CN114715392A - Variant all-wing aircraft formula rotor unmanned aerial vehicle that verts - Google Patents
Variant all-wing aircraft formula rotor unmanned aerial vehicle that verts Download PDFInfo
- Publication number
- CN114715392A CN114715392A CN202210381916.0A CN202210381916A CN114715392A CN 114715392 A CN114715392 A CN 114715392A CN 202210381916 A CN202210381916 A CN 202210381916A CN 114715392 A CN114715392 A CN 114715392A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- wing
- propeller
- fuselage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 74
- 238000000034 method Methods 0.000 claims abstract description 66
- 230000008569 process Effects 0.000 claims abstract description 57
- 230000008859 change Effects 0.000 claims abstract description 42
- 230000008901 benefit Effects 0.000 claims abstract description 25
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 238000006243 chemical reaction Methods 0.000 claims description 12
- 230000005484 gravity Effects 0.000 claims description 11
- 238000005096 rolling process Methods 0.000 claims description 11
- 238000004886 process control Methods 0.000 claims description 8
- 210000001015 abdomen Anatomy 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 5
- 230000002411 adverse Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 230000002035 prolonged effect Effects 0.000 claims description 3
- 239000002131 composite material Substances 0.000 claims description 2
- 238000013016 damping Methods 0.000 claims description 2
- 238000009826 distribution Methods 0.000 claims description 2
- 239000000835 fiber Substances 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 claims description 2
- 238000012546 transfer Methods 0.000 claims description 2
- 230000009466 transformation Effects 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 claims description 2
- 230000036544 posture Effects 0.000 description 7
- 238000004364 calculation method Methods 0.000 description 6
- 230000004044 response Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000004088 simulation Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000007480 spreading Effects 0.000 description 1
- 238000003892 spreading Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/38—Adjustment of complete wings or parts thereof
- B64C3/56—Folding or collapsing to reduce overall dimensions of aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/13—Propulsion using external fans or propellers
- B64U50/14—Propulsion using external fans or propellers ducted or shrouded
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Toys (AREA)
Abstract
The invention discloses a variant flying wing type tilt rotor unmanned aerial vehicle, and belongs to the technical field of aviation unmanned aerial vehicles. The invention combines the advantages of the rotor craft and the flying wing type fixed wing craft, and has the advantages of low requirement on the taking-off and landing environment of the rotor craft, free hovering, small parking area and the like; in the process of flat flight with the fixed wing attitude, due to the flying wing type layout, the aircraft has the advantages of high pneumatic efficiency, high flying speed, strong cruising ability and the like. In addition, the invention uses the worm gear mechanism as a variant mechanism, and has the following advantages: (1) the worm gear and worm transmission ratio is high, so that the unmanned aerial vehicle is ensured to be rapid, stable, symmetrical and reliable in the deformation process; (2) the unmanned aerial vehicle has self-locking property, the variant mechanism locking is realized after the unmanned aerial vehicle changes the working mode, and a stable and reliable pneumatic appearance suitable for flying is formed; (3) the worm gear sets up inside the fuselage, compact structure, and need not to change the unmanned aerial vehicle appearance, promotes pneumatic efficiency of aircraft, duration.
Description
Technical Field
This send belongs to aviation unmanned vehicles technical field, relates to a collapsible rotor unmanned aerial vehicle that verts of all-wing aircraft formula.
Technical Field
Unmanned aerial vehicles are unmanned aerial vehicles operated by radio remote control equipment, program control devices and the like, and in recent years, unmanned aerial vehicles have been widely used, wherein fixed-wing unmanned aerial vehicles have site requirements, but vertical take-off and landing machines have no higher site requirements but have lower cruising ability.
In the patent document of the chinese utility model with publication number CN208731216U, an all-wing aircraft tilt rotor unmanned aerial vehicle is disclosed, which can take off and land vertically, so that the taking off and landing process of the unmanned aerial vehicle does not depend on a runway, thereby reducing the requirements on the runway, and the unmanned aerial vehicle can fly with fixed wing flying attitude, saving power, thereby prolonging the endurance time, and further improving the endurance capacity; chinese patent publication No. CN110271678A discloses a flying wing type tilt rotor unmanned aerial vehicle, which improves cruising ability and flight efficiency compared to the former. But both of the aforesaid all belong to fixed knot structure's unmanned aerial vehicle, can not fold, can not adapt to multiple task needs, be not convenient for carry and transport. For unmanned aerial vehicles, it is not only necessary to be able to weaken the site restrictions, improve the endurance, but also to enhance the ability to adapt to different types of tasks.
