A method is provided for stabilizing an orientation and height of a person or load-carrying multicopter with a plurality of motors, wherein the drive of the individual motors in flight is continuouslycalculated by a flight control unit and correspondingly prescribed to the motors using control technology, for which purpose, based on a desired torque tau, of a desired thrust s preferably prescribed by a pilot signal, and of a motor matrix M, the drive of the motors is calculated by a motor allocation algorithm f and provided as a control signal to the motors (5a), wherein the following appliesto the drive and the corresponding manipulated motor variables u: u=f(tau, s, M). The method provides that A) the individual motors (5a) are weighted with a preferably diagonally filled matrix P, sothat the following applies: u=f(tau, s, M, P), the motor allocation algorithm calculates the drive u such that the individual motors make an individual contribution to the desired forces and torques tau and to the thrust s in accordance with the matrix P depending on the weighting; and/or B) zero space orientations with 0=M*uN that do not generate any torques or thrust, and therefore do not influence the flight movement, are used to drive the motors.
提供一种稳定载人或载重多旋翼直升机的姿态和高度的方法,多旋翼直升机具有多个马达,通过飞行控制单元持续计算飞行中对各个马达的控制并且根据对马达的控制来设定马达,对马达的控制通过马达分配算法f基于希望的转矩τ、希望的通过驾驶信号预先规定的推力s以及马达矩阵M来计算,并且作为控制信号被提供给马达(5a),该控制和相应的马达控制变量u满足u=f(τ,s,M)。该方法的特征在于,A)用优选对角矩阵P对各个马达(5a)进行加权,从而有:u=f(τ,s,M,P),马达分配算法计算控制u,以便各个马达(5a)根据矩阵P按权重对希望的力和转矩τ分别提供各自的贡献;和/或B)使用满足0=M·u的零空间方向控制马达,该零空间方向不产生力矩或推力并且因此不影响飞行运动。
Flight control unit and method for flight stabilization of a person-carrying or load-carrying multicopter
使载人或载重多旋翼直升机飞行稳定的飞行控制单元和方法
2020-08-04
Patent
Electronic Resource
Chinese
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