RU2781442C1 - Method for controlling a multi-rotor flying platform - Google Patents

Abstract

FIELD: aviation.

SUBSTANCE: invention relates to the field of aviation, in particular to methods for controlling aircraft. The multi-rotor flying platform is made with the possibility of vertical and horizontal movement by means of a drive from a power plant associated with four rotor cells, each with two counter-rotating propellers and a shell, fixed to the platform by means of masts. The masts are made with the possibility of changing their length and angle of inclination relative to the platform on command from the control panel. In case of failure of any of the rotor cells, a command from the control panel ensures the balance of the lifting force of the operating rotor cells and the center of gravity of the platform due to the individual change in the spatial position of each operating rotor cell with simultaneous redistribution of the power plant power to the working rotor cells to increase their thrust.

EFFECT: improved platform management security.

1 cl, 3 dwg

Description

The multi-rotor flying platform belongs to the field of aviation and is designed for vertical and horizontal movement of people and cargo in the air in a manned and unmanned version, as well as as a lifting device of the "flying crane" type.

The method of controlling a multi-rotor flying platform is designed to improve the safety of operation of a multi-rotor flying platform.

Currently, multirotor flying machines, or multicopters, are widely used.

A multi-rotor flying platform consists of several rotor cells that can be directly attached to the payload or assembled using a truss.

The most commonly used scheme at the moment is a quadrocopter, when the flying platform has four lifting cells. Small-sized aircraft of this design are produced by dozens of companies around the world. However, a heavy-duty vehicle capable of lifting people is not so much. One of them is for example CityAirbus https://www.airbus.com/innovation/zero-emission/urban-air-mobility/cityairbus.html. (see Fig. 3) is considered as an analogue.

The disadvantage of this design is poor maneuverability in the horizontal plane. To move in a horizontal plane, it is necessary to tilt the entire aircraft by the difference in the thrust of the cells.

The problem of controllability in the horizontal plane and the protection of screws from foreign objects is solved in patent RU 2721325, which is selected as a prototype. According to this patent, a multi-rotor flying platform is movable vertically and horizontally and includes at least four rotor cells fixed with masts on the platform. The rotor cells each contain two propellers installed in the hubs with the possibility of counter-rotation from the drive of the power plant, and the enclosing screws of the shell. The lower part of the shell is fixedly fixed on the hub and pivotally relative to the mast with the possibility of changing the angle of inclination.

The disadvantage of managing both analog and prototype is the low reliability in case of failure of one of the cells. In the event of failure of one lifting cell, an overturning moment occurs, which is created by the generalized lifting force of the cells remaining in operation and the gravity of the entire platform. To compensate for this moment, you have to turn off another cell opposite to the one that failed. In this case, the double load falls on the remaining cells in operation.

The task of the control method of a flying multi-rotor platform is to ensure reliability and safe flight in case of failure of one or more rotor cells.

The positive effect is provided by the proposed method for controlling a multi-rotor flying platform.

The problem is solved due to the fact that the method of controlling a multi-rotor flying platform with the possibility of vertical and horizontal movement is carried out by means of a drive from the power plant synchronously or autonomously, connected to at least four rotor cells fixed on the platform by means of masts with the possibility of changing their length and angle of inclination from the control panel and each containing two counter-rotating propellers and a shell. According to the invention, in the event of failure of any of the rotor cells, the balance of the lifting force and the center of gravity of the platform is provided by changing the spatial position of the operating rotor cells, by individually adjusting the length and angle of the mast of each rotor cell, while redistributing the power of the power plant and increasing the thrust of the operating rotor cells.

The advantage of the proposed technical solution is the ability to continue the flight in case of failure of any lifting cell without the need to turn off another cell - symmetrical about the common center of gravity. This allows you to ensure the security of the platform by maintaining better manageability. In case of failure of all cells, they provide a change in the spatial position of all masts, by individually adjusting their length and angle of inclination to free up space for the possibility of opening the parachute system located in the center of gravity of the platform.

In FIG. 1. shows a multi-rotor flying platform in vertical take-off mode with all rotor cells operating.

In FIG. 2. shows a top view of the platform.

In FIG. 3 shows a well-known analogue - CityAirbus (https://www.airbus.com/innovation/zero-emission/urban-air-mobility/cityairbus.html)

Multi-rotor flying platform 1 is made with the possibility of vertical and horizontal movement by means of a drive from a power plant (not shown in Fig.). The drive is synchronously or autonomously connected to the rotary cells 2 fixed on the platform 1 by means of the masts 3. The masts are installed with the possibility of changing the length and angle of their inclination relative to the platform from the control panel (not shown in the figure). Rotary cells should preferably be an even number and not less than four. Each rotary cell 2 contains two counter-rotating propellers 4 driven, for example, by an electric motor. The screws are protected by the shell 5. With the balanced position of the rotor cells 2, the platform 1 has a center of gravity 6 located at the same distance from all working cells (see Fig. 2).

The way to control a multi-rotor flying platform is based on the principle of balance, created by the lifting force, operating rotor cells and the center of gravity of the platform.

For example, consider a multi-rotor flying platform with four cells (Fig. 1).

In the normal mode of vertical takeoff or horizontal flight at low speed, all rotor cells 2 are set at the same distance R from the center of gravity 6 of the platform 1, and only the standard control system works based on the rotation of the cells at the ends of the mast (Fig. 2).

In the event of failure of any of the rotor cells, the balance of the lifting force and the center of gravity of the platform is provided by changing the spatial position of the operating rotor cells, by individually adjusting the length and angle of the mast of each rotor cell, and simultaneously redistributing the load (thrust) on the operating rotor cells.

The proposed technical solution provides an increase in the reliability and safety of flight control of a multi-rotor flying platform.

Sources of information:

1. Online article: City Airbus https://www.airbus.com/innovation/zero-emission/urban-air-mobility/ cityairbus.html.

2. Patent RU 2721325, IPC B64C 27/20, 2018 - prototype

Claims (1)

Method for controlling a multi-rotor flying platform with the possibility of vertical and horizontal movement by means of a drive from a power plant, synchronously or autonomously connected to at least four rotor cells, each with two counter-rotating propellers and a shell, fixed on the platform by means of masts with the possibility of changing their length and the angle of inclination relative to the platform upon command from the control panel, characterized in that in the event of failure of any of the rotor cells, a command from the control panel ensures the balance of the lifting force of the operating rotor cells and the center of gravity of the platform due to the individual change in the spatial position of each operating rotor cell with simultaneous redistribution the power of the power plant to the operating rotor cells to increase their thrust.

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