CN106114853A - A kind of push-button aircraft - Google Patents
A kind of push-button aircraft Download PDFInfo
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- CN106114853A CN106114853A CN201610648326.4A CN201610648326A CN106114853A CN 106114853 A CN106114853 A CN 106114853A CN 201610648326 A CN201610648326 A CN 201610648326A CN 106114853 A CN106114853 A CN 106114853A
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 44
- 238000005096 rolling process Methods 0.000 claims description 22
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- 230000005611 electricity Effects 0.000 description 8
- 238000005183 dynamical system Methods 0.000 description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- IXSZQYVWNJNRAL-UHFFFAOYSA-N etoxazole Chemical compound CCOC1=CC(C(C)(C)C)=CC=C1C1N=C(C=2C(=CC=CC=2F)F)OC1 IXSZQYVWNJNRAL-UHFFFAOYSA-N 0.000 description 3
- 239000000295 fuel oil Substances 0.000 description 3
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- 238000006243 chemical reaction Methods 0.000 description 1
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- 239000002803 fossil fuel Substances 0.000 description 1
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
- B64C29/02—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis vertical when grounded
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/26—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft characterised by provision of fixed wings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
- B64C29/0008—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded
- B64C29/0016—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers
- B64C29/0025—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers the propellers being fixed relative to the fuselage
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/25—Fixed-wing aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/10—Wings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
- B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
- B64U30/296—Rotors with variable spatial positions relative to the UAV body
- B64U30/297—Tilting rotors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/04—Control of altitude or depth
- G05D1/042—Control of altitude or depth specially adapted for aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U60/00—Undercarriages
- B64U60/50—Undercarriages with landing legs
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Toys (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of push-button aircraft, including: airborne vehicle main body；Fixed-wing, it is fixed on the both sides of airborne vehicle main body；Multiple rotors, multiple rotors are connected to the both sides of fixed-wing by flight support portion.This push-button aircraft rotor shaft, without rotating relative to wing, is the most also no need for the complicated mechanical part that configuration control and regulation rotor shaft rotates, and compared to existing tilt-rotor aircraft, the structure of this airborne vehicle is simpler, weight is lighter.Simultaneously, this push-button aircraft uses a set of power set (i.e. rotor and the motor of correspondence thereof) to meet VTOL and the function of fixed-wing mode cruise, compared to existing airborne vehicle, requirement when it can provide bigger weight to meet mission payload and voyage boat.
Description
Technical field
The present invention relates to airborne vehicle technical field, specifically, relate to a kind of push-button aircraft.
Background technology
Owing to four-axle aircraft has the advantages such as volume is little, lightweight and easy to carry, four-axle aircraft is at multiple neck
Territory has obtained increasingly being widely applied.Four-axle aircraft can enter the unapproachable special environment of the mankind easily, therefore removes
Be used to make outside model, four-axle aircraft can be utilized to execution take photo by plane find a view, monitoring and landform exploration etc. in real time
Aerial mission.
But, four-axle aircraft there is also shortcomings, such as, the speed of four-axle aircraft is low, boat time and voyage
Short, this makes four-axle aircraft cannot be applicable to the application scenarios having strict demand to high speed and high continuation of the journey.
Summary of the invention
For solving the problems referred to above, the invention provides a kind of push-button aircraft, described airborne vehicle includes:
Airborne vehicle main body；
Fixed-wing, it is fixed on the both sides of described airborne vehicle main body；
Multiple rotors, the plurality of rotor is connected to the both sides of described fixed-wing by flight support portion.
According to one embodiment of present invention, described airborne vehicle also includes:
Some main landing gears, described some main landing gears are affixed with described flight support portion, and it is symmetricly set on described boat
The both sides of pocket main body the cephalocaudal direction along described airborne vehicle main body extend；
Wherein, when described airborne vehicle is in landing state, described some main landing gears support described airborne vehicle main body and
Fixed-wing is vertical to be established on horizontal support face.
According to one embodiment of present invention, when described airborne vehicle is in operational configuration, described some main landing gear shapes
Become the vertical fin of described airborne vehicle.
According to one embodiment of present invention, described airborne vehicle also includes:
Multiple auxiliary landing gears, it is formed at the lateral end of described fixed-wing；
Wherein, when described airborne vehicle is in landing state, the plurality of auxiliary landing gear is for entering described airborne vehicle
Row auxiliary supports；
When described airborne vehicle is in operational configuration, the plurality of auxiliary landing gear is used for reducing downwash flow.
According to one embodiment of present invention, described some main landing gears are one-body molded with corresponding flight support portion
's.
According to one embodiment of present invention, described fixed-wing is provided with elevon and multiple rolling aileron, wherein, institute
State elevon and multiple rolling aileron is formed at longitudinal end of described fixed-wing, and the plurality of rolling aileron is distributed in institute
State elevon both sides.
According to one embodiment of present invention, described rotor includes:
Driving motor, it is affixed with flight support portion；
Propeller, it is connected with described driving motor, transfers as described aviation with the driving backspin at described driving motor
Device provides kinetic energy.
According to one embodiment of present invention, described airborne vehicle also includes:
Power module, it provides electric energy for the operation for described airborne vehicle；
Circuit for signal conditioning, it is connected with described power module, carries out for the signal of telecommunication providing described power module
Regulation signal regulation obtained are transferred to described driving motor, to drive described driving motor to run.
According to one embodiment of present invention, described power module includes:
Electromotor and electromotor, described electromotor is used for producing electric energy under the drive of described electromotor, and by described electricity
Described circuit for signal conditioning can be transferred to；And/or,
Accumulator, it is connected with described circuit for signal conditioning, provides electric energy for the operation for the plurality of driving motor.
According to one embodiment of present invention, described airborne vehicle also includes:
Airborne sensor system, it is for gathering the aeronautical data of described airborne vehicle；
Flight control system, it is connected with described airborne sensor system, for regulating described aviation according to described aeronautical data
The operational configuration of device.
Existing VTOL fixed-wing continuation of the journey unmanned plane typically has two types.One is configuration tilting rotor, this nothing
Man-machine existence is maximized and baroque problem, and the most this unmanned plane is difficult to safeguard that use and fault rate are high；Another
Kind be configuration rotor and forward propulsion power system amount to two set dynamical systems, this unmanned plane is two kinds of dynamical systems to be carried out
Simple superposition, reduces the weight of payload and fuel oil, can not get significantly improving than index with gyroplane during voyage boat.
