112,122,132 and 142 rotates institute
The spin-torque of generation can cancel out each other.For example, in Fig. 1, it is diagonal to be arranged when from the top of multi-rotor aerocraft 10
Motor 111,131 rotate forward direction be it is clockwise, and the motor 121,141 being diagonally arranged rotate forward direction be it is inverse
Hour hands.Lift and torque caused by four rotor assemblies 11-14 of control are provided as a result, to adjust flying for multi-rotor aerocraft 10
Row height and posture, and then realize the pitch angle (pitch) in three dimensions, roll angle (roll) and course angle (yaw)
Movement.
Referring to Fig. 2, Fig. 2 is multi-rotor aerocraft shown in FIG. 1 the case where there are adynamias for a certain rotor assemblies
And generate the schematic diagram of tilt.As shown in Fig. 2, when there are adynamias, such as rotor 112 disconnected paddle occur or penetrate for rotor assemblies 11
When paddle or motor 111 break down, since rotor assemblies 11 can not provide enough climbing powers, and other rotor assemblies 12-
14 still work normally, then rotor assemblies 11 is caused to generate movement tendency downward as shown in arrow D1 in the vertical direction, and
Movement tendency upward as shown in arrow D2 is generated in the vertical direction with the rotor assemblies 13 that rotor assemblies 11 are correspondingly arranged,
So that the line between rotor assemblies 12,14 of rotor assemblies 11 is rolled towards 11 side of rotor assemblies, or even rollover.
Simultaneously as rotor assemblies 11 can not provide enough torques, multi-rotor aerocraft 10 is caused to be carried out as shown in arrow D3 certainly
Rotation.In turn, air crash damage and the safety accident of multi-rotor aerocraft 10 are be easy to cause.
Referring to Fig. 3, Fig. 3 is the flow chart of the flight control method first embodiment of the application multi-rotor aerocraft.
In the present embodiment, in order to avoid in a certain rotor assemblies, there are the inclinations of multi-rotor aerocraft 10 caused when adynamia to show
As the flight control method of the present embodiment mainly includes the following steps that：
S1：Judge that rotor assemblies whether there is adynamia.
In step sl, the adynamia of rotor assemblies includes a variety of situations, for example, multi-rotor aerocraft flies in the air
When because either collision makes occur breaking paddle or the blade of the blade in rotor assemblies be detached from motor (that is, penetrating for the structures of rotor assemblies
Paddle), its caused current rotor assemblies adynamia, or current rotor assemblies power lacks caused by motor breaks down
It loses.Specifically, sensor appropriate is coordinated to may determine that rotor assemblies by flight controller (flying control) or other processing modules
With the presence or absence of adynamia.
For example, in a specific implementation, it can be according to the side tilt angle of multi-rotor aerocraft and the working condition of motor
At least one of judge rotor assemblies whether there is adynamia.
Specifically, whether can be more than towards the side tilt angle of a certain rotor assemblies by judging multi-rotor aerocraft or
Determine that a certain rotor assemblies whether there is adynamia equal to preset tilt threshold.As described by figure 1 above, when a certain rotation
There are when adynamia, multi-rotor aerocraft will roll wing component towards the direction of the rotor assemblies.At this point, inertia can be passed through
The equipment such as sensor, gravity sensor detect side tilt angle of the multi-rotor aerocraft 10 towards a certain rotor assemblies, and should
Tilt angle is compared with the tilt threshold preset, and it is pre- further to judge whether the tilt angle is more than or equal to this
If tilt threshold value.If more than or equal to preset tilt threshold, then there are adynamias for the rotor assemblies.
The working condition by motor come judge rotor assemblies whether there is adynamia when, can be a certain by judging
The motor of rotor assemblies determines that a certain rotor assemblies whether there is adynamia with the presence or absence of failure or in light condition.If
Judge that the motor of the rotor assemblies breaks down or be in light condition, then there are adynamias for the rotor assemblies.
Wherein, judge that the method that the motor of the rotor assemblies is in light condition is specially：Judge a certain rotor assemblies
Whether whether current value of the motor under desired speed be less than or equal to preset current threshold or the ratio of rotating speed and electric current
Less than or equal to preset proportion threshold value.If judge current value be less than or equal to the rotating speed of preset current threshold or motor with
The ratio value of electric current is less than or equal to preset proportion threshold value, then can determine that motor is in light condition；Alternatively, for controlling
The electron speed regulator (electricity is adjusted) of motor speed directly provides unloaded prompt；Or electricity is combined to adjust the zero load provided by inertial sensor
Prompt.
Judge the motors of the rotor assemblies there are the method for failure especially by it is existing to the rotating speed of motor, electric current and
The modes such as voltage are judged that details are not described herein.
S2：If there are adynamia, according to the rotor assemblies for rolling direction and changing adynamia of multi-rotor aerocraft
The rotation direction of at least motor of a rotor assemblies in addition, and then prevent the further inclination of multi-rotor aerocraft.
Fig. 4 and Fig. 5 are please referred to, below will be made of how the rotation for rolling direction and changing adynamia according to multi-rotor aerocraft
The rotation direction of at least motor of a rotor assemblies other than wing component is described in detail.
