CN108594840A - It verts control device and its control method - Google Patents
It verts control device and its control method Download PDFInfo
- Publication number
- CN108594840A CN108594840A CN201810535315.4A CN201810535315A CN108594840A CN 108594840 A CN108594840 A CN 108594840A CN 201810535315 A CN201810535315 A CN 201810535315A CN 108594840 A CN108594840 A CN 108594840A
- Authority
- CN
- China
- Prior art keywords
- verts
- control device
- circuit
- mcu controllers
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 18
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 28
- 238000004891 communication Methods 0.000 claims abstract description 27
- 238000001514 detection method Methods 0.000 claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 238000006243 chemical reaction Methods 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 7
- 230000008859 change Effects 0.000 description 6
- 238000013461 design Methods 0.000 description 3
- 230000009187 flying Effects 0.000 description 2
- 230000003862 health status Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Toys (AREA)
- Control Of Direct Current Motors (AREA)
Abstract
The present invention provides one kind and verts control device and its control method, and the control device that verts includes flight control system, MCU controllers, inclining rotary mechanism, DC motor control circuit, angle feed-back detection circuit and communication interface circuit；The DC motor control circuit, the angle feed-back detection circuit and the communication interface circuit are communicated to connect with the MCU controllers respectively, and the flight control system is connect with the communication interface circuit；The inclining rotary mechanism includes direct current generator and angular transducer, and the direct current generator is connect with the DC motor control circuit, and the angular transducer is connect with the angle feed-back detection circuit.Compared with the relevant technologies, the present invention provides vert control device and control method, improves the accuracy of tilt angle, possesses better security performance.
Description
Technical field
It verts control device and its control method the present invention relates to vehicle technology field more particularly to one kind.
Background technology
It is various to fly with unique layout and function adaptability with advances in technology with the raising of Flight Vehicle Design level
Row device meets the tendency of release, and tiltrotor is one such.Initial tiltrotor aircraft is the DCB Specimen machine that verts, with right
The scheme of the further increasing of voyage endurance and payload demand, tiltrotor aircraft has obtained more and more researchs,
Realize that the control of verting that rotor verts is one of emphasis in design scheme.The transformation of tiltrotor aircraft model of flight is logical
Control rotor tilt angle is crossed come what is realized, to realize safe and reliable and accurately vert, in the design of tiltrotor aircraft
In, the acquisition and realization of tilt control signal are particularly important.
In the related technology, tiltrotor aircraft verts control by the way of steering engine coordinated signals, which is
Control steering engine rotational angle is gone by central processing unit output angle control pwm signal, is verted to realize.
Although this control mode is simply easily achieved, the control method have the shortcomings that two kinds it is fatal：It is anti-interference
Energy force difference, pwm signal, which is interfered, is easy to happen distortion, to cause the event such as steering gear swaying or steering engine rotational angle inaccuracy
Barrier, it is serious aircraft to be caused to crash；The status information currently verted can not be monitored in real time, be unfavorable for flight safety.
Therefore it needs to be improved the prior art, to provide a kind of new control device that verts.
Invention content
The present invention, which provides one kind, can improve precision of verting, and vert control device and the control method having a safety feature.
It verts control device in order to solve the above technical problems, the present invention provides one kind, the control device that verts includes flying
Row control system, MCU controllers, inclining rotary mechanism, DC motor control circuit, angle feed-back detection circuit and communication interface electricity
Road；
The DC motor control circuit, the angle feed-back detection circuit and the communication interface circuit respectively with institute
The communication connection of MCU controllers is stated, the flight control system is connect with the communication interface circuit；
The inclining rotary mechanism includes direct current generator and angular transducer, the direct current generator and the DC MOTOR CONTROL
Circuit connects, and the angular transducer is connect with the angle feed-back detection circuit.
Preferably, the control device that verts further includes the current detection circuit being connect with the MCU controllers, described straight
Stream circuit for controlling motor is connect with the current detection circuit.
