CN207586751U - A kind of intrinsic deflection formula on-plane surface six rotorcraft - Google Patents
A kind of intrinsic deflection formula on-plane surface six rotorcraft Download PDFInfo
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- CN207586751U CN207586751U CN201721717187.2U CN201721717187U CN207586751U CN 207586751 U CN207586751 U CN 207586751U CN 201721717187 U CN201721717187 U CN 201721717187U CN 207586751 U CN207586751 U CN 207586751U
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Abstract
本实用新型涉及一种内偏转式非平面六旋翼飞行器。包括机体、设置在机体底部的弹性支架、一端固定设置在机体上的多对倾斜支撑臂，支撑臂与机体平面的夹角为，，支撑臂的另一端设有旋翼，旋翼的旋转平面方向垂直于支撑臂，旋转方向相反，分别为顺时针旋转和逆时针旋转交替排列，排列在不同位置的旋翼产生的升力均指向与机体平面垂直的坐标轴，每个旋翼的升力与该坐标轴的夹角相等。本实用新型可以在六自由度上实现独立控制，消除传统平面式飞行器的欠驱动弱点，优化质心位置，使飞行器更加稳定，并能够在电机故障时控制位置和姿态，从而实现容错控制。
The utility model relates to an internal deflection non-planar six-rotor aircraft. It includes the body, the elastic support set at the bottom of the body, and multiple pairs of inclined support arms fixed on the body at one end. The angle between the support arms and the plane of the body is , , the other end of the support arm is provided with a rotor, the direction of the rotation plane of the rotor is perpendicular to the support arm, and the rotation direction is opposite. The vertical coordinate axis, and the angle between the lift force of each rotor and the coordinate axis is equal. The utility model can realize independent control in six degrees of freedom, eliminate the under-actuated weakness of the traditional planar aircraft, optimize the position of the center of mass, make the aircraft more stable, and can control the position and attitude when the motor fails, thereby realizing fault-tolerant control.
Description
Technical field
The utility model is related to a kind of intrinsic deflection formula on-plane surface six rotorcrafts.
Background technology
More rotor minute vehicles (MAV) become very popular in recent years, and cost, the size and weight of significant reduction improve
Its availability.As this technology is becoming increasingly popular, application is more and more wider, and the accident of report is also increasing always.At this
In the case of kind, faults-tolerant control becomes a critical issue.Traditional plane formula rotor craft can only generate an adjustable liter
Power and three gesture stability torques, it is substantially a kind of under-actuated systems to make it.In the case where rotor breaks down, one
There is no inclined hexagon aircraft to will be appreciated that its hydraulic performance decline, this is because attitude controller cannot inhibit certain directions
Disturb torque.For the fully controllable sex chromosome mosaicism of multi-rotor aerocraft, there are some known solutions, octocopter is solved
Scheme needs more actuators, increases mechanical redundancy；Other Machine Designs use the position and direction for changing rotor, it was also proposed that
Reverse rotating motor, the drawback is that generate thrust in the opposite direction and only consider some specific actuator occur therefore
Barrier.
In order to reach required torque and power, the method proposed in research continues to calculate to the Moore- of set matrix
The pseudoinverse of Penrose, this is the most common method for calculating jump-to-subroutine command.But the solution that this method provides may
It is infeasible, because it does not account for the constraint of actuator, i.e., the minimum and maximum power that each rotor generates.
Invention content
The purpose of this utility model is to provide a kind of intrinsic deflection formula on-plane surface six rotorcrafts, can be in six degree of freedom
Upper realization independent control eliminates the drive lacking weakness of conventional planar aircraft, optimizes centroid position, makes aircraft more steady
It is fixed, and position and posture can be controlled in electrical fault, so as to fulfill faults-tolerant control.
To achieve the above object, the technical solution of the utility model is：A kind of intrinsic deflection formula on-plane surface six rotorcraft,
The multipair support arm being obliquely installed being fixed on including body, the elastic support for being arranged on organism bottom, one end on body；It is described
Support arm and the angle of body plane are θ, and the other end of support arm is equipped with rotor, and the Plane of rotation of rotor is parallel to support arm,
And the direction of rotation of each rotor is alternately arranged with rotating clockwise and rotating counterclockwise, the lift that each rotor generates is directed to
The reference axis vertical with body plane, the lift of each rotor are equal with the angle of the reference axis.
In one embodiment of the utility model, the support arm is three pairs.
In one embodiment of the utility model, the geometric center lines of the support arm form six inclines of positive hexagonal pyramid,
With full symmetric property, the angle of adjacent support arm is equal.
