CN107215462B - Landing method and landing device for vertical take-off and landing fixed wing unmanned aerial vehicle - Google Patents
Landing method and landing device for vertical take-off and landing fixed wing unmanned aerial vehicle Download PDFInfo
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- CN107215462B CN107215462B CN201710529159.6A CN201710529159A CN107215462B CN 107215462 B CN107215462 B CN 107215462B CN 201710529159 A CN201710529159 A CN 201710529159A CN 107215462 B CN107215462 B CN 107215462B
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/12—Canard-type aircraft
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Abstract
The invention relates to the technical field of unmanned aerial vehicles, in particular to a landing method of a vertical take-off and landing fixed wing unmanned aerial vehicle, which comprises the following technical steps: the aircraft flies horizontally and changes into a vertical flight state; in a vertical flight state, the belly is enabled to face the wind, and meanwhile, the airplane is controlled to accurately reach the position above a landing point in a vertical flight mode; the airplane is controlled to change from vertical flight to horizontal flight, the nose faces the wind, and the airplane body is kept horizontal; closing the engine free fall; after the airplane body descends to a set height, the posture of the airplane body is adjusted to be vertical; the aircraft slowly lands. The invention solves the problem of large energy loss in the vertical landing process of the aircraft from high altitude, greatly reduces the energy loss, indirectly improves the endurance capacity of the aircraft, and makes the part of the propeller overhead in the unstable and tumble process of the aircraft body.
Description
Technical Field
The technology relates to the technical field of unmanned aerial vehicles, in particular to a method and a device for landing a vertical take-off and landing fixed wing unmanned aerial vehicle.
Background
The fixed wing unmanned aerial vehicle that takes off and land perpendicularly possesses the ability that takes off and land perpendicularly and cruise at a high speed simultaneously, has overcome the drawback that traditional fixed wing unmanned aerial vehicle need take off and land with the help of longer runway, and this kind of advantage guarantees that it can work smoothly in complicated topography such as mountain area, hills, jungle and dense region of building, has greatly expanded the range of application of fixed wing unmanned aerial vehicle in fields such as national soil resources survey and drawing, police fire control reconnaissance, emergency rescue. With the wide application of the vertical take-off and landing fixed wing unmanned aerial vehicle technology, the problem of large kinetic energy consumption in the vertical landing process is also exposed, how to reduce the energy consumption of the aircraft in the landing process is a great problem to be solved, and meanwhile, the great problem to be solved is to reduce the aircraft damage and protect the propeller when the aircraft body is overturned as far as possible.
After the high-altitude operation is finished, the fixed-wing unmanned aerial vehicle in the prior art usually adopts hovering flight to reduce the height when reaching the position near a landing point, and the hovering height reduction mode is often not implemented due to the limitation of mountainous areas or urban airspace conditions. The vertical take-off and landing fixed wing unmanned aerial vehicle in the prior art adopts the whole-course vertical landing in the landing process, and the vertical landing mode needs the whole-course high-speed operation of an engine and has larger energy loss.
The prior art (publication number CN 105905295) lays a hardware foundation for the vertical take-off and landing fixed wing unmanned aerial vehicle developed by the applicant.
Disclosure of Invention
In order to solve the technical problems, the application provides an energy-saving, rapid, vertical and stable landing method.
1. A landing method of a vertical take-off and landing fixed wing unmanned aerial vehicle comprises the following technical steps:
1) the aircraft flies horizontally, the horizontal flight reaches the position above the landing point, and the horizontal flight is converted into a vertical flight state;
2) in a vertical flight state, the attitude of the airplane is adjusted along the belly, so that the belly faces the wind, and meanwhile, the airplane is controlled to accurately reach the position above a landing point in a vertical flight mode;
3) the airplane is controlled to change from vertical flight to horizontal flight, at the moment, the nose faces the wind, and the airplane body is kept horizontal;
4) the engine is closed, the body does unpowered free fall in a unpowered state, the ailerons are pulled upwards to provide pitching stability, and the dihedral angles of wingtips and winglets provide rolling stability;
5) after the aircraft lands to a set height, starting an engine, and adjusting the posture of the aircraft body to be in a vertical state;
6) adjusting the rotating speed of the engine to smoothly reduce the rotating speed, so that the aircraft slowly lands;
7) the supporting device is contacted with the ground, and if the wind power is small, the vertical posture is kept when the supporting device touches the ground; if the wind power is larger, the aircraft leans forward because the belly is actively facing the wind, the lower supporting surface of the supporting device is supported and landed, the lower supporting surface of the supporting device firstly lands, the aircraft body continuously leans forward until the aircraft nose also touches the ground, and the tangent line of the front edge of the lower supporting surface and the aircraft nose is lower than the tip of the propeller, so that the propeller is effectively protected from being damaged due to the contact with the ground.