And push-button aircraft rotor shaft provided by the present invention is without rotating relative to wing, the most also it is no need for configuration
The complicated mechanical part that control and regulation rotor shaft rotates, compared to existing tilt-rotor aircraft, the present embodiment is provided
The structure of airborne vehicle simpler, weight is lighter.Meanwhile, push-button aircraft provided by the present invention uses a set of power
Device (i.e. rotor and the motor of correspondence thereof) meets VTOL and the function of fixed-wing mode cruise, compared to existing
Airborne vehicle, requirement when it can provide bigger weight to meet mission payload and voyage boat.
VTOL technology is combined by push-button aircraft provided by the present invention with fixed wing airplane conventional control,
Its VTOL both with helicopter and hovering ability, have again the feature that speed is fast, voyage is remote of fixed-wing unmanned plane.And
Existing unmanned plane or to have man-machine be all only to possess one of which advantage, but such as helicopter possesses VTOL ability device speed
When spending low, boat and voyage is short, when possessing speed, boat and the fixed wing airplane of voyage advantage then needs airport to go to or
Complicated is transmitted back to receiving unit.
Push-button aircraft provided by the present invention is during using, owing to can enter in the takeoff and landing stage
Row VTOL, therefore this airborne vehicle can possess occasion (the such as island of airfield runway condition on most of naval vessels or not
Small island etc.), it is simple to the army and the people's widespread demand.
Meanwhile, in the high speed operation stage, this push-button aircraft can utilize fixed-wing to navigate by water, therefore its energy
Enough have voyage advantage big, long-endurance as existing fixed wing airplane, and such airborne vehicle the most just can quickly fly
To target overhead.Additionally, after target overhead flown to by airborne vehicle, it can also utilize its rotor carry out spot hover operation or patrol
Boat.It can thus be seen that this push-button aircraft is particularly suitable for investigating, surveys and draws, goes on patrol and the needs of other tasks.
Other features and advantages of the present invention will illustrate in the following description, and, partly become from description
Obtain it is clear that or understand by implementing the present invention.The purpose of the present invention and other advantages can be by description, rights
Structure specifically noted in claim and accompanying drawing realizes and obtains.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, required accompanying drawing does and simply introduces:
Fig. 1 is the front view of push-button aircraft according to an embodiment of the invention；
Fig. 2 is the side view of push-button aircraft according to an embodiment of the invention；
Fig. 3 is the top view of push-button aircraft according to an embodiment of the invention；
Fig. 4 is the rotation schematic diagram of rotor according to an embodiment of the invention；
Fig. 5 is the electrical structure schematic diagram of push-button aircraft according to an embodiment of the invention；
Fig. 6 is the structural representation of the airborne sensor system of push-button aircraft according to an embodiment of the invention
Figure；
Fig. 7 is the power structural representation with action system of push-button aircraft according to an embodiment of the invention
Figure；
Fig. 8 is the flight course schematic diagram of push-button aircraft according to an embodiment of the invention；
Fig. 9 is the schematic diagram of rotor regulation model according to an embodiment of the invention；
Figure 10 is the gesture stability schematic diagram of push-button aircraft according to an embodiment of the invention；
Figure 11 is the circuit in airborne vehicle Altitude control loop in fixed-wing regulation model according to an embodiment of the invention
Schematic diagram；
Figure 12 is the circuit of airborne vehicle speed control loop in fixed-wing regulation model according to an embodiment of the invention
Schematic diagram；
Figure 13 and Figure 14 be the flight course of push-button aircraft according to an embodiment of the invention fly flow control journey
Figure.
Detailed description of the invention
Describe embodiments of the present invention in detail below with reference to drawings and Examples, whereby how the present invention is applied
Technological means solves technical problem, and the process that realizes reaching technique effect can fully understand and implement according to this.Need explanation
As long as not constituting conflict, each embodiment in the present invention and each feature in each embodiment can be combined with each other,
The technical scheme formed is all within protection scope of the present invention.
Meanwhile, in the following description, many details are elaborated for illustrative purposes, to provide real to the present invention
Execute the thorough understanding of example.It will be apparent, however, to one skilled in the art, that the present invention can tool here
Body details or described ad hoc fashion are implemented.
It addition, can be in the department of computer science of such as one group of computer executable instructions in the step shown in the flow chart of accompanying drawing
System performs, and, although show logical order in flow charts, but in some cases, can be to be different from herein
Order perform shown or described by step.
Existing VTOL fixed-wing continuation of the journey unmanned plane typically has two types.One is configuration tilting rotor, this nothing
Man-machine existence is maximized and baroque problem, and the most this unmanned plane is difficult to safeguard that use and fault rate are high；Another
Kind be configuration rotor and forward propulsion power system amount to two set dynamical systems, this unmanned plane is two kinds of dynamical systems to be carried out
Simple superposition, reduces the weight of payload and fuel oil, and during voyage boat, index can not get significantly improving compared with gyroplane.
In order to solve drawbacks described above present in prior art, the invention provides a kind of new VTOL fixed-wing without
People's button aircraft.The VTOL of the existing helicopter of this push-button aircraft and hovering ability, have again fixed wing airplane
The feature that speed is fast, voyage is remote.
Fig. 1, Fig. 2 and Fig. 3 respectively illustrate the front view of this push-button aircraft in the present embodiment, side view and
Top view.
According to Fig. 1 to Fig. 3 it can be seen that the push-button aircraft that the present embodiment is provided preferably includes: airborne vehicle
Main body 101, fixed-wing 102, some main landing gears 103 and multiple rotor.Wherein, fixed-wing 102 is fixed on airborne vehicle main body
The both sides of 101, in the present embodiment, fixed-wing 102 is preferably provided with one group of elevon 107 and two groups of rolling ailerons (i.e.
One rolling aileron 106a and the second rolling aileron 106b).
As it is shown in figure 1, elevon the 107, first rolling aileron 106a and the second rolling aileron 106b is both formed in fixing
Longitudinal direction (the i.e. y direction) end (i.e. fixed-wing 102 is away from one end of head) of the wing 102, meanwhile, the first rolling aileron 106a and
Two rolling aileron 106b are distributed in the both sides of elevon 107.Wherein, elevon 107 is during navigating by water at airborne vehicle
Controlled the inclination angle of airborne vehicle main body by the swing of aileron rudder face, rolling aileron passes through two during navigating by water at airborne vehicle
The swing of group aileron rudder face realizes the rolling of airborne vehicle.