In one embodiment of the utility model, relatively body plane is obliquely installed in the support arm.
In one embodiment of the utility model, the θ value ranges are 0 ° of 90 ° of ＜ θ ＜.
In one embodiment of the utility model, the rotor is driven by rotor electric machine to be rotated.
In one embodiment of the utility model, the rotor electric machine is DC brushless motor.
In one embodiment of the utility model, the internal body is equipped with battery and control system, and control system includes non-
Systems with Linear Observation device and the error-detecting of LPV controls and Fault Isolation technical sensor.
In one embodiment of the utility model, the organism bottom is equipped with the stent that rises and falls.
Compared to the prior art, the utility model has the advantages that：
(1) cost of this intrinsic deflection formula on-plane surface six rotorcraft is low, and there is completely new rotor cellular construction to be laid out, control
System is simple, can overcome the drive lacking of conventional planar multi-rotor aerocraft, makes posture rotation and translational motion full decoupled, real
The independent control of flight attitude is showed；
(2) the intrinsic deflection formula aircraft optimizes centroid position, makes aircraft more by symmetrical inclined shore arm and rotor
Stablize, and position and posture can be controlled in electrical fault, so as to fulfill faults-tolerant control；
(3) intrinsic deflection formula rotor is by being directed toward the axis of body vertical direction, gesture stability that can be to aircraft and position
Control optimizes, and then improves the lift that rotor generates；
(4) due to the steering of adjacent rotor on the contrary, the reaction torque that each rotor body applies is turned to rotor on the contrary, therefore
The torque that body is subject to can cancel out each other；Each rotor is directly driven by respective DC brushless motor, eliminates power train
The loss in efficiency of system；The interior inclined formula on-plane surface aircraft can on body coordinate independent control power and torque so that it can
Independent control is realized on six degree of freedom, eliminates the drive lacking weakness of conventional planar aircraft；
(5) compared to conventional planar aircraft, intrinsic deflection formula layout can only be needed in the case where not tilting body
Change the size of lift so that device and control method are largely simplified；
(6) this intrinsic deflection formula on-plane surface six rotorcraft has the ability for independently executing actual task, controlling party
Method has boundless application prospect in dual-use field.
Description of the drawings
Fig. 1 is the configuration vertical view of intrinsic deflection formula on-plane surface six rotorcraft.
Fig. 2 is the configuration side view of intrinsic deflection formula on-plane surface six rotorcraft.
Fig. 3 is the single rotor of intrinsic deflection formula on-plane surface six rotorcraft and the schematic diagram of support arm.
Specific embodiment
Below in conjunction with the accompanying drawings, the technical solution of the utility model is specifically described.
A kind of intrinsic deflection formula on-plane surface six rotorcraft of the utility model, including body, is arranged on organism bottom
Elastic support, one end are fixed on the multipair support arm being obliquely installed on body；The support arm and the angle of body plane are
θ, equipped with rotor, (i.e. the central point of the rotary middle point of rotor and body is located at the two of support arm to the other end of support arm respectively
End), the Plane of rotation of rotor is parallel to support arm, and the direction of rotation of each rotor is handed over to rotate clockwise and rotate counterclockwise
For arrangement, the lift that each rotor generates is directed to the reference axis vertical with body plane, the lift of each rotor and the coordinate
The angle of axis is equal.The organism bottom is equipped with the stent that rises and falls.
The support arm is three pairs.The geometric center lines of the support arm form six inclines of positive hexagonal pyramid, have had
Holohedrism, the angle of adjacent support arm are equal.Relatively body plane is obliquely installed in the support arm.The θ value ranges
For 0 ° of 90 ° of ＜ θ ＜.
The rotor is driven by rotor electric machine to be rotated.The rotor electric machine is DC brushless motor.The internal body
Equipped with battery and control system, control system includes error-detecting and the Fault Isolation technology that nonlinear observer and LPV are controlled
Sensor.
The structure setting mode of the intrinsic deflection formula on-plane surface six rotorcraft of the utility model can be applied to arbitrarily to branch
The situation of brace.
It is the specific implementation principle of the utility model intrinsic deflection formula on-plane surface six rotorcraft below.