Disclosure of Invention
The invention mainly aims to provide a variant flying wing type tilt rotor unmanned aerial vehicle, which combines the advantages of a rotor aircraft and a flying wing type fixed wing aircraft, and has the advantages of low requirement on the take-off and landing environment of the rotor aircraft, free hovering, small parking area and the like; in the process of flat flight with the fixed wing attitude, due to the flying wing type layout, the aircraft has the advantages of high pneumatic efficiency, high flying speed, strong cruising ability and the like. In addition, the invention uses the worm gear mechanism as a variant mechanism, namely the worm gear mechanism is used for realizing the high-efficiency conversion of the unmanned aerial vehicle between a rotor wing mode and a fixed wing mode, and has the following advantages: (1) the worm gear and worm transmission ratio is high, so that the unmanned aerial vehicle is rapid, stable, symmetrical and reliable in the deformation process; (2) the worm and gear mechanism has self-locking property, so that the unmanned aerial vehicle can be locked after the working mode is changed, and a stable and reliable pneumatic appearance suitable for flying is formed; (3) the worm gear sets up inside the fuselage, compact structure, and need not to change the unmanned aerial vehicle appearance, and then reduces unmanned aerial vehicle's aerodynamic drag, further promotes aircraft aerodynamic efficiency, duration.
In order to achieve the purpose, the invention mainly provides the following technical scheme:
the invention discloses a flying wing type tilt rotor unmanned aerial vehicle which comprises a body and two wings connected to two sides of the body.
The wings are connected with two ends of the fuselage, and the fuselage is provided with a propeller capable of tilting and a tilting mechanism. A variant mechanism is arranged in the fuselage, a guide rail and a connecting mechanism are arranged at the joint of the two ends of the fuselage and the wings, and an undercarriage is arranged on the belly of the fuselage; the propeller is arranged in the wing, and a corresponding connecting mechanism is arranged at the end of the wing, which is connected with the fuselage.
The fuselage includes variant mechanism, tilting mechanism, coupling mechanism, undercarriage, power device.
The variant mechanism comprises a ball bearing, a guide rail, a worm and two worm gears which are symmetrically arranged. The worm can drive the two worm wheels to symmetrically rotate through rotation. The ball bearing is used for assisting the worm wheel in the variant mechanism to rotate, and the friction between the worm wheel and the machine body is reduced. The guide rail is used for assisting the symmetrically arranged wings to rotate along a preset fixed track. The worm and worm wheel are meshed to drive the worm wheels which are symmetrically arranged to rotate, the worm wheels drive the wings to expand or furl through the ball bearings, the connecting devices and the guide rails, the expanded state of the wings corresponds to a flat flying mode, the furled state of the wings corresponds to a four-axis mode, and the high-efficiency conversion of the unmanned aerial vehicle between a rotor wing and a fixed wing mode is realized by using a worm and worm wheel mechanism.
Specifically, unmanned aerial vehicle's folding is controlled through worm gear mechanism. The worm is driven to rotate by the motor to drive the worm wheel to rotate, the worm wheel is fixedly connected with the left wing and the right wing to drive the wings to move along the guide rail, and the deformation function is realized. The folding mechanism has the adverse effect of friction between the worm wheel and the disc, so the ball bearing is arranged between the worm wheel and the disc, when the motor drives the worm to rotate, the worm drives the worm wheel, and the influence caused by friction can be greatly reduced due to the existence of the ball bearing between the worm wheel and the wing.
Preferably, two groups of ball bearings are adopted for the smooth deformation process, the friction is reduced, and the stability and the reliability of the deformation process are ensured. The propeller is arranged in the worm gear for compact structure and convenient carrying.
The tilting mechanism is used for controlling the tilting of the propeller of the airplane body. The fuselage is equipped with the screw that is used for verting and the mechanism that verts that corresponds in. The screw is fixed in on the motor cabinet, and the motor cabinet is connected with the axle that verts, verts the axle both ends and connects the steering wheel, and the steering wheel rotates and can drive the axle that verts and rotate to control the screw and vert. The propeller can be tilted to a state that the propeller disc surface of the propeller is vertical to the horizontal plane and reset to a state that the propeller disc surface of the propeller is parallel to the horizontal plane.
