CN109515700B - Four-rotor aircraft vector control method and four-rotor aircraft - Google Patents
Four-rotor aircraft vector control method and four-rotor aircraft Download PDFInfo
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- CN109515700B CN109515700B CN201811534754.XA CN201811534754A CN109515700B CN 109515700 B CN109515700 B CN 109515700B CN 201811534754 A CN201811534754 A CN 201811534754A CN 109515700 B CN109515700 B CN 109515700B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention discloses a four-rotor aircraft vector control method and a four-rotor aircraft, wherein the method comprises the following steps: receiving a deflection instruction; detecting a current mode of the quad-rotor aircraft to employ different control strategies; if the current mode is a four-axis linkage mode, defining the x-axis direction of a coordinate system as the advancing direction of the aircraft, and distributing four rotors in four quadrants; if the current mode is a two-axis linkage mode, the direction of an axis x1 of a coordinate system is defined as the advancing direction of the aircraft, four rotors are distributed on coordinate axes, and the two modes control the rotor structure of the deflection rotor system or the four-rotor system of the deflection system to swing around a connecting rod shaft by corresponding angles according to a deflection instruction. In a particular implementation, the two modes of linkage may be used separately. The method realizes the maneuvering of the aircraft by controlling the deflection of the rotor system and/or the tilt of the rotor, so that the aircraft flies in all directions in any attitude, the maneuverability of the aircraft is effectively enhanced, and the use difficulty of the payload with attitude sensitivity is reduced.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a four-rotor aircraft vector control method and a four-rotor aircraft.
Background
The four-axis aircraft is increasingly popularized in the fields of aeromodelling and unmanned aerial vehicles, and has good application prospects in many fields, but the traditional four-axis aircraft has poor maneuverability, so that the application of the four-axis aircraft is limited to a certain extent. The traditional four-axis aircraft comprises four symmetrically-distributed rotor systems, when the horizontal flight of an aircraft body is kept, the pulling force provided by the four rotor systems is theoretically the same in size, the direction is perpendicular to the aircraft body upwards, and the rotating speed of the four rotors is controlled to change the pulling force of the rotor systems so as to ensure that the aircraft body generates certain inclination in order to control the aircraft to fly to a certain direction. Because the rotor system is fixedly installed relative to the fuselage, the tension of the rotor system is still vertical to the fuselage, and the tension vector generates a horizontal component along with the inclination of the fuselage, and the horizontal component is the power of the horizontal flight of the aircraft. That is, to fly in a certain direction, the conventional quadrotor must first tilt the fuselage and then obtain the power of horizontal flight. When the flying mode leads the aircraft to fly towards a certain direction, the maneuverability of the aircraft is poor, the large-scale of the aircraft cannot be realized, and the operation of the effective load (such as a camera, a positioning and aiming device and the like) with attitude sensitivity and the effective load is also very unfavorable.
Some inventions also try to improve some defects of the traditional four-rotor aircraft, for example, in the related art 1 "a vector four-rotor aircraft with the capability of keeping the body horizontal", connecting shafts of four sets of rotor systems of the four-rotor aircraft are changed from central symmetrical distribution to parallel arrangement, and the aircraft obtains forward power by tilting mounting shafts of the rotor systems through two sets of transmission systems, but in this way, the transverse force and the rotating moment around the longitudinal axis cannot be controlled, and finally, stable flight is difficult to achieve; in the related art 2 "a four-rotor aircraft realizing six-degree-of-freedom full control", the deflection of a rotor system is mentioned, but the deflection direction is just orthogonal to the deflection direction of the invention, the obtained horizontal force component passes through the center of the aircraft, and the control of the rotation around the longitudinal axis of the aircraft cannot be realized by the deflection mode, but the rotation around the longitudinal axis is realized by other modes in the related art 2, the realizability is poor, and the decoupling from the height control is difficult.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
To this end, an object of the invention is to propose a method for vector control of a quad-rotor aircraft. The method adopts a brand-new deflection mode, and can realize the omnibearing flight of the four-rotor aircraft in any attitude.
Another object of the invention is to propose a quad-rotor aircraft.