Preferably, the control device that verts further includes the voltage detecting circuit and DC-DC being connect with the MCU controllers
Conversion circuit, the DC-DC conversion circuits are connect with the current detection circuit.
Preferably, the control device that verts further includes connecting with the voltage detecting circuit and the DC-DC conversion circuits
The external power supply connect.
Preferably, the output signal of the voltage detecting circuit and the current detection circuit is analog signal.
Preferably, the inclining rotary mechanism further includes electrical machinery of active force and the propeller for being set to the electrical machinery of active force.
Preferably, the resolution ratio of the angular transducer is 0.3 °.
Preferably, the communication interface circuit uses RS232 or RS485 communication interfaces.
The present invention also provides a kind of control method for the control device that verts, which includes the following steps：
S1, flight control system transmission vert instruction to the MCU controllers；
It verts described in S2, MCU controllers reception after instruction, sends DC MOTOR CONTROL signal and control the direct current
Machine rotates；
S3, the angular transducer monitor the rotational angle of the direct current generator and feed back to the MCU controllers in real time；
Rotational angle is fed back to the flight control system by S4, the MCU controllers, and the flight control system carries out
State of flight adjusts.
Preferably, the MCU controllers control the direct current generator rotation using pid algorithm.
Compared with the relevant technologies, vert control device and its control method provided by the invention, in control of verting
In the process, the detection inclining rotary mechanism by detecting the electric current of the direct current generator and based on the angular transducer verts
Angle and the MCU controllers control the direct current generator rotation using pid algorithm, drive the electrical machinery of active force and institute
It states 0 °~90 ° of angle of propeller progress to vert, to realize that the change of tiltrotor aircraft state of flight, tilt angle are accurate
Controllably, it flies more stable, has a safety feature.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, and drawings in the following description are only some embodiments of the invention, common for this field
For technical staff, without creative efforts, other attached drawings are can also be obtained according to these attached drawings,
In：
Fig. 1 is the system architecture diagram of the control device of the invention that verts；
Fig. 2 is the control method flow chart of the control device of the invention that verts.
Specific implementation mode
The technical scheme in the embodiments of the invention will be clearly and completely described below, it is clear that described implementation
Example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
All other embodiment that technical staff is obtained without making creative work belongs to the model that the present invention protects
It encloses.
The control device 100 referring to Fig. 1, one kind provided by the invention is verted, including flight control system 1, MCU controllers
2, inclining rotary mechanism 3, DC motor control circuit 4, angle feed-back detection circuit 5, communication interface circuit 6, external power supply 7, electric current
Detection circuit 8, voltage detecting circuit 9 and DC-DC conversion circuits 10.
The flight control system 1 is connect by the communication interface circuit 6 with the MCU controllers 2, and to described
MCU controllers 2 send 0 °~90 ° control instructions of tilt angle, and the MCU controllers 2 generate DC MOTOR CONTROL signal and lead to
DC motor control circuit 4 is crossed to connect with the direct current generator 7 and control the rotation of the direct current generator 7.
The MCU controllers 2 are used to receive the control instruction of the flight control system 1 and execute control instruction.It is described
MCU controllers 2 read the angle information of the angular transducer 6 and the current parameters of the direct current generator 7 for controlling respectively
The inclining rotary mechanism 3 rotates.
The inclining rotary mechanism 3 includes angular transducer 31 and direct current generator 32, and the inclining rotary mechanism 3 further includes active force electricity
Machine 33 and the propeller 34 being set on the electrical machinery of active force 33.The inclining rotary mechanism 3 is used in flight course incline
Turn with change of flight state and lift is provided.
The angular transducer 31 is used to obtain the rotational angle of inclining rotary mechanism 3, and the angular transducer 31 passes through described
Angle feed-back detection circuit 5 is connect with the MCU controllers 2, and rotational angle is input to the flight by the MCU controllers 2
Control system 1 for realizing tiltrotor aircraft state of flight change.The resolution ratio of the angular transducer is 0.3 °, absolutely
To angular error ± 0.1%, relative angle error is 0.2%.
