The variable-configuration tiltable three-rotor unmanned aerial vehicle comprises an unmanned aerial vehicle body, a power module and a three-way alloy connecting piece, the unmanned aerial vehicle body is formed by combining an upper composite material plate and a lower composite material plate, and a storage space is formed between the two composite material plates; the power module adopts a two-degree-of-freedom tilting structure design; the unmanned aerial vehicle body is connected with the power module through a three-way alloy connecting piece. The control method comprises the following steps: designing a position controller and an attitude controller; position information and attitude information of the unmanned aerial vehicle are obtained and input into control, and expected thrust and expected torque are obtained; and the expected thrust and the expected moment serve as known quantities, and the expected tilting angle and the expected thrust of each power module are solved based on a control efficiency model and an arm power unit dynamic model. According to the invention, position and attitude full decoupling is realized, and the aircraft has the capability of flying in any direction in any attitude and rapid attitude maneuvering. The system can be widely applied to the technical field of unmanned aerial vehicles.

    一种变构型可倾转的三旋翼无人机及其控制方法,包括无人机机身、动力模组和三通合金连接件,所述无人机机身采用上下两层复合材料板组合而成,两层复合材料板之间设有存放空间;所述动力模组采用二自由度倾转结构设计;所述无人机机身与动力模组通过三通合金连接件进行连接。该控制方法包括设计位置控制器和姿态控制器;获取无人机的位置信息和姿态信息并输入控制中,得到期望推力和期望力矩;将期望推力和期望力矩作为已知量,基于控制效率模型和机臂动力组动力学模型求解期望倾转角度和各动力模组的期望推力。本发明实现了位置姿态全解耦,具有以任意姿态朝任意方向飞行及快速姿态机动能力。本发明可广泛应用于无人机技术领域。


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    Title :

    Variable-configuration tiltable three-rotor unmanned aerial vehicle and control method thereof


    Additional title:

    一种变构型可倾转的三旋翼无人机及其控制方法


    Contributors:
    LIU KUN (author) / YU XIAOBIN (author) / WANG CHUNQIANG (author) / LI XINLIANG (author) / WEI JINGBO (author) / CHEN BAIHUI (author) / ZHAO XI (author)

    Publication date :

    2024-01-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64U



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