CN104210655A - Double-rotor-wing unmanned plane - Google Patents
Double-rotor-wing unmanned plane Download PDFInfo
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- CN104210655A CN104210655A CN201410453204.0A CN201410453204A CN104210655A CN 104210655 A CN104210655 A CN 104210655A CN 201410453204 A CN201410453204 A CN 201410453204A CN 104210655 A CN104210655 A CN 104210655A
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Abstract
The invention discloses a double-rotor-wing unmanned plane. Flying control on the double-rotor-wing unmanned plane is realized based on a four-rotor-wing unmanned plane flying control principle by designing a single-degree-of-freedom automatic tilter, semi-rigidity rotor wings and a flying control system. The unmanned plane consists of a stander, a plane body, a power bin, rotor wing systems and a rotor wing system support, wherein the plane body is provided with an equipment bin in which a flight posture sensor group, a PID controller, a lithium battery and an electronic speed controller are arranged; the plane body, the power bin and the rotor wing system support are in rigid fixed connection through the stander; a brushless motor and a steering engine are arranged in the power bin; the steering engine drives a pull rod to operate the single-degree-of-freedom automatic tilter and control the rotor wings to periodically change the distance; the angle of the tilter is measured by a potentiometer, so that precise control is facilitated; the rotor wing systems are symmetrically arranged and are positioned on the same horizontal plane; the rotating directions of the rotor wings are opposite, and the rotor wings are mounted on a total distance hinge so as to be mechanically limited to do waving motion. According to the unmanned plane, the operation mechanism is simplified; the flying quality is good; the requirement on the precision of a theoretical model is low, and an extremely high practical value is achieved.
Description
Technical field
The present invention relates to a kind of DCB Specimen unmanned plane, particularly a kind of non co axial DCB Specimen unmanned plane that have employed semi-rigid blade and single degree of freedom auto-bank unit.
Background technology
Patent of the present invention is waved based on four rotor wing unmanned aerial vehicle flight control principles and pure helicopter inclinator feathering principle, rotor and design the novel unmanned plane of proposition, and object solves current double-rotor aerobat with simpler mechanism, more convenient easy control system to control to handle complicated problem.
Existing common non co axial double-rotor aerobat (as CH-47 " slave does " helicopter, V-22 " osprey " tiltrotor etc.), its auto-bank unit has three degree of freedom, namely along z-axis move up and down control total apart from, around the rotation control cycle of x-axis and y-axis, and total distance and cycle realize based on auto-bank unit simultaneously, this makes different problem be coupled, and makes the research of problem greatly complicate.Therefore this kind of aircraft often difficult design, mechanism's complexity, unbred operating personal is heavy in hand.When using automatic control technology to develop this type of unmanned plane, requiring a high expenditure of energy and carrying out deep aerodynamics Study on Problems, enough flight qualities could be obtained, ensureing its automatization level.This is unfavorable for the simplification of Controlling model, also increases the difficulty of Study on Problems.
Meanwhile, the present invention notices again four rotor wing unmanned aerial vehicles that current technological development is exceedingly fast.This kind of unmanned plane is simple to operate, research and development are easy, have employed simple structure design and ripe control technology, has high-definition technical characterstic.Especially can reach flight control object when not relying on precise kinetic model, and there is higher flight quality.This makes the research of problem significantly simplify, and therefore has very high development potentiality and researching value, and Recent study achievement is continuous.Along with the application of more Advanced Control Techniques, the R & D Level of this kind of unmanned plane is still improving constantly.
And this convenience realizes, is easy to study, feature that development potentiality is large is not available for traditional double-rotor aerobat.
Summary of the invention
The technical characterstic of above two kinds of design plans has been merged in the present invention, use for reference the propeller hub design of the feathering principle of conventional helicopters auto-bank unit, rotor, and good, the adaptable advantage of four rotor wing unmanned aerial vehicle flight control system robustness, develop a kind of novel DCB Specimen unmanned plane.The flight that can complete non co axial DCB Specimen unmanned plane as four rotor wing unmanned aerial vehicles under the prerequisite not needing precise kinetic model controls.Its concrete technical scheme is:
Using embedded chip as master controller; With sensor composition attitude measurement systems such as weather gauge, three-axis gyroscope, triaxial accelerometer and three axle magnetometers; Using remote controller or unmanned aerial vehicle station and radio communication module as instruction repertoire; Using electronic governor, steering wheel, motor and rotor flapping hinge as actuating unit.
