CN108394560A - A kind of fixed-wing unmanned plane and its landing method - Google Patents
A kind of fixed-wing unmanned plane and its landing method Download PDFInfo
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- CN108394560A CN108394560A CN201810214117.8A CN201810214117A CN108394560A CN 108394560 A CN108394560 A CN 108394560A CN 201810214117 A CN201810214117 A CN 201810214117A CN 108394560 A CN108394560 A CN 108394560A
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- 238000010586 diagram Methods 0.000 description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
- B64D27/02—Aircraft characterised by the type or position of power plant
- B64D27/023—Aircraft characterised by the type or position of power plant of rocket type, e.g. for assisting taking-off or braking
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- 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
- B64U70/00—Launching, take-off or landing arrangements
Abstract
A kind of fixed-wing unmanned plane of present invention offer and its landing method, use multiengined assembly power form.The takeoff method of unmanned plane includes before taking off, when taking off, it is flat when flying.The landing method of unmanned plane include slide landing, stall decline, contact to earth landing and etc..The present invention has the following advantages：Can realize the hand of the larger unmanned plane of take-off weight throw it is winged, and auxiliary power when taking off can either Assisted Take Off, also being capable of auxiliary landing；Simple system；Promote unmanned plane performance；Landing mode is adaptable；This programme is relatively low to landing environmental requirement, almost can realize landing in any place.
Description
Technical field
The invention belongs to unmanned vehicle technical field, it is related to a kind of fixed-wing unmanned plane and its landing method.
Background technology
With the rapid development of multi-rotor unmanned aerial vehicle and the continuous expansion of application range, to more rotor unmanned aircrafts
Potentiality carried out continuous excavation, from civil fields such as inspection, prospecting, logistics to the military field of battle reconnaissance.For solid
Determine wing unmanned plane, landing mode is applied to certain restriction, such as needs the aircraft to take off to site requirements
It is higher.The appearance of multi-rotor unmanned aerial vehicle provides a kind of unmanned plane scheme without runway, but is limited by cruising ability and flight
Speed, using there is also limitations.
Traditional Fixed Wing AirVehicle have flight efficiency is high, speed is fast, distance is remote, system structure is simple, it is light-weight, at
Originally the advantages such as low with usage charges, but traditional Fixed Wing AirVehicle also has itself inevitable defect, i.e., in takeoff and landing
When need sliding to run or utilize special launch reclaim device.For small-sized fixed-wing unmanned plane, due to city height
Building stands in great numbers, and the limitation of the Conventional compact fixed-wing unmanned plane to being only capable of being taken off and being landed is very big.
Occurs combined type unmanned plane product thus, combined type unmanned plane is combined more rotors and fixed-wing.It can
Think VTOL combination fixed-wing scheme, the program is mainly the engine type that verts, by lift engine and cruising engine
It is combined into one, axle construction is become by machinery, vert engine when state of flight is converted, and makes the thrust direction of engine around fuselage
Horizontal axis rotates, and fuselage awing keeps horizontal substantially so that the advantages of unmanned plane takes into account two kinds of aircraft simultaneously；It can also
It is entitled for such as Patent No. 201510257836.4《Fixed structure formula VTOL aircraft based on double flight control systems and
Its control method》Chinese patent.
Above-mentioned technology thrust switching mechanism or power plant complexity, annex quality are big；Complicated system in combination and flight
Useless quality in the process so that there are higher failure rates for this kind of unmanned plane.
Accordingly for landing mode, the relevant technologies are as follows both at home and abroad at present：
(1) it takes off mode：
Difference of the existing fixed-wing unmanned plane according to flying weight, uses different modes of taking off, as hand throws winged, ejection
It takes off, take off vertically, rato and takeoff etc..For small-sized fixed-wing unmanned plane, mostly uses hand and throw winged, bullet
Penetrate mode of taking off and take off vertically.And the unmanned plane that hand throws winged mode is the simplest, but due to being to rely on manually to dish out, counterweight
The limitation of amount is very big, and general take-off weight is no more than 5kg.For the small drone more than 5kg, it can only generally use and launch
Fly, take off vertically or takeoff mode, in addition to the mode of taking off vertically, other two kinds of modes of taking off are required for being equipped with corresponding
Ejection device requires site condition.
