CN107992080B - 控制分配方法、装置及多旋翼飞行器 - Google Patents
控制分配方法、装置及多旋翼飞行器 Download PDFInfo
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- CN107992080B CN107992080B CN201711420482.6A CN201711420482A CN107992080B CN 107992080 B CN107992080 B CN 107992080B CN 201711420482 A CN201711420482 A CN 201711420482A CN 107992080 B CN107992080 B CN 107992080B
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- 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
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- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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CN107992080B true CN107992080B (zh) | 2020-12-15 |
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Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
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CN108803641B (zh) * | 2018-06-08 | 2022-08-05 | 深圳臻迪信息技术有限公司 | 飞行控制方法及飞行器 |
CN109460052B (zh) * | 2019-01-09 | 2022-08-05 | 翁雷 | 一种可拼组飞行器的控制方法 |
CN111240212B (zh) * | 2020-03-25 | 2021-05-04 | 北京航空航天大学 | 一种基于优化预测的倾转旋翼无人机控制分配方法 |
CN112373677B (zh) * | 2020-11-18 | 2021-06-22 | 三生万物(北京)人工智能技术有限公司 | 一种六旋翼无人机动力缺失保护系统、保护方法 |
CN112817338B (zh) * | 2021-04-16 | 2021-07-09 | 北京三快在线科技有限公司 | 无人机的控制方法、装置、存储介质及电子设备 |
CN113253616B (zh) * | 2021-06-29 | 2021-10-01 | 中国科学院自动化研究所 | 快时变飞行器大包线飞行控制方法与装置 |
CN115407802B (zh) * | 2022-10-26 | 2023-03-24 | 广东汇天航空航天科技有限公司 | 多旋翼飞行器及其控制方法、设备、计算机可读存储介质 |
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JP4156544B2 (ja) * | 2004-03-05 | 2008-09-24 | 三菱電機株式会社 | 出力分配算出装置 |
CN102736631B (zh) * | 2012-06-11 | 2015-01-07 | 北京航空航天大学 | 一种基于角加速度传感器的多操纵面无人机闭环控制分配方法 |
CN102902277B (zh) * | 2012-10-19 | 2015-09-30 | 北京航空航天大学 | 一种六旋翼飞行器有一个电机停机时的安全着陆方法 |
CN104699105B (zh) * | 2013-12-10 | 2017-10-31 | 中国航空工业第六一八研究所 | 一种六旋翼飞行器的容错控制方法 |
CN104699108B (zh) * | 2013-12-10 | 2017-12-19 | 中国航空工业第六一八研究所 | 一种多旋翼飞行器的控制分配方法 |
CN104699106B (zh) * | 2013-12-10 | 2017-12-19 | 中国航空工业第六一八研究所 | 一种八旋翼飞行器的控制分配方法 |
CN104216417B (zh) * | 2014-09-22 | 2017-09-12 | 北京航空航天大学 | 一种基于四矢量螺旋桨的平流层飞艇的动态控制分配方法 |
CN104238565B (zh) * | 2014-09-30 | 2017-07-18 | 清华大学 | 一种应用于容错飞行控制系统的鲁棒控制分配方法 |
CN104765312B (zh) * | 2015-03-09 | 2017-04-19 | 上海交通大学 | 飞行器可重构控制系统实现方法 |
CN105700542B (zh) * | 2016-03-30 | 2019-03-01 | 北京航空航天大学 | 一种基于矢量场制导和最小二乘法的平流层飞艇控制分配方法 |
CA2967221C (en) * | 2016-05-13 | 2021-08-24 | Bell Helicopter Textron Inc. | Forward folding rotor blades |
CN106777739B (zh) * | 2016-12-28 | 2020-10-20 | 南京航空航天大学 | 一种倾转旋翼机倾转过渡过程的求解方法 |
CN106842344B (zh) * | 2017-04-24 | 2018-10-12 | 中国科学院电子学研究所 | 基于前馈网络的无人机航磁全轴梯度磁干扰补偿的方法 |
CN106990790B (zh) * | 2017-06-06 | 2020-02-07 | 成都纵横自动化技术股份有限公司 | 一种抗饱和多旋翼飞行器控制方法 |
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Address after: 610041 room 801-805, 8 / F, zone a, building 3, No. 200, Tianfu 5th Street, Chengdu hi tech Zone, China (Sichuan) pilot Free Trade Zone, Chengdu, Sichuan Province Applicant after: CHENGDU JOUAV AUTOMATION TECHNOLOGY Co.,Ltd. Address before: 610000 Sichuan hi tech Zone Tianfu five street, No. 200 Jing Rong international square 6A7 building Applicant before: CHENGDU JOUAV AUTOMATION TECHNOLOGY Co.,Ltd. |
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Address after: 610041 7th floor, area a, building 6, No. 200, Tianfu 5th Street, high tech Zone, Chengdu, Sichuan Patentee after: CHENGDU JOUAV AUTOMATION TECHNOLOGY Co.,Ltd. Country or region after: China Address before: Room 801-805, 8th floor, area a, building 3, No. 200, Tianfu 5th Street, Chengdu hi tech Zone, China (Sichuan) pilot Free Trade Zone, Chengdu, Sichuan 610041 Patentee before: CHENGDU JOUAV AUTOMATION TECHNOLOGY Co.,Ltd. Country or region before: China |