For quadrotor shown in Fig. 1, when rotor assemblies 11 are there are when adynamia, if not changing rotor group
The rotation direction of part 12-14, then multi-rotor aerocraft 10 towards 11 side of rotor assemblies tilt.Specifically such as Fig. 4 solid line positions institute
Show, in order to avoid the further inclination of multi-rotor aerocraft 10, when multi-rotor aerocraft 10 is towards the rotor assemblies of adynamia
When 11 sides tilt, the motor 131 for controlling the rotor assemblies 13 being correspondingly arranged is rotated backward to provide lower pulling force or control
Motor 131 stops operating.
When motor 131 is rotated backward, since rotor assemblies 13 provide lower pulling force, rotor assemblies can be caused at this time
11 generate movement tendency upward as shown in arrow D5 in the vertical direction, and the rotor group being correspondingly arranged with rotor assemblies 11
Part 13 generates movement tendency upward as shown in arrow D6 in the vertical direction, so that rotor assemblies 11 and rotor assemblies
13 between rotor assemblies 12 and rotor assemblies 14 line carry out reversing reset (arrow D5 and D6 to equilbrium position shown in dotted line
Pointed dotted line position), and then achieve the purpose that balance pitch angle and roll angle.When motor 131 stops operating, due to rotation
Wing component 13 does not provide power, equally can be to avoid the further inclination of rotor assemblies 13.
Further as shown in figure 5, since there are adynamias for rotor assemblies 11, cause multi-rotor aerocraft 10 along arrow D3
It spins in shown direction.When rotor assemblies 13 rotate to 11 side of rotor assemblies shown in FIG. 1, then more rotors fly originally
Row device 10 is tilted towards 11 side of rotor assemblies to be become tilting towards 13 side of rotor assemblies.At this point, control rotor assemblies 13
Motor 131 is rotated forward to provide climbing power.
When motor 131 is rotated forward, since rotor assemblies 13 provide climbing power, rotor assemblies can be caused at this time
13 generate movement tendency upward as shown in arrow D7 in the vertical direction, and the rotor group being correspondingly arranged with rotor assemblies 13
Part 11 generates movement tendency downward as shown in arrow D8 in the vertical direction, so that rotor assemblies 11 and rotor assemblies
13 between rotor assemblies 12 and rotor assemblies 14 line carry out reversing reset (arrow D7 and D8 to equilbrium position shown in dotted line
Pointed dotted line position), and then achieve the purpose that balance pitch angle and roll angle.
When being stopped operating or rotated backward due to motor 131, multi-rotor aerocraft 10 can accelerate along direction shown in arrow D3
Spin, in order to further slow down the spin of multi-rotor aerocraft 10, in the present embodiment, further by the motor of rotor assemblies 13
131 at least partly the rotating speed of period is more than when the motors 131 of rotor assemblies 13 is rotated backward most when being rotated forward
Big rotating speed.Bigger can be provided when the motor 131 of rotor assemblies 13 is rotated forward as a result, with rotor assemblies 12,14
Opposite torque, and then slow down the spin of multi-rotor aerocraft 10.
In the present embodiment, the inclination direction of multi-rotor aerocraft 10 can directly pass through inertial sensor, gravity sensitive
The equipment such as device are directly detected, and can also be estimated by the spin angle of multi-rotor aerocraft 10.For example, Fig. 6
Shown, when detecting rotor assemblies 11 there are when adynamia, the point on the basis of the current location of rotor assemblies 11, more rotors fly
Row device 10 is Zi being screwed within the scope of the first angle relative to datum mark (for example, clockwise and anticlockwise each 90 degree to 180 degree model
Enclosing interior or other angles range) acquiescence multi-rotor aerocraft 10 is tilted towards rotor assemblies 11, and then controls rotor assemblies 13
Motor 131 is rotated backward or is stopped operating, and is screwed into the second angle relative to datum mark certainly in multi-rotor aerocraft 10
(for example, within the scope of remaining 180 degree or other angles range) acquiescence multi-rotor aerocraft 10 is towards rotor assemblies 13 in range
It tilts, and then the motor 131 for controlling rotor assemblies 13 is rotated forward.
In the present embodiment, the flight control method of the present embodiment retouch in detail by taking quadrotor as an example
It states, but it is flying for other quantity that above-mentioned flight control method, which is equally applicable to the rotors such as six rotorcraft or eight-rotary wing aircraft,
Row device.It specifically can be according to the specific setting of rotor and rotation direction other rotor assemblies other than the rotor assemblies of adynamia
A middle corresponding selection at least rotor assemblies, and pass through the rotation side for rolling the motor that direction changes according to multi-rotor aerocraft
To, and then prevent the further inclination of multi-rotor aerocraft.For example, a selected at least rotor assemblies are in more rotor flyings
The rotor assemblies reversed each other with the component motion of the rotor assemblies of adynamia in the vertical direction during the inclination of device.