(2) landing modes：
Fixed-wing unmanned plane generally uses power-off stall landing, parachuting, vertical landing or sliding run to land.For small-sized fixed-wing
Unmanned plane generally mostly uses the modes such as stall down landing, parachuting.Stall down landing is suitable for the smaller unmanned plane of weight, generally takes off
Weight is no more than 5kg, and for the unmanned plane using parachuting, weight is not strict with, but parachute is made in flight course
For useless quality, the performance of unmanned plane is limited.
Invention content
In order to solve the above problem:
According to the first aspect of the invention, it is proposed that a kind of fixed-wing unmanned plane：
Use multiengined assembly power form;
Preferably, including main power plant and auxiliary power unit；
Thrust power when main power plant is flat flies, main power plant are located at fore-body；
Auxiliary power unit is as the auxiliary power unit for taking off and declining.
It is further preferred that auxiliary power unit is at least 2 engines.
It is further preferred that auxiliary power unit is located on wing.
In order to ensure that fuselage barycenter is reasonable, unmanned plane operates steadily.
Still more preferably, auxiliary power unit is even number engine, and even number engine is symmetrically arranged two
On the wing of side.
According to the second aspect of the invention, it is proposed that a kind of takeoff method of unmanned plane：
Include the following steps：
Step 11, before taking off：Unmanned plane is lifted, unmanned mechanomotive force, which all starts to maximum power, to be exported；
Step 12, when taking off：Unmanned plane is dished out；
Step 13, when putting down winged：Main power plant works on, and auxiliary power unit is stopped.
Preferably, unmanned plane and artificial unmanned plane of dishing out are lifted using artificial in step 11 and step 12.
Preferably, unmanned plane is dished out by ancillary equipment in step 12；
It is further preferred that the ancillary equipment in step 12 is catapult-launching gear.
Preferably, auxiliary power unit is the propeller for folding blade.
It is further preferred that when step 13 is flat winged, blade is folded and is withdrawn.
According to the third aspect of the present invention, it is proposed that a kind of landing method of unmanned plane：
Include the following steps：
Step 21, landing is slided：Landing is slided in the non-full power unlatching of unmanned plane；
Step 22, stall declines：When unmanned plane slips down to certain altitude, increasing pitch angle, power plant is all turned on, nobody
Machine keeps big angles-of-attack；
Step 23, it contacts to earth landing：After unmanned plane is fallen to apart from ground state close enough, gradually by the output of power plant
Power reduces, and is finally stopped.
Preferably, it refers to that unmanned plane low-power slides landing that landing is slided in the non-full power unlatching of step 21 unmanned plane, specifically
There was only main power plant work for unmanned plane；
Preferably, it refers to unpowered sliding landing that landing is slided in the unlatching of unmanned plane non-full power in step 21；Specially unmanned plane
All power plants are stopped.
Preferably, step 23 is specially：Auxiliary power unit is first stopped；The output of main power plant is gradually reduced again
Power；Final main power plant is stopped；Last unmanned plane contacts to earth landing completely.
The present invention has the following advantages：
(1) scheme proposed by the present invention can realize that take-off weight is larger（Generally higher than 5kg）The hand of unmanned plane throw
Fly, and auxiliary power when taking off can either Assisted Take Off, also being capable of auxiliary landing；It can realize that big thrust loading takes off and drops
It falls.
(2) simple system：Using the small drone of this programme, without assisting lifting gear, such as catapult-launching gear, landing
Umbrella etc., whole system more simplify.
(3) unmanned plane performance is promoted；The unmanned plane of same take-off weight effective can reduce nobody using this programme
Additional weight entrained by machine improves flying quality, such as improves cruise duration.
(4) landing mode is adaptable；This programme is relatively low to landing environmental requirement, almost can be in any place reality
Existing landing.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, other drawings may also be obtained based on these drawings.
Fig. 1 is fixed-wing unmanned plane front view of the present invention.
Fig. 2 is the unmanned side view of fixed-wing of the present invention.
Fig. 3 is fixed-wing unmanned plane vertical view of the present invention.
Fig. 4 is that fixed-wing unmanned plane of the present invention takes off schematic diagram.
Fig. 5 is fixed-wing unmanned plane landing modes schematic diagram of the present invention.
Fig. 6 is the dynamic stall down landing principle schematic of fixed-wing unmanned plane of the present invention.
