An aircraft encompasses a main-body, a frame-structure to support the main-body, main and auxiliary rotors provided to the frame-structure and a controller for controlling rotations of the main and auxiliary rotors. In a first mode, the controller delivers a same control signal for rotating the set of the main and auxiliary rotors, and when one of the main and auxiliary rotors becomes abnormal, the controller delivers the same control signal for compensating a decrease of the lift. In a second mode, the controller delivers a control signal only to the normal rotor for increasing the rotation of the normal rotor. Sets of the main and auxiliary rotors in divided regions adjacent to a subject divided region are rotated in a direction counter to the subject divided region. By the first and second modes, the lifts are equalized for balancing the aircraft.
Aircraft, controller and control method of aircraft, and recording medium storing computer software program for controlling aircraft
2020-01-07
Patent
Elektronische Ressource
Englisch
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