The direct current generator 32 is rotated for realizing the driving electrical machinery of active force 33 and the propeller 34.
The DC motor control circuit 4 is for connecting the MCU controllers 2 and the direct current generator 7, for described
MCU controllers 2 control the rotation of the direct current generator 7.
The angle feed-back detection circuit 5 is used to the angle change that the angular transducer 6 detects feeding back to the MCU
Controller 2.
For connecting the flight control system 1 and the MCU controllers 2, the communication connects the communication interface circuit 6
Mouth circuit 6 uses RS232 RS485 communication interfaces, is mainly used for vert instruction or the exchange of data and transmission.
The external power supply 7 is used for the power supply of control device 100 of verting, and the external power supply 7 passes through the voltage
Detection circuit 11 and the DC-DC conversion circuits 12 are connect with the MCU controllers 2.
Rotation electric current and the external power supply 7 of the current detection circuit 8 for detecting the direct current generator 32
Electric current；The current detection circuit 8 is connect with the MCU controllers 2, the rotation electric current of the direct current generator 32 is input to described
MCU controllers 2, the operating status for monitoring the direct current generator 32.
The voltage detecting circuit 9 is used to obtain the voltage of the external power supply 7；The voltage detecting circuit 9 with it is described
MCU controllers 2 connect, and the control source of the external power supply 7 to the MCU controllers 2 is used for monitoring system power supply state.
The output signal of the current detection circuit 8 and voltage detecting circuit 9 is analog signal.
The DC-DC conversion circuits 10 are used for the conversion of supply voltage.
Specifically, during tiltrotor aircraft vertically puts down winged (more rotor flyings), the MCU controllers 2 are real
When the status information (such as angle) of the inclining rotary mechanism 3 is transmitted to the flight control system 1.Tiltrotor aircraft, which is in, to hang down
When straight landing state, it is 0 ° that the propeller 34, which keeps completely vertical fuselage state, tilt angle,；When the flight control system
1 to the MCU controllers 2 by the communication interface circuit 6 when assigning tilt angle control instruction, and the MCU controllers 2 will
Output DC MOTOR CONTROL signal makes the DC motor control circuit 4 control the rotation of the direct current generator 32, the machine that verts
Structure 3 is verted from vertical state to horizontality.
When tiltrotor aircraft is in an interim state, the propeller 34 and fuselage angle are 0~90 °, the angle
Degree sensor 31 feeds back the inclining rotary mechanism 3 from 0 °~90 ° of state, the current detecting electricity to the MCU controllers 2 in real time
The shape of 32 curent change of direct current generator at 0~90 ° of the inclining rotary mechanism 3 is fed back to the MCU controllers 2 in real time in road 8
State, then the MCU controllers 2 angle information and current information are fed back into the flight by the communication interface circuit 6
Control system 1, to judge the health status of the inclining rotary mechanism 3.
When detecting that the inclining rotary mechanism 3 is tilted to 90 °, the MCU controllers 2 pass through the DC motor control circuit
4, which control the direct current generator 32, stops operating, and current angular information is fed back to described fly by the communication interface circuit 6
Row control system 1, then the flight control system 1 according to angle information carry out tiltrotor aircraft state of flight by revolving more
Wing state changes to fixed-wing state.
During tiltrotor aircraft horizontal flight (fixed-wing flight), the MCU controllers 2 are in real time to described
Flight control system 1 transmits the status information (such as angle) of the inclining rotary mechanism 3.Tiltrotor is in the flat winged state of fixed-wing
When, the holding of the propeller 34 is substantially parallel fuselage state, and tilt angle is 90 °, when flight control is 1 to be led to by described
When letter interface circuit 6 assigns tilt angle control instruction to the MCU controllers 2, the MCU controllers 2 will export direct current
Machine control signal makes the DC motor control circuit 4 control the rotation of the direct current generator 32, and the inclining rotary mechanism 3 is by parallel shape
It verts in state horizontal direction.