Preferably, in order to realize the attitude control and the variant process control of the aircraft, two propellers are arranged in the fuselage and matched with the two propellers in the wings. In order to improve the reliability, reduce and vert and the variant process control degree of difficulty, reduce the active structure and the movable part of aircraft, only set up four screw, and only two screw can vert.
The connecting mechanisms are respectively arranged in a plurality of groups on the left and right, each group comprises a wing connecting piece and a corresponding fuselage connecting piece, the wing connecting pieces and the corresponding fuselage connecting pieces are respectively arranged on the wing main beam and the worm wheel and are fixed by bolts.
As preferred, in order to guarantee structural strength, guarantee that the deformation in-process load transfer is reasonable reliable, increase aircraft life, reduce the structural redundancy simultaneously, the maintenance of being convenient for, respectively adopt two sets of connecting pieces about this embodiment, and carbon-fibre composite is selected to the connecting piece material.
The undercarriage is installed at the belly of the aircraft body and can be detached to adapt to different takeoff environments and meet various task requirements.
The wing and the fuselage are respectively provided with a power device, and the layout of the power devices on the wing and the fuselage is determined according to the aerodynamic requirements and the structural strength. The power device comprises a propeller, a motor, an electronic speed regulator and a power supply, wherein the power supply supplies power to the electronic speed regulator, the electronic speed regulator controls the power of the motor, and the propeller rotates along with the motor to generate power, so that the control of the power is realized.
Preferably, according to the state of the art, the wings and the fuselage are arranged with four propeller mechanisms for the purpose of increasing the payload of the aircraft in view of the complexity of the overall structure of the aircraft. To simplify the control, the propellers placed on the wings are not tiltable. In order to facilitate the control in the process of changing and the control of the flight attitude in the modes of a rotor wing and a fixed wing, two propellers in the aircraft body are large and provide main power for the aircraft in flight, and the propellers in the wings are responsible for balancing and assisting.
Preferably, a reconnaissance camera and a radar detection device can be mounted on the airframe, so that the airframe can be used for enemy detection, resource exploration and safety control tasks, and can also be used for executing tasks such as material transportation, express delivery and the like in cities by utilizing the advantages of vertical take-off and landing and efficient level flight of the airframe, or directly striking a target by carrying weapons and ammunition. Because this unmanned aerial vehicle's size is less, can realize that the individual soldier carries, increase and use the flexibility ratio, assist the small-scale sudden advance and reconnaissance.
The invention discloses a working method of a flying wing type tilt rotor unmanned aerial vehicle, which comprises the following steps:
the advantages of the rotor craft and the flying wing type fixed wing craft are combined, and the rotor craft has the advantages of low requirement on taking-off and landing environment, free hovering, small parking area and the like; meanwhile, in the process of level flight with the fixed wing attitude, due to the flying wing type layout, the device has the advantages of high pneumatic efficiency, high flying speed, strong cruising ability and the like. In addition, the invention uses the worm gear mechanism as a variant mechanism, namely the worm gear mechanism is used for realizing the high-efficiency conversion of the unmanned aerial vehicle between a rotor wing mode and a fixed wing mode, and has the following advantages: (1) the worm gear and worm transmission ratio is high, so that the unmanned aerial vehicle is rapid, stable, symmetrical and reliable in the deformation process; (2) the worm and gear mechanism has self-locking property, so that the unmanned aerial vehicle can be locked after the working mode is changed, and a stable and reliable pneumatic appearance suitable for flying is formed; (3) the worm gear sets up inside the fuselage, compact structure, and need not to change the unmanned aerial vehicle appearance, and then reduces unmanned aerial vehicle's aerodynamic drag, further promotes aircraft aerodynamic efficiency, duration.
According to the flying wing type tilt rotor unmanned aerial vehicle provided by the invention, the propellers are arranged on the left side and the right side of the body, and the propellers can be tilted until the disk surface of the propeller is vertical to the horizontal plane and reset until the disk surface of the propeller is parallel to the horizontal plane. When the unmanned aerial vehicle is about to take off or land, the control device can control the surface of the propeller to be parallel to the horizontal plane, and the propeller provides thrust in the vertical direction, so that the aircraft can take off and land vertically, the taking off and landing process of the aircraft is independent of a runway, and the requirement on the runway is reduced; when the aircraft is about to fly in the fixed wing attitude, the control device can control the propeller to tilt until the propeller disc surface of the propeller is vertical to the horizontal plane, and the propeller provides thrust in the horizontal direction, so that the aircraft can fly in the fixed wing flight attitude, power is saved, endurance time is prolonged, excellent cruising ability and carrying ability are obtained, and the aircraft has stronger task adaptability.
