CN110254731B - Propeller-breaking protection method and device based on six-rotor aircraft - Google Patents
Propeller-breaking protection method and device based on six-rotor aircraft Download PDFInfo
- Publication number
- CN110254731B CN110254731B CN201910553930.2A CN201910553930A CN110254731B CN 110254731 B CN110254731 B CN 110254731B CN 201910553930 A CN201910553930 A CN 201910553930A CN 110254731 B CN110254731 B CN 110254731B
- Authority
- CN
- China
- Prior art keywords
- engine
- rotor aircraft
- rotating speed
- controlling
- fault
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D31/00—Power plant control; Arrangement thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
Abstract
According to the six-rotor aircraft-based blade-breaking protection method and device, the rotating speed of each engine of the six-rotor aircraft is monitored, the engine is indicated to be in fault under the condition that the rotating speed of any one engine is not within a preset range, and then the six-rotor aircraft is controlled to enter a blade-breaking protection mode, wherein under the blade-breaking protection mode, at least one control process is executed: controlling the rotating speed of a diagonal engine of the fault engine to be consistent with that of the fault engine, wherein the fault engine is an engine of which the rotating speed is not in a preset range; reducing the fuel output of each engine; controlling the engine brake to enable the six-rotor aircraft to decelerate at a preset acceleration; and reducing the flying height of the six-rotor aircraft. When one engine fails, the flight attitude and flight safety of the six-rotor aircraft are maintained by executing the control process.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicle control, in particular to a blade-breaking protection method and device based on a six-rotor aircraft.
Background
With the rapid development of the aircraft industry, compared with an electric six-rotor aircraft, the fuel engine direct-drive six-rotor aircraft has the remarkable advantages of large load and long endurance, so that the fuel engine direct-drive six-rotor aircraft is widely applied.
At present, a fuel-driven six-rotor aircraft realizes stable flight by means of speed regulation control of 6 engines, and when one engine fails, such as single cylinder or stalling or the rotating speed of the engine cannot reach the expected rotating speed, tension loss is caused, and therefore the flight attitude and the flight safety are influenced.
Therefore, a series of processing methods are needed to maintain the flight attitude and flight safety of the fuel engine direct-drive six-rotor aircraft.
Disclosure of Invention
The application provides a six-rotor aircraft-based broken propeller protection method and device, and aims to solve the problem that the flight attitude and flight safety of a six-rotor aircraft are affected when a certain engine breaks down.
In order to achieve the above object, the present application provides the following technical solutions:
a blade breakage protection method based on a six-rotor aircraft comprises the following steps:
monitoring the rotational speed of each engine of the six-rotor aircraft;
under the condition that the rotating speed of any one engine is not within a preset range, controlling the six-rotor aircraft to enter a blade-breaking protection mode;
wherein, in the disconnected paddle protection mode, at least one of the following control processes is executed:
controlling the rotating speed of a diagonal engine of a fault engine to be consistent with the rotating speed of the fault engine, wherein the rotating speed of the fault engine is out of the preset range;
reducing the fuel output of each engine;
controlling engine braking to decelerate the six-rotor aircraft at a preset acceleration;
and reducing the flying height of the six-rotor aircraft.
Preferably, the control of the rotation speed of the diagonal engine of the failed engine is consistent with the rotation speed of the failed engine, specifically:
estimating the load of the six-rotor aircraft according to the current fuel output of each engine;
and controlling the rotating speed of the diagonal engine of the fault engine to be consistent with the rotating speed of the fault engine under the condition that the load of the six-rotor aircraft exceeds the preset load.
Further, the control process further includes:
and after the rotating speed of the diagonal engine for controlling the fault engine is consistent with the rotating speed of the fault engine, adjusting a power distribution matrix into a power output matrix adaptive to a four-shaft configuration.
Further, the control process further includes:
after the flying height of the six-rotor aircraft is reduced, controlling each engine to stop under the condition that the distance between the six-rotor aircraft and the ground is smaller than a preset distance;
or, the control process further includes:
and under the condition that the distance between the six-rotor aircraft and the ground is less than the preset distance, controlling each engine to stop.
