Importance

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Abstract

A method is provided for stabilizing an orientation and height of a person or load-carrying multicopter with a plurality of motors, wherein the drive of the individual motors in flight is continuously calculated by a flight control unit and correspondingly prescribed to the motors using control technology, for which purpose, based on a desired torque τ, of a desired thrust s preferably prescribed by a pilot signal, and of a motor matrix M, the drive of the motors is calculated by a motor allocation algorithm f and provided as a control signal to the motors, wherein the following applies to the drive and the corresponding manipulated motor variables u: u=f(τ, s, M). The method provides that A) the individual motors are weighted with a preferably diagonally filled matrix P, so that the following applies: u=f(τ, s, M, P), the motor allocation algorithm calculates the drive u such that the individual motors make an individual contribution to the desired forces and torques τ and to the thrust s in accordance with the matrix P depending on the weighting; and/or B) zero space orientations with 0=M·u_N that do not generate any torques or thrust, and therefore do not influence the flight movement, are used to drive the motors.

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First Claim