As shown in Figure 1, a kind of intrinsic deflection formula on-plane surface six rotorcraft including body, is arranged on the bullet of organism bottom
Property stent, one end be fixed at multipair inclined shore arm on body, support arm and the angle of body plane are θ, 0 ° of ＜ θ ＜
90 °, the other end of support arm is equipped with rotor, and the Plane of rotation direction of rotor is perpendicular to support arm, and direction of rotation is on the contrary, be respectively
It rotates clockwise and rotation is alternately arranged counterclockwise, be arranged in the lift that the rotor of different location generates and be directed to that (i.e. ei, ej refer to
To direction) reference axis vertical with body plane, the lift of each rotor is equal with the angle of the reference axis (i.e. in figure)。
As shown in Figure 1, the intrinsic deflection formula on-plane surface six rotorcraft, the geometric center lines composition positive six of support arm
Six inclines of pyramid, have full symmetric property, and the angle of adjacent support arm is equal.
As shown in Figure 1, the intrinsic deflection formula on-plane surface six rotorcraft, one end are fixed in body upper support arm partially
The angle theta less than 90 degree is formed in body plane, and with body plane, all support arms are completely the same.
As shown in Figure 1, the intrinsic deflection formula on-plane surface six rotorcraft, rotor electric machine are DC brushless motor, machine
Internal portion is battery and control system, and control system includes error-detecting and the Fault Isolation that nonlinear observer and LPV are controlled
Technical sensor, organism bottom are equipped with the stent that rises and falls.
As shown in Fig. 1 and Fig. 2, the intrinsic deflection formula on-plane surface six rotorcraft, support arm is three pairs, rotor six
A, the location matrix P and corresponding attitude matrix O of six rotors are as follows：
Wherein, l is the length (in figure di, dj, d1 to d5) of supporting rod, that is, in the rotary middle point and body of rotor
The distance between heart point.
As shown in Fig. 1 and Fig. 2 and Fig. 3, the control method of the intrinsic deflection formula on-plane surface six rotorcraft, by inclining
Oblique rotor horizontal plane is towards the vertical axis of body so that motor in the case of a fault, will not be in posture and position all
It is out of hand, so as to fulfill faults-tolerant control.
As shown in Fig. 1 and Fig. 2 and Fig. 3, the control method of the intrinsic deflection formula on-plane surface six rotorcraft, Mei Gexuan
The wing generates a power fi∈[0,FM], in fact, control each rotor by pulsewidth modulation (PWM) signal, this signal from
0 to 100%.Linear relationship between PWM percentages and lift, wherein fi=kfui, so as to which each rotor generates a torque mi
=(- 1)iktui。ktAnd kfConstant is established by testing.
As shown in Fig. 1 and Fig. 2 and Fig. 3, the control method of the intrinsic deflection formula on-plane surface six rotorcraft gives one
A FzDesired torque [the M of ＞ 0x My Mz Fz]T, non trivial solution isWherein
And 0≤f0+ωβ≤FM。
As shown in Figure 1 and Figure 2 and Figure 3, once disturbance torque is excessively high, pseudoinverse solution finds holding position, and PWM value will lead to it
In a motor stop (6 seconds) completely, another motor saturation (- 15 seconds 11 seconds).It is maintained at effective so as to cause pwm signal
In operation limitation.
When y-axis disturbing moment amplitude is excessive as shown in Fig. 1 and Fig. 2 or Fig. 3, effective solution party cannot be obtained for a long time
Case, body become unstable, lead to half barrel of rolling, last hard landing.But in this case, mainly using pitch angle
Compensating disturbance, solution always provide effective method.
Above-described is only the preferred embodiment of the utility model, and the utility model is not limited to embodiment of above.
It is appreciated that those skilled in the art do not depart from the utility model design and under the premise of directly export or associate other
It improves and changes, be considered as being included within the scope of protection of this utility model.
Claims (9)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721717187.2U CN207586751U (en) | 2017-12-11 | 2017-12-11 | A kind of intrinsic deflection formula on-plane surface six rotorcraft |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721717187.2U CN207586751U (en) | 2017-12-11 | 2017-12-11 | A kind of intrinsic deflection formula on-plane surface six rotorcraft |
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| CN207586751U true CN207586751U (en) | 2018-07-06 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107797567A (en) * | 2017-12-11 | 2018-03-13 | 福州大学 | A kind of intrinsic deflection formula on-plane surface six rotorcraft and control method |
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2017
- 2017-12-11 CN CN201721717187.2U patent/CN207586751U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107797567A (en) * | 2017-12-11 | 2018-03-13 | 福州大学 | A kind of intrinsic deflection formula on-plane surface six rotorcraft and control method |
| CN107797567B (en) * | 2017-12-11 | 2024-02-09 | 福州大学 | Internal deflection type non-planar six-rotor aircraft and control method |
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Granted publication date: 20180706 Termination date: 20201211 |
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| CF01 | Termination of patent right due to non-payment of annual fee |