Further, the control process further includes:
and before controlling each engine to stop, exiting the blade-breaking protection mode under the condition that the time length for recovering the rotating speed of the fault engine to the numerical value in the preset range exceeds the preset time length.
A disconnected oar protection device based on six rotor crafts includes:
a monitoring module for monitoring the rotational speed of each engine of the six-rotor aircraft;
the control module is used for controlling the six-rotor aircraft to enter a blade-breaking protection mode under the condition that the rotating speed of any one engine is not within a preset range;
wherein, in the disconnected oar protection mode, the control module includes following at least one control unit:
the rotating speed control unit is used for controlling the rotating speed of a diagonal engine of a fault engine to be consistent with the rotating speed of the fault engine, and the fault engine is an engine of which the rotating speed is not in the preset range;
a fuel output control unit for reducing fuel output of each engine;
the deceleration control unit is used for controlling the engine brake so that the six-rotor aircraft decelerates at a preset acceleration;
and the height control unit is used for reducing the flying height of the six-rotor aircraft.
Preferably, the rotation speed control unit is configured to:
estimating the load of the six-rotor aircraft according to the current fuel output of each engine;
and controlling the rotating speed of the diagonal engine of the fault engine to be consistent with the rotating speed of the fault engine under the condition that the load of the six-rotor aircraft exceeds the preset load.
Further, the control module further comprises:
and the configuration control unit is used for adjusting the power distribution matrix to be a power output matrix matched with a four-shaft configuration after the rotating speed of the diagonal engine for controlling the failed engine is consistent with the rotating speed of the failed engine.
Further, the control module further comprises: a parking control unit;
the parking control unit is used for controlling each engine to park under the condition that the distance between the six-rotor aircraft and the ground is less than a preset distance after the flying height of the six-rotor aircraft is reduced;
or the parking control unit is used for controlling each engine to park under the condition that the distance between the six-rotor aircraft and the ground is smaller than the preset distance.
Further, the control module further comprises:
and the exit control unit is used for exiting the broken-blade protection mode under the condition that the time length for recovering the rotating speed of the fault engine to the numerical value in the preset range exceeds the preset time length before controlling each engine to stop.
According to the six-rotor aircraft-based blade-breaking protection method and device, the rotating speed of each engine of the six-rotor aircraft is monitored, the engine is indicated to be in fault under the condition that the rotating speed of any one engine is not within a preset range, and then the six-rotor aircraft is controlled to enter a blade-breaking protection mode, wherein under the blade-breaking protection mode, at least one of the following control processes is executed: controlling the rotating speed of a diagonal engine of the fault engine to be consistent with that of the fault engine, wherein the fault engine is an engine with the rotating speed not within a preset range so as to adjust the flight attitude of the six-rotor aircraft; the fuel output of each engine is reduced, redundant power is reserved to preferentially adjust the flight attitude of the six-rotor aircraft, the horizontal falling of the fuselage of the six-rotor aircraft is ensured, and the loss can be effectively reduced; the engine brake is controlled, so that the six-rotor aircraft is decelerated at a preset acceleration, the phenomenon that a foot rest scrapes a ground object to cause rollover due to the horizontal speed when the six-rotor aircraft lands on the ground is avoided, and the flight safety of the six-rotor aircraft is ensured; the flying height of the six-rotor aircraft is reduced, and the six-rotor aircraft is controlled to land so as to avoid flying accidents and further ensure the flying safety of the six-rotor aircraft.
When one engine fails, the six-rotor aircraft is adjusted to fly by executing the control of the consistency of the rotating speed of the diagonal engine of the failed engine and the rotating speed of the failed engine and reducing the fuel output of each engine; the engine brake is controlled and the flying height of the six-rotor aircraft is reduced to ensure the flying safety of the six-rotor aircraft, so that the aims of maintaining the flying posture and the flying safety of the six-rotor aircraft are fulfilled.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a blade-break protection method based on a six-rotor aircraft according to an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a six-rotor aircraft according to an embodiment of the disclosure;
fig. 3 is a structural diagram of a blade breakage protection device based on a six-rotor aircraft according to an embodiment of the present application.