When unmanned aerial vehicle takes off the back and is located aloft, can drive variant mechanism through control system, realize that both sides wing slides along the guide rail and outwards expandes, expand suitable position, can carry out the switching of rotor and fixed wing mode aloft, compromise above-mentioned rotor and fixed wing aircraft's advantage, realize VTOL under adverse conditions to through the variant process, make unmanned aerial vehicle have fixed wing aircraft's flying speed, continuation of the journey and mobility concurrently.
The unmanned aerial vehicle morphing process and the flight attitude control after morphing are realized by the aid of propellers on a fuselage and wings. Specifically, the details of the control modes of the three channels of the pitch, the roll and the yaw after the process control and the modification are respectively described.
The variant process control, namely the conversion from the rotor wing control mode to the fixed wing control mode, needs to ensure that the center of gravity of the unmanned aerial vehicle is positioned at the geometric center of the distribution of the propellers in the fuselage when the variant conversion is completed in order to ensure that the flight attitude is not influenced by the tilting of the propellers in the fuselage in the subsequent fixed wing attitude control process, further simplifies the control factors, has zero propeller rotation speed on the wings, and realizes the uniform change of the tension generated by the propellers in the whole process along with the time. In the rotor wing stage, the unmanned aerial vehicle attitude is controlled according to the existing rotor wing flight mode, and the propeller plane is kept on the plane where the unmanned aerial vehicle is located. Further, the screw takes place to vert in the fuselage in step, truns into the vertical direction by the horizontal direction, truns into and provides the pulling force forward by upwards providing lift, accomplishes the transformation to the fixed wing mode, and for keeping this process unmanned aerial vehicle vertical direction stress balance, unmanned aerial vehicle atress relation needs to satisfy formula (1).
In the formula, F2To generate the total pulling force for the propeller in the fuselage,
the tilting angle of the propeller in the machine body is,
the lift force provided for the unmanned aerial vehicle aerodynamics is in direct proportion to a velocity square term, k is related aerodynamic parameters, M is the unmanned aerial vehicle weight, g is the acceleration of gravity, and a is the acceleration of the unmanned aerial vehicle horizontal flight.
The first equation in the formula (1) is derived with respect to time, and the second equation in the formula (1) is substituted into the first equation, so that the change relation of the propeller tension in the fuselage with time can be further obtained through arrangement in order to simplify the model that the visual M does not change with time in the process
And the pitching channel control is realized by using three variables of the propeller tension on the wing, the propeller tension in the fuselage and the tilting angle thereof. Simplifying a dynamic model of the aircraft, and establishing a motion equation set under a coordinate system of the aircraft body as a formula (3).
In the formula, F1Total tension, y, generated for propellers on the wingcp、yGThe y-axis coordinate values of the pneumatic center and the center of gravity respectively,
alpha and xi are respectively a pitch angle, an attack angle and a track inclination angle MfzFor pitch damping moment, IzIs the moment of inertia about the z-axis.
Simplifying the dynamic model, taking the track inclination angle xi as 0 degrees, wherein the pitch angle is the attack angle,
as can be seen from equation (3), there are three control variables that affect the pitch angle: f1、F1And
the pitch angle is controlled by three control variables. In the PID control loop, feedback control is performed using the angular velocity and the angular parameter.
The rolling channel is controlled to provide rolling torque by utilizing the differential speed of the propellers symmetrically distributed on the wings, the symmetrical propellers have the same tension change rule and opposite trend, and the resultant force is kept unchanged. The difference value of the thrust provided by the propellers symmetrically distributed on the two sides of the wing is delta F1The motion equation set is added with the formula (4) on the basis of the equation set (3).
The roll channel is controlled in a feedback manner similar to the pitch channel.
The yawing channel control provides yawing moment through the differential speed of the propellers symmetrically distributed in the machine body, the symmetrical propeller tension change rules are the same, the trends are opposite, the resultant force is kept unchanged, and yawing motion is realized by utilizing a Slip To Turn (STT).