The contrary rotor of two cover rotation directions is adopted to provide lift for unmanned plane; Two brushless motors are adopted to provide power for unmanned plane; Employing pitch is adjustable, and only has flapping action and do not have the semi-rigid rotor of lagging motion; The inclinator of single degree of freedom is adopted to carry out feathering to rotor; Also accurately controlled with the corner of potentiometer measurement cyclic pitch device, solved the precision problem that piston crank mechanism controls pitch.
Rotor system bearing is connected by frame and fuselage, and fuselage is furnished with equipment compartment, in order to lay lithium cell, boat appearance sensor group, electronic governor and control circuit.Similar with four rotor wing unmanned aerial vehicles, the DCB Specimen unmanned plane in the present invention there is no cross-arranging type in essence and lap siding is distinguished.But for convenience of description, setting unmanned plane is herein cross-arranging type DCB Specimen layout.
For realizing the completely controlled of unmanned plane, to the pitch angle of unmanned plane, course angle, roll angle and highly must control.Its manner of execution is: adopt the single degree of freedom auto-bank unit along pitch axes to control with the pitch angle of angular turn to unmanned plane in the same way; Adopt inclinator oppositely with angular turn with only there is flapping action and the course angle of semi-rigid variable-distance rotor to unmanned plane without lagging motion controls; The roll angle of gyroplane rotate speed difference to unmanned plane is adopted to control; The increase and decrease of gyroplane rotate speed equivalent is adopted to control the height of unmanned plane.Above four control channels are independent control, each control channel is all that the expectation attitude that the actual attitude that calculates boat appearance sensor group and instruction repertoire provide compares, and do PID servo antrol, controlling quantity is the linear superposition of the controlling quantity that four-way pid algorithm exports on each actuating unit.
The complete flight control of unmanned plane can be completed thus.
Compare existing design, the present invention has following obvious beneficial effect:
(1) compare existing twin-rotor helicopter, mechanism complexity and the accuracy requirement to aerodynamics Study on Problems all obviously decline.
(2) compare two duct aircraft that existing use air rudder carries out handling and have that driving efficiency is high, lift is large, the advantage of the limited aspect such as little of structure design.
(3) four swift and violent with current development rotor wing unmanned aerial vehicles adopt similar control technology, can obtain higher flight quality with less research cost, by force realisation.
(4) possess skills with four rotor wing unmanned aerial vehicles intercommunity, with the fast development of current four rotor wing unmanned aerial vehicle technology, can introduce the potentiality of high-caliber control algorithm easily, have very high researching value.
(5) there is certain expansion capability, such as there is the ability developing corresponding tilting rotor wing unmanned aerial vehicle based on the present invention.
Accompanying drawing explanation
Fig. 1 is schematic appearance of the present invention and carrier coordinate system schematic diagram.
Fig. 2 is rotor system rotation direction schematic diagram of the present invention.
Fig. 3 is rotor system decomposing schematic representation of the present invention.
Fig. 4 is rotor system partial enlarged drawing of the present invention.
Fig. 5 is the rigid dynamics schematic diagram of pitching of the present invention and roll guidance.
Fig. 6 is the rigid dynamics schematic diagram of directional control of the present invention.
Fig. 7 is semi-rigid rotor flapping action power decomposing schematic representation of the present invention.
Fig. 8 is semi-rigid rotor decomposing schematic representation of the present invention.
Fig. 9 is flight control system principle flow chart of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
The present invention is DCB Specimen layout, and its carrier coordinate system is as Fig. 1.Rotor is symmetrically distributed in body both sides, and rotation direction as shown in Figure 2.Its fly control principle and four rotor wing unmanned aerial vehicles similar, concrete grammar is: control the course angle of unmanned plane, roll angle and pitch angle totally three angles by control system, the attitude of unmanned plane can be controlled completely, make unmanned plane entirety produce a controlled inclination angle with horizontal surface along assigned direction.Therefore lift perpendicular to unmanned plane body be decomposed into the component advanced perpendicular to the lift on ground and level.In addition Altitude control totally four controlled quatities, unmanned plane thus can according to the complete controlled flight of instruction.