Detailed Description
The application provides a six-rotor aircraft-based rotor-breaking protection method and device, which are applied to a fuel-driven six-rotor aircraft, wherein each wing of the six-rotor aircraft is provided with a fuel engine, and the fuel engines are directly used for driving.
The purpose of this application lies in: when one engine fails, such as single cylinder or stalling or the rotating speed of the engine cannot reach the expected rotating speed, and tension is lost, the flight attitude and flight safety of the fuel engine direct-drive six-rotor aircraft are maintained.
It should be noted that the fuel-driven six-rotor aircraft is only an example, and the method and apparatus described in the embodiments of the present application may also be applied to an electrically-driven six-rotor aircraft.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The blade-breaking protection method based on the six-rotor aircraft provided by the embodiment of the application is shown in fig. 1, and specifically comprises the following steps:
s101: the rotational speed of each engine of the six-rotor aircraft is monitored.
S102: and under the condition that the rotating speed of any one engine is not in a preset range, controlling the six-rotor aircraft to enter a blade-breaking protection mode.
The preset range is determined by performing probability judgment according to the rotating speed measured in real time and the expected rotating speed, specifically, the judgment is based on a 3 sigma criterion, the 3 sigma criterion is also called a Layida criterion, a group of detection data is assumed to only contain random errors, the detection data is calculated to obtain a standard deviation, a preset interval determined according to preset probability is the preset range, the error exceeding the preset range can be considered, the detection data is determined not to belong to the random errors but to be coarse errors, namely, probability numerical value distribution is almost completely concentrated in a range of (mu-3 sigma, mu +3 sigma), and if the rotating speed of a certain engine exceeds the preset range and the abnormality lasts for a certain time (generally set to 1s), the power of the engine can be considered to be abnormal. It should be noted that the possibility of exceeding this range is only less than 0.3%.
In the embodiment of the application, a large amount of engine rotation speed data in a normal flight state can be selected, and a probability model is established according to the rotation speed data to determine the expected value mu and the standard deviation sigma. It should be noted that how to establish a probabilistic model based on the rotational speed data and determine the expected value μ and the standard deviation σ belongs to the prior art, and is not further limited herein.
Wherein, under the protection mode of the broken oar, at least one control process of the following is executed:
s103: and controlling the rotating speed of the diagonal engine of the failed engine to be consistent with the rotating speed of the failed engine, wherein the rotating speed of the failed engine is not in a preset range.
In the embodiment of the present application, the rotation speed of the diagonal engine for controlling the failed engine is consistent with the rotation speed of the failed engine, and specifically may be:
and estimating the load of the six-rotor aircraft according to the current fuel output of each engine.
When the six-rotor aircraft is driven by fuel oil to fly under a common load, the power margin of each shaft is large, and when the power of one engine is lost, the two engines beside the six-rotor aircraft are accelerated to compensate the power loss integrally, so that the attitude can be maintained to be stable. And if the worst case is considered, when the six-rotor aircraft is driven by fuel oil to fly in a full load, the power margin of each shaft is small, when two engines beside a fault engine integrally accelerate and compensate power loss, the engine without fault can be in a power saturation state, once power saturation occurs, the power of a certain shaft reaches the maximum, no margin is available for attitude control, and the attitude of the aircraft can oscillate or even diverge, so that the load of the six-rotor aircraft can be estimated according to the current fuel oil output of each engine.
It should be noted that the load of the six-rotor aircraft can be calculated by various estimation methods, and the estimation method of the load of the six-rotor aircraft is the prior art and is not further limited herein.
And under the condition that the load of the six-rotor aircraft exceeds the preset load, controlling the rotating speed of the diagonal engine of the fault engine to be consistent with the rotating speed of the fault engine.
