The invention relates to an internally and externally deflected all-wheel-driven non-planar eight-rotor aircraft and a control method thereof.The aircraft comprises a center rack, eight sets of arms are evenly distributed on the center rack along the periphery of the center rack, the outer ends of the arms are fixedly connected with supporting arms, the top ends of the supporting arms are fixedly connected with motors, and the driving ends of the motors are connected with rotors; the supporting arms obliquely extend outwards or inwards at a fixed included angle with the vertical direction, the extending directions of the adjacent supporting arms are not consistent, and the extending directions of the opposite supporting arms are consistent. The internally and externally deflected all-wheel-driven non-planar eight-rotor aircraft is simple in structure, has better maneuverability, is matched with a robust adaptive control method, realizes aircraft position and attitude trajectory tracking control considering parameter uncertainty and external interference, and is high in control efficiency.

    本发明涉及一种内外偏转的全驱非平面八旋翼飞行器及其控制方法,包括中心机架,所述中心机架沿其外周均布有八组机臂,所述机臂外端均固连有支撑臂,该支撑臂顶端均固连电机,电机驱动端均连接有旋翼;所述支撑臂均与竖直方向呈固定夹角朝外或朝内斜向延伸,且相邻支撑臂的延伸方向均不一致,相对的支撑臂延伸方向均一致。该内外偏转的全驱非平面八旋翼飞行器结构简单,具有更好的机动性,配合鲁棒自适应控制方法,实现了考虑参数不确定性及外界干扰的飞行器位置和姿态轨迹跟踪控制,控制效率高。


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    Title :

    All-wheel-drive non-planar eight-rotor aircraft capable of deflecting inwards and outwards and control method thereof


    Additional title:

    一种内外偏转的全驱非平面八旋翼飞行器及其控制方法


    Contributors:
    LEI YAO (author) / YUAN SHUO (author) / YU HANGYU (author) / LUAN CHUNFENG (author)

    Publication date :

    2024-03-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64U / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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