In order to achieve the above object, the present invention provides, in one aspect, a vector control method for a quad-rotor aircraft, including the steps of: receiving a deflection instruction; different control strategies are adopted according to the current linkage mode of the four-rotor aircraft; if the current linkage mode is a four-axis linkage mode, controlling the fuselage of the four-rotor aircraft to be motionless, defining the x-axis direction of a first coordinate system as the advancing direction of the four-rotor aircraft, distributing four rotors in four quadrants, connecting the four-rotor system with the fuselage through connecting rods, wherein the included angle between the connecting rods is 90 degrees, the four connecting rods are uniformly distributed around, and then controlling a deflection system to deflect the four-rotor system or controlling the rotor structure of the four-rotor system to swing around the connecting rod axis by a corresponding angle according to the deflection instruction; if current linkage mode is diaxon linkage mode, then control when four rotor craft's fuselage is motionless, definition second coordinate system x1 axle direction does four rotor craft's the direction of advance, four rotors distribute on the coordinate axis, four rotor craft structure keeps unchangeable, again according to the instruction control deflection system deflects four rotor systems or four rotor system's rotor structure does the corresponding angle swing around the connecting rod axle.
According to the vector control method of the four-rotor aircraft, the aircraft can obtain forward direction control force, lateral control force and deflection method for controlling moment around the longitudinal axis of the aircraft by independently deflecting according to a specific rule and matching with four-rotor linkage or double-rotor system linkage deflection, so that the aircraft can obtain various required driving forces or moments when the aircraft body is ensured to be horizontal or fly in any attitude, the maneuverability of the aircraft is effectively enhanced, the use difficulty of an effective load (such as a camera) with attitude sensitivity is reduced, and the large-scale of the four-rotor aircraft is facilitated.
In addition, the vector control method of the four-rotor aircraft according to the embodiment of the invention can also have the following additional technical characteristics:
further, in one embodiment of the present invention, a flight control system controls the four-rotor system for speed regulation, the yaw system for movement, and attitude stabilization and navigational positioning of the four-rotor aircraft.
Further, in one embodiment of the present invention, the four rotors are a first rotor, a second rotor, a third rotor, and a fourth rotor, respectively, the first rotor and the third rotor are on the same horizontal line, and the second rotor and the fourth rotor are on the same horizontal line.
Further, in an embodiment of the present invention, when the current linkage mode is a four-axis linkage mode, the four rotor systems swing around the link shaft at a small angle or the four rotors tilt at a small angle, and when viewed from top to bottom, the counterclockwise swing is set to be positive.
Further, in an embodiment of the present invention, assuming that the pulling force of the rotors is P, when the first rotor and the second rotor are deflected clockwise by δ (δ <0) and the third rotor and the fourth rotor are deflected counterclockwise by δ (δ >0), the four-rotor aircraft obtains the total pulling force in the x direction of P
When the second rotor and the third rotor are deflected anticlockwise delta (delta >0) and the first rotor and the fourth rotor are deflected clockwise delta (delta <0), the four-rotor aircraft obtains the total pulling force in the y direction as
Further, in an embodiment of the present invention, when the current linkage mode is a two-axis linkage mode, the four rotor systems swing around the link shaft at a small angle, and it is preset that the first rotor and the third rotor swing positive in the positive direction of the x1 axis of the second coordinate system, and the second rotor and the fourth rotor swing positive in the positive direction of the y1 axis of the second coordinate system.
Further, in an embodiment of the present invention, assuming that the pulling force of the rotor is P, when the first rotor and the third rotor deflect in the positive direction toward the axis x1 of the second coordinate system, the quad-rotor aircraft obtains driving power in the forward direction, and conversely obtains driving power in the reverse direction, and the horizontal component F of the rotor is Px1Comprises the following steps:
Fx1＝2P sinδ
further, in an embodiment of the present invention, when the second rotor and the fourth rotor have a yaw angle δ in the positive direction of the axes of the second coordinate system y1, the quad-rotor aircraft obtains a driving force in the direction of the axes of the second coordinate system y1, and conversely obtains a driving force in the negative direction of the axes of the second coordinate system y1, and the magnitudes of the forces are:
Fy1＝2P sinδ
further, in the present inventionIn one embodiment, the four-rotor aircraft has a tension F along its own axiszOr Fz1Comprises the following steps:
The four-rotor aircraft will gain the ability to accelerate to the z-axis or z1 axis when the pull of the four rotor systems increases simultaneously, and will cause the z-axis or z1 axis speed to decrease under gravity when the pull decreases simultaneously.
In order to achieve the above object, the present invention provides, in another aspect, a quadrotor aircraft, including: a body; first to fourth rotor systems for controlling the flight of a quad-rotor aircraft; first through fourth yaw systems for controlling rotor yaw of said quad-rotor aircraft in flight; an energy system and a flight control system as described above.
According to the four-rotor aircraft disclosed by the embodiment of the invention, the aircraft can obtain forward direction control force, lateral control force and deflection method for controlling moment around the longitudinal axis of the aircraft by independently deflecting according to a specific rule and matching with four-rotor linkage or double-rotor system linkage deflection, so that the aircraft can obtain various required driving forces or moments when the aircraft body is ensured to be horizontal or fly in any attitude, the maneuverability of the aircraft is effectively enhanced, the use difficulty of an effective load (such as a camera) with attitude sensitivity is reduced, and the large-scale of the four-rotor aircraft is facilitated.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a method for vector control of a quad-rotor aircraft in accordance with an embodiment of the present invention;
FIG. 2 is a schematic coordinate definition and configuration diagram of a quad-rotor aircraft according to an embodiment of the present invention;
FIG. 3 is a schematic view of the overall rotor system deflection configuration for a quad-rotor aircraft vector control method in accordance with an embodiment of the present invention;
figure 4 is a schematic view of the rotor-only deflection configuration of a quad-rotor aircraft vector control method in accordance with one embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a four-rotor aircraft vector control method and a four-rotor aircraft according to an embodiment of the present invention with reference to the drawings, and first, the four-rotor aircraft vector control method according to an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a flow chart of a method for vector control of a quad-rotor aircraft in accordance with an embodiment of the present invention.
As shown in fig. 1, the vector control method for a four-rotor aircraft comprises the following steps:
in step S101, a deflection instruction is received.
Specifically, a quad-rotor aircraft receives a deflection command from a deflection system.
In step S102, different control strategies are employed depending on the current linkage mode of the quad-rotor aircraft.
In step S103, if the current linkage mode is a four-axis linkage mode, the fuselage of the quadrotor is controlled to be stationary, and at the same time, the x-axis direction of the first coordinate system is defined as the advancing direction of the quadrotor, the four rotors are distributed in four quadrants, the quadrotor system is connected to the fuselage through connecting rods, the included angle between the connecting rods is 90 degrees, the four connecting rods are uniformly distributed around the four quadrants, and then the deflection system is controlled to deflect the quadrotor system or the rotor structure of the quadrotor system to swing around the connecting rod axis by a corresponding angle according to the deflection instruction.
Wherein, four rotors are first rotor, second rotor, third rotor, fourth rotor respectively, and first rotor and third rotor are on same water flat line, and second rotor and fourth rotor are on same water flat line.
Further, in one embodiment of the invention, when the front linkage mode is the four-axis linkage mode, the four-rotor system swings around the connecting rod shaft at a small angle or the four rotors tilt at a small angle, and when viewed from top to bottom, the swing in the counterclockwise direction is set to be positive. Setting the tension of the rotor wing as P, and when the first rotor wing and the second rotor wing deflect clockwise by delta<0) While the third rotor and the fourth counter-clockwise run-out δ (δ)>0) In time, the four-rotor aircraft obtains the total tension F in the x directionxIs composed of
When the second rotor and the third rotor are deflected anticlockwise by delta (delta)>0) While the first and fourth rotors are deflected clockwise by delta (delta)<0) In time, the four-rotor aircraft obtains the total tension F in the y directionyIs composed of
Finally, the tension F of the four-rotor aircraft along its own axiszComprises the following steps:
the four-rotor aircraft will gain the ability to accelerate to the z1 axis when the pull of the four-rotor system is simultaneously increased and will cause the z1 axis speed to decrease under the force of gravity when the pull is simultaneously decreased.
It should be noted that the flight control system can control the speed regulation of the rotor system, the movement of the yaw system, and the attitude stabilization and navigation positioning of the four-rotor aircraft.
Specifically, as shown in fig. 2, the structure and coordinates of the novel vector control quad-rotor aircraft are defined, the x-axis direction of a coordinate system is defined as the advancing direction of the aircraft, the four rotors are distributed in four quadrants and connected by connecting rods and the aircraft body, the included angle between the connecting rods is 90 degrees, and the four connecting rods are uniformly distributed around. The four rotor systems can swing around the connecting rod shaft at a small angle, the swinging direction is shown in fig. 2, the counterclockwise swinging direction is appointed to be positive, the swinging angle is shown in fig. 3 and 4, the whole rotor system can be deflected as shown in fig. 3, or only the rotor structure can be deflected as shown in fig. 4, and the specific implementation is different according to the system. Given that the rotor has a drag P, when a rotor has a yaw angle delta, the rotor will have a horizontal component Fh
Fh＝P sinδ
As shown in fig. 2, F will be for the ith rotorhiDecomposing into x and y directions to obtain FhxiAnd Fhyi(i is 1 to 4) and is
As shown in fig. 2, if the first rotor 1 and the second rotor 2 deflect clockwise by δ (δ <0), and the third rotor 3 and the fourth rotor 4 deflect counterclockwise by δ (δ >0), the y-direction components of the pulling forces of the four rotors cancel each other out, and the x-direction components are superposed, so that the aircraft obtains the power in the x-direction, and can realize the flight in the x-direction without inclining the aircraft body, in this case, the directions of the x-direction pulling forces and the y-direction pulling forces of the rotors are shown in table 1; and conversely, the aircraft can obtain power in the direction opposite to the direction x.
When first rotor 1 and second rotor 2 swung clockwise, and third rotor 3 and fourth rotor 4 swung counterclockwise, then the pulling force component direction of each rotor is as shown in table 1.
TABLE 1
| Rotor serial number | Fhxi | Fhyi |
| 1 | + | + |
| 2 | + | - |
| 3 | + | + |
| 4 | + | - |
The total tensile force in the x direction is as follows:
the force enables the aircraft to fly in the fore-aft direction.
If the second rotor wing 2 and the third rotor wing 3 are deflected anticlockwise by delta (delta >0), and the first rotor wing 1 and the fourth rotor wing 4 are deflected clockwise by delta (delta <0), the x-direction components of the pulling forces of the four rotor wings are mutually offset, and the y-direction components are superposed, so that the aircraft obtains the power in the y-direction, and can realize the flight in the y-direction under the condition of not inclining the aircraft body, and in this case, the directions of the x-direction pulling forces and the y-direction pulling forces of the rotor wings are shown in a table 2; and conversely, the aircraft can obtain power in the y direction.
When the second rotor 2 and the third rotor 3 swing counterclockwise and the first rotor 1 and the fourth rotor 4 swing clockwise, the directions of the tension components of the respective rotors are as shown in table 2.
TABLE 2
| Rotor serial number | Fhxi | Fhyi |
| 1 | + | + |
| 2 | - | + |
| 3 | + | + |
| 4 | - | + |
The total tension in the y direction is as follows:
the force enables the aircraft to fly in a direction-finding manner.
The pulling force of the aircraft along the z-axis is as follows:
when the pulling force of the four rotor systems is increased simultaneously, the aircraft can obtain the capability of accelerating towards the z direction, and when the pulling force is reduced simultaneously, the aircraft can reduce the speed towards the z direction under the action of gravity.
If the four rotors deflect clockwise (delta <0), the aircraft obtains a yaw moment in a clockwise direction (viewed from top to bottom), and conversely, the aircraft obtains a yaw moment in a counterclockwise direction, so that the direction of the aircraft is adjusted. The magnitude of the torque about the z-axis is:
Mz＝4rP sinδ
the moment enables the aircraft to rotate around the self axis. Wherein r is the distance of the rotor force action point from the center of the aircraft.
When the first rotor wing 1 and the second rotor wing 2 respectively obtain delta P tension increment when accelerating, and the third rotor wing 3 and the fourth rotor wing 4 decelerate at the same time, and the tension respectively reduces delta P, the aircraft obtains moment around the positive direction of the x axis, otherwise obtains moment around the negative direction of the x axis, and the moment magnitude is as follows:
the moment controls the rotation of the aircraft about the x-axis.
When the first rotor wing 1 and the fourth rotor wing 4 respectively obtain delta P pulling force increment when accelerating, and the second rotor wing 2 and the third rotor wing 3 decelerate at the same time, and the pulling force respectively reduces delta P, the aircraft can obtain moment around the positive direction of the y axis, otherwise, obtain moment around the negative direction of the y axis, and the moment magnitude is:
the moment controls the rotation of the aircraft about the y-axis.
In step S104, if the current linkage mode is the two-axis linkage mode, the fuselage of the quad-rotor aircraft is controlled to be stationary, and meanwhile, the axis direction of the second coordinate system x1 is defined as the forward direction of the quad-rotor aircraft, the four rotors are distributed on the coordinate axes, the structure of the quad-rotor aircraft remains unchanged, and then the yaw system is controlled to deflect the quad-rotor system or the rotor structure of the quad-rotor system to swing around the connecting rod axis by a corresponding angle according to the deflection instruction.
Further, in an embodiment of the present invention, when the front linkage mode is the two-axis linkage mode, the four rotor systems swing around the link shaft at a small angle, and it is preset that the first rotor and the third rotor swing positive in the positive direction of the x-axis of the second coordinate system, and the second rotor and the fourth rotor swing positive in the positive direction of the y1 axis of the second coordinate system. If the pulling force of the rotor wing is P, when the first rotor wing and the third rotor wing deflect towards the positive direction of an x1 shaft of a second coordinate system, the four-rotor aircraft obtains driving power in the forward direction, otherwise, obtains driving force in the backward direction, and the horizontal component F of the rotor wingx1Comprises the following steps:
Fx1＝2P sinδ
then, when the second rotor and the fourth rotor have a yaw angle δ towards the positive direction of the y axis of the second coordinate system, the four-rotor aircraft obtains a driving force along the direction of the y1 axis of the second coordinate system, and conversely obtains a driving force along the negative direction of the y1 axis of the second coordinate system, and the force has the following magnitude:
Fy1＝2P sinδ
finally, the tension F of the four-rotor aircraft along its own axisz1Comprises the following steps:
the four-rotor aircraft will gain the ability to accelerate to the z1 axis when the pull of the four-rotor system is simultaneously increased and will cause the z1 axis speed to decrease under the force of gravity when the pull is simultaneously decreased.
Specifically, as shown in fig. 2, the direction of the x1 axis of the coordinate system is defined as the advancing direction of the aircraft, four rotors are distributed on the coordinate axis, and the structure of the aircraft is kept unchanged. Four rotor systems can do the swing of small angle around the connecting rod axle, and the swing direction is agreed first rotor 1 and the swing of third rotor 3 to x1 axle positive direction and is positive, and the swing of second rotor 2 and fourth rotor 4 to y1 axle positive direction is positive. If the pulling force of the rotor is P, when the first rotor 1 and the third rotor 3 deflect to the positive direction of the x1 axis, the aircraft obtains the driving power in the forward direction, otherwise, the aircraft can obtain the driving force in the backward direction, and the magnitude of the driving force is:
Fx1＝2P sinδ
the force enables the aircraft to fly forward and backward.
When the second rotor 2 and the fourth rotor 4 have a yaw angle δ in the positive direction of the y1 axis, the aircraft will obtain a driving force in the y1 direction, and conversely will obtain a driving force in the negative direction of the y1 axis, and the forces are:
Fy1＝2P sinδ
the force enables the aircraft to fly in a direction-finding manner.
The aircraft has the tension force along the z1 axis of the aircraft
When the pulling force of the four rotor systems is increased simultaneously, the aircraft can obtain the capability of accelerating towards the z direction, and when the pulling force is reduced simultaneously, the aircraft can reduce the speed towards the z direction under the action of gravity.
When the first rotor wing 1 deflects towards the positive direction of an x1 shaft, the third rotor wing 3 deflects towards the negative direction of an x1 shaft, the second rotor wing 2 deflects towards the positive direction of a y1 shaft, and the fourth rotor wing 4 deflects towards the negative direction of a y1 shaft, the aircraft obtains a moment rotating around the positive direction of a z1 shaft, and conversely obtains a selection moment around the negative direction of a z1 shaft, wherein the moment has the following magnitude:
Mz1＝4rP sinδ
the moment enables the aircraft to rotate around the self axis. Wherein r is the distance of the rotor force action point from the center of the aircraft.
When the first rotor 1 accelerates to obtain delta P tension increment respectively, and simultaneously the third rotor 3 decelerates, the tension is reduced to delta P respectively, and the rotating speeds of the second rotor 2 and the fourth rotor 4 are kept unchanged, the aircraft obtains a moment in a positive direction around the x1 axis, and conversely obtains a moment in a negative direction around the x1 axis, wherein the moment is as follows:
Mx1＝2rΔP cosδ
the moment controls the aircraft to rotate around an x1 axis;
when the fourth rotor 4 accelerates to obtain delta P tension increment respectively, and simultaneously the second rotor 2 decelerates, the tension is reduced by delta P respectively, and the rotating speeds of the first rotor 1 and the third rotor 3 are kept unchanged, the aircraft obtains a moment in a positive direction around the y1 axis, and conversely obtains a moment in a negative direction around the y1 axis, wherein the moment is as follows:
My1＝2rΔP cosδ
this moment controls the rotation of the aircraft about the y1 axis.
In summary, the vector control method of the four-rotor aircraft provided by the embodiment of the invention has the following advantages:
1. the maneuverability and the controllability of the four-axis aircraft are improved;
2. when the four-axis aircraft changes the flight direction, the aircraft body does not need to be inclined, so that the flight stability is improved;
3. when the four-axis aircraft changes the flight direction, the aircraft body does not need to be inclined, a more stable platform is provided for the effective load, and the four-axis aircraft is more beneficial to the work of the effective load with attitude sensitivity;
4. the aircraft can realize six-degree-of-freedom non-coupling all-directional flight within the range of attitude capability;
5. when the four-axis aircraft changes the flight direction, the aircraft body does not need to be inclined, so that the aircraft has better dynamic performance, and the large-scale of the aircraft is realized.
According to the vector control method of the four-rotor aircraft provided by the embodiment of the invention, the four rotors are controlled to deflect and rotate at different modes, so that the aircraft can fly freely with six degrees of freedom, the aircraft can fly in different directions under the condition that the aircraft body does not need to be inclined in practical application, the condition that effective loads such as a camera on the aircraft sensitive to the attitude of the aircraft can work better can be effectively ensured, and the maneuvering performance of the aircraft can be improved.
Next, a four-rotor aircraft according to an embodiment of the present invention will be described with reference to the drawings.
Figure 2 is a coordinate definition and structural schematic of a quad-rotor aircraft according to one embodiment of the present invention.
As shown in fig. 2, the quad-rotor aircraft 10 includes: fuselage body 100, first through fourth rotor systems 200, first through fourth yaw systems 300, energy system 400, and flight control system 500. The four-rotor aircraft 10 provided by the embodiment of the invention can realize control force or moment with six degrees of freedom, can well realize the flight of the aircraft in all directions under the condition of ensuring the attitude level of the aircraft body, and can ensure that the four-rotor aircraft flies in any attitude and any direction within the range of attitude capability.
First through fourth rotor systems 200 are used to control the flight of a quad-rotor aircraft. First through fourth yaw systems 300 are used to control rotor yaw of a quad-rotor aircraft during flight.