In the embodiment of the application, the load of the aircraft can be roughly estimated according to the current fuel output of each engine, and when the load is less than or equal to the preset load, the diagonal engine of the fault engine is not processed; and when the load is greater than the preset load, controlling the diagonal engine of the fault engine to keep the same rotating speed as the fault engine.
It should be noted that when the rotation speed of any one of the engines is monitored to be out of the preset range, the engine is indicated to be in fault, the six-rotor aircraft can be directly controlled to enter a blade-breaking protection mode, and the rotation speed of the diagonal engine of the fault engine is controlled to be consistent with the rotation speed of the fault engine, so that the flight attitude of the six-rotor aircraft is adjusted.
To further achieve maintaining the attitude of the six-rotor aircraft, as shown in fig. 1, after controlling the rotational speed of the diagonal engine of the failed engine to coincide with the rotational speed of the failed engine, the control process may further include:
s104: and adjusting the power distribution matrix into a power output matrix adaptive to the four-shaft configuration.
As shown in fig. 2, assuming that the engine No. 1 has a fault and the rotational speed of the diagonal engine No. 4 and the rotational speed of the diagonal engine No. 1 are the same, the remaining four engines are arranged in an irregular four-axis configuration, which cannot maintain the course stability.
S105: the fuel output of each engine is reduced.
When a certain engine has a blade-breaking fault and the blade-breaking protection function is carried out, the weight of the whole six-rotor aircraft is approximately changed from 6 original engines to 4 original engines, and when the load is heavy, the power saturation of a certain engine is easy to occur, and the pitching and rolling control can be influenced by the power saturation. In order to adjust the flight attitude of the six-rotor aircraft, in the embodiment of the application, the power saturation can be monitored through the power mixer and saturation treatment is carried out, namely, the fuel output of each engine is reduced appropriately according to the saturation size, namely, the basic throttle of each engine is reduced, redundant power is reserved to preferentially adjust the flight attitude of the attitude six-rotor aircraft, the horizontal falling of the fuselage of the six-rotor aircraft is ensured, and the loss can be effectively reduced.
S106: the engine brake is controlled so that the six-rotor aircraft decelerates at a preset acceleration.
When a certain engine takes place disconnected oar trouble, general six rotor crafts all are in the operation stage, at this moment, because six rotor crafts's flying speed is not 0, horizontal velocity can lead to six rotor crafts's foot rest to scrape the ground object and cause and turn on one's side when falling to the ground, can't guarantee six rotor crafts's flight safety, in practical application, can carry out slow brake through position control ring control engine, so that six rotor crafts with predetermine acceleration and slow down, it is very little to fall six rotor crafts's speed, horizontal velocity can lead to six rotor crafts's foot rest to scrape the ground object and cause and turn on one's side when avoiding falling to the ground, guarantee six rotor crafts's flight safety.
It should be noted that the preset acceleration in the braking deceleration process may be one fixed acceleration or may be multiple fixed accelerations.
S107: and reducing the flying height of the six-rotor aircraft.
When a blade-breaking fault occurs in a certain engine, if the six-rotor aircraft cannot maintain normal operation, the six-rotor aircraft needs to land as soon as possible after stabilizing the attitude. In this application embodiment, can begin to adjust six rotor crafts height through the altitude control ring when six rotor crafts horizontal velocity drop to the default, control six rotor crafts and descend to lead to the fact the flight accident, guarantee six rotor crafts's flight safety.
According to the method for protecting the rotor-breaking of the six-rotor aircraft, when one engine fails, the six-rotor aircraft is adjusted to fly by executing the control that the rotating speed of the diagonal engine of the failed engine is consistent with the rotating speed of the failed engine and reducing the fuel output of each engine; the engine brake is controlled and the flying height of the six-rotor aircraft is reduced to ensure the flying safety of the six-rotor aircraft, so that the flying posture and the flying safety of the six-rotor aircraft are maintained.