In the above embodiment, change rotation direction by controlling the motor being correspondingly arranged with adynamia rotor assemblies,
The further inclination for preventing multi-rotor aerocraft while loss is reduced to minimum, improves the safety of multi-rotor aerocraft
Performance.
It is the structural schematic diagram of the flight control assemblies first embodiment of the application multi-rotor aerocraft refering to Fig. 7, Fig. 7.
In the present embodiment, multi-rotor aerocraft includes multiple rotor assemblies, and each rotor assemblies include motor and driven by motor
The rotor of rotation, flight control assemblies 20 include：
Judgment module 22, for judging that rotor assemblies whether there is adynamia.
Motor control module 24, if there are adynamia, motor control module 24 is according to the inclination of multi-rotor aerocraft
Direction changes the rotation direction of at least motor of a rotor assemblies other than the rotor assemblies of adynamia, and then prevents more rotors
The further inclination of aircraft.
Wherein, the executive agent of judgment module 22 can be flight controller (fly control) in multi-rotor aerocraft or other
Processing module coordinates sensor appropriate, is specifically used for judging that rotor assemblies whether there is adynamia.Wherein, rotor assemblies
Adynamia specifically refers to：Because the structure of rotor assemblies or collision make in rotor assemblies when multi-rotor aerocraft flight in the air
Blade be detached from motor, its current rotor group caused by its caused current rotor assemblies adynamia or electrical fault
Part adynamia.
Further, in a specific implementation, judgment module 22 can be used for the angle of heel according to multi-rotor aerocraft
At least one of the working condition of degree and motor judges that rotor assemblies whether there is adynamia.
In a particular embodiment, judgment module 22 further comprises angled state judging submodule 222, for judging revolve more
Whether the side tilt angle of rotor aircraft towards a certain rotor assemblies is greater than or equal to preset tilt threshold, to determine a certain rotor
Component whether there is adynamia.As described by figure 1 above, when a certain rotor assemblies are there are when adynamia, more rotor flyings
Device will be rolled towards the direction of the rotor assemblies.At this point, can be detected by equipment such as inertial sensor, gravity sensors more
Rotor craft and compares the tilt angle with the tilt threshold preset towards the side tilt angle of a certain rotor assemblies
Compared with, and further judge whether the tilt angle is more than or equal to the preset tilt threshold value.If more than or equal to preset
Tilt threshold, then there are adynamias for the rotor assemblies.
Further, judgment module 22 further includes motor status judging submodule 224, for judging a certain rotor assemblies
Motor determines that a certain rotor assemblies whether there is adynamia with the presence or absence of failure or in light condition.If judging the rotor
The motor of component breaks down or is in light condition, then there are adynamias for the rotor assemblies.
Further, motor status judging submodule 224 is specifically used for judging that the motor of a certain rotor assemblies turns predetermined
Whether the current value under speed is less than or equal to preset current threshold or whether the ratio of rotating speed and electric current is less than or equal in advance
If proportion threshold value.If judging, current value is less than or equal to preset current threshold or the rotating speed of motor and the ratio value of electric current
Less than or equal to preset proportion threshold value, then it can determine that motor is in light condition.
Judge the motors of the rotor assemblies there are the method for failure especially by it is existing to the rotating speed of motor, electric current and
The modes such as voltage are judged that details are not described herein.
When judgment module 22 judges a wherein rotor assemblies there are when adynamia, then motor control module 24 is according to more rotations
The rotation direction of at least motor of a rotor assemblies other than the rotor assemblies for rolling direction change adynamia of rotor aircraft,
And then prevent the further inclination of multi-rotor aerocraft.
In a particular embodiment, the quantity of the multiple rotor assemblies of multi-rotor aerocraft is four, optionally, other embodiments
In, multi-rotor aerocraft may be six rotorcraft or eight-rotary wing aircraft etc..In embodiment, if judgment module 22 is sentenced
There are adynamias for a disconnected wherein rotor assemblies, then an at least rotor assemblies be during the inclination of multi-rotor aerocraft with
The component motion of the rotor assemblies of adynamia in the vertical direction rotor assemblies reversed each other, and the rotor assemblies are and move
The rotor assemblies that the rotor assemblies of power missing are correspondingly arranged.It is the rotor assemblies being diagonally arranged in quadrotor.
In one application scenarios of the application, if multi-rotor aerocraft is tilted towards the rotor assemblies side of adynamia,
The motor that motor control module 24 controls an at least rotor assemblies is rotated backward to provide lower pulling force, or controls this at least
The motor stalls of one rotor assemblies, if multi-rotor aerocraft is tilted towards an at least rotor assemblies side, motor control
The motor that module 24 controls an at least rotor assemblies is rotated forward to provide climbing power.
Further, the motor for at least rotor assemblies being correspondingly arranged with adynamia rotor assemblies carries out positive turn
At least partly the rotating speed of period is more than maximum (top) speed when it is rotated backward when dynamic.
The function of various pieces specifically refers to this in each embodiment of flight control assemblies of the application multi-rotor aerocraft
Apply for the description in the flight control method corresponding embodiment of multi-rotor aerocraft, is not repeated herein.
