A multi-rotor aircraft comprises a fuselage, an undercarriage, a support frame, rotors and an engine, the support frame and the fuselage are rotatably connected through a shaft and a bearing, and the axis of the engine and the axes of the rotors are mounted at an angle theta with the vertical direction, so that a tension component in the horizontal direction is generated; the tension components of the engines and the rotors in the horizontal direction are used for pushing the supporting frame to rotate; through special mounting angles of the engine and the rotor wings, a tension component in the horizontal direction is generated to push the support frame to rotate, so that the attitude is kept stable by utilizing a gyroscopic effect; the flight control system adjusts the lift force of the engine to realize attitude control according to a relative angle signal between the support frame and the fuselage; by means of the innovative mechanical structure design, the gyroscopic effect of the multi-rotor aircraft is achieved, attitude self-stabilization is kept, the stability, reliability and safety of the aircraft are improved, and dependence on a flight control system is reduced; and meanwhile, through a flexible attitude control method, the controllability and the fault-tolerant capability of the aircraft are enhanced.
一种多旋翼飞行器,包括机身、起落架、支撑架、旋翼和发动机,支撑架与机身之间通过轴及轴承实现转动连接,发动机及旋翼的轴线与垂直方向呈一角度θ安装,从而产生水平方向的拉力分量,各发动机及旋翼的水平方向的拉力分量用于推动支撑架旋转;本发明通过发动机及旋翼的特殊安装角度,产生水平方向的拉力分量推动支撑架旋转,从而利用陀螺效应保持姿态稳定;飞控系统根据支撑架与机身间的相对角度信号,调整发动机升力大小实现姿态控制;本发明创新的机械结构设计,实现了多旋翼飞行器的陀螺效应,保持姿态自稳,提高了飞行器的稳定性、可靠性和安全性,并降低了对飞控系统的依赖;同时通过灵活的姿态控制方法,增强了飞行器的操控性和容错能力。
Multi-rotor aircraft and control method thereof
一种多旋翼飞行器及其控制方法
2024-08-02
Patent
Electronic Resource
Chinese
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