To further achieve the maintenance of the flight safety of the six-rotor aircraft, as shown in fig. 1, after the flying height of the six-rotor aircraft is reduced, the control process may further include:
s108: and under the condition that the distance between the six-rotor aircraft and the ground is less than the preset distance, controlling each engine to stop.
Or, as shown in fig. 1, the control process may further include:
s109: and under the condition that the distance between the six-rotor aircraft and the ground is less than the preset distance, controlling each engine to stop.
When a certain engine has a propeller breaking fault and is in the propeller breaking protection action process, the six-rotor aircraft can be caused to automatically descend, when the six-rotor aircraft exceeds the sight distance of human eyes, even if an operator finds a power fault through the ground station alarm, emergency treatment is difficult to be carried out at the first time, therefore, in the embodiment of the application, after the flight height of the six-rotor aircraft is reduced, or in the propeller breaking protection control process of the six-rotor aircraft, the distance between the six-rotor aircraft and the ground can be measured through a ground radar arranged on the six-rotor aircraft, and under the condition that the distance between the six-rotor aircraft and the ground is smaller than the preset distance, each engine is controlled to stop, so that all the engines stop at once, the preset distance is generally set to be 0.5m, and damage to ground objects caused by high-speed rotating propellers when the six-rotor aircraft is forced to land is avoided.
To further achieve the maintenance of flight safety of a six-rotor aircraft, as shown in fig. 1, before controlling each engine to stop, the control process may further include:
s110: and exiting the broken-blade protection mode under the condition that the time length for recovering the rotating speed of the fault engine to the numerical value in the preset range exceeds the preset time length.
When a certain engine has a broken-propeller fault and is in the broken-propeller protection action process, if the time length of the rotating speed of the faulty engine recovering to the numerical value in the preset range exceeds the preset time length, the faulty engine is considered to be capable of normally working, and at the moment, the faulty engine needs to smoothly exit the broken-propeller protection mode, namely: the attitude controller recovers the normal control structure and parameters; the height control ring adjusts the deceleration hovering of the airplane; the diagonal engine of the failed engine linearly transitions to the desired speed output by the normal controller within 1 second; and after the normal hovering exceeds 5 seconds, automatically entering a route mode and executing the rest operation tasks. It should be noted that the blade-breaking protection mode is also exited after the vehicle is parked on the ground.
The method is described in detail in the embodiments disclosed in the present application, and the method of the present application can be implemented by various types of apparatuses, so that an apparatus is also disclosed in the present application, and the following detailed description is given of specific embodiments.
Fig. 3 is a schematic view of a blade breakage protection device based on a six-rotor aircraft according to an embodiment of the present application. As shown in fig. 3, an embodiment of the present application provides a blade breakage protection device based on a six-rotor aircraft, including: a monitoring module 31 and a control module 32, wherein:
and a monitoring module 31 for monitoring the rotational speed of each engine of the six-rotor aircraft.
And the control module 32 is used for controlling the hexa-rotor aircraft to enter a blade-breaking protection mode under the condition that the rotating speed of any one engine is not in a preset range.
Wherein, in the above-mentioned break-oar protection mode, the control module 32 includes at least one of the following control units: a rotation speed control unit 321, a fuel output control unit 322, a deceleration control unit 323, and a height control unit 324, wherein:
the rotation speed control unit 321 is configured to control the rotation speed of the diagonal engine of the failed engine to be consistent with the rotation speed of the failed engine, where the rotation speed of the failed engine is not within a preset range.
Specifically, the rotation speed control unit 321 is configured to:
and estimating the load of the six-rotor aircraft according to the current fuel output of each engine.
And under the condition that the load of the six-rotor aircraft exceeds the preset load, controlling the rotating speed of the diagonal engine of the fault engine to be consistent with the rotating speed of the fault engine.
A fuel output control unit 322 for reducing the fuel output of each engine.
The deceleration control unit 323 is used to control the engine brake so that the six-rotor aircraft decelerates at a preset acceleration.
Altitude control unit 324 is used to lower the altitude of the six-rotor aircraft.