It is pointed out that in other embodiments of the invention, elevon and rolling aileron can also be arranged on
Other rational position, meanwhile, the quantity of elevon and rolling aileron is it can also be provided that other reasonable value, and the present invention does not limits
In this.
In the present embodiment, main landing gear 103 is connected with flight support portion 109, and it is symmetricly set on airborne vehicle main body 101
Both sides the cephalocaudal direction along airborne vehicle main body 101 extend.When airborne vehicle is in landing state (i.e. stopping on the ground), main
Airborne vehicle is played a supporting role by undercarriage 103 so that airborne vehicle main body 101 and fixed-wing 102 can vertical be established in level
On supporting surface.
Meanwhile, in order to preferably play the effect supporting airborne vehicle main body, in the present embodiment, main landing gear 103 is the most relatively
Be poised for battle distribution in fixed-wing 102, i.e. two main landing gears 103 of airborne vehicle main body 101 the same side are respectively symmetrically and are distributed in this side
The both sides of fixed-wing 102.
In the present embodiment, main landing gear 103 is made preferably by integral part of mode with flight support portion 109.When
So, in other embodiments of the invention, other can also be used between main landing gear 103 and flight support portion 109 rational
Connected mode carries out affixed, the invention is not restricted to this.
It is also desirable to it is noted that in different embodiments of the invention, in order to reduce airborne vehicle when landing suffered
The impulsive force arrived, main landing gear 103 can also configure corresponding buffer unit (the slow device etc. that shakes of such as hydraulic pressure), and the present invention is the most not
It is limited to this.
It can be seen that the push-button aircraft that the present embodiment is provided have employed the side of tailless configuration from foregoing description
Formula, it does not configures vertical tail as existing airborne vehicle at the afterbody of airborne vehicle main body, but utilizes main landing gear
103 serve as vertical tail during aircraft, come uncertain airborne vehicle course with this.In this way, Ke Yiyou
Effect simplifies the structure of airborne vehicle, alleviates the overall structure quality of airborne vehicle.
As shown in Figure 1 to Figure 3, for the push-button aircraft that the present embodiment is provided, at the horizontal stroke of fixed-wing 102
To (i.e. x direction), end is respectively formed with auxiliary landing gear 109.Wherein, auxiliary landing gear 109 is in landing state at airborne vehicle
The effect that auxiliary supports can be played, specifically, when airborne vehicle main body transversely occurs (i.e. time (i.e. stopping on the ground)
Tilt the most to the left or to the right) time, airborne vehicle main body 101 can be carried out propping up after touching ground by auxiliary landing gear 109
Support, thus avoid airborne vehicle main body to be too greatly inclined and situation about collapsing occurs.
In the present embodiment, when airborne vehicle is in state of flight, auxiliary landing gear 109 can also play the lower gas washing of reduction
Stream, the effect of raising lift.It is pointed out that in different embodiments of the invention, the concrete shape of auxiliary landing gear 109
And size can be configured to different shape and size according to actual needs, the invention is not restricted to this.
From Fig. 1 to Fig. 3 it can be seen that the push-button aircraft that the present embodiment is provided preferably to comprise structure identical
Four groups of rotors, respectively group rotor all comprises driving motor 104 and propeller 105.Wherein, drive motor 104 with corresponding
Flight support portion 109 is affixed, drives motor 104 to rotate by drive installation propeller 105 thereon, thus carries for airborne vehicle
For power.
In the present embodiment, these four groups of rotors are poised for battle the both sides being distributed in fixed-wing.Specifically, as it is shown on figure 3, difference is corresponding
It is symmetrically distributed in the first fixed-wing (i.e. schemes in the first propeller 105a and the 3rd propeller 105c of the first rotor and the 3rd rotor
Fixed-wing on the left of airborne vehicle main body in 3) both sides, correspond respectively to the second propeller 105b of the second rotor and the 4th rotor
With quadruple screw propeller 105d symmetric part in the both sides of the second fixed-wing (i.e. in Fig. 3 fixed-wing) on the right side of airborne vehicle main body.
Certainly, in other embodiments of the invention, the group number of the rotor that airborne vehicle is comprised can also be reasonable for other
Value, meanwhile, rotor can also use other rational methods to be driven (electromotor etc. for example with using Fossil fuel),
The invention is not restricted to this.
In the present embodiment, when rotor normally works, the propeller of two adjacent rotors can be in rotation state.Example
As, as shown in Figure 4, the first propeller 105a and quadruple screw propeller 105d is in the state of turning clockwise, and the second propeller
105b and the 3rd propeller 105c is then in rotation status counterclockwise.So due to the structure poised for battle of these four groups of rotors, rotor
Moment of torsion will be cancelled out each other, so that airborne vehicle keeps stable.
The most as shown in Figure 1 to Figure 3, the push-button aircraft that the present embodiment is provided also includes equipment compartment 108.Its
In, equipment compartment 108 is provided with the equipment such as video monitor, when airborne vehicle is in horizontal travel state, equipment compartment 108 is by position
In the downside of the 101 of airborne vehicle main body, the equipment in such equipment compartment 108 just so can be easy to monitor ground towards ground
Target.
The push-button aircraft that the present embodiment is provided creatively have employed four rotor push structure and fixes with routine
The design of housing construction that wing layout combines, its landing process mainly use four groups of rotors to provide lift, and other flight shapes
State relies primarily on complex controll and uses four groups of rotors or fixed-wing to provide lift.Meanwhile, the power set of this airborne vehicle are only
Having rotor, the most extra dynamic structure, structure of the most not verting, therefore compared to existing airborne vehicle, its structure is more
Simply.
Fig. 5 shows the structural representation of the electrical system of the push-button aircraft that the present embodiment provided.
As it is shown in figure 5, the electrical system of airborne vehicle that the present embodiment is provided preferably includes: airborne sensor system
501, data communication system 502, flight control system 503 and power and action system 504.Wherein, airborne sensor system 501 is used
In the aeronautical data of collection airborne vehicle, the aeronautical data collected can be transferred to the flight control system being electrically connected by it
503, to be regulated the operational configuration of airborne vehicle according to the aeronautical data received by flight control system 503.
Specifically, as shown in Figure 6, in the present embodiment, airborne sensor system 501 preferably includes: inertial navigation measuring unit
501a, radio altimeter 501b, pressure altimeter 501c, pitot meter 501d and GPS 501e.Wherein, inertial navigation is surveyed
Amount unit 501a preferably includes: the equipment such as three axis accelerometer, three axle gyros and three axle magnetometers.Flight control system 503 is to machine
After the aeronautical data that set sensor system 501 is collected processes, just can obtain the flight attitude of airborne vehicle, attitude angle
The information such as speed, flight speed, longitude and latitude and height, and then according to these information, the state of flight of airborne vehicle is adjusted
Whole.
It is pointed out that in other embodiments of the invention, the device that airborne sensor system 501 is comprised both may be used
Only to comprise any one in item listed above or several, it is also possible to comprise other unlisted reasonable devices, or be above
Any one in being listd or several and the combination of other unlisted reasonable items, the invention is not restricted to this.
The circuit structure signal of the power that Fig. 7 shows in the present embodiment in push-button aircraft and action system 504
Figure.
As it is shown in fig. 7, in the present embodiment, power preferably includes with action system 504: power module 701, Signal Regulation
Circuit 702, driving motor 104, rolling aileron 106 and elevon 107.Wherein, power module 701 is for in airborne vehicle
Each electricity consumption device provides electric energy.
Specifically, in the present embodiment, power module 701 includes: electromotor 701a and electromotor 701b.Wherein, electromotor
701a connects with electromotor 701b axle, is so arranged at the electromotor 701a within aircraft fuselage and also can serve as energy source device
Electromotor 701b is driven to run, so that electromotor 701b produces electric energy.Circuit for signal conditioning 702b and electromotor 701b electricity
Connecting, its signal of telecommunication that can transmit electromotor 701b is adjusted processing, thus generates the corresponding signal of telecommunication and by these
Signal of telecommunication correspondence is transferred to drive motor 104, elevon 107 and rolling aileron 106, thus controls to drive motor 104
Rotating speed and elevon 107 and the deflection angle of rolling aileron 106.
As it is shown in fig. 7, power module 701 also includes accumulator 701c, accumulator 701c and circuit for signal conditioning 701c electricity
Connecting, the electric energy that self stores can be transferred to circuit for signal conditioning 702 by it, and is finally each electrical appliance in airborne vehicle
Part provides the electric energy needed for self-operating.In the present embodiment, it is preferable that in case of need, produced by electromotor 701b
Electric energy for transmission to accumulator 701c, thus can be charged for accumulator 701c.
It can be seen that the airborne vehicle that the present embodiment is provided have employed two groups of electric supply installations (wherein from foregoing description
The electric supply installation that group is constituted for motor 701a and electromotor 701b, the electric supply installation that another group is constituted for accumulator 701c) come
Electricity consumption device for aircraft interior is powered.It is pointed out that in other embodiments of the invention, it is also possible to only with it
In one group of electric supply installation power for electricity consumption device.So can effectively reduce the number of devices of airborne vehicle, simplify airborne vehicle knot
Structure, can also reduce the overall weight of airborne vehicle simultaneously.
Again as it is shown in figure 5, the push-button aircraft that the present embodiment is provided also includes data communication system 502.Its
In, data communication system 502 is connected with flight control system 503, and it is able to receive that the control instruction that outside is transmitted, and this control is referred to
Order is transferred to flight control system 503, to be adjusted the state of flight of airborne vehicle according to this control instruction by flight control system 503.
It is also desirable to it is noted that in other embodiments of the invention, the electrical system of push-button aircraft is also
Other reasonable modules can be comprised, the invention is not restricted to this.The most in one embodiment of the invention, the electric system of airborne vehicle
System can also comprise guiding and help fall subsystem etc., meanwhile, with push-button aircraft with the use of be also arranged at ground or
Earth station's subsystem etc. on naval vessel.Wherein, guiding helps fall subsystem for guiding airborne vehicle to drop to the finger on ground or naval vessel
Location is put, and earth station's subsystem then can send corresponding instruction by communication system 502 to airborne vehicle and control airborne vehicle
Operational configuration.
It is multiple with fixed-wing mode that the push-button aircraft that the present embodiment is provided have employed pulling force vector many rotors mode
Close the mode controlled and control the state of flight of airborne vehicle, which employs that rotor shaft is fixing forward, airborne vehicle tail sitting posture takes off fall
Fall scheme.That is, airborne vehicle before take-off with landing after, airborne vehicle is all supported by main landing gear, now the head of airborne vehicle
Vertically upward, and the afterbody of airborne vehicle is vertically downward, thus forms the holding state of tail sitting posture.And airborne vehicle is taking off, is navigating by water
And landing phases, its rotor shaft is all fixing (i.e. sensing airborne vehicle head) forward, between rotor shaft and fixed-wing not
Can relatively rotate.
The push-button aircraft that the present embodiment is provided is pulling force commutation type VTOL airborne vehicle.This airborne vehicle is with many
Rotor mode tail sitting posture takes off, the lift that rotor produces and control signal (the PWM ripple that i.e. motor receives from flight control system
Dutycycle) in extraordinary linear relationship, the most just can by rotor constitute dynamical system model be considered as a linear mould
Type, this greatly facilitates the design of control program.
The power resources of rotor are fairly simple, the pulling force of i.e. four rotor wing rotation generations and moment.If ignoring rotor peace
Filling non-perpendicular problem, under body axis system, the expression-form of the stressing conditions of rotor is the most directly perceived, it may be assumed that
Wherein,Represent the lift of body, FiRepresent the lift that i-th group of rotor produces.
According to the spin matrix between different coordinates, the most just the stress of four rotors can be transformed into different coordinate systems
In, it is controlled for the state of flight of push-button aircraft.
Specifically, the solid line flight of the flight course of the push-button aircraft that the present embodiment as shown in Figure 8 is provided
Process understands, and first this airborne vehicle takes off vertically from ground (i.e. aircraft nose is along the y-axis direction), and now airborne vehicle utilizes rotor
Prevailing lift is provided.After reaching to allow height, carry out with many rotors mode (i.e. utilizing multiple rotor to provide prevailing lift)
Laterally accelerate.Four groups of rotors produce nose-down pitching moment by Differential Control simultaneously, control elevon simultaneously and also produce nose-down pitching moment.
