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US 12,679,533 B2Granted
Attitude control device
AssigneeHonda Motor Co., Ltd.
InventorRyota Tsujimoto
Life of this patent
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Abstract
A rotor control device for performing attitude control of a fuselage of an aircraft includes a VTOL rotor control unit for controlling each rotor based on a roll moment command value, a pitch moment command value, and a yaw moment command value. When the magnitude of the roll moment command value or the magnitude of the pitch moment command value is equal to or greater than a threshold, the VTOL rotor control unit controls each rotor without using the yaw moment command value.
Claims8
An aircraft comprising:
- a plurality of rotors each configured to generate thrust in a vertical direction;
- a gyro sensor mounted on the aircraft;
- and
- an attitude control device that performs attitude control of a fuselage of the aircraft including the plurality of rotors, the attitude control device comprising one or more processors that execute computer-executable instructions stored in a memory,
- wherein the one or more processors execute the computer-executable instructions to perform:
- a command value calculation process that, based on an angular velocity of the fuselage detected by the gyro sensor,
- automatically calculates a command value of a roll moment to be applied to the fuselage,
- automatically calculates a command value of a pitch moment to be applied to the fuselage, and
- automatically calculates a command value of a yaw moment to be applied to the fuselage;
- and
- a determination process that makes one of:
- a determination as to whether or not a magnitude of the command value of the roll moment is equal to or greater than a first threshold;
- a determination as to whether or not a magnitude of the command value of the pitch moment is equal to or greater than a second threshold;
- or
- a determination as to whether or not a magnitude of a command value of a resultant moment obtained from the command value of the roll moment and the command value of the pitch moment is equal to or greater than a third threshold, and
- when the magnitude of the command value of the roll moment is determined to be equal to or greater than the first threshold, when the magnitude of the command value of the pitch moment is determined to be equal to or greater than the second threshold, or when the magnitude of the command value of the resultant moment is determined to be equal to or greater than the third threshold, the one or more processors performs an attitude recovery mode that:
- controls each of the plurality of rotors based on the command value of the roll moment and the command value of the pitch moment without using the command value of the yaw moment, or
- corrects the command value of the yaw moment calculated in the command value calculation process in a manner so that a magnitude of the command value of the yaw moment is reduced and controls each of the plurality of rotors based on the command value of the roll moment, the command value of the pitch moment, and the command value of the yaw moment that has been corrected.
15 more elements
Dependencies are inferred from the claim text.