The invention discloses a control method of an oil-electric hybrid multi-rotor unmanned aerial vehicle. The oil-electric hybrid multi-rotor unmanned aerial vehicle comprises a plurality of pairs of vehicle arms which are symmetrically connected to a vehicle body with the vehicle body as the midpoint. A fuel-driven propeller is arranged in the middle of any one of the arms, and an electric propeller is arranged at the tail end of any one of the arms; the method comprises the following steps: detecting the working conditions of the fuel-driven propellers and the electric propellers; and when any one or more of the fuel-driven propellers and the electric propellers break down, adjusting the power of the fuel-driven propellers and/or the electric propellers which do not break down. According to the method, the working states of the fuel-driven propellers and the electric propellers are obtained and adjusted to deal with the flight faults of the unmanned aerial vehicle, the fuel-driven propellers and the electric propellers jointly intervene in control, and sufficient redundancy is provided for controlling the unmanned aerial vehicle.
本发明公开了一种油电混动多旋翼无人机控制方法,油电混动多旋翼无人机包括多对以所述机身为中点中心对称连接于所述机身的机臂;任一所述机臂的中部设有燃油驱动螺旋桨、末端设有电动螺旋桨;所述方法包括:检测所述燃油驱动螺旋桨和所述电动螺旋桨的工作状况;在所述燃油驱动螺旋桨和所述电动螺旋桨中的任意一个或多个发生故障时,调整未故障的燃油驱动螺旋桨和/或所述电动螺旋桨的功率。上述方法通过获取并调节燃油驱动螺旋桨、电动螺旋桨的工作状态以应对无人机飞行故障,令燃油驱动螺旋桨和电动螺旋桨共同介入控制,为控制无人机提供充足的冗余度。
Control method of oil-electric hybrid multi-rotor unmanned aerial vehicle
一种油电混动多旋翼无人机控制方法
2021-08-06
Patent
Electronic Resource
Chinese
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