The rotating speed control unit is used for controlling the rotating speed of a diagonal engine of a fault engine to be consistent with the rotating speed of the fault engine, and the fault engine is an engine with the rotating speed not within a preset range so as to adjust the flight attitude of the six-rotor aircraft; the fuel output control unit is used for reducing the fuel output of each engine, reserving redundant power to preferentially adjust the flight attitude of the six-rotor aircraft, ensuring that the fuselage of the six-rotor aircraft falls horizontally, and effectively reducing loss; the deceleration control unit is used for controlling the engine to brake so that the six-rotor aircraft decelerates at a preset acceleration, the phenomenon that a foot rest scrapes a ground object to cause rollover due to the horizontal speed when the six-rotor aircraft lands on the ground is avoided, and the flight safety of the six-rotor aircraft is ensured; the height control unit is used for reducing the flying height of the six-rotor aircraft and controlling the six-rotor aircraft to land so as to avoid flying accidents and further ensure the flying safety of the six-rotor aircraft.
To further enable maintaining the attitude of the six-rotor aircraft, control module 32 may further include: a configuration control unit.
The configuration control unit is used for adjusting the power distribution matrix to be a power output matrix matched with a four-shaft configuration after controlling the rotating speed of the diagonal engine of the failed engine to be consistent with the rotating speed of the failed engine.
To further enable maintaining flight safety of a six-rotor aircraft, the control module 32 may further include: a parking control unit.
And the parking control unit is used for controlling each engine to park under the condition that the distance between the six-rotor aircraft and the ground is less than the preset distance after the flying height of the six-rotor aircraft is reduced.
Or the parking control unit is used for controlling each engine to park under the condition that the distance between the six-rotor aircraft and the ground is less than the preset distance.
To further enable maintaining flight safety of a six-rotor aircraft, the control module 32 may further include: and exiting the control unit.
And the exit control unit is used for exiting the broken-blade protection mode under the condition that the time length for recovering the rotating speed of the fault engine to the numerical value in the preset range exceeds the preset time length before controlling each engine to stop.
The functions described in the method of the embodiment of the present application, if implemented in the form of software functional units and sold or used as independent products, may be stored in a storage medium readable by a computing device. Based on such understanding, part of the contribution to the prior art of the embodiments of the present application or part of the technical solution may be embodied in the form of a software product stored in a storage medium and including several instructions for causing a computing device (which may be a personal computer, a server, a mobile computing device or a network device) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A blade breakage protection method based on a six-rotor aircraft is characterized by being applied to a fuel-driven six-rotor aircraft, wherein each wing of the six-rotor aircraft is provided with a fuel engine, and the fuel engines are directly driven by the fuel engines, and the method comprises the following steps:
monitoring the rotational speed of each engine of the six-rotor aircraft;
under the condition that the rotating speed of any one engine is not within a preset range, controlling the six-rotor aircraft to enter a blade-breaking protection mode;
wherein, in the disconnected paddle protection mode, at least one of the following control processes is executed:
controlling the rotating speed of a diagonal engine of a fault engine to be consistent with the rotating speed of the fault engine, wherein the rotating speed of the fault engine is out of the preset range;
reducing the fuel output of each engine;
controlling engine braking to decelerate the six-rotor aircraft at a preset acceleration;
and reducing the flying height of the six-rotor aircraft.
2. The blade breakage protection method according to claim 1, wherein the rotation speed of the diagonal engine controlling the faulty engine is consistent with the rotation speed of the faulty engine, specifically:
estimating the load of the six-rotor aircraft according to the current fuel output of each engine;
and controlling the rotating speed of the diagonal engine of the fault engine to be consistent with the rotating speed of the fault engine under the condition that the load of the six-rotor aircraft exceeds the preset load.
3. The break blade protection method according to claim 1 or 2, wherein the control process further comprises:
and after the rotating speed of the diagonal engine for controlling the fault engine is consistent with the rotating speed of the fault engine, adjusting a power distribution matrix into a power output matrix adaptive to a four-shaft configuration.
