| 摘要 |
A method and a system are proposed for controlling an aircraft in the form of a multicopter which has a plurality of redundant rotors (4), preferably arranged in a common rotor plane, in order, on the one hand, to generate lift, and, on the other hand, also propulsion by inclining the at least one rotor plane, wherein the regulation of the position and the control of the multicopter are carried out by changing rotor rotational speeds as a function of pilot control instructions, which system is characterized in that the rotors (4) are connected to one another in terms of data technology via a failsafe network (8), and they communicate their respective operating state, in particular their rotor rotational speed, in the network (8); the network contains a first multiplicity of redundant sensors which determine control-relevant data and make it available in the network, in particular inclination, acceleration, rotational speed and/or position in all three spatial axes of the multicopter; furthermore the network contains a second multiplicity of regulators which determine in an autonomous and decentralized fashion in each case a regulating signal for in each case at least one rotor on the basis of the sensor data and preferably also on the basis of the rotor operating states, and make said regulating signal available in the network; the rotors are regulated by means of the regulating signals in such a way that flight behaviour of the multicopter corresponds substantially to the prescription by the pilot control instruction. |
