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FLIGHT CONTROL UNIT AND METHOD FOR FLIGHT STABILIZATION OF A PERSON-CARRYING OR LOAD-CARRYING MULTICOPTER
FLIGHT CONTROL UNIT AND METHOD FOR FLIGHT STABILIZATION OF A PERSON-CARRYING OR LOAD-CARRYING MULTICOPTER
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机译:载人或载人多机飞行稳定的飞行控制装置和方法
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摘要
A method is provided for stabilizing an orientation and height of a person or load-carrying multicopter with a plurality of motors, wherein the drive of the individual motors in flight is continuously calculated by a flight control unit and correspondingly prescribed to the motors using control technology, for which purpose, based on a desired torque τ, of a desired thrust s preferably prescribed by a pilot signal, and of a motor matrix M, the drive of the motors is calculated by a motor allocation algorithm f and provided as a control signal to the motors, wherein the following applies to the drive and the corresponding manipulated motor variables u: u=f(τ, s, M). The method provides that A) the individual motors are weighted with a preferably diagonally filled matrix P, so that the following applies: u=f(τ, s, M, P), the motor allocation algorithm calculates the drive u such that the individual motors make an individual contribution to the desired forces and torques τ and to the thrust s in accordance with the matrix P depending on the weighting; and/or B) zero space orientations with 0=M·uN that do not generate any torques or thrust, and therefore do not influence the flight movement, are used to drive the motors.
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机译:提供了一种用于稳定具有多个电动机的人或承载多直升机的方向和身高的方法,其中,由飞行控制单元连续计算飞行中的各个电动机的驱动,并使用控制技术将其相应地规定给电动机为此,基于期望的转矩τ,优选地由引导信号规定的期望的推力s以及电动机矩阵M,通过电动机分配算法f计算电动机的驱动并作为控制信号提供。电动机,其中以下内容适用于驱动器和相应的受控电动机变量u:u = f(τ,s,M)。该方法规定:A)对单个电动机加权,最好使用对角填充的矩阵P加权,以便适用以下条件:u = f(τ,s,M,P),电动机分配算法计算驱动力u电机根据权重根据矩阵P对期望的力和转矩τ以及推力s做出单独的贡献;和/或B)使用0 = M·u N Sub>的零空间方向来驱动电动机,该零空间方向不会产生任何扭矩或推力,因此不会影响飞行运动。
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