Specific implementation mode
The present invention is made further in detail, completely to illustrate with reference to embodiment and attached drawing.
Basic knowledge introduction：
Thrust-weight ratio：Thrust-weight ratio is aircraft and the important technical performance index of aero-engine, aircraft engine thrust and engine
The ratio between gravity or aircraft gravity, it indicates thrust caused by aircraft engine or aircraft specific gravity.Aircraft engine is in sea
In maximum rating under plane quiescent conditions（Boost engine is full Afterburning condition）Generated thrust and engine structure gravity
The ratio between be known as aircraft engine thrust-weight ratio.
Stall down landing：Stall refers to the case where aircraft or wing work when the angle of attack is more than the maximum lift angle of attack, feature
It is detached for air-flow, is unable to maintain that flight, height is caused to decline.
First, it is larger to propose a kind of weight by the present invention（Typically larger than 5kg）Hand throws winged fixed-wing unmanned plane, in order to
It solves hand and throws constraint of the mode to take-off weight, use multiengined assembly power form.For when hand throws winged, being
Unmanned plane provides enough acceleration, the problem of slowing down shortage of manpower.It is maximum under the premise of ensureing normal takeoff and landing
The entire UAV system of simplification of limit.
In addition, in order to solve the problems, such as the landing of unmanned plane, the mode that decline is slided in stall is used.It can make full use of
Multiengined assembly power form, without being equipped with additional parachute assembly, while can also solve larger weight nobody
The risk of damage is caused when speed per hour that machine is unpowered is landed to body.
Such as Fig. 1 to Fig. 3 fixed-wing unmanned plane front view, side view and vertical view of the present invention, as seen from the figure, the present invention is solid
It includes main power plant 21 and auxiliary power unit 22 to determine wing unmanned plane；Thrust power when main power plant 21 is flat flies, it is auxiliary
Power-assisting device 22 is as the auxiliary power unit for taking off and declining.Main power plant 21 is located at fore-body；Auxiliary power fills
22 are set to be located on wing.Auxiliary power unit 22 is at least 2 engines.
Preferred auxiliary power unit 22 is even number engine, and the wing in both sides is symmetrically arranged in even number engine
On, it can ensure that fuselage barycenter is reasonable in this way, unmanned plane operates steadily.Certain such as Fig. 1 is more conventional to illustrated in Figure 3
Situation is that auxiliary power unit 22 is 2 engines.
What it is there is also the need to explanation is：Auxiliary power unit 22 can also be mounted on the other positions in addition to wing, such as machine
On body or empennage.As long as can ensure that the power of auxiliary power can be transmitted reliably；Certainly, the selection of physical location
Also there is certain relationship with the master-plan configuration and occupation mode of aircraft.
Preferred embodiment：
It takes off with reference to Fig. 4 and Fig. 5 fixed-wing unmanned planes of the present invention, landing modes schematic diagram and the of the invention of Fig. 6 are fixed
The dynamic stall down landing principle schematic of wing unmanned plane is situated between in detail to the descent that takes off of fixed-wing unmanned plane of the present invention
It continues.
Takeoff condition：
Big thrust loading fixed-wing of the present invention generally uses hand to throw mode and takes off, can also be by other ancillary equipments, such as ejection dress
It sets；When throwing winged using hand, the main power plant 21 and auxiliary power unit 22 of unmanned plane start simultaneously, by artificial limited
It jettisonings power, unmanned plane can climb rapidly and accelerate to the state for being able to maintain that normal flight.
Flat winged state：
When unmanned plane enters normal flat winged state, remaining power plant other than main power plant 21（That is auxiliary power
Device 22）It is simultaneously stopped work；In order to reduce the frontal resistance that stalling propeller generates, folding can be used in auxiliary power unit 22
The propeller of blade.The propeller of auxiliary power unit 22 blade when not working, which folds, to be withdrawn.
Landing state：
It is contacted to earth mode using dynamic stall down landing when unmanned plane prepares to land.First passing through normal slide reduces flat winged height
Degree, when dropping to certain altitude, all power plants（That is the main power plant 21 and auxiliary power unit 22 of unmanned plane）
Start, under the control of automatic control system（Or manual remote control control）, unmanned plane keeps big angles-of-attack, at this time at unmanned plane
In a kind of quasi-balanced state, and horizontal velocity is relatively low.
