The invention relates to a multi-rotor flight control method, a flight controller and an aircraft. The method comprises the following steps: receiving a first expected data set corresponding to each control channel of the aircraft; calculating a first expected rotating speed set according to the first expected data set; wherein the first expected rotating speed set comprises the expected rotating speed of each rotor motor in the aircraft; and when it is judged that the expected rotating speeds of the rotor motors in the first expected rotating speed set exceed the corresponding rotating speed limiting threshold values, rotating speed control signals of the rotor motors are output after different expected values corresponding to the control channels in the first expected data set are adjusted correspondingly and the expected rotating speeds of the rotor motors are adjusted correspondingly. According to the scheme provided by the invention, the pulling force generated by the rotor wings of the aircraft can be fully utilized, and the flight attitude keeping capability is improved.
本申请涉及一种多旋翼飞行控制方法、飞行控制器及飞行器。该方法包括:接收对应飞行器各个控制通道的第一期望数据集;根据所述第一期望数据集,计算第一期望转速集;其中,所述第一期望转速集包括飞行器中各个旋翼电机的期望转速;在判断出所述第一期望转速集中的旋翼电机的期望转速超过对应的转速限制阈值时,通过分别调整所述第一期望数据集中对应各个控制通道的不同期望值并对应调整旋翼电机的期望转速后,输出各个旋翼电机的转速控制信号。本申请提供的方案,能够充分利用飞行器旋翼所能产生的拉力,提升飞行姿态保持能力。
Multi-rotor flight control method, flight controller and aircraft
多旋翼飞行控制方法、飞行控制器及飞行器
2022-05-06
Patent
Electronic Resource
Chinese
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