A kind of multi-rotor aerocraft pose stabilization control device

摘要

PROBLEM TO BE SOLVED: To drastically improve the responsiveness of posture control by performing the posture control by a gravitational center movement with respect to a rotor aound a roll axis and a pitch axis to permit the imbalance of a machine body or an individual difference or variation in rotor thrust or a motor output.SOLUTION: In a multi-rotor craft having rotors 4a to 4d arranged in a circumferential direction, a machine body 5 is connected below the center of a multi-rotor part via a rod 7 swingable around a roll axis or a pitch axis. A posture around the roll axis or the pitch axis is controlled based on the swing angle of the rod 7 around the roll axis or the pitch axis and by using the machine body 5 as a weight, and a posture around a yaw axis is controlled based on the rotational speeds of the rotors 4a to 4d.SELECTED DRAWING: Figure 1