The invention relates to the technical field of rotor aircrafts, and provides a variable-structure four-rotor system and a control method thereof.The variable-structure four-rotor system comprises a fuselage, a steering engine, an airborne computer, a plurality of sensors, a first high-position arm, a second high-position arm, a first low-position arm and a second low-position arm, the motors are arranged at the end parts of the vehicle arms; a height difference exists between the first high-position vehicle arm and the first low-position vehicle arm, and the two vehicle arms on the diagonal line are located at the same height; the airborne computer estimates and compensates disturbance brought by rotating motion of the arms through the linear expansion state observer according to sensor data uploaded by the sensors and the rotating angles of the arms, and the rotating speed of the motors is controlled. While stable flight of the quadrotor is guaranteed, the narrow space passing capacity of the quadrotor is remarkably improved, and therefore the adaptability of the quadrotor is greatly improved.

    本发明涉及旋翼飞行器技术领域,提供了一种变结构四旋翼系统及其控制方法,包括:机身,设置于机身上的舵机、机载电脑和若干种传感器,分别设置于机身四个角上的第一高位机臂、第二高位机臂、第一低位机臂和第二低位机臂,设置于每个机臂端部的电机;第一高位机臂和第一低位机臂之间存在高度差,对角线上的两个机臂位于同一高度;机载电脑根据若干种传感器上传的传感器数据和各个机臂的旋转角度,通过线性扩张状态观测器估计补偿各个机臂的旋转运动所带来的扰动,控制各个电机的转速。在保证四旋翼稳定飞行的同时,显著提高四旋翼的狭小空间通过能力,从而极大地提高了四旋翼的适应性。


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    Titel :

    Variable-structure four-rotor system and control method thereof


    Weitere Titelangaben:

    一种变结构四旋翼系统及其控制方法


    Beteiligte:
    WU QINGXIANG (Autor:in) / HE CHUNHUI (Autor:in) / SON HO-SUNG (Autor:in) / SUN NING (Autor:in) / FANG YONGCHUN (Autor:in)

    Erscheinungsdatum :

    2023-05-02


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B64U / B64C AEROPLANES , Flugzeuge



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