4. The break blade protection method according to claim 1, wherein the control process further comprises:
after the flying height of the six-rotor aircraft is reduced, controlling each engine to stop under the condition that the distance between the six-rotor aircraft and the ground is smaller than a preset distance;
or, the control process further includes:
and under the condition that the distance between the six-rotor aircraft and the ground is less than the preset distance, controlling each engine to stop.
5. The break blade protection method according to claim 4, wherein the control process further comprises:
and before controlling each engine to stop, exiting the blade-breaking protection mode under the condition that the time length for recovering the rotating speed of the fault engine to the numerical value in the preset range exceeds the preset time length.
6. The utility model provides a disconnected oar protection device based on six rotor crafts which characterized in that is applied to six rotor crafts of fuel drive, all dispose a fuel engine on every wing of six rotor crafts, by the fuel engine directly drives, the device includes:
a monitoring module for monitoring the rotational speed of each engine of the six-rotor aircraft;
the control module is used for controlling the six-rotor aircraft to enter a blade-breaking protection mode under the condition that the rotating speed of any one engine is not within a preset range;
wherein, in the disconnected oar protection mode, the control module includes following at least one control unit:
the rotating speed control unit is used for controlling the rotating speed of a diagonal engine of a fault engine to be consistent with the rotating speed of the fault engine, and the fault engine is an engine of which the rotating speed is not in the preset range;
a fuel output control unit for reducing fuel output of each engine;
the deceleration control unit is used for controlling the engine brake so that the six-rotor aircraft decelerates at a preset acceleration;
and the height control unit is used for reducing the flying height of the six-rotor aircraft.
7. The break blade protection device according to claim 6, wherein the rotation speed control unit is configured to:
estimating the load of the six-rotor aircraft according to the current fuel output of each engine;
and controlling the rotating speed of the diagonal engine of the fault engine to be consistent with the rotating speed of the fault engine under the condition that the load of the six-rotor aircraft exceeds the preset load.
8. The apparatus of claim 6 or 7, wherein the control module further comprises:
and the configuration control unit is used for adjusting the power distribution matrix to be a power output matrix matched with a four-shaft configuration after the rotating speed of the diagonal engine for controlling the failed engine is consistent with the rotating speed of the failed engine.
9. The apparatus of claim 6, wherein the control module further comprises: a parking control unit;
the parking control unit is used for controlling each engine to park under the condition that the distance between the six-rotor aircraft and the ground is less than a preset distance after the flying height of the six-rotor aircraft is reduced;
or the parking control unit is used for controlling each engine to park under the condition that the distance between the six-rotor aircraft and the ground is smaller than the preset distance.
10. The apparatus of claim 9, wherein the control module further comprises:
and the exit control unit is used for exiting the broken-blade protection mode under the condition that the time length for recovering the rotating speed of the fault engine to the numerical value in the preset range exceeds the preset time length before controlling each engine to stop.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910553930.2A CN110254731B (en) | 2019-06-25 | 2019-06-25 | Propeller-breaking protection method and device based on six-rotor aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910553930.2A CN110254731B (en) | 2019-06-25 | 2019-06-25 | Propeller-breaking protection method and device based on six-rotor aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110254731A CN110254731A (en) | 2019-09-20 |
| CN110254731B true CN110254731B (en) | 2020-12-25 |
Family
ID=67921210
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910553930.2A Active CN110254731B (en) | 2019-06-25 | 2019-06-25 | Propeller-breaking protection method and device based on six-rotor aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110254731B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112947509B (en) * | 2019-12-10 | 2024-04-12 | 广州极飞科技股份有限公司 | Method and device for determining fault cause of unmanned equipment |
| EP4001123B1 (en) * | 2020-11-11 | 2024-03-06 | Volocopter GmbH | Aircraft operating method, aircraft control panel architecture, and aircraft |
| CN112373677B (en) * | 2020-11-18 | 2021-06-22 | 三生万物(北京)人工智能技术有限公司 | Power loss protection system and protection method for six-rotor unmanned aerial vehicle |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102010040770B4 (en) * | 2010-09-14 | 2012-08-23 | Ascending Technologies Gmbh | Method for improving the flight characteristics of a multicopter in failure situations |
| CN201932359U (en) * | 2011-01-21 | 2011-08-17 | 文杰 | Distributive power multi-rotor vertical take-off and landing aircraft |
| US9618939B2 (en) * | 2012-05-21 | 2017-04-11 | E-Volo Gmbh | Method for controlling an aircraft in the form of a multicopter and corresponding control system |
| 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 |
| CN107077142B (en) * | 2016-10-25 | 2018-09-18 | 深圳市大疆创新科技有限公司 | Multi-rotor aerocraft and its control method, control device and flight control system |
| FR3065443B1 (en) * | 2017-04-19 | 2021-01-01 | Airbus Group Sas | METHOD FOR THE MANAGEMENT OF DISSYMETRY WITHIN A DISTRIBUTED PROPULSION SYSTEM |
-
2019
- 2019-06-25 CN CN201910553930.2A patent/CN110254731B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110254731A (en) | 2019-09-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110254731B (en) | Propeller-breaking protection method and device based on six-rotor aircraft | |
| US10005560B2 (en) | Method of driving rotation of a rotorcraft rotor by anticipating torque needs between two rotary speed setpoints of the rotor | |
| CN111348202B (en) | Auxiliary method for assisting a single-shot rotorcraft during engine failure | |
| US10046853B2 (en) | Hybrid gyrodyne aircraft employing a managed autorotation flight control system | |
| CN106123941B (en) | Unmanned aerial vehicle rotor wing detection method and device | |
| JPH0694818B2 (en) | Aircraft engine controller | |
| CN112147881B (en) | Takeoff control method of unmanned autorotation gyroplane | |
| US20200031464A1 (en) | Vertical takeoff and landing light aircraft | |
| CN112389640B (en) | Unmanned aerial vehicle control system that stalls | |
| US9217375B2 (en) | Control method for an overspeed safety system, and an associated system and aircraft | |
| US20170152033A1 (en) | Mutirotor aircraft control systems | |
| CN111874256A (en) | Fault emergency processing method and device for solar unmanned aerial vehicle | |
| CN110941287A (en) | Autonomous special situation handling method for small fixed-wing unmanned aerial vehicle cluster | |
| CN106155085A (en) | A kind of unmanned plane assisting in flying control method, system and unmanned plane | |
| CN108287563A (en) | A kind of multi-rotor aerocraft breaks paddle guard method and system | |
| CN111746788A (en) | Aircraft control method, aircraft control device, aircraft and computer-readable storage medium | |
| CN205139711U (en) | Unmanned aerial vehicle safety guarantee equipment and have its unmanned aerial vehicle | |
| CN112796939B (en) | Load reduction method for wind driven generator | |
| KR20220095354A (en) | Airmobility power management system and operation method thereof | |
| CN116524784A (en) | OEI state training method for helicopter | |
| CN112373677B (en) | Power loss protection system and protection method for six-rotor unmanned aerial vehicle | |
| CN112947509B (en) | Method and device for determining fault cause of unmanned equipment | |
| CN108058833A (en) | A kind of list rotor unmanned helicopter parachute landing system | |
| CN112721632B (en) | Vehicle speed control method and device for special work vehicle and storage medium | |
| CN110362111B (en) | Method and device for determining safe landing of engine of unmanned helicopter after parking |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: No. 76-45, Shenbei Road, Shenbei New District, Shenyang City, Liaoning Province 110000 Patentee after: Liaoning Dazhuang UAV Technology Co.,Ltd. Address before: 110136 Shenbei Road, Shenbei New Area, Shenyang, Liaoning, No. 76-43 (A gate) Patentee before: LIAONING ZHUANGLONG UNMANNED AERIAL VEHICLE TECHNOLOGY Co.,Ltd. |
|
| CP03 | Change of name, title or address |