| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a method of completely, automatically and optimally controlling a drone from a moving state to a hovering state. <P>SOLUTION: This method comprises steps of: (a) measuring horizontal linear speed, tilt angles, and angular speeds at the initial instant; (b) setting stopping time value; (c) on the basis of initial measurements and set stopping time, parameterizing a predetermined predictive function that models optimum continuous decreasing variation of horizontal linear speed as a function of time; (d) applying set point values to a loop for controlling motors of the drone, which values correspond to target horizontal linear speed precalculated from said parameterized predictive function; and (e) once hovering state has been reached, activating a hovering flight control loop for maintaining the drone at speed and tilt angle that are zero relative to the ground. <P>COPYRIGHT: (C)2012,JPO&INPIT |