In other words, as shown in FIG. 2, a quad-rotor aircraft includes fuselage 100, quad-rotor system 200, quad-yaw system 300, energy system 400, and flight control system 500. Four sets of rotor systems 200 are evenly distributed around the fuselage at 90 degree intervals, and the fuselage is internally provided with the main parts of a flight control system, an energy system and a deflection system. The four sets of deflection systems 300 respectively drive the four sets of rotor systems to deflect to realize adjustment of the tension direction, and the rotor systems can adopt an integral deflection mode (as shown in fig. 3) or adopt a special mechanism to realize a single rotor deflection mode (as shown in fig. 4). Flight control system 500 implements quad-rotor system 200 speed control, quad-rotor yaw system 300 motion control, and attitude stabilization and navigational positioning of quad-rotor aircraft 10.
It should be noted that the foregoing explanation of the embodiment of the vector control method for a four-rotor aircraft is also applicable to the four-rotor aircraft, and is not repeated here.
According to the four-rotor aircraft provided by the embodiment of the invention, the four-rotor aircraft realizes the maneuvering of the aircraft by controlling the deflection and/or the tilting of the rotor wing system, controls the deflection and the rotating speed of the four rotor wings according to different modes, realizes the arbitrary flight of the aircraft with 6 degrees of freedom, can realize the flight in different directions under the condition of not inclining the aircraft body in practical application, can effectively ensure that effective loads such as a camera on the aircraft sensitive to the attitude of the aircraft can work better, and can improve the maneuvering performance of the aircraft.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (9)
1. A method of vector control for a quad-rotor aircraft, comprising:
receiving a deflection instruction;
different control strategies are adopted according to the current linkage mode of the four-rotor aircraft;
if current linkage mode is four-axis linkage mode, then control when four rotor craft's fuselage is motionless, the first coordinate system x axle direction of definition does four rotor craft's advancing direction, four rotors are first rotor, second rotor, third rotor, fourth rotor respectively, four rotors distribute in four quadrants, first rotor with the third rotor is on same water flat line, the second rotor with the fourth rotor is on same water flat line, and four rotor systems pass through the connecting rod and the fuselage links to each other, contained angle between the connecting rod is 90 degrees, and four connecting rod evenly distributed are all around, again according to deflection instruction control deflection system deflects four rotor systems or four rotor system's rotor structure does corresponding angle swing around the connecting rod axle, and the mobile mode of concrete realization is as follows: (A) when the first rotor wing and the second rotor wing synchronously deflect, the third rotor wing and the fourth rotor wing synchronously deflect at the same time, and the deflection direction of the first rotor wing and the deflection direction of the second rotor wing are opposite, the resultant force of the four rotor wings enables the four-rotor aircraft to obtain the driving force moving along the x direction; (B) when the second rotor wing and the third rotor wing synchronously deflect, the first rotor wing and the fourth rotor wing synchronously deflect at the same time, and the deflection direction of the second rotor wing and the deflection direction of the third rotor wing are opposite, the resultant force of the four rotor wings enables the four-rotor aircraft to obtain the driving force moving along the y direction; (C) when the four rotors simultaneously deflect in the same direction, the four-rotor aircraft obtains a control moment around a z axis, namely a yaw moment, so as to realize the yaw movement of the four-rotor aircraft; and
if current linkage mode is diaxon linkage mode, then control when the fuselage of four rotor crafts is motionless, definition second coordinate system x1 axle direction is four rotor craft's direction of advance, four rotors distribute on the coordinate axis, four rotor craft structure keeps unchangeable, again according to the instruction control deflection system deflects four rotor systems or four rotor system's rotor structure does the swing of corresponding angle around the connecting rod axle, specifically realizes that the mode of maneuvering is as follows: (A) when the first rotor and the third rotor deflect towards the positive direction of an x1 shaft, the four-rotor aircraft obtains driving power in the forward direction, otherwise, obtains driving power in the backward direction; (B) when the second rotor and the fourth rotor are deflected towards the y1 axis in the positive direction, the four-rotor aircraft obtains a driving force along the y1 direction, and conversely obtains a driving force along the y1 axis in the negative direction; (C) when the first rotor is to the positive beat of x1 axle, the third rotor is to the negative direction beat of x1 axle, the second rotor is to the positive direction beat of y1 axle, when the fourth rotor is to the negative direction beat of y1 axle, the four-rotor aircraft obtains around the moment of z1 axle positive rotation, then obtains around the rotatory moment of z1 axle negative direction otherwise, with the realization the yawing motion of four-rotor aircraft.