Wherein, the size of the effect of each rotor and elevon can carry out complex controll rule solution according to flight speed and attitude
Calculate, and carry out rotor and the control allocation of elevon rudder face according to calculation result.
Under the effect of nose-down pitching moment, the head of airborne vehicle gradually drags down, and fuselage gradually tends to level.In the process,
Flight control system increases the air speed of airborne vehicle simultaneously by the rotating speed of regulation rotor, and is finally reached level cruise speed.At water
Under flat cruising speed, airborne vehicle flies (i.e. aircraft nose is along the x-axis direction) by flat for entrance fixed-wing pattern.Owing to flying over journey flat
The headway of middle airborne vehicle is relatively big, and therefore it can utilize fixed-wing to provide prevailing lift.
In like manner, in descent, first airborne vehicle climbs, and make head straight up (be i.e. perpendicular to level towards
On), this process namely makes airborne vehicle from fixed-wing MODAL TRANSFORMATION OF A by the complex controll of rotor and elevon
For rotor mode.Under rotor mode, airborne vehicle regulates lift produced by rotor by the rotating speed of regulation rotor, thus slow
Slow falling head is until landing.
It is pointed out that in other embodiments of the invention, push-button aircraft can also use other reasonable
Mode navigate by water, the invention is not restricted to this.The most in one embodiment of the invention, this push-button aircraft exists
When carrying out the switching between vertical flight mode and level cruise offline mode, it is also possible to use the stall flat offline mode that hangs down to enter
Row transition.
As shown in Figure 8, in stall horizontal flight pattern (the most as indicated by the dotted lines in figure 8), when airborne vehicle vertical flight
Arriving after certain altitude, flight control system is turned over turn 90 degrees being controlled fuselage by the rotating speed of regulation rotor.Now due to air speed relatively
Little, therefore push-button aircraft will be in tenesmus state due to stall, and such airborne vehicle the most just can utilize gravity to bow
Punching is accelerated.In underriding accelerator, along with the increase of airborne vehicle air speed, the lift that fixed-wing is provided will be gradually increased and
Enable to airborne vehicle eventually and be in level cruise state.
In the present embodiment, when being controlled the state of flight of airborne vehicle, flight control system is generally by whole airborne vehicle
Mathematical model is decomposed into longitudinal subsystem and lateral subsystem.Wherein, in excessive flight course, the nothing that the present embodiment is provided
The quantity of states such as the roll angle of lateral subsystem, yaw angle and the yaw angle of people's button aircraft all keep constant, have lateral son only
The angle of pitch of system, air speed and the angle of attack change.Therefore to the convenient control to airborne vehicle, to excessively flying in the present embodiment
The airborne vehicle mathematical model of row mode has carried out simplification process, ignores the lateral subsystem model of airborne vehicle and as interference
Amount processes, and only analyzes the longitudinal system model of airborne vehicle, the most just by the six degrees of freedom model letter of push-button aircraft
Turn to two-freedom model.
Take off vertically/land when push-button aircraft is in or during floating state, the present embodiment provided nobody drive
The flight control system sailing airborne vehicle will regulate the state of rotor and fixed-wing, to be come for whole by rotor according to rotor shaping modes
Airborne vehicle provides main lift.
Take off vertically/land when push-button aircraft is in or during floating state, the head of airborne vehicle upward, its pitching
Nearly 90 degree of corner connection.Under this offline mode, the flight speed of airborne vehicle compares relatively low, and the effect of aileron operation rudder face is relative
The faintest, therefore the regulation of all attitudes of airborne vehicle is all mainly completed by rotor with holding, and the weight management of airborne vehicle is main
The pulling force produced by rotor keeps balance.In the present embodiment, the vertical flight mode of airborne vehicle is mainly used to realize airborne vehicle
VTOL, hovering and horizontal low-speed maneuver etc..
In the present embodiment, when airborne vehicle is in vertical flight mode, definition coordinate system X-Y-Z now is relative to ground
Static, X-axis and Y-axis are in horizontal plane (when airborne vehicle is in vertical state), and Z axis points to ground, and wherein X-axis is oriented to vertically
Fixed-wing aerofoil in horizontal plane.Four rotors are roll around the rotation of X-direction, and the rotation around Y direction is pitching, about the z axis
The rotation in direction is driftage.Attitude angle uses the definition mode of Eulerian angles, and order is roll-pitching-driftage.
In the present embodiment, flight control system changes unmanned plane in vertical direction by the total life changing four rotors
Motion, changes vertical attitude by changing the lift difference between propeller, and then changes it in the speed of vertical direction and position
Put.
Fig. 9 shows the schematic diagram of rotor regulation model in the present embodiment.
As it is shown in figure 9, in the present embodiment, flight control system carrys out the boat to airborne vehicle preferably by the control mode of inner and outer ring
Row state is controlled.Wherein, flight control system is the main attitude adjusting airborne vehicle self in interior circulation, and flies in outer circulation
Ore-controlling Role mainly adjusts airborne vehicle position in space coordinates.
Specifically, when flight control system controls the attitude of airborne vehicle according to rotor regulation model, it can be according to receiving
Sailing command and the current positional information of airborne vehicle generate the first motor control instruction and attitude angle instruction.According to this attitude
Angle instructs, and flight control system can adjust the attitude of airborne vehicle self in interior circulation, and it can be according to attitude angle instruction and airborne vehicle
Current attitude information generates the second motor control instruction.Motor will control to refer to according to the first motor control instruction and the second motor
Order regulates self-operating state (such as rotating speed), and in four rotor models, the change of motor operating state will bring rotor
The change of running status, and then the position of airborne vehicle and attitude are changed.
The push-button aircraft provided due to the present embodiment have employed the symmetrical structure of four rotors, therefore can will navigate
Relation between the height of pocket, pitching, roll and driftage carries out decoupling to facilitate the running status to airborne vehicle to control
System.
Specifically, as shown in Figure 10, in the present embodiment, when airborne vehicle needs to rise, flight control system can be passed through
The rotating speed simultaneously increasing each rotor realizes, and now four rotors will increase identical lift, and such airborne vehicle just will have
Acceleration upwards, but now himself attitude keeps constant.