Has the advantages that:
1. the flying wing type tilting rotor unmanned aerial vehicle disclosed by the invention combines the advantages of a rotor wing and a fixed wing, has strong flight adaptability, and flies in a rotor wing mode in the process of taking off and landing or executing a specific task; and when the unmanned aerial vehicle needs to fly at a higher speed after taking off, the unmanned aerial vehicle flies in a fixed wing mode. The unmanned aerial vehicle has the characteristics of vertical take-off and landing, cruising at low speed, cruising at high speed, high maneuverability and the like. Therefore, the unmanned aerial vehicle can be kept in a better state when different tasks are executed.
2. The invention discloses a flying wing type tilting rotor unmanned aerial vehicle, which uses a worm gear mechanism as a variant mechanism, namely uses the worm gear mechanism to realize the high-efficiency conversion of the unmanned aerial vehicle between a rotor wing mode and a fixed wing mode, and has the following advantages: (1) the variant mechanism enables the aerodynamic appearance of the unmanned aerial vehicle to be smoothly switched between a rotor wing mode and a fixed wing mode, and the aerodynamic appearance of the unmanned aerial vehicle has higher aerodynamic efficiency; (2) the worm gear and worm transmission ratio is high, so that the unmanned aerial vehicle is rapid, stable, symmetrical and reliable in the deformation process; (3) the worm and gear mechanism has self-locking property, so that the unmanned aerial vehicle can be locked after the working mode is changed, and a stable and reliable pneumatic appearance suitable for flying is formed; (4) the worm gear sets up inside the fuselage, compact structure, and need not to change the unmanned aerial vehicle appearance, and then reduces unmanned aerial vehicle's aerodynamic drag, further promotes aircraft aerodynamic efficiency, duration.
3. The invention discloses an all-wing aircraft type tilt rotor unmanned aerial vehicle, which adopts a steering engine to control to realize the tilt of a propeller, and has the following advantages: (1) the unmanned aerial vehicle can obtain sufficient and stable power in a rotor wing mode and a fixed wing mode; (2) the attitude control of the unmanned aerial vehicle in two modes is effectively realized, and high efficiency and reliability are ensured; (3) the tilting structure is simple and reliable, the response is rapid, and the balance can be rapidly recovered when the unmanned aerial vehicle is disturbed.
4. According to the flying wing type tilt rotor unmanned aerial vehicle disclosed by the invention, the variant mechanism is provided with the guide rail and the rolling bearing device, the worm wheel is assisted to drive the wing to rotate, the wing is ensured to move along a preset track, the friction in the moving process is reduced, the variant process is efficient, reliable and stable, and the service life of the variant mechanism is prolonged.
5. The flying wing type tilt rotor unmanned aerial vehicle disclosed by the invention can ensure that the working process of the unmanned aerial vehicle is efficient and reliable, and the flying process has both maneuverability and stability, so that the unmanned aerial vehicle can be applied to environments such as battlefields, disaster areas, cities and the like, and the increasing task requirements of the unmanned aerial vehicle on the development of any time can be met.
Drawings
Fig. 1 is a schematic diagram of a four-axis mode of an unmanned aerial vehicle in a folded state;
fig. 2 is a schematic diagram of a four-axis mode of the drone in an extended state;
fig. 3 is a schematic view of the unmanned aerial vehicle in a deployed state tilting mode;
fig. 4 is a schematic view of a variant mechanism of the drone;
fig. 5 is a schematic view of a ball bearing device between a variant mechanism and a fuselage of the unmanned aerial vehicle;
fig. 6 is a schematic view of a tilting arrangement of the propeller of the unmanned aerial vehicle;
figure 7 is a schematic view of an unmanned aerial vehicle landing gear;
fig. 8 is a schematic diagram of three states in a drone morphing process;
figure 9 is a plot of propeller thrust over time for a variant drone;
figure 10 is a simplified flow diagram of a variant process control calculation for an unmanned aerial vehicle;
FIG. 11 is a graph of the rate of change of propeller pull on a wing during morphing of an unmanned aerial vehicle;
FIG. 12 is a graph of the rate of change of the propeller pull on the lower wing with step signal input during morphing of the UAV;
FIG. 13 is a simplified flow chart of pitch channel solution control calculations;
fig. 14 is a response change in the pitch angle zero state at an input command of 5 °;
FIG. 15 is a graph of the three variables over time during a change from 0 to 5 for pitch angle
FIG. 16 is a simplified flow chart of a roll channel control scheme calculation;