When tiltrotor aircraft is in an interim state, the propeller 34 is 90~0 ° of variations, institute with fuselage angle
It states angular transducer 31 and feeds back the state that the inclining rotary mechanism 3 changes from 90~0 °, the electricity to the MCU controllers 2 in real time
Current detection circuit 8 in real time to the MCU controllers 2 feed back the mechanism that inclines turn 3 at 90~0 ° 32 electric current of direct current generator
The state of variation, then the MCU controllers 2 angle information and current information are fed back to by the communication interface circuit 6
The flight control system 1, to judge 3 health status of the inclining rotary mechanism.
When detecting that the inclining rotary mechanism 3 is tilted to 0 °, the MCU controllers 2 pass through the DC motor control circuit 4
Stop the rotation of the direct current generator 32, and current angular information is fed back to by the flight by the communication interface circuit 6 and is controlled
System 1 processed, then the flight control system 1 according to angle information carry out tiltrotor aircraft state of flight by fixing wing
State changes to more rotor states.
Referring to Fig. 2, the present invention also provides a kind of control method of the control device that verts, the method includes as follows
Step：
S1, flight control system transmission vert instruction to the MCU controllers；
The flight control system 1 carries out state of flight judgement according to flight progress, by described when being verted
The transmission of communication interface circuit 6 verts instruction to the MCU controllers 2.
It verts described in S2, MCU controllers reception after instruction, sends DC MOTOR CONTROL signal and control the direct current
Machine rotates；
The MCU controllers 2 receive the instruction of verting of the transmission of the communication interface circuit 6, pass through the direct current
Circuit for controlling motor 4 sends DC MOTOR CONTROL signal, and the MCU controllers 2 control the direct current generator 2 using pid algorithm
Rotation, to improve the accuracy of rotational angle.
S3, the angular transducer monitor the rotational angle of the direct current generator and feed back to the MCU controllers in real time；
The angular transducer 31 detects the rotational angle of the direct current generator 32 in real time, and by rotational angle described in
Angle detection feedback circuit 5 feeds back to the MCU controllers 2.
Rotational angle is fed back to the flight control system by S4, the MCU controllers, and the flight control system carries out
State of flight adjusts.
The MCU controllers 2 receive the rotational angle information of the direct current generator 32 of the feedback of the angular transducer 31,
Rotational angle information is transferred to the flight control system, the flight control system 1 by the communication interface circuit 6
State of flight adjustment is carried out according to rotation result, to adapt to different flight progress.
Compared with the relevant technologies, vert control device and its control method provided by the invention, in control of verting
In the process, the detection inclining rotary mechanism by detecting the electric current of the direct current generator and based on the angular transducer verts
Angle and the MCU controllers control the direct current generator rotation using pid algorithm, drive the electrical machinery of active force and institute
It states 0 °~90 ° of angle of propeller progress to vert, to realize that the change of tiltrotor aircraft state of flight, tilt angle are accurate
Controllably, it flies more stable, has a safety feature.
Example the above is only the implementation of the present invention is not intended to limit the scope of the invention, every to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
- The control device 1. one kind is verted, it is characterised in that：The control device that verts include flight control system, MCU controllers, Inclining rotary mechanism, DC motor control circuit, angle feed-back detection circuit and communication interface circuit；The DC motor control circuit, the angle feed-back detection circuit and the communication interface circuit respectively with it is described MCU controllers communicate to connect, and the flight control system is connect with the communication interface circuit；The inclining rotary mechanism includes direct current generator and angular transducer, the direct current generator and the DC motor control circuit Connection, the angular transducer are connect with the angle feed-back detection circuit.
