The invention provides a control device of a multi-duct aircraft, which relates to the field of aircraft hardware controllers and comprises an aircraft, a master controller and a plurality of slave controllers, the aircraft comprises a plurality of hollow arrays which are fixedly connected; each hollow array comprises a plurality of ducted propellers and a plurality of steering engines; the main controller receives a flight instruction signal and a sensor signal, and outputs a control signal to the slave controller according to the sensor signal based on the flight instruction signal; the control signal comprises current required by each electronic speed regulator connected with the slave controller and current required by each steering engine; and the slave controllers solve the control signals, and pull force and torque required by the power motors controlled by the slave controllers and angles required by rotation of the steering engines are determined according to the solving results, so that the ducted propellers and the steering engines are driven to rotate. Accurate control can be achieved, the overall lift force of the aircraft cannot be reduced, a simple control distribution strategy is achieved, and current overload of the controller is avoided.
本发明提供了一种多涵道飞行器的控制装置,涉及飞行器硬件控制器领域,包括:飞行器、主控制器以及多个从控制器;飞行器包括多个固连的中空阵列;每个中空阵列包括多个涵道螺旋桨以及多个舵机;主控制器接收飞行指令信号以及传感器信号,并基于飞行指令信号,根据传感器信号向从控制器输出控制信号;控制信号包括所述从控制器所连接的各个电子调速器所需的电流以及各个舵机所需的电流;从控制器解算控制信号,根据解算结果确定各个从控制器所控制的动力电机所需的拉力和扭矩以及舵机旋转所需的角度,以驱动涵道螺旋桨转动和舵机旋转。本发明能够精准控制,不会降低飞行器总体升力,实现简单的控制分配策略以及避免了控制器电流过载。
Control device of multi-duct aircraft
一种多涵道飞行器的控制装置
29.03.2024
Patent
Elektronische Ressource
Chinesisch
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