The invention relates to an all-wheel-drive internal deflection non-planar four-rotor aircraft and a control method thereof. Comprising a design architecture and a control framework. The design architecture mainly comprises rotor wing universal joints, a double-shaft tilting mechanism and parallel bilinear servo motors, the aircraft can almost fly in any direction and attitude due to the design, multi-direction thrust is generated in a propeller tilting mode, and the unmanned aerial vehicle can keep the shape of a four-rotor aircraft within the designed tilting angle. The control frame elaborates the conversion of attitude commands into the position of the servo motor and the combination of thrust vector and fuselage rotation when the servo travel is exceeded. The all-wheel-drive internal-deflection non-planar four-rotor aircraft has higher flexibility and maneuverability, and has a larger degree of freedom of motion compared with a traditional multi-rotor unmanned aerial vehicle, so that the aircraft can execute complex perception and operation tasks, especially in narrow indoor and outdoor infrastructures.

    本发明涉及一种全驱内偏转非平面四旋翼飞行器及其控制方法。包括设计架构和控制框架。所述设计架构主要包含旋翼万向节、双轴倾斜机构和并行双线性伺服电机,该设计使得飞行器几乎可以以任何方向和姿态飞行,通过倾斜螺旋桨的方式产生多向推力,无人机在设计倾斜角度内可以保持四旋翼飞行器的形状。所述控制框架阐述了姿态命令转换为伺服电机的位置,以及超出伺服行程时推力矢量和机身旋转的组合。本发明的全驱内偏转非平面四旋翼飞行器具有更高的灵活性和机动性,比传统多旋翼无人机具有更大的运动自由度,使其能够执行复杂的感知和操作任务,尤其是在狭窄的室内和室外基础设施中。


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    Title :

    All-wheel-drive internal-deflection non-planar four-rotor aircraft and control method thereof


    Additional title:

    全驱内偏转非平面四旋翼飞行器及其控制方法


    Contributors:
    LEI YAO (author) / LUAN CHUNFENG (author) / YUAN SHUO (author) / YU HANGYU (author)

    Publication date :

    2024-01-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64C AEROPLANES , Flugzeuge



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