The invention discloses a modularized reconfigurable coaxial aircraft and a controllability analysis and control redistribution method, the aircraft comprises flight unit modules, and the controllability analysis method comprises the following steps: according to the rotation directions of upper and lower propellers in each flight unit module in the modularized reconfigurable coaxial aircraft, the flight unit modules are subjected to controllable redistribution according to the rotation directions of the upper and lower propellers in each flight unit module; obtaining a modularized reconfigurable coaxial aircraft control distribution matrix; obtaining an actuator efficiency loss matrix according to the states of the upper and lower propeller actuators; according to the control distribution matrix and the actuator efficiency loss square matrix, obtaining a control distribution matrix considering an actuator state; and performing controllability analysis according to the control distribution matrix considering the state of the actuator. On one hand, the invention provides the modular reconfigurable coaxial aircraft which can be quickly disassembled and assembled and can be randomly combined; and on the other hand, a mathematical modeling method is provided, controllability analysis is carried out on the reconfigurable coaxial aircraft, and a control redistribution method is provided, so that the reconfigurable coaxial aircraft has certain fault-tolerant capability.
本发明公开了一种模块化可重构共轴飞行器、可控性分析及控制重分配方法,飞行器包括飞行单元模块,可控性分析方法,包括:依据模块化可重构共轴飞行器中各飞行单元模块中上下螺旋桨旋向,获取模块化可重构共轴飞行器控制分配矩阵;依据上下螺旋桨执行器的状态,获得执行器效率损失方阵;依据控制分配矩阵、执行器效率损失方阵,获得考虑执行器状态的控制分配矩阵;依据考虑执行器状态的控制分配矩阵,进行可控性分析。本发明一方面提出了可快速拆装且随意组合的模块化可重构共轴飞行器;另一方面,提出了数学建模方法,并对可重构共轴飞行器进行了可控性分析,提出了控制重分配方法,使得可重构共轴飞行器具有一定容错能力。
Modular reconfigurable coaxial aircraft and controllability analysis and control redistribution method
模块化可重构共轴飞行器、可控性分析及控制重分配方法
2024-04-05
Patent
Electronic Resource
Chinese
AIAA | 2016
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