When airborne vehicle needs to carry out pitching, flight control system then can increase rotating speed same of the first rotor and the second rotor
Time, reduce the 3rd rotor and the rotating speed of the 4th rotor.Lift produced by such first rotor and the second rotor will increase, and the
Lift produced by three rotors and the 4th rotor will reduce, so that the angle that airborne vehicle produces a forward in pitch orientation adds
Speed.
When airborne vehicle needs to carry out roll, flight control system then can increase rotating speed same of the first rotor and the 4th rotor
Time, reduce the second rotor and the rotating speed of the 3rd rotor.Lift produced by such first rotor and the 4th rotor will increase, and the
Lift produced by two rotors and the 3rd rotor will reduce, so that airborne vehicle produces the angular acceleration in a roll direction.
And when airborne vehicle needs to go off course, flight control system then can be at the rotating speed of increase the first rotor and the 3rd rotor
Meanwhile, the second rotor and the rotating speed of the 4th rotor are reduced.Lift produced by such first rotor and the 3rd rotor will increase, and
Lift produced by second rotor and the 4th rotor will reduce, so that the angle that airborne vehicle produces a yaw direction is accelerated
Degree.
It is pointed out that during above-mentioned control, during changing an attitude parameter, in order to not affect it
His attitude parameter, when being adjusted the rotating speed of each rotor, increase and/or the reduction amount of the rotating speed of each rotor are preferred
Ground keeps identical.
Airborne vehicle is under horizontal flight pattern, and owing to its air speed is relatively big, therefore its roomy fixed-wing can produce enough
Lift balance self suffered gravity, thus the advantage having given play to high-speed and high-efficiency.Due to airborne vehicle master in the process
Aerodynamic force to be relied on carrys out balancing gravity, and therefore flight control system mainly controls elevon and rolling according to fixed-wing regulation model
Aileron realizes the control to aircraft operational configuration.
Figure 11 shows the circuit diagram in airborne vehicle Altitude control loop in the regulation model of fixed-wing in the present embodiment.
As shown in figure 11, in the present embodiment, the height of airborne vehicle is controlled by flight control system according to fixed-wing regulation model
Time processed, first can get the Desired Height H of airborne vehicleg, subsequently to this Desired Height HgItself and airborne vehicle is calculated after carrying out amplitude limit
The difference of actual height H, thus obtain height tolerance amount Δ H.This height tolerance amount Δ H i.e. airborne vehicle need change
Highly.
After obtaining height tolerance amount Δ H, flight control system will utilize the first PID regulator to come according to this height tolerance amount Δ
H generates the first control signal C1.Obtaining the first control signal C1After, flight control system will be according to the first control signal C1And aviation
The actual vertical speed of deviceGenerate the second control signal θg.Finally by this second control signal θgInput pitch control loop,
Just it is available for controlling the rudder face signal δ of elevon control surface deflection statelon.Elevon is receiving this rudder face letter
Number δlonAfter, the rudder face of self will be adjusted to corresponding deflection angle, thus control airborne vehicle and reach Desired Height Hg。
During actual control, when the elevon of airborne vehicle and rolling aileron change, the pitching of airborne vehicle
Angle and air speed all will occur significant change.When the invariablenes turning speed of rotor, the control of airborne vehicle be actually self kinetic energy with
Conversion between potential energy, span of control is limited, and the most now must increase the control to rotor rotating speed (i.e. motor speed)
System changes the gross energy of airborne vehicle and reaches expected value to the height and speed making airborne vehicle.
The most as shown in figure 11, in the present embodiment, flight control system adjust airborne vehicle elevon rudder face while,
Also can adjust the rotating speed of rotor simultaneously.Specifically, the second control signal θ is being obtainedgAfter, flight control system also can control according to second
Signal θgGenerate rotor control signal δp, thus utilize this rotor control signal δpControl the electricity corresponding to each rotor of airborne vehicle
The rotating speed of machine, and then make pulling force produced by each rotor adjusted, the most also it is achieved that the tune to airborne vehicle speed
Joint.
Figure 12 shows the circuit diagram of airborne vehicle speed control loop in the regulation model of fixed-wing in the present embodiment.
As shown in figure 12, in the present embodiment, the speed of airborne vehicle is controlled by flight control system according to fixed-wing regulation model
Time processed, first can get the desired speed V of airborne vehicleg, subsequently to this desired speed VgItself and airborne vehicle is calculated after carrying out amplitude limit
The difference of actual speed V, thus obtain velocity deviation amount Δ V.
After obtaining velocity deviation amount Δ V, flight control system will utilize the second PID regulator to come according to this velocity deviation amount Δ
V generates the 3rd control signal C3.Obtaining the 3rd control signal C3After, flight control system will be according to the 3rd control signal C3Next life
Become rotor control signal δ of airborne vehiclep, thus utilize this rotor control signal δpControl the electricity corresponding to each rotor of airborne vehicle
The rotating speed of machine, and then make pulling force produced by each rotor adjusted, the most also it is achieved that the tune to airborne vehicle speed
Joint.
As foregoing is illustrated, when the aileron state of airborne vehicle keeps constant, the increase of rotor rotating speed
Or reduction all will cause the change of airborne vehicle self angle of pitch, and then cause the change of aircraft altitude.For this situation, this
In embodiment, flight control system, while adjusting rotor rotating speed, also can adjust the state of elevon.Specifically, such as Figure 12 institute
Show, obtaining the 3rd control signal C3After, flight control system will be according to the 3rd control signal C3Generation is used for controlling elevon rudder face
The rudder face signal δ of deflection statelon.Elevon is receiving this rudder face signal δlonAfter, the rudder face of self will be adjusted to
Corresponding deflection angle.
Figure 13 and Figure 14 show the push-button aircraft that the present embodiment provided fly control flow chart.
As shown in figure 13, after push-button aircraft starts, first flight control system initializes, and when time delay is preset
Remote controller signal is gathered after length.In the present embodiment, this remote controller signal is to be driven in order to controlling nobody by what earth station system sent
Sail the signal of aircraft state.
After obtaining remote controller signal, flight control system will judge whether, according to this remote controller signal, instruction of taking off.Its
In, if there is instruction of taking off, then determine whether whether the height of current aerospace device reaches preset height.In the present embodiment,
Above-mentioned preset height is to characterize the height that aircraft takeoff process terminates, and it is preferably set to 25cm.It is pointed out that
In different embodiments of the invention, according to parameter and the navigation needs of push-button aircraft, above-mentioned preset height can set
It is set to other reasonable values, the invention is not restricted to this.
If airborne vehicle reaches preset height, then then represent that airborne vehicle has been completed take-off process.And if aviation
Device is not up to preset height, then then representing that airborne vehicle not yet completes take-off process, the most now flight control system then continues to gather
Remote controller signal, and the attitude of airborne vehicle is updated according to remote controller signal.
During being updated aircraft attitude, flight control system is put up with and is judged whether instruction of taking off.If
There is instruction of taking off, then by the rotating speed of control rotor, airborne vehicle is taken off with fixing lift, in the process, fly control system
System still persistently can be controlled and persistently judge airborne vehicle whether preset height to the takeoff condition of airborne vehicle.And if there is no
Take off instruction, then flight control system then can carry out aircraft attitude control, and again judges whether to receive instruction of taking off.
As shown in figure 14, after airborne vehicle completes take-off process, flight control system by continuation gather remote controller signal, and according to
This remote controller signal judges whether to need to switch to manual offline mode.If needing to switch to manual offline mode, then fly
Ore-controlling Role then can obtain aircraft states instruction according to the remote controller signal received, and comes aviation according to this attitude command
The state of flights such as the flying height of device and flight attitude are controlled.In the process that aircraft state is controlled
In, flight control system also can judge whether to need landing according to the remote controller signal received.If needing landing, then fly control
System then controls airborne vehicle and is converted to rotor flying pattern, the and (height of such as airborne vehicle in the case of meeting drop conditions
To be 0) control rotor stall, the most whole control process the most just terminates.
And if need not switch to manual offline mode, then flight control system then can utilize serial ports from its data store
Device reads the attitude command that is previously set, and is that fixed-wing fly by airborne vehicle by rotor flying patten transformation according to this attitude command
Row mode, and come the flight attitude to airborne vehicle and flying height according to concrete control instruction under fixed-wing offline mode
It is controlled etc. state of flight.
During being controlled aircraft state, flight control system the most also can be according to the control of self storage
Instruction judges whether to need landing.If needing landing, then flight control system then controls airborne vehicle and is converted to rotor flying mould
Formula, and in the case of meeting drop conditions, (height of such as airborne vehicle will be 0) controls rotor stall, the most whole controls
Journey the most just terminates.
Existing VTOL fixed-wing continuation of the journey unmanned plane typically has two types.One is configuration tilting rotor, this nothing
Man-machine existence is maximized and baroque problem, and the most this unmanned plane is difficult to safeguard that use and fault rate are high；Another
Kind be configuration rotor and forward propulsion power system amount to two set dynamical systems, this unmanned plane is two kinds of dynamical systems to be carried out
Simple superposition, reduces the weight of payload and fuel oil, can not get significantly improving than index with gyroplane during voyage boat.
And the push-button aircraft rotor shaft that the present embodiment is provided is without rotating relative to wing, the most also it is no need for joining
Putting the complicated mechanical part that control and regulation rotor shaft rotates, compared to existing tilt-rotor aircraft, the present embodiment is carried
The structure of the airborne vehicle of confession is simpler, weight is lighter.Meanwhile, the push-button aircraft that the present embodiment is provided uses a set of
Power set (i.e. rotor and the motor of correspondence thereof) meet VTOL and the function of fixed-wing mode cruise, compared to existing
Some airborne vehicles, requirement when it can provide bigger weight to meet mission payload and voyage boat.
VTOL technology is tied mutually by the push-button aircraft that the present embodiment is provided with fixed wing airplane conventional control
Close, its VTOL both with helicopter and hovering ability, there is again the spy that speed is fast, voyage is remote of fixed-wing unmanned plane
Point.And existing unmanned plane or to have man-machine be all only to possess one of which advantage, such as helicopter possess VTOL ability but
Be that device speed is low, boat time and voyage short, when possessing speed, boat and the fixed wing airplane of voyage advantage then needs airport to run
To or complexity be transmitted back to receiving unit.
The push-button aircraft that the present embodiment is provided is during using, due to can in the takeoff and landing stage
Carrying out VTOL, therefore this airborne vehicle can possess the occasion of airfield runway condition (such as on most of naval vessels or not
Island etc.), it is simple to the army and the people's widespread demand.
Meanwhile, in the high speed operation stage, this push-button aircraft can utilize fixed-wing to navigate by water, therefore its energy
Enough have voyage advantage big, long-endurance as existing fixed wing airplane, and such airborne vehicle the most just can quickly fly
To target overhead.Additionally, after target overhead flown to by airborne vehicle, it can also utilize its rotor carry out spot hover operation or patrol
Boat.It can thus be seen that this push-button aircraft is particularly suitable for investigating, surveys and draws, goes on patrol and the needs of other tasks.
It should be understood that disclosed embodiment of this invention is not limited to ad hoc structure disclosed herein or processes step
Suddenly, the equivalent that should extend to these features that those of ordinary skill in the related art are understood substitutes.It should also be understood that
It is that term as used herein is only used for describing the purpose of specific embodiment, and is not intended to limit.
" embodiment " mentioned in description or " embodiment " mean special characteristic, the structure in conjunction with the embodiments described
Or characteristic is included at least one embodiment of the present invention.Therefore, the phrase " reality that description various places throughout occurs
Execute example " or " embodiment " same embodiment might not be referred both to.
Although above-mentioned example is for illustrating present invention principle in one or more application, but for the technology of this area
For personnel, in the case of without departing substantially from the principle of the present invention and thought, hence it is evident that can in form, usage and the details of enforcement
Above various modifications may be made and need not pay creative work.Therefore, the present invention is defined by the appended claims.
Claims (10)
1. a push-button aircraft, it is characterised in that described airborne vehicle includes:
Airborne vehicle main body；
Fixed-wing, it is fixed on the both sides of described airborne vehicle main body；
Multiple rotors, the plurality of rotor is connected to the both sides of described fixed-wing by flight support portion.
2. push-button aircraft as claimed in claim 1, it is characterised in that described airborne vehicle also includes:
Some main landing gears, described some main landing gears are affixed with described flight support portion, and it is symmetricly set on described airborne vehicle
The both sides of main body the cephalocaudal direction along described airborne vehicle main body extend；
Wherein, when described airborne vehicle is in landing state, described some main landing gears support described airborne vehicle main body and fix
The wing is vertical to be established on horizontal support face.