- 2. the control device according to claim 1 that verts, it is characterised in that：The control device that verts further include with it is described The current detection circuit of MCU controllers connection, the DC motor control circuit are connect with the current detection circuit.
- 3. the control device according to claim 2 that verts, it is characterised in that：The control device that verts further include with it is described The voltage detecting circuit and DC-DC conversion circuits of MCU controllers connection, the DC-DC conversion circuits and current detecting electricity Road connects.
- 4. the control device according to claim 3 that verts, it is characterised in that：The control device that verts further include with it is described The external power supply that voltage detecting circuit is connected with the DC-DC conversion circuits.
- 5. the control device according to claim 4 that verts, it is characterised in that：The voltage detecting circuit and electric current inspection The output signal of slowdown monitoring circuit is analog signal.
- 6. the control device according to claim 1 that verts, it is characterised in that：The inclining rotary mechanism further includes electrical machinery of active force And it is set to the propeller of the electrical machinery of active force.
- 7. the control device according to claim 1 that verts, it is characterised in that：The resolution ratio of the angular transducer is 0.3°。
- 8. the control device according to claim 1 that verts, it is characterised in that：The communication interface circuit using RS232 or RS485 communication interfaces.
- 9. a kind of control method based on the control device that verts described in claim 1~8 any one, which is characterized in that the control Method processed includes the following steps：S1, flight control system transmission vert instruction to the MCU controllers；It verts described in S2, MCU controllers reception after instruction, sends DC MOTOR CONTROL signal and control the direct current generator turn It is dynamic；S3, the angular transducer monitor the rotational angle of the direct current generator and feed back to the MCU controllers in real time；Rotational angle is fed back to the flight control system by S4, the MCU controllers, and the flight control system is flown State adjusts.
- 10. control method according to claim 9, it is characterised in that：In the S2 steps, the MCU controllers are adopted The direct current generator rotation is controlled with pid algorithm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810535315.4A CN108594840A (en) | 2018-05-29 | 2018-05-29 | It verts control device and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810535315.4A CN108594840A (en) | 2018-05-29 | 2018-05-29 | It verts control device and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108594840A true CN108594840A (en) | 2018-09-28 |
Family
ID=63629586
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810535315.4A Pending CN108594840A (en) | 2018-05-29 | 2018-05-29 | It verts control device and its control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108594840A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109343551A (en) * | 2018-10-29 | 2019-02-15 | 北京理工大学 | A kind of gyroplane coordinate turn control method and system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1993264A (en) * | 2004-07-29 | 2007-07-04 | 贝尔直升机泰克斯特龙公司 | Method and apparatus for flight control of tiltrotor aircraft |
| CN103308272A (en) * | 2013-05-30 | 2013-09-18 | 中国科学院长春光学精密机械与物理研究所 | Non-planar dynamic testing device for aerodynamic performances of dual rotors |
| CN104407625A (en) * | 2014-09-26 | 2015-03-11 | 北京博创尚和科技有限公司 | Digital steering engine |
| CN105035320A (en) * | 2015-07-28 | 2015-11-11 | 邢中苏 | Fixed wing aircraft provided with multiple rotor wings and capable of realizing vertical take-off and landing |
| CN204750564U (en) * | 2015-05-06 | 2015-11-11 | 同济大学 | Three rotor VTOL unmanned aerial vehicle on Y type |