Furthermore, the posture of the belly against wind is controlled by an angle sensor in the machine body, the roll angle is controlled to be reduced and approach to zero, and the pitch angle becomes a negative value.
Wherein, in the landing device used in the step 7), a support frame is fixed under the propeller of the aircraft, the rear support surface of the support frame is flush with the end surface of the wing, the lower support surface of the support frame is a straight line, the lower support surface of the support frame is arranged at an acute angle included angle with the rear extension line of the fuselage, the lower support surface is in arc transition with the rear support surface, and the front support surface of the support frame is in an arc shape.
The invention has the advantages that,
1) the problem of aircraft from the high altitude vertical landing process energy loss big is solved, through the landing of the unpowered free fall formula of fuselage level effectively utilized air resistance, accelerated high altitude landing time greatly, greatly reduced energy loss, indirectly improved the duration of aircraft.
2) In the process of the unstable falling of the fuselage, the position of the impact point can be continuously adjusted upwards along the lower supporting surface, the distance between the gravity center of the airplane and the lower supporting surface of the airplane is always kept in a certain range, the potential energy of the falling of the airplane is slowed down, and the effect of protecting the fuselage is achieved. When the aircraft completely falls, the aircraft nose lands with the upper edge of the support, the position of the propeller is overhead, and the propeller cannot collide with the ground, so that the effect of protecting the propeller is achieved.
Drawings
FIG. 1 is a schematic view of a landing process;
FIG. 2 is a schematic diagram of a tilt support process;
fig. 3 is a schematic structural view of the supporting device.
Detailed Description
The invention is further elucidated with reference to the drawing.
The invention provides a landing support device of a vertical take-off and landing fixed wing unmanned aerial vehicle, aiming at realizing vertical take-off and landing and stable support of the unmanned aerial vehicle. The front of the fuselage is provided with a duck wing, and the middle of the wing is respectively provided with a propeller driven by a motor. A support frame is fixed under the propeller, the rear support surface of the support frame is flush with the end face of the wing, the lower support surface of the support frame is a straight line, and the support frame and the tail end of the wing form a stable support structure in vertical take-off and landing.
The lower support surface of the support frame is in a linear shape, the lower support surface of the support frame and the rear extension line of the machine body are arranged at an acute included angle, and the support frame has the following two support forms. First, the rear support surface is utilized for vertical support, so that the aircraft can realize vertical touchdown landing. And secondly, when the aircraft nose inclines due to external force, the aircraft nose is supported, the connecting line of the aircraft nose and the support frame is tangent with the ground, the aircraft nose inclines forwards to contact the ground, and a three-point support mode is formed at the arc transition position in front of the support frame.
The arc-shaped transition structure enables the fuselage to continuously transition upwards along the lower supporting surface in the instability and falling process of the fuselage, so that the distance between the gravity center of the airplane and the lower supporting surface of the airplane is always kept within a certain range, the potential energy of the airplane falling is slowed down, and the fuselage protection effect is achieved.
The landing method of the vertical take-off and landing fixed wing unmanned aerial vehicle comprises the following technical steps:
1) the aircraft flies horizontally, the aircraft flies above a landing point, the propellers on two sides are in linkage control of tension, the ailerons on two sides are in linkage control of pitching, the aircraft nose is lifted, and the propellers on two sides are in control of rotating speed, so that the aircraft is converted from horizontal flying to vertical flying.
2) Under the vertical flight state, due to the fact that attitude definition is changed, the propellers on the two sides are in linkage control of tension, rolling control is provided in a differential mode, the aircraft adjusts the attitude along the belly, the belly is enabled to face wind, the position control portion of the control algorithm generates a reference instruction attitude to the attitude control portion, the rolling angle is reduced until the rolling angle is close to zero, the pitch angle becomes a negative value, namely the belly faces the wind, and meanwhile the aircraft is controlled to accurately reach the position above a landing point in a vertical flight mode.
3) The airplane is controlled to change from vertical flight to horizontal flight, the propellers on the two sides are in linkage control of tension, meanwhile, the ailerons on the two sides are in linkage to provide pitching control, the airplane is changed from vertical flight to horizontal flight, at the moment, the nose faces the wind, and the airplane body is kept horizontal.
4) The engine is closed, the airframe does unpowered free fall under the unpowered state, the aileron is pulled upwards to provide pitching stability, the wingtip winglet is provided with an upper dihedral to provide rolling stability, the aileron is pulled upwards to provide pitching stability, the aircraft nose pushes against the wind, and the aircraft can keep horizontal unpowered stable free fall.
5) After the aircraft lands to a set height, starting an engine, and adjusting the attitude of the aircraft body to a vertical state, wherein the attitude adjusting process of the aircraft body is the same as the attitude adjusting process in the step 1);
6) adjusting the rotating speed of the engine to smoothly reduce the rotating speed, so that the aircraft slowly lands;
7) the rear supporting surface of the supporting device is in contact with the ground, and if the wind power is small, the rear supporting surface of the supporting device is in contact with the ground to vertically land; if the wind power is larger, the aircraft actively enables the abdomen to tilt forward against the wind, the lower supporting surface of the supporting device contacts the ground first, and the aircraft body continues to tilt forward until the aircraft nose contacts the ground.
Claims (3)
1. A landing method of a vertical take-off and landing fixed wing unmanned aerial vehicle is characterized by comprising the following technical steps:
1) the aircraft flies horizontally, the horizontal flight reaches the position above the landing point, and the horizontal flight is converted into a vertical flight state;
2) in a vertical flight state, the attitude of the airplane is adjusted along the belly, so that the belly faces the wind, and meanwhile, the airplane is controlled to accurately reach the position above a landing point in a vertical flight mode;
3) the airplane is controlled to change from vertical flight to horizontal flight, at the moment, the nose faces the wind, and the airplane body is kept horizontal;
4) the engine is closed, the body does unpowered free fall in a unpowered state, the ailerons are pulled upwards to provide pitching stability, and the dihedral angles of wingtips and winglets provide rolling stability;
5) after the aircraft lands to a set height, starting an engine, and adjusting the posture of the aircraft body to be in a vertical state;
6) adjusting the rotating speed of the engine to smoothly reduce the rotating speed, so that the aircraft slowly lands;
7) the supporting device is contacted with the ground, and if the wind power is small, the vertical posture is kept when the supporting device touches the ground; if the wind power is larger, the aircraft leans forward because the belly is actively facing the wind, the lower supporting surface of the supporting device is supported and landed, the lower supporting surface of the supporting device firstly lands, the aircraft body continuously leans forward until the aircraft nose also touches the ground, and the tangent line of the front edge of the lower supporting surface and the aircraft nose is lower than the tip of the propeller, so that the propeller is effectively protected from being damaged due to the contact with the ground.
2. A method of landing according to claim 1, wherein the ventral attitude to the wind is controlled by an angle sensor internal to the fuselage, controlling the roll angle to decrease towards zero and the pitch angle to become negative.
3. A landing arrangement for use in step 7) of a landing method as claimed in claim 1, wherein a support frame is fixed directly below the propellers of the aircraft, the rear support surface of the support frame is flush with the end face of the wing, the lower support surface of the support frame is a straight line, the lower support surface of the support frame is arranged at an acute angle to the rear extension line of the fuselage, the lower support surface is in circular arc transition with the rear support surface, and the forward support surface of the support frame is circular arc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710529159.6A CN107215462B (en) | 2017-07-01 | 2017-07-01 | Landing method and landing device for vertical take-off and landing fixed wing unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710529159.6A CN107215462B (en) | 2017-07-01 | 2017-07-01 | Landing method and landing device for vertical take-off and landing fixed wing unmanned aerial vehicle |
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| CN107215462A CN107215462A (en) | 2017-09-29 |
| CN107215462B true CN107215462B (en) | 2021-08-31 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107943086A (en) * | 2017-12-21 | 2018-04-20 | 合肥灵猫传媒有限公司 | A kind of unmanned plane cluster makes a return voyage control system |
| CN110174906A (en) * | 2019-06-17 | 2019-08-27 | 沈阳无距科技有限公司 | Unmanned plane landing control method, device, storage medium and electronic equipment |
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| CN107215462A (en) | 2017-09-29 |
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Inventor after: Mao Youbin Inventor after: Wu Xiuyuan Inventor before: Mao Youbin |
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