In the above embodiment, judgment module 22 judges multi-rotor aerocraft rotor assemblies, and there are adynamias, pass through electricity
Machine control module 24 controls the motor being correspondingly arranged with adynamia rotor assemblies and changes rotation direction, prevents multi-rotor aerocraft
Further tilt, while loss is reduced to minimum, improve the security performance of multi-rotor aerocraft.
It is the structural schematic diagram of the flight control assemblies second embodiment of the application multi-rotor aerocraft refering to Fig. 8, Fig. 8.
The multi-rotor aerocraft includes multiple rotor assemblies, and each rotor assemblies include motor and drive the rotor of rotation by motor,
Flight control assemblies include processor 32 and the memory 34 that is communicated with processor 32, and processor 32 passes through run memory 34
The program of storage executes following steps：
Judge that rotor assemblies whether there is adynamia.
If there are adynamia, according to rolling other than the rotor assemblies that direction changes adynamia for multi-rotor aerocraft
At least motor of a rotor assemblies rotation direction, and then prevent the further inclination of multi-rotor aerocraft.
Wherein, judge that rotor assemblies are specifically included with the presence or absence of the mode of adynamia：According to the side of multi-rotor aerocraft
At least one of the working condition of degree of tilt and motor judges that the rotor assemblies whether there is adynamia.
For example, judging that multi-rotor aerocraft preset inclines towards whether the side tilt angle of a certain rotor assemblies is greater than or equal to
Angle threshold value；If more than or equal to preset tilt threshold, then there are adynamias for a certain rotor assemblies.
Alternatively, judging the motor of a certain rotor assemblies with the presence or absence of failure or being in light condition, if there are failure or places
In light condition, then there are adynamias for a certain rotor assemblies.
Further, it is pre- to judge whether current value of the motor of a certain rotor assemblies under desired speed is less than or equal to
If current threshold or the ratio of rotating speed and electric current whether be less than or equal to preset proportion threshold value.If current value is less than or waits
It is less than or equal to preset proportion threshold value in preset current threshold or ratio, then motor is in light condition.
According at least rotor assemblies other than the rotor assemblies for rolling direction change adynamia of multi-rotor aerocraft
The mode of rotation direction of motor include：If multi-rotor aerocraft is tilted towards the rotor assemblies side of adynamia, control
The motor for making an at least rotor assemblies is rotated backward to provide lower pulling force, or the motor of a control at least rotor assemblies stops
Rotation stop is dynamic, and the slope trend of aircraft is balanced with this.
If multi-rotor aerocraft is tilted towards an at least rotor assemblies side, control the motors of an at least rotor assemblies into
Row rotates forward to provide climbing power, and the slope trend of aircraft is balanced with this.
Wherein, when the quantity of multiple rotor assemblies is four, which is the rotor group with adynamia
The rotor assemblies that part is diagonally arranged.Certainly, in other embodiments, the rotor of multi-rotor aerocraft may be six or eight
It is a etc..At this point, an at least rotor assemblies are to exist with the rotor assemblies of adynamia during the inclination of multi-rotor aerocraft
Component motion on vertical direction rotor assemblies reversed each other.
The flight control assemblies of the application multi-rotor aerocraft specifically refer to for the function of various pieces in each embodiment
Description in the flight control method corresponding embodiment of the application multi-rotor aerocraft, is not repeated herein.
It is the structural schematic diagram of one embodiment of flight control system of the application multi-rotor aerocraft refering to Fig. 9, Fig. 9.It should
Multi-rotor aerocraft includes multiple rotor assemblies, and each rotor assemblies include motor and the rotor by motor driving rotation, are flown
Row control system includes that an at least sensor 42 and flight control assemblies 44, wherein sensor 42 is used to detect rotor assemblies
Working condition, flight control assemblies 44 are used to judge that rotor assemblies are lacked with the presence or absence of power according to the working condition of rotor assemblies
Lose, and when there are adynamia according to multi-rotor aerocraft roll direction change adynamia rotor assemblies other than extremely
The rotation direction of the motor of few rotor assemblies, and then prevent the further inclination of multi-rotor aerocraft.
In a particular embodiment, sensor 42 can be include but not limited to inertial sensor, gravity sensor etc., specifically
At least one of the working condition of side tilt angle and motor for detecting multi-rotor aerocraft.44 basis of flight control assemblies
At least one of the side tilt angle of multi-rotor aerocraft and the working condition of motor judge that rotor assemblies are lacked with the presence or absence of power
It loses.
Further, flight control assemblies 44 are used to judge multi-rotor aerocraft according to the side tilt angle of multi-rotor aerocraft
Whether it is greater than or equal to preset tilt threshold towards the side tilt angle of a certain rotor assemblies；If more than or equal to preset inclination angle
Threshold value, then there are adynamias for a certain rotor assemblies.
Wherein, flight control assemblies 44 be additionally operable to be judged according to the working condition of motor a certain rotor assemblies motor whether
There are failure or it is in light condition, if there are failure or being in light condition, there are adynamias for a certain rotor assemblies.