| US20170217584A1 (en) * | 2016-02-01 | 2017-08-03 | King Fahd University Of Petroleum And Minerals | System and method of operation of twin-tiltrotor helicopter |
-
2018
- 2018-05-29 CN CN201810535315.4A patent/CN108594840A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1993264A (en) * | 2004-07-29 | 2007-07-04 | 贝尔直升机泰克斯特龙公司 | Method and apparatus for flight control of tiltrotor aircraft |
| CN103308272A (en) * | 2013-05-30 | 2013-09-18 | 中国科学院长春光学精密机械与物理研究所 | Non-planar dynamic testing device for aerodynamic performances of dual rotors |
| CN104407625A (en) * | 2014-09-26 | 2015-03-11 | 北京博创尚和科技有限公司 | Digital steering engine |
| CN204750564U (en) * | 2015-05-06 | 2015-11-11 | 同济大学 | Three rotor VTOL unmanned aerial vehicle on Y type |
| CN105035320A (en) * | 2015-07-28 | 2015-11-11 | 邢中苏 | Fixed wing aircraft provided with multiple rotor wings and capable of realizing vertical take-off and landing |
| US20170217584A1 (en) * | 2016-02-01 | 2017-08-03 | King Fahd University Of Petroleum And Minerals | System and method of operation of twin-tiltrotor helicopter |
Non-Patent Citations (3)
| Title |
|---|
| XINHUAWANG: "Mathematical modeling and control of a tilt-rotor aircraft", 《AEROSPACE SCIENCE AND TECHNOLOGY》 * |
| 丁东: "无人倾转旋翼机快速控制原型", 《中国优秀硕士学位论文全文数据库》 * |
| 荣海涛: "双螺旋桨摆杆角度伺服***研究", 《微电机》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109343551A (en) * | 2018-10-29 | 2019-02-15 | 北京理工大学 | A kind of gyroplane coordinate turn control method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105573333B (en) | A kind of modular control method for quadrotor | |
| CN104590550B (en) | A kind of highly reliable dual redundant electric steering engine control device | |
| CN104210655A (en) | Double-rotor-wing unmanned plane | |
| CN105547676A (en) | Multifunctional swing-arm type rotor wing test stand | |
| CN105644776A (en) | Multi-rotor unmanned helicopter | |
| CN104760695A (en) | Method for controlling quadrotor aircraft by vector rotation method | |
| CN111942577B (en) | Gravity center balancing method of unmanned aerial vehicle and unmanned aerial vehicle | |
| CN104503487B (en) | A kind of Measurement and Control System and measurement control method of hoistable platform | |
| CN104691753A (en) | Oil-relay multi-rotor helicopter driving system | |
| CN207374661U (en) | Multi-rotor unmanned aerial vehicle | |
| CN108750103A (en) | A kind of aircraft that vertical height-lock control and horizontal height-lock control can be achieved | |
| CN108313285A (en) | Propeller tilting mechanism | |
| CN108706099A (en) | One kind is verted three axis composite wing unmanned planes and its control method | |
| CN108820203A (en) | A kind of unmanned plane and flight control system of tilting type VTOL fixed-wing | |
| CN106989194A (en) | Valve electric actuator and control method | |
| CN205168881U (en) | Multiaxial flying machine | |
| CN206819162U (en) | A kind of unmanned plane based on CAN flies control hardware system | |
| CN107117320A (en) | A kind of many rotor fuel-electric hybrid power aircraft | |
| CN206968964U (en) | A kind of unmanned airplane empennage rudder face directly drives control device | |
| CN106741904A (en) | A kind of compound unmanned vehicle | |
| CN113401338A (en) | Oil moves many rotor crafts and transmission and control system | |
| CN106828903B (en) | Supporting structure and unmanned aerial vehicle | |
| CN108594840A (en) | It verts control device and its control method | |
| WO2022033305A1 (en) | Method and apparatus for controlling unmanned aerial vehicle, and storage medium | |
| CN105929727A (en) | Motor control method and system based on I2C bus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200616 Address after: Room 205-2, building 1616, Chuangxin Road, Songbei District, Harbin City, Heilongjiang Province Applicant after: Harbin epers Intelligent Equipment Technology Co.,Ltd. Address before: 528400 the 3 floor B area of A plant, 10 Cui Wei Road, Chui Heng District, Zhongshan, Guangdong. Applicant before: ZHONGSHAN XINGTU AEROSPACE TECHNOLOGY CO.,LTD. |
|
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180928 |