In the present invention, be simplified design, the pneumatic coupling avoiding rotor control, each rotor all have employed the auto-bank unit (namely only rotating around y-axis parallel lines) of single degree of freedom, uses as feathering device.As shown in Figure 3, details can see partial enlargement Fig. 4 for feathering principle.Inclinator divides Moving plate 2 and price fixing 9, is nested on two globe bearing 3.Price fixing 9 by hinge freely-supported on pedestal 6.Steering wheel 8 driving crank 5 and pull bar 4, drive price fixing 9, price fixing 9 rotated around unmanned plane carrier coordinate system y-axis (see Fig. 1) parallel lines, rotating shaft is equipped with potentiometer 12, accurately measures to facilitate and control rotational angle.Price fixing 9 promotes Moving plate 2 with same angular turn, and drive pull bar 10 to make total apart from hinge 11 rotation, rotor 1 pitch changes.Under the driving of brushless motor 7, rotor rotational feathering.
Because auto-bank unit only rotates around y-axis parallel lines, the greatest gradient of rotor lift period profile is parallel with x-axis.Vert for inclinator conter clockwise: rotor lift is f along parallel x-axis direction period profile as shown in Figure 5
maxand f
min, make rotor system produce lift in y-axis both sides poor.Because flapping action as shown in Figure 7 occurs rotor, f
maxand f
minbe pulling force f along parallel z-axis Directional Decomposition
1and f
4, and f
1> f
4, therefore obtain the moment of torsion M rotated around y-axis in Fig. 5
pitch.Unmanned plane adopts DCB Specimen layout, and ensure that both sides steering wheel is synchronous by control system, then both sides rotor lift distributes identical on the direction of parallel x-axis, i.e. M
pitchidentical.This group moment of torsion combined action is the pitch control moment of unmanned plane.
Because rotor rotation direction is contrary, the torsion of most of unmanned plane self along z-axis can be offset, make can ensure in controlled area charactert from twist moment.There are again mechanical periodicity and the flapping action of rotor angle-of-attack, cause the actual angle of attack in rotor precession process asymmetric in the distribution of maximum lift gradient line both sides, produce lift micro-increasing Δ f and lift to shade-Δ f, and on each rotor, produce a moment of torsion rotated around x-axis parallel lines.And the design being screwed to contrary symmetric double rotor-hub configuration also offset by this moment of torsion, do not produce effect.
Two groups of rotor combineds action, can ensure that the luffing angle of unmanned plane is completely controlled.
Meanwhile, the power of rotor is provided by two brushless motors, and two independent electricity are adjusted and controlled each motor speed respectively.The speed discrepancy ω of rotor
1≠ ω
2produce lift difference F
1≠ F
2, make unmanned plane obtain the moment of torsion M rotated around x
roll.Control torque M
rollsize the roll angle of unmanned plane can be made completely controlled.
As shown in Figure 6, when steering wheel drives both sides tilting frame with same angle contrarotation, F
1=F
2, M
roll=0, unmanned machine rolling angle remains unchanged.Two groups of rotor lifts distribute on the contrary on the direction of parallel x-axis, i.e. M
pitchsize is identical, and direction is contrary, because rotor and rigidity of frame connect firmly, and M
pitchcancel out each other, the pitch angle of unmanned plane also remains unchanged.But what adopt due to rotor is semi-rigid flapping hinge as shown in Figure 8, its rotor 1 end cuboid set pin is elastomeric material, and length and width are obviously unequal, so from the tangential direction of rotor precession, the torsional strength of its fore-and-aft direction is much higher than the torsional strength of above-below direction.In addition total rigidity Design apart from hinge 11, its pull bar boss structure mechanically will limit rotor can not swing, the limited rotor clamping structure of very thin thickness, rigidity then fails to limit waving up and down of rotor completely, only play the effect of restriction damping, therefore rotor occurs and only flapping action occurs.
Now, single rotor system elastic deformation is as Fig. 7.Because load during feather is different, amplitude of waving is also different, and the horizontal component of force therefore decomposited by rotor lift is also unequal, finally obtains the diametral load F acting on rotorshaft
3=f
2-f
3.In like manner, due to inclinator direction of rotation, another group rotor produces the contrary diametral load F in equal and opposite in direction direction
4(as Fig. 6).F
3, F
4combined action, in unmanned plane body, obtains yawing moment M
yaw, course angle can control thus completely.
Finally, height of the present invention is controlled by brushless motor speed.As motor speed ω
1=ω
2, F
1=F
2time, regulate the increasing of motor speed equivalent or equivalent to subtract, then unmanned plane occurs and only height change occurs.Unmanned plane height is completely controlled.
