The invention relates to a motor mounting angle determination method and device, equipment, a medium and an aircraft. The method comprises the steps that a target power distribution matrix is acquired; the target power distribution matrix comprises rolling control torque of each motor, in the target power distribution matrix, the rolling control torque reaches a physical limit, and absolute values of the rolling control torque of each motor are equal; determining a dynamic matrix based on the target power distribution matrix; and determining a target motor mounting angle based on the dynamic matrix. According to the technical scheme, the target power distribution matrix meets the target conditions that the rolling control moment reaches the physical limit and the absolute values of the rolling control moments of all the motors are equal, so that the dynamic matrix is determined based on the target power distribution matrix, and the target motor mounting angle is further determined; therefore, the roll control torque of the six-rotor aircraft applying the mounting angle can be improved, and the roll control effect can be optimized.

    本公开涉及电机安装角的确定方法、装置、设备、介质以及飞行器,该方法包括:获取目标动力分配矩阵;目标动力分配矩阵包括各电机的滚转控制力矩,目标动力分配矩阵中,横滚控制力矩达到物理极限,且各电机的滚转控制力矩的绝对值均相等;基于目标动力分配矩阵,确定动力学矩阵;基于动力学矩阵,确定目标电机安装角。根据本公开实施例的技术方案,由于目标动力分配矩阵满足横滚控制力矩达到物理极限以及各电机的滚转控制力矩的绝对值均相等的目标条件,由此基于该目标动力分配矩阵确定动力学矩阵,并进一步确定目标电机安装角,从而应用该安装角的六旋翼飞行器的横滚控制力矩能够得到提升,进而能够优化横滚控制效果。


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    Titel :

    Motor mounting angle determination method, device and equipment, medium and aircraft


    Weitere Titelangaben:

    电机安装角的确定方法、装置、设备、介质以及飞行器


    Beteiligte:
    MA CONG (Autor:in) / YAO BOHAN (Autor:in) / QIU YIKE (Autor:in) / JIANG XINHONG (Autor:in) / LU HONGWEI (Autor:in) / GAO AOLIN (Autor:in) / ZHOU JIANMIN (Autor:in) / SU WENBING (Autor:in) / LIU JINLAI (Autor:in) / LIU BAOJUN (Autor:in)

    Erscheinungsdatum :

    2023-06-27


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung