Control methods and devices for high-speed flight of rotary-wing unmanned aircraft

摘要

The present invention relates to a control method and a device for a rotary wing unmanned aerial vehicle to make a turning flight, and the control method is different according to the current speed in order to make a smooth and stable arc shape and turn at any speed. When a rotorcraft unmanned aerial vehicle is flying at low speed and then changes direction, it is commanded to control the direction angle and the tail rotor is controlled. When flying and turning at high speed, the command is made to control both the roll angle and the direction angle. Both the rotor and tail rotor angles are controlled simultaneously. Accordingly, the present invention is to provide a control method for a rotating wing unmanned aerial vehicle turning flight capable of a stable turning flight.