We propose a method of controlling a multi-rotor aircraft (1), said aircraft (1) comprising at least four lifting rotors (2; R1-R6), each having a first rotation axis which is essentially parallel to a yaw axis (z) of the aircraft (1), and at least one forward propulsion device (3), the at least one forward propulsion device or each of said forward propulsion devices having at least two rotors (P1_R1, P1_R2, P2_R1, P2_R2) that are arranged coaxially with a second rotation axis which is essentially parallel to a roll axis (x) of the aircraft, the at least one forward propulsion device or each of said forward propulsion devices (3, P1, P2) being arranged at a respective distance (+y, -y) from said roll axis (x), the method further comprising: using at least one of the rotors (P1_R1, P1_R2, P2_R1, P2_R2) of the at least one forward propulsion device (3, P1, P2) to control the aircraft's moment about the yaw axis (z) and/or the roll axis (x) independently from each other.
MULTI-ROTOR AIRCRAFT AND METHOD OF CONTROLLING SAME
MEHRROTORENFLUGZEUG UND VERFAHREN ZUR STEUERUNG DESSELBEN
AVION À ROTORS MULTIPLES ET SON PROCÉDÉ DE COMMANDE
2021-11-24
Patent
Electronic Resource
English
Control method of multi-rotor aircraft and multi-rotor aircraft
European Patent Office | 2015
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