2. The quad-rotor aircraft vector control method of claim 1, wherein a flight control system controls the quad-rotor system governing, the yaw system movement, and attitude stabilization and navigational positioning of the quad-rotor aircraft.
3. The quad-rotor aircraft vector control method of claim 2, wherein when the current linkage mode is a four-axis linkage mode, the four-rotor system swings around the link axis at a small angle or the four rotors tilt at a small angle, and when viewed from top to bottom, the swing in the counter-clockwise direction is set to be positive.
4. A method of vector control for a quad-rotor vehicle as claimed in claim 3 wherein, assuming a rotor pull of P,
when the first rotor wing and the second rotor wing clockwise deflection delta and delta is less than zero, the third rotor wing and the fourth rotor wing anticlockwise deflection delta and delta is more than zero, the four-rotor aircraft obtains the total pulling force in the x direction as
When the second rotor with the anticlockwise beat delta of third rotor, and delta is less than zero, simultaneously the first rotor with the clockwise beat delta of fourth rotor, and delta is greater than zero, the total pulling force size that the four-rotor aircraft obtained y to is
5. The quad-rotor aircraft vector control method of claim 1, wherein when the current linkage mode is a two-axis linkage mode, the four-rotor system swings around the link at a small angle, and it is preset that the first rotor and the third rotor swing positive in the positive direction of the x1 axis of the second coordinate system, and the second rotor and the fourth rotor swing positive in the positive direction of the y1 axis of the second coordinate system.
6. The vector control method for a quadrotor aircraft according to claim 5, wherein the pulling force of the rotors is P, and when the first rotor and the third rotor are in opposite directionsWhen the axis of the second coordinate system x1 is deflected in the positive direction, the four-rotor aircraft obtains driving power in the forward direction, and conversely obtains driving power in the backward direction, and the horizontal component F of the rotorx1Comprises the following steps:
Fx1＝2Psinδ。
7. the vector control method for a quadrotor aircraft according to claim 6, wherein when the yaw angle δ of the second rotor and the fourth rotor exists towards the positive direction of the axis of the second coordinate system y1, the quadrotor aircraft obtains the driving force along the axis of the second coordinate system y1, and conversely obtains the driving force along the negative direction of the axis of the second coordinate system y1, and the magnitude of the force is as follows:
Fy1＝2Psinδ。
8. a method of vector control for a quad-rotor aircraft as claimed in claim 3 or claim 5 wherein the four-rotor aircraft has tension along its own axis:
The four-rotor aircraft will gain the ability to accelerate to the z-axis or z1 axis when the pull of the four rotor systems increases simultaneously, and will cause the z-axis or z1 axis speed to decrease under gravity when the pull decreases simultaneously.
9. A quad-rotor aircraft, comprising:
a body;
first to fourth rotor systems for controlling the flight of a quad-rotor aircraft;
first through fourth yaw systems for controlling rotor yaw of said quad-rotor aircraft in flight;
an energy system; and
a flight control system employing the quad-rotor vehicle vector control method of any of claims 1-8.
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| CN103387052B (en) * | 2013-07-23 | 2016-01-06 | 中国科学院长春光学精密机械与物理研究所 | Eight-rotary wing aircraft |
| CN108594839A (en) * | 2018-05-22 | 2018-09-28 | 深圳智航无人机有限公司 | Control method, aircraft based on more vectoring technologies and storage medium |
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| US9938005B2 (en) * | 2015-07-17 | 2018-04-10 | Teal Drones, Inc. | Thrust vectoring on a rotor-based remote vehicle |
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| CN108594839A (en) * | 2018-05-22 | 2018-09-28 | 深圳智航无人机有限公司 | Control method, aircraft based on more vectoring technologies and storage medium |
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