PL422100A1 - Aerial vehicle with several drive units and method for controlling its operation - Google Patents
Aerial vehicle with several drive units and method for controlling its operationInfo
- Publication number
- PL422100A1 PL422100A1 PL422100A PL42210017A PL422100A1 PL 422100 A1 PL422100 A1 PL 422100A1 PL 422100 A PL422100 A PL 422100A PL 42210017 A PL42210017 A PL 42210017A PL 422100 A1 PL422100 A1 PL 422100A1
- Authority
- PL
- Poland
- Prior art keywords
- vehicle
- thrust
- drive units
- angled drive
- controlling
- Prior art date
Links
- 238000000034 method Methods 0.000 title abstract 2
- 239000013598 vector Substances 0.000 abstract 4
- 230000000712 assembly Effects 0.000 abstract 2
- 238000000429 assembly Methods 0.000 abstract 2
- 230000007423 decrease Effects 0.000 abstract 2
- 230000001133 acceleration Effects 0.000 abstract 1
- 230000001154 acute effect Effects 0.000 abstract 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Przedmiotowy wynalazek dotyczy pojazdu latającego obejmującego korpus oraz co najmniej cztery zespoły napędowe połączone z korpusem ramionami, których wektory ciągu w czasie nieruchomego zawisu pojazdu są skierowane zasadniczo pionowo w górę. Wynalazek charakteryzuje się tym, że co najmniej dwa jego zespoły napędowe (2A, 2C) są pochylone na prawo i co najmniej dwa jego zespoły napędowe (2B, 2D) są pochylone na lewo, przy czym sumy rzutów na płaszczyznę poziomą (5) par wektorów ciągu zespołów napędowych (2A, 2C) i (2B, 2D) pochylonych na prawo i na lewo w czasie nieruchomego zawisu są równe zeru, ponadto dla każdego kierunku na płaszczyźnie poziomej (5) układ wektorów ciągu powodujący pochylanie się pojazdu w tym kierunku, generuje bezpośrednio przyspieszenie pojazdu, którego wektor jest zerowy lub będący pod kątem ostrym do tego kierunku, przy czym jest to osiągnięte przez odpowiednie pochylenie zespołów napędowych (2A, 2B, 2C, 2D) w konstrukcji pojazdu w stronę jego środka, poza ich pochyleniem na prawo/lewo. Przedmiotowy wynalazek dotyczy także sposobu sterowania lotem takiego pojazdu, przy czym dla osiągnięcia celu sterowania na bieżąco wyznacza się siły ciągu wirników. Dla spowodowania obrotu pojazdu w kierunku zgodnym z ruchem wskazówek zegara, zwiększa się siłę ciągu zespołów napędowych pochylonych na prawo (2A, 2C) i/lub zmniejsza się siłę ciągu zespołów napędowych pochylonych na lewo (2B, 2D), zaś dla spowodowania obrotu pojazdu w kierunku przeciwnym do ruchu wskazówek zegara, w widoku z góry, zwiększa się siłę ciągu zespołów napędowych pochylonych na lewo (2B, 2D) i/lub zmniejsza się siłę ciągu zespołów napędowych pochylonych na prawo (2A, 2C).The present invention relates to a flying vehicle comprising a body and at least four propulsion systems connected to the body by arms, whose thrust vectors are directed substantially vertically upwards while the vehicle is still hovering. The invention is characterized in that at least two of its propulsion assemblies (2A, 2C) are inclined to the right and at least two of its propulsion assemblies (2B, 2D) are inclined to the left, with the sums of projections on the horizontal plane (5) of vector pairs thrust of propulsion systems (2A, 2C) and (2B, 2D) tilted to the right and to the left during stationary hovering are zero, moreover, for each direction on the horizontal plane (5) the system of thrust vectors causing the vehicle to lean in this direction, generates directly acceleration of the vehicle, whose vector is zero or being in an acute angle to this direction, which is achieved by the appropriate inclination of the power units (2A, 2B, 2C, 2D) in the vehicle structure towards its center, except for their right inclination / left. The present invention also relates to a method of controlling the flight of such a vehicle, wherein to achieve the purpose of control, the thrust forces of the rotors are determined on an ongoing basis. To cause the vehicle to rotate clockwise, the thrust of the right-angled drive units (2A, 2C) increases and / or the thrust of the left-leaning power units (2B, 2D) decreases, and to cause the vehicle to rotate counterclockwise, in a top view, the thrust of the left-angled drive units (2B, 2D) increases and / or the thrust of the right-angled drive units (2A, 2C) decreases.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PL422100A PL232732B1 (en) | 2017-07-03 | 2017-07-03 | Aerial vehicle with several drive units and method for controlling its operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PL422100A PL232732B1 (en) | 2017-07-03 | 2017-07-03 | Aerial vehicle with several drive units and method for controlling its operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| PL422100A1 true PL422100A1 (en) | 2019-01-14 |
| PL232732B1 PL232732B1 (en) | 2019-07-31 |
Family
ID=64958829
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PL422100A PL232732B1 (en) | 2017-07-03 | 2017-07-03 | Aerial vehicle with several drive units and method for controlling its operation |
Country Status (1)
| Country | Link |
|---|---|
| PL (1) | PL232732B1 (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106794895A (en) * | 2016-05-18 | 2017-05-31 | 深圳市创客工场科技有限公司 | multi-rotor aircraft |
| WO2018119620A1 (en) * | 2016-12-27 | 2018-07-05 | 深圳市大疆创新科技有限公司 | Multi-rotor unmanned aerial vehicle |
-
2017
- 2017-07-03 PL PL422100A patent/PL232732B1/en unknown
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106794895A (en) * | 2016-05-18 | 2017-05-31 | 深圳市创客工场科技有限公司 | multi-rotor aircraft |
| WO2018119620A1 (en) * | 2016-12-27 | 2018-07-05 | 深圳市大疆创新科技有限公司 | Multi-rotor unmanned aerial vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| PL232732B1 (en) | 2019-07-31 |
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