Further, flight control assemblies 44 are specifically used for judging electricity of the motor of a certain rotor assemblies under desired speed
Whether flow valuve is less than or equal to preset current threshold or whether the ratio of rotating speed and electric current is less than or equal to preset ratio
Threshold value, if current value is less than or equal to preset current threshold or ratio is less than or equal to preset proportion threshold value, motor
In light condition.
Wherein, which is the rotor assemblies during inclination of multi-rotor aerocraft with adynamia
The rotor assemblies reversed each other of component motion in the vertical direction, and the quantity of multiple rotor assemblies is four, wherein this is extremely
Few rotor assemblies are the rotor assemblies being diagonally arranged with the rotor assemblies of adynamia.
In one application scenarios of the application, when multi-rotor aerocraft is tilted towards the rotor assemblies side of the adynamia
When, the motor of a flight control assemblies control at least rotor assemblies is rotated backward to provide lower pulling force, or control at least one
The motor stalls of rotor assemblies, when at least rotor assemblies side inclination of multi-rotor aerocraft direction, flight control assemblies
The motor of a control at least rotor assemblies is rotated forward to provide climbing power.Wherein, at least the motor of a rotor assemblies into
Maximum when at least partly the rotating speed of period is rotated backward more than the motor of an at least rotor assemblies when row rotates forward turns
Speed.
The function of various pieces specifically refers to this in each embodiment of flight control system of the application multi-rotor aerocraft
Apply for the description in the flight control method corresponding embodiment of multi-rotor aerocraft, is not repeated herein.
The application further provides for a kind of multi-rotor aerocraft, which includes multiple rotors shown in FIG. 1
Component and flight control system shown in Fig. 9.
In several embodiments provided herein, in the case where adynamia occurs in multi-rotor aerocraft, pass through
The rotation direction for changing the motor being correspondingly arranged with adynamia rotor assemblies, prevents the further inclination of multi-rotor aerocraft,
While loss is reduced to minimum, the security performance of multi-rotor aerocraft is improved.
The foregoing is merely presently filed embodiments, are not intended to limit the scope of the claims of the application, every to utilize this
Equivalent structure or equivalent flow shift made by application specification and accompanying drawing content, it is relevant to be applied directly or indirectly in other
Technical field includes similarly in the scope of patent protection of the application.
Claims (35)
1. a kind of flight control method of multi-rotor aerocraft, which is characterized in that the multi-rotor aerocraft includes multiple rotors
Component, each rotor assemblies include motor and the rotor by motor driving rotation, and the method includes following steps
Suddenly：
Judge that the rotor assemblies whether there is adynamia；
If there are adynamia, according to the rotor assemblies for rolling direction and changing adynamia of the multi-rotor aerocraft
The rotation direction of the motor of an at least rotor assemblies in addition, including：
If the multi-rotor aerocraft is tilted towards the rotor assemblies side of the adynamia, an at least rotor described in control
The motor of component is rotated backward to provide lower pulling force, or the motor stalls of an at least rotor assemblies described in control；
If the multi-rotor aerocraft at least rotor assemblies side described in tilts, an at least rotor assemblies described in control
Motor rotated forward to provide climbing power；
Wherein, when the motor of an at least rotor assemblies is rotated forward at least partly the rotating speed of period be more than it is described at least
The maximum (top) speed when motor of one rotor assemblies is rotated backward.
2. according to the method described in claim 1, it is characterized in that, an at least rotor assemblies are in more rotor flyings
The rotation reversed each other with the component motion of the rotor assemblies of the adynamia in the vertical direction during the inclination of device
Wing component.
3. according to the method described in claim 1, it is characterized in that, the quantity of the multiple rotor assemblies is four, wherein institute
It is the rotor assemblies being diagonally arranged with the rotor assemblies of the adynamia to state an at least rotor assemblies.
4. according to the method described in claim 1, it is characterized in that, described judge that the rotor assemblies whether there is adynamia
The step of include：
Judge the rotation according at least one of the working condition of the side tilt angle of the multi-rotor aerocraft and the motor
Wing component whether there is adynamia.
5. according to the method described in claim 4, it is characterized in that, the side tilt angle according to the multi-rotor aerocraft and
At least one of the working condition of the motor judges that the step of rotor assemblies whether there is adynamia includes：
Judge that the multi-rotor aerocraft preset inclines towards whether the side tilt angle of a certain rotor assemblies is greater than or equal to
Angle threshold value；
If more than or equal to the preset tilt threshold, then there are adynamias for a certain rotor assemblies.
6. according to the method described in claim 4, it is characterized in that, the side tilt angle according to the multi-rotor aerocraft and
At least one of the working condition of the motor judges that the step of rotor assemblies whether there is adynamia includes：
The motor of a certain rotor assemblies is judged with the presence or absence of failure or is in light condition；
If there are failure or being in light condition, there are adynamias for a certain rotor assemblies.
7. according to the method described in claim 6, it is characterized in that, described judge that the motor of a certain rotor assemblies is
It is no to include there are failure or in the step of light condition：
Judge whether current value of the motor of a certain rotor assemblies under desired speed is less than or equal to preset electricity
It flows threshold value or whether the ratio of rotating speed and electric current is less than or equal to preset proportion threshold value；
If the current value is less than or equal to preset current threshold or the ratio is less than or equal to preset proportion threshold value,
Then the motor is in light condition.