3. push-button aircraft as claimed in claim 2, it is characterised in that when described airborne vehicle is in operational configuration,
Described some main landing gears form the vertical fin of described airborne vehicle.
4. push-button aircraft as claimed in claim 2 or claim 3, it is characterised in that described airborne vehicle also includes:
Multiple auxiliary landing gears, it is formed at the lateral end of described fixed-wing；
Wherein, when described airborne vehicle is in landing state, the plurality of auxiliary landing gear is for carrying out auxiliary to described airborne vehicle
Help support；
When described airborne vehicle is in operational configuration, the plurality of auxiliary landing gear is used for reducing downwash flow.
5. the push-button aircraft as according to any one of claim 2～4, it is characterised in that described some main landing gears
It is integrated with corresponding flight support portion.
6. the push-button aircraft as according to any one of Claims 1 to 5, it is characterised in that described fixed-wing is provided with
Elevon and multiple rolling aileron, wherein, described elevon and multiple rolling aileron are formed at the longitudinal direction of described fixed-wing
End, and the plurality of rolling aileron is distributed in described elevon both sides.
7. the push-button aircraft as according to any one of claim 1～6, it is characterised in that described rotor includes:
Driving motor, it is affixed with flight support portion；
Propeller, it is connected with described driving motor, transfers with the driving backspin at described driving motor and carries for described airborne vehicle
For kinetic energy.
8. push-button aircraft as claimed in claim 7, it is characterised in that described airborne vehicle also includes:
Power module, it provides electric energy for the operation for described airborne vehicle；
Circuit for signal conditioning, it is connected with described power module, is adjusted for the signal of telecommunication providing described power module
And signal regulation obtained is transferred to described driving motor, to drive described driving motor to run.
9. push-button aircraft as claimed in claim 8, it is characterised in that described power module includes:
Electromotor and electromotor, described electromotor is for producing electric energy under the drive of described electromotor, and is passed by described electric energy
It is defeated by described circuit for signal conditioning；And/or,
Accumulator, it is connected with described circuit for signal conditioning, provides electric energy for the operation for the plurality of driving motor.
10. the unmanned airborne vehicle as according to any one of claim 1～9, it is characterised in that described airborne vehicle also includes:
Airborne sensor system, it is for gathering the aeronautical data of described airborne vehicle；
Flight control system, it is connected with described airborne sensor system, for regulating described airborne vehicle according to described aeronautical data
Operational configuration.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610648326.4A CN106114853B (en) | 2016-08-09 | 2016-08-09 | A kind of push-button aircraft |
| NL2018003A NL2018003B1 (en) | 2016-08-09 | 2016-12-15 | Unmanned aerial vehicle |
| DE202017104421.1U DE202017104421U1 (en) | 2016-08-09 | 2017-07-25 | Unmanned aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610648326.4A CN106114853B (en) | 2016-08-09 | 2016-08-09 | A kind of push-button aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106114853A true CN106114853A (en) | 2016-11-16 |
| CN106114853B CN106114853B (en) | 2019-05-10 |
Family
ID=57258619
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610648326.4A Active CN106114853B (en) | 2016-08-09 | 2016-08-09 | A kind of push-button aircraft |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN106114853B (en) |
| DE (1) | DE202017104421U1 (en) |
| NL (1) | NL2018003B1 (en) |
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| CN107315420A (en) * | 2017-07-01 | 2017-11-03 | 山东翔鸿电子科技有限公司 | A kind of unmanned plane turning method |
| CN108873044A (en) * | 2018-07-05 | 2018-11-23 | 北京航空航天大学 | A method of helicopter screw propeller is surveyed with respect to fuselage posture with GPS receiver |
| WO2019056172A1 (en) * | 2017-09-19 | 2019-03-28 | 深圳市大疆创新科技有限公司 | Flight control method for unmanned aerial vehicle, unmanned aerial vehicle, and machine readable storage medium |
| CN112166393A (en) * | 2019-07-30 | 2021-01-01 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method, control device and computer-readable storage medium |
| JP7438523B2 (en) | 2019-08-02 | 2024-02-27 | 株式会社エアロネクスト | Aircraft and flight methods for aircraft |
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| EP3587259B1 (en) * | 2018-06-28 | 2022-08-10 | Leonardo S.p.A. | Tail sitter and related control method |
| CN109116860B (en) * | 2018-08-29 | 2022-05-03 | 天津大学 | Nonlinear robust control method for three-rotor unmanned aerial vehicle |
| CN109131866A (en) * | 2018-09-30 | 2019-01-04 | 深圳市旗客智能技术有限公司 | The compound unmanned plane of multiaxis fixed-wing and its flight control method |
| CN110203387A (en) * | 2019-05-09 | 2019-09-06 | 深圳市禾启智能科技有限公司 | VTOL Fixed Wing AirVehicle |
| CN111522067A (en) * | 2020-05-25 | 2020-08-11 | 加泰科(深圳)科技有限公司 | Marine aeromagnetic detection system based on vertical take-off and landing fixed wing unmanned aerial vehicle |
| CN113955114A (en) * | 2021-11-23 | 2022-01-21 | 江苏大学 | Linear type unmanned aerial vehicle structure based on gravity center self-adaptive adjusting device |
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| WO2019056172A1 (en) * | 2017-09-19 | 2019-03-28 | 深圳市大疆创新科技有限公司 | Flight control method for unmanned aerial vehicle, unmanned aerial vehicle, and machine readable storage medium |
| CN108873044A (en) * | 2018-07-05 | 2018-11-23 | 北京航空航天大学 | A method of helicopter screw propeller is surveyed with respect to fuselage posture with GPS receiver |
| CN112166393A (en) * | 2019-07-30 | 2021-01-01 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method, control device and computer-readable storage medium |
| WO2021016871A1 (en) * | 2019-07-30 | 2021-02-04 | 深圳市大疆创新科技有限公司 | Control method and control apparatus for unmanned aerial vehicle, and computer-readable storage medium |
| JP7438523B2 (en) | 2019-08-02 | 2024-02-27 | 株式会社エアロネクスト | Aircraft and flight methods for aircraft |
Also Published As
| Publication number | Publication date |
|---|---|
| NL2018003B1 (en) | 2017-07-12 |
| CN106114853B (en) | 2019-05-10 |
| DE202017104421U1 (en) | 2017-09-26 |
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