Due to height of the present invention and course, pitching and roll angle all completely controlled, unmanned plane during flying state is completely controlled.Its any state of flight is above four kinds of linear combinations controlled.Its control program as shown in Figure 9, is specially:
Expectation attitude and the Desired Height of unmanned plane is provided by no-manned machine distant control equipment or ground station.Measure the current actual attitude of unmanned plane by airborne boat appearance sensor group such as gyroscope, magnetometer and accelerometer etc., measure actual height by weather gauge.Under expectation value and actual value being converted to the same coordinate system by coordinate transform.
By quaternion boat appearance resolve and data fusion, filtering process, be Eulerian angles and altitude command by expectation attitude and actual attitude algorithm, and to course, pitching and rolling three additional height of angle totally four groups of parameters carry out PID control respectively.Wherein:
Be PID to desired course angle and course made good angle through comparator to control, controlling quantity is the size contrarotations such as steering wheel, and namely steering wheel 1 drives inclinator corner to be α, and steering wheel 2 drives corner to be-α.
Be PID to expectation pitch angle and actual pitch angle through comparator to control, controlling quantity is the size rotating Vortexes such as steering wheel, and namely steering wheel 1 drives corner to be β, and steering wheel 2 drives corner to be β.
Be PID to expectation roll angle and actual roll angle through comparator to control, controlling quantity is that single motor rotating speed adds, and namely motor 1 rotating speed increases Δ ω
1, motor 2 rotating speed increases by 0, otherwise or.
Be PID to Desired Height and actual height through comparator to control, controlling quantity is that two motor speed equivalent increase, and namely motor 1 rotating speed increases Δ ω
2, motor 2 rotating speed increases Δ ω
2.
Above four groups of controlling quantity linear superposition, obtain final controlling quantity, and namely steering wheel 1 drives corner to be alpha+beta, and steering wheel 2 drives corner to be-alpha+beta; Motor speed is that motor 1 rotating speed increases Δ ω
1+ Δ ω
2, motor 2 rotating speed increases Δ ω
2otherwise, or.
Visible, the present invention has used for reference the design of four rotor wing unmanned aerial vehicle control principles, auto-bank unit feathering and rotor flapping hinge, the advantage of four rotor wing unmanned aerial vehicles and DCB Specimen unmanned plane is finally made to be combined, simplify the manipulation principle of DCB Specimen unmanned plane, decrease the dependence to aerodynamic modeling, reduce research difficulty, and can higher flight quality and degree of automation be obtained simultaneously, finally draw simple, the realisation strong DCB Specimen unmanned aerial vehicle design scheme of a kind of structure, and there is very high development potentiality.
Claims (1)
1. a DCB Specimen unmanned plane, comprises flight control system, frame, fuselage, piggyback pod and rotor system; Be provided with boat appearance sensor group, PID controller, lithium cell and electricity in fuselage to adjust; Fuselage, piggyback pod and rotor system bearing rigidity connect firmly by frame; It is characterized in that: unmanned plane is non co axial DCB Specimen, adopt the inclinator of single degree of freedom to control pitching and course, adopt motor speed to control rolling and height;
Foregoing single degree of freedom auto-bank unit, drives steering wheel to handle by control system; It is characterized by: its price fixing is by hinge freely-supported on rotor system bearing, and the angle only can carried out around wobble shaft parallel lines changes;
Foregoing single degree of freedom auto-bank unit, is characterized by: turning cylinder is provided with potentiometer, does closed loop control, to ensure the precision of feather by this potentiometer measurement anglec of rotation;
Foregoing DCB Specimen unmanned plane, controls luffing angle by the two groups of rotors be arranged symmetrically with; It is characterized by: both sides servo driving inclinator rotating in same direction equal angular, obtain pitch control moment;
Foregoing DCB Specimen unmanned plane, controls luffing angle by the two groups of rotors be arranged symmetrically with; It is characterized by: both sides servo driving inclinator rotates backward equal angular, produce radial component by the flapping action of semi-rigid rotor, obtain directional control moment;
Foregoing DCB Specimen unmanned plane, controls roll angle by motor speed difference; It is characterized by: one-sided motor speed increases, produce both sides lift poor, obtain roll guidance moment;
Foregoing DCB Specimen unmanned plane, controls height by motor speed; It is characterized by: two-side motor rotating speed equivalent increases and decreases, unmanned plane height increases or reduces;
Foregoing DCB Specimen unmanned aerial vehicle control system, its control principle is course, pitching, rolling and height four independent PID controller carry out servo antrol to the instruction that instruction repertoire sends, respectively then by the linear superposition of each actuating mechanism controls amount.
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