| CPC G05D 1/08 (2013.01) [B64C 29/0033 (2013.01); B64D 31/06 (2013.01); B64D 41/00 (2013.01); B64U 10/20 (2023.01); B64U 30/21 (2023.01); B64U 30/297 (2023.01); B64U 50/13 (2023.01); G05D 1/101 (2013.01); B64U 10/80 (2023.01)] | 10 Claims |
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1. A method for controlling an attitude of a miniature unmanned aerial vehicle (UAV), the UAV comprising a controller and two wing assemblies that are driven by two servo-motors respectively, wherein:
the servo-motors are connected to the controller;
the servo-motors and the controller are embedded inside the main body of the UAV;
each wing assembly comprises a power plant and a propeller driven by the power plant; wherein:
the power plant is arranged on the wing,
the propeller is configured to provide propulsion for the UAV,
wherein the rotation plane of the propeller is perpendicular to the plane of the wing;
the method comprising:
continuously determining, by the controller, a current flying attitude of the UAV according to measurements of a plurality of sensors;
calculating, by the controller, a first tilting angle, a first torque of the first wing assembly, a first power output for the first power plant, and a first propelling direction of the first propeller according to the current flying attitude and a desired flying attitude;
calculating, by the controller, a second tilting angle, a second torque of the second wing assembly, a second power output for the second power plant, and a second propelling direction of the second propeller according to the current flying attitude and the desired flying attitude;
wherein the desired flying attitude includes air-braking, aggressive turns, flipping over, or hovering upside down;
providing, by the first servo-motor, the first torque to the first wing assembly to tilt the first wing assembly with the first tilting angle and providing, by the first power plant, the first power output to the first propeller and the first propelling direction of the first propeller;
providing, by the second servo-motor, the second torque to the second wing assembly to tilt the second wing assembly with the second tilting angle, and providing, by the second power plant, the second power output to the second propeller and the second propelling direction of the second propeller; and
tilting the first wing assembly with the first tilting angle and tilting the second wing assembly with the second tilting angle in sync with the power outputs of the power plants controlled by the controller while continuously and synchronously fine-tuning the tilting angle of each wing assembly and the power output of each power plant to maintain balance of the UAV, such that high agility of the UAV is achieved;
wherein the first and second tilting angles are configured to be at any angle from 0 to 360 degree;
wherein the tilting angle and torque of each wing assembly are calculated to achieve a desired flying attitude in 6-axis,
wherein the steps of calculating the tilting angle and the torque of each wing assembly are conducted using an artificial intelligence algorithm or a deep learning algorithm that learns previous control action for improved control action in next incidents and achieves high agility of the UAV.
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