Quasi-balanced state is maintained until when unmanned aerial vehicle body is close enough apart from ground, auxiliary power unit 22 gradually subtracts
Low thrust realizes that unmanned plane contacts to earth and lands.
Here the stall down landing principle of the power of fixed-wing unmanned plane of the present invention is further described, it is small for some
Using stall down landing mode " stall " principle is just utilized, but belong to non-power state in type unmanned plane, in this case without
Man-machine proximate freedom falling bodies state, decrease speed are unable to control, and are easy to cause unmanned plane landing damage.
If in the case that dynamic, the power plant of aircraft works always before unmanned plane contacts to earth, by increasing body
Pitch angle is realized slower flight and is slowly declined.When slower flight refers to that unmanned plane is in stall pitch angle, by power plant
The component of most vertical direction is provided, while producing the component of horizontal direction, horizontal component provides lateral relatively slow
Flying speed；And due to the presence of vertical direction component so that unmanned plane can slowly decline.
Such as the dynamic stall down landing principle schematic of Fig. 6 fixed-wing unmanned planes of the present invention, P=power plant gross thrust in figure,
Resistance when gravity, D suffered by G=unmanned plane=flat fly.As seen from the figure in descent：The power plant of unmanned plane of the present invention
（That is main power plant 21 and auxiliary power unit 22）Before unmanned plane contacts to earth, work always.Power plant is by increasing machine
The pitch angle of body is realized slower flight and is slowly declined.When slower flight refers to that unmanned plane is in stall pitch angle, by power
Device provides the component of most vertical direction, while producing the component of horizontal direction, and horizontal component provides lateral
Slower flying speed；And due to the presence of vertical direction component so that unmanned plane can slowly decline.
The takeoff method of unmanned plane of the present invention：
Step 11, before taking off：
Unmanned plane is lifted, unmanned mechanomotive force, which all starts to maximum power, to be exported；
Unmanned plane has the condition of peak acceleration at this time.
Meanwhile it should be noted that：Here unmanned plane is lifted preferably by the way of manually lifting, such operation letter
Just.
Here it refers to that main power plant 21 and auxiliary power unit 22 all start that unmanned mechanomotive force, which all starts,.
Step 12, when taking off：
Unmanned plane is dished out；
Here, it is preferred that for manually unmanned plane is dished out.Since, unmanned plane is under conditions of peak acceleration, therefore very short
It can be set up in time and maintain the normal speed put down and flown；
It can also be by other ancillary equipments, such as catapult-launching gear what needs to be explained here is that taking off.
Step 13, when putting down winged：
When accelerating to the state for being able to maintain that and normally putting down and flying, it is only necessary to overcome flat winged generated resistance, at this time generally
To fly at a constant speed.
Main power plant 21 works on, and auxiliary power unit 22 is stopped.
Further, if auxiliary power unit 22 is the propeller for folding blade, also blade is folded and is withdrawn.
The landing method of unmanned plane of the present invention：
Step 21, landing is slided：
Here it is specially that landing is slided in the non-full power unlatching of unmanned plane；
It can be following two modes that landing is slided in the non-full power unlatching of unmanned plane：
First way, unmanned plane low-power slide landing；I.e. unmanned plane only has the work of main power plant 21.
The second way, it is unpowered to slide landing；That is all power plants of unmanned plane（Main power plant 21 and auxiliary power
Device 22）It is stopped.
Step 22, stall declines：
When unmanned plane slips down to certain altitude, increase pitch angle, power plant is all turned at this time, and unmanned plane keeps the big angle of attack
Flight.Here it refers to that main power plant 21 and auxiliary power unit 22 all start that unmanned mechanomotive force, which all starts,.
Unmanned plane maintains larger power rating at this time, and unmanned plane is in a kind of quasi-balanced state, and horizontal velocity compared with
It is low, it realizes slower flight and slowly declines state.
Step 23, it contacts to earth landing：
After unmanned plane is fallen to apart from ground state close enough, gradually the output power of power plant is reduced, is finally stopped
Only.
Specifically,
Auxiliary power unit 22 is first stopped；
The output power of main power plant 21 is gradually reduced again；
Final main power plant 21 is stopped；
Last unmanned plane contacts to earth landing completely.