8. a kind of flight control assemblies of multi-rotor aerocraft, which is characterized in that the multi-rotor aerocraft includes multiple rotors
Component, each rotor assemblies include motor and the rotor by motor driving rotation, the flight control assemblies packet
It includes：
Judgment module, for judging that the rotor assemblies whether there is adynamia；
Motor control module, if there are adynamia, the motor control module is according to the inclination of the multi-rotor aerocraft
Direction changes the rotation direction of the motor of at least rotor assemblies other than the rotor assemblies of adynamia, if described
Multi-rotor aerocraft is tilted towards the rotor assemblies side of the adynamia, then described in the motor control module control at least
The motor of one rotor assemblies is rotated backward to provide lower pulling force, or the motor of an at least rotor assemblies described in control stops turning
Dynamic, if the multi-rotor aerocraft at least rotor assemblies side described in tilts, the motor control module controls institute
The motor for stating an at least rotor assemblies is rotated forward to provide climbing power；
Wherein, when the motor of an at least rotor assemblies described in the motor control module control being rotated forward at least partly
The maximum (top) speed when motor that the rotating speed of section is more than an at least rotor assemblies is rotated backward.
9. flight control assemblies according to claim 8, which is characterized in that an at least rotor assemblies are described more
It is reversed each other with the component motion of the rotor assemblies of the adynamia in the vertical direction during the inclination of rotor craft
The rotor assemblies.
10. flight control assemblies according to claim 9, which is characterized in that the quantity of the multiple rotor assemblies is four
It is a, wherein an at least rotor assemblies are the rotor assemblies being diagonally arranged with the rotor assemblies of the adynamia.
11. flight control assemblies according to claim 8, which is characterized in that the judgment module is according to more rotors
The side tilt angle of aircraft and at least one of the working condition of the motor judge that the rotor assemblies whether there is power
Missing.
12. flight control assemblies according to claim 11, which is characterized in that the judgment module includes that angled state is sentenced
Disconnected submodule, for judging whether the multi-rotor aerocraft is greater than or equal to towards the side tilt angle of a certain rotor assemblies
Preset tilt threshold, if more than or equal to the preset tilt threshold, then there are adynamias for a certain rotor assemblies.
13. flight control assemblies according to claim 11, which is characterized in that the judgment module includes that motor status is sentenced
Disconnected submodule, for judging the motor of a certain rotor assemblies with the presence or absence of failure or being in light condition；If in the presence of
Failure is in light condition, then there are adynamias for a certain rotor assemblies.
14. flight control assemblies according to claim 13, which is characterized in that the motor status judging submodule is used for
Judge whether current value of the motor of a certain rotor assemblies under desired speed is less than or equal to preset current threshold
Whether value or the ratio of rotating speed and electric current are less than or equal to preset proportion threshold value, are preset if the current value is less than or equal to
Current threshold or the ratio be less than or equal to preset proportion threshold value, then the motor be in light condition.
15. a kind of flight control assemblies of multi-rotor aerocraft, which is characterized in that the multi-rotor aerocraft includes multiple rotors
Component, each rotor assemblies include motor and the rotor by motor driving rotation, the flight control assemblies packet
The memory for including processor and being communicated with the processor, the processor are held by running the program that the memory stores
Row following steps：
Judge that the rotor assemblies whether there is adynamia；
If there are adynamia, according to the rotor assemblies for rolling direction and changing adynamia of the multi-rotor aerocraft
The rotation direction of the motor of an at least rotor assemblies in addition, if the multi-rotor aerocraft is towards the adynamia
Rotor assemblies side tilts, then the motor of an at least rotor assemblies described in control is rotated backward to provide lower pulling force, or control
The motor stalls of an at least rotor assemblies described in system；If the multi-rotor aerocraft at least rotor assemblies one described in
It rolls tiltedly, then the motor of an at least rotor assemblies described in control is rotated forward to provide climbing power；
Wherein, when the motor of an at least rotor assemblies is rotated forward at least partly the rotating speed of period be more than it is described at least
The maximum (top) speed when motor of one rotor assemblies is rotated backward.
16. flight control assemblies according to claim 15, which is characterized in that an at least rotor assemblies are described
It is anti-each other with the component motion of the rotor assemblies of the adynamia in the vertical direction during the inclination of multi-rotor aerocraft
To the rotor assemblies.
17. flight control assemblies according to claim 16, which is characterized in that the quantity of the multiple rotor assemblies is four
It is a, wherein an at least rotor assemblies are the rotor assemblies being diagonally arranged with the rotor assemblies of the adynamia.
18. flight control assemblies according to claim 15, which is characterized in that described to judge whether the rotor assemblies deposit
Include in the step of adynamia：
Judge the rotation according at least one of the working condition of the side tilt angle of the multi-rotor aerocraft and the motor
Wing component whether there is adynamia.
