The present disclosure provides a propeller controller for use in a flight device (10) having at least two propellers (12) and a main controller (30) that outputs command values to the propellers (12)for controlling thrust of the propellers (12). The propeller controller includes a command value acquirer (53) and a command value generator (54). The command value acquirer (53) acquires a command value output from the main controller (30) to the propellers (12) based on an assumption that the propeller pitch is fixed. The command value generator (54) outputs a propeller pitch command value (Px)for setting a propeller pitch, which is generated from the acquired command value, to pitch changing mechanisms (16) of the propellers (12), and outputs, to the motor (14), a corrected number-of-rotations command value (Rr) for setting the number of rotations of the motor (14), said corrected number-of-rotations command value being obtained by correcting the command value on the basis of the propeller pitch command value.
本公开提供了一种推进器控制器,该推进器控制器用于飞行装置(10)中,该飞行装置(10)具有至少两个推进器(12)和主控制器(30),主控制器(30)将指令值输出至推进器(12)以用于控制推进器(12)的推力。推进器控制器包括指令值获取器(53)和指令值生成器(54)。指令值获取器(53)基于螺旋桨螺距是固定的假设获取从主控制器(30)输出至推进器(12)的指令值。指令值生成器(54)将由获取的指令值生成的用于设定螺旋桨螺距的螺旋桨螺距指令值(Px)输出至推进器(12)的螺距改变机构(16),并且将通过基于螺旋桨螺距指令值对指令值进行修正的用于设定马达(14)的旋转次数的修正的旋转次数指令值(Rr)输出至马达(14)。
Propeller controller and attitude controller
推进器控制器和姿态控制器
2020-07-14
Patent
Elektronische Ressource
Chinesisch