Compared with prior art, it is an advantage of the invention that：
The present invention can be used as applied to Small Universal fixed-wing unmanned aerial vehicle platform.The features of the present invention and advantage are specific as follows：
(1) scheme proposed by the present invention can realize that take-off weight is larger（Generally higher than 5kg）The hand of unmanned plane throw
Fly, and auxiliary power when taking off can either Assisted Take Off, also being capable of auxiliary landing；It can realize that big thrust loading takes off and drops
It falls.
(2) simple system：Using the small drone of this programme, without assisting lifting gear, such as catapult-launching gear, landing
Umbrella etc., whole system more simplify.
(3) unmanned plane performance is promoted；The unmanned plane of same take-off weight effective can reduce nobody using this programme
Additional weight entrained by machine improves flying quality, such as improves cruise duration.
(4) landing mode is adaptable；This programme is relatively low to landing environmental requirement, almost can be in any place reality
Existing landing.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.Therefore, below to the reality of the present invention provided in the accompanying drawings
The detailed description for applying example is not intended to limit the range of claimed invention, but is merely representative of the selected implementation of the present invention
Example.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without creative efforts
Every other embodiment, shall fall within the protection scope of the present invention.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
In the description of the present invention, it is to be understood that, term "center", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise " is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of
The description present invention and simplified description, do not indicate or imply the indicated equipment or element must have a particular orientation, with spy
Fixed azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more this feature.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；Can be that machinery connects
It connects, can also be electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary in two elements
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
Claims (10)
1. a kind of fixed-wing unmanned plane, it is characterised in that：The unmanned plane uses multiengined assembly power form；It is described more
The assembly power of engine includes main power plant and auxiliary power unit；
Main power plant is located at fore-body, to provide thrust power when flat fly；
Auxiliary power unit is as the auxiliary power unit for taking off and declining.
2. fixed-wing unmanned plane as described in claim 1, it is characterised in that：The auxiliary power unit is located on wing；Institute
It states auxiliary power unit and is at least 2 engines.
3. fixed-wing unmanned plane as claimed in claim 2, it is characterised in that：The auxiliary power unit starts for even number
Machine, even number engine are symmetrically arranged on the wing of both sides.
4. a kind of takeoff method of unmanned plane：Include the following steps：
Step 11, before taking off：Unmanned plane is lifted, unmanned mechanomotive force, which all starts to maximum power, to be exported；
Step 12, when taking off：Unmanned plane is dished out；
Step 13, when putting down winged：Main power plant works on, and auxiliary power unit is stopped.
5. the takeoff method of unmanned plane as claimed in claim 4, it is characterised in that：Using artificial support in step 11 and step 12
Lift unmanned plane and artificial unmanned plane of dishing out.
6. the takeoff method of unmanned plane as claimed in claim 4, it is characterised in that：Auxiliary power unit is the spiral shell for folding blade
Revolve paddle；When step 13 is flat winged, blade is folded and is withdrawn.
7. a kind of landing method of unmanned plane, includes the following steps：
Step 21, landing is slided：Landing is slided in the non-full power unlatching of unmanned plane；
Step 22, stall declines：When unmanned plane slips down to certain altitude, increasing pitch angle, power plant is all turned on, nobody
Machine keeps big angles-of-attack；
Step 23, it contacts to earth landing：After unmanned plane is fallen to apart from ground state close enough, gradually by the output of power plant
Power reduces, and is finally stopped.
8. the landing method of unmanned plane as claimed in claim 7, it is characterised in that：The non-full power of step 21 unmanned plane, which is opened, to be slided
Row landing refers to that unmanned plane low-power slides landing, and specially unmanned plane only has main power plant work.
9. the landing method of unmanned plane as claimed in claim 7, it is characterised in that：The non-full power of unmanned plane is opened in step 21
It refers to unpowered sliding landing to slide landing；Specially all power plants of unmanned plane are stopped.
10. the landing method of unmanned plane as claimed in claim 7, it is characterised in that：Step 23 is specially：
Auxiliary power unit is first stopped；
The output power of main power plant is gradually reduced again；
Final main power plant is stopped；
Last unmanned plane contacts to earth landing completely.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113335499A (en) * | 2021-06-01 | 2021-09-03 | 中国航空工业集团公司沈阳飞机设计研究所 | High-mobility unmanned aerial vehicle based on fixed fire alarm auxiliary power |
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