19. flight control assemblies according to claim 18, which is characterized in that described according to the multi-rotor aerocraft
Side tilt angle and at least one of the working condition of the motor judge that the rotor assemblies whether there is the step of adynamia
Suddenly include：
Judge that the multi-rotor aerocraft preset inclines towards whether the side tilt angle of a certain rotor assemblies is greater than or equal to
Angle threshold value；
If more than or equal to the preset tilt threshold, then there are adynamias for a certain rotor assemblies.
20. flight control assemblies according to claim 18, which is characterized in that described according to the multi-rotor aerocraft
Side tilt angle and at least one of the working condition of the motor judge that the rotor assemblies whether there is the step of adynamia
Suddenly include：
The motor of a certain rotor assemblies is judged with the presence or absence of failure or is in light condition；
If there are failure or being in light condition, there are adynamias for a certain rotor assemblies.
21. flight control assemblies according to claim 20, which is characterized in that a certain rotor assemblies of judgement
The motor whether there is failure or in the step of light condition：
Judge whether current value of the motor of a certain rotor assemblies under desired speed is less than or equal to preset electricity
It flows threshold value or whether the ratio of rotating speed and electric current is less than or equal to preset proportion threshold value；
If the current value is less than or equal to preset current threshold or the ratio is less than or equal to preset proportion threshold value,
Then the motor is in light condition.
22. a kind of flight control system of multi-rotor aerocraft, which is characterized in that the multi-rotor aerocraft includes multiple rotors
Component, each rotor assemblies include motor and the rotor by motor driving rotation, the flight control system packet
At least a sensor and flight control assemblies are included, wherein the sensor is used to detect the working condition of the rotor assemblies,
The flight control assemblies are used to judge that the rotor assemblies are lacked with the presence or absence of power according to the working condition of the rotor assemblies
It loses, and according to the rotor assemblies for rolling direction and changing adynamia of the multi-rotor aerocraft when there are adynamia
The rotation direction of the motor of an at least rotor assemblies in addition, when the multi-rotor aerocraft is towards the adynamia
When rotor assemblies side tilts, the motor of an at least rotor assemblies described in the flight control assemblies control is rotated backward
Lower pulling force, or the motor stalls of an at least rotor assemblies described in control are provided, when the multi-rotor aerocraft is described in
An at least rotor assemblies side tilts, and the motor of an at least rotor assemblies described in the flight control assemblies control carries out positive turn
It moves to provide climbing power；
Wherein, when the motor of an at least rotor assemblies is rotated forward at least partly the rotating speed of period be more than it is described at least
The maximum (top) speed when motor of one rotor assemblies is rotated backward.
23. flight control system according to claim 22, which is characterized in that an at least rotor assemblies are described
It is anti-each other with the component motion of the rotor assemblies of the adynamia in the vertical direction during the inclination of multi-rotor aerocraft
To the rotor assemblies.
24. flight control system according to claim 23, which is characterized in that the quantity of the multiple rotor assemblies is four
It is a, wherein an at least rotor assemblies are the rotor assemblies being diagonally arranged with the rotor assemblies of the adynamia.
25. flight control system according to claim 22, which is characterized in that the sensor is for detecting more rotations
At least one of the working condition of the side tilt angle of rotor aircraft and the motor, the flight control assemblies are according to described more
The side tilt angle of rotor craft and at least one of the working condition of the motor judge that the rotor assemblies whether there is
Adynamia.
26. flight control system according to claim 25, which is characterized in that the flight control assemblies are according to described more
The side tilt angle of rotor craft judges whether the multi-rotor aerocraft is big towards the side tilt angle of a certain rotor assemblies
In or equal to preset tilt threshold；If more than or be equal to the preset tilt threshold, then a certain rotor assemblies exist
Adynamia.
27. flight control system according to claim 25, which is characterized in that the flight control assemblies are according to the electricity
The working condition of machine judges the motor of a certain rotor assemblies with the presence or absence of failure or is in light condition, if there is event
Barrier is in light condition, then there are adynamias for a certain rotor assemblies.
28. flight control system according to claim 27, which is characterized in that the flight control assemblies judge a certain institute
State whether current value of the motor of rotor assemblies under desired speed is less than or equal to preset current threshold or rotating speed
Whether it is less than or equal to preset proportion threshold value with the ratio of electric current, if the current value is less than or equal to preset current threshold
Or the ratio is less than or equal to preset proportion threshold value, then the motor is in light condition.
29. a kind of multi-rotor aerocraft, which is characterized in that the multi-rotor aerocraft includes multiple rotor assemblies and flight control
System processed, each rotor assemblies include motor and the rotor by motor driving rotation, the flight control system
Including at least a sensor and flight control assemblies, wherein the sensor is used to detect the work shape of the rotor assemblies
State, the flight control assemblies are used to judge that the rotor assemblies whether there is power according to the working condition of the rotor assemblies
Missing, and according to the rotor group for rolling direction and changing adynamia of the multi-rotor aerocraft when there are adynamia
The rotation direction of the motor of an at least rotor assemblies other than part, when the multi-rotor aerocraft is towards the adynamia
Rotor assemblies side when tilting, the motor of an at least rotor assemblies described in flight control assemblies control is rotated backward
Lower pulling force is provided, or at least rotor assemblies described in control motor stalls, when the multi-rotor aerocraft is towards institute
It states an at least rotor assemblies side to tilt, the motor of an at least rotor assemblies described in the flight control assemblies control carries out positive
It rotates to provide climbing power；
Wherein, when the motor of an at least rotor assemblies is rotated forward at least partly the rotating speed of period be more than it is described at least
The maximum (top) speed when motor of one rotor assemblies is rotated backward.
