本发明涉及用于操作多旋翼器的方法,多旋翼器包括:本体;及至少四个效应器,其附接到本体,每个效应器配置成使其能够产生转矩和推力两者;及能够控制多旋翼器的飞行的控制单元;该方法包括以下步骤:使用控制单元来实施以下步骤:基于本体的主轴相对于预定参考系的取向,控制至少四个效应器中的一个或更多个使至少四个效应器中的一个或更多个效应器产生垂直于主轴的转矩,主轴是与由至少四个效应器中的一个或更多个效应器相对于预定参考系在预定时间内所产生的推力的总和对准的轴线,垂直于主轴的转矩引起多旋翼器移动,使主轴的取向收敛至相对于预定参考系的目标取向,及使至少四个效应器中的一个或更多个效应器产生沿着主轴的推力。

    According to a first aspect of the invention, there is provided a method for operating a multicopter experiencing a failure during flight, the multicopter comprising a body, and at least four effectors attached to the body, each operable to produce both a torque and a thrust force which can cause the multicopter to fly when not experiencing said failure. The method may comprise the step of identifying a failure wherein the failure affects the torque and /or thrust force produced by an effector, and in response to identifying a failure carrying out the following steps, (1) computing an estimate of the orientation of a primary axis of said body with respect to a predefined reference frame, wherein said primary axis is an axis about which said multicopter rotates when flying, (2) computing an estimate of the angular velocity of said multicopter, (3) controlling one or more of said at least four effectors based on said estimate of the orientation of the primary axis of said body with respect to said predefined reference frame and said estimate of the angular velocity of the multicopter. The step of controlling one or more of said at least four effectors may be performed such that (a) said one or more effectors collectively produce a torque along said primary axis and a torque perpendicular to said primary axis, wherein (i) the torque along said primary axis causes said multicopter to rotate about said primary axis, and (ii) the torque perpendicular to said primary axis causes said multicopter to move such that the orientation of said primary axis converges to a target orientation with respect to said predefined reference frame, and (b) such that said one or more effectors individually produce a thrust force along said primary axis.


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    Titel :

    遭遇影响效应器的故障的多旋翼器的受控飞行


    Erscheinungsdatum :

    2021-06-18


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B64C AEROPLANES , Flugzeuge / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen