Ed of every single propulsion motor. around the cooperative handle of speed of every single propulsion motor. This paper mainly styles a synchronous cooperative handle strategy (SCCS) in addition to a This paper mostly styles a synchronous cooperative control tactic (SCCS) a distributed cooperative manage technique (DCCS). In the case of a straight-line flight, SCCS distributed cooperative handle technique (DCCS). In the case of a straight-line flight, S is adopted. When the plane requires to turn, DCCS is adopted. is adopted. When the plane needs to turn, DCCS is adopted.2.1. Synchronous Cooperative Handle Tactic two.1. Synchronous Cooperative Handle Technique When the airplane flies inside a straight line, each and every propeller is required to perform at the When the airplane flies inside a straight line, every single propeller is thrust . exact same speed, in order that the left and ideal propellers with the fuselage offer the samerequired to work a identical the influence of air flow or other elements, if a propeller is disturbed identical th Even so, as a result of speed, in order that the left and right propellers of the fuselage supply the . Nonetheless, resulting from thrust output of the left and suitable propellers could be and its speed adjustments abruptly, thethe influence of air flow or other elements, if a propeller is distu inconsistent, and its speed modifications abruptly, the thrust output of is essential to adopt an resulting inside the yaw with the airplane . Consequently, it the left and correct propellers ma inconsistent, resulting in the yaw from the airplane . Consequently, it is essential to a appropriate manage strategy to maintain the propulsion motors working synchronously when the airplane is flying in a straight line.World BW A868C Biological Activity Electr. Veh. J. 2021, 12, 199 World Electr. Veh. J. 2021, 12,three of 12 3 ofWorld Electr. Veh. J. 2021, 12,an proper manage technique to keep the propulsion motors operating synchronously 3 of 12 an appropriate manage approach to keep the propulsion motors working synchronously when the airplane is flying in a straight line. when the airplane is flying within a straight line. 2.1.1. Relative BAY 1214784 medchemexpress coupling Handle two.1.1. Relative Coupling Control two.1.1. Relative Coupling Control Relative coupling handle is a frequently utilized multi-motor cooperative control Relative coupling control is actually a typically made use of multi-motor cooperative control Relative is often a usually applied multi-motor cooperative control method. approach. This coupling controlcan hold all motors operating synchronously within a multi-motor technique. This control strategy can retain all motors running synchronously within a multi-motor control process This handle approach can preserve all motors two. The core thought on the relative coupling method. in a multi-motor method. Its structure is shown in Figure operating synchronouslyrelative coupling control system. Its structure is shown within the core thought of theidea on the Figure 2. The core relative coupling handle structure is control Its structureto subtract the speed of one motor from that of other motors to get a speed is shown in Figure 2. structure is always to subtract the speed of one particular motor from that of other motors to acquire a speed structure may be the speed of a single motor from that of other motors to receive a speed difference. to subtract distinction. Then, the obtained speed difference is multiplied by the speed compensation difference. Then, the obtained speed multiplied by the speed compensation coefficient on the speed compensation Then, the obtained motor to obtain aisdifference is multiplied bysignal. Finally, the speed speed coefficient of.