30. multi-rotor aerocraft according to claim 29, which is characterized in that an at least rotor assemblies are described
It is anti-each other with the component motion of the rotor assemblies of the adynamia in the vertical direction during the inclination of multi-rotor aerocraft
To the rotor assemblies.
31. multi-rotor aerocraft according to claim 30, which is characterized in that the quantity of the multiple rotor assemblies is four
It is a, wherein an at least rotor assemblies are the rotor assemblies being diagonally arranged with the rotor assemblies of the adynamia.
32. multi-rotor aerocraft according to claim 29, which is characterized in that the sensor is for detecting more rotations
At least one of the working condition of the side tilt angle of rotor aircraft and the motor, the flight control assemblies are according to described more
The side tilt angle of rotor craft and at least one of the working condition of the motor judge that the rotor assemblies whether there is
Adynamia.
33. multi-rotor aerocraft according to claim 32, which is characterized in that the flight control assemblies are according to described more
The side tilt angle of rotor craft judges whether the multi-rotor aerocraft is big towards the side tilt angle of a certain rotor assemblies
In or equal to preset tilt threshold；If more than or be equal to the preset tilt threshold, then a certain rotor assemblies exist
Adynamia.
34. multi-rotor aerocraft according to claim 32, which is characterized in that the flight control assemblies are according to the electricity
The working condition of machine judges the motor of a certain rotor assemblies with the presence or absence of failure or is in light condition, if there is event
Barrier is in light condition, then there are adynamias for a certain rotor assemblies.
35. multi-rotor aerocraft according to claim 34, which is characterized in that the flight control assemblies judge a certain institute
State whether current value of the motor of rotor assemblies under desired speed is less than or equal to preset current threshold or rotating speed
Whether it is less than or equal to preset proportion threshold value with the ratio of electric current, if the current value is less than or equal to preset current threshold
Or the ratio is less than or equal to preset proportion threshold value, then the motor is in light condition.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/103137 WO2018076149A1 (en) | 2016-10-25 | 2016-10-25 | Multi-rotor aircraft, and control method, control device and flight control system therefor |
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| CN107077142A CN107077142A (en) | 2017-08-18 |
| CN107077142B true CN107077142B (en) | 2018-09-18 |
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|---|---|---|---|---|
| CN107839874A (en) * | 2017-12-06 | 2018-03-27 | 刘红军 | Multi-rotor aerocraft and control method |
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| CN102114914B (en) * | 2011-01-21 | 2014-03-19 | 文杰 | Distributed power multi-rotor VTOL (vertical take off and landing) aircraft and control method thereof |
| CN201932359U (en) * | 2011-01-21 | 2011-08-17 | 文杰 | Distributive power multi-rotor vertical take-off and landing aircraft |
| CN102126554A (en) * | 2011-01-28 | 2011-07-20 | 南京航空航天大学 | Unmanned air vehicle with multiple rotary wings in plane-symmetry layout |
| FR2997382B1 (en) * | 2012-10-29 | 2014-11-21 | Eurocopter France | METHOD FOR MANAGING AN ENGINE FAILURE ON A MULTI-ENGINE AIRCRAFT PROVIDED WITH A HYBRID POWER PLANT |
| CN203094441U (en) * | 2013-01-16 | 2013-07-31 | 广州大学 | Improved four-rotor aircraft |
| CN103963963B (en) * | 2014-04-22 | 2016-01-13 | 深圳市大疆创新科技有限公司 | The flight control method of multi-rotor aerocraft and system |
| CN104176247A (en) * | 2014-07-16 | 2014-12-03 | 李一波 | Four-rotor unmanned aerial vehicle with engine for directly driving rotor |
| CN104176248B (en) * | 2014-07-16 | 2016-05-25 | 沈阳航空航天大学 | Twin-engined four axle four rotor wing unmanned aerial vehicles |
| CN105253301B (en) * | 2015-09-28 | 2017-12-05 | 深圳一电航空技术有限公司 | The flight control method and device of Multi-axis aircraft |
| CN205418095U (en) * | 2016-03-23 | 2016-08-03 | 刘海涛 | Many rotor crafts of oil -electricity hybrid vehicle |
| CN205524965U (en) * | 2016-04-14 | 2016-08-31 | 刘海涛 | Multi -rotor aircraft |
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- 2016-10-25 CN CN201680002336.9A patent/CN107077142B/en not_active Expired - Fee Related
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| WO2018076149A1 (en) | 2018-05-03 |
| CN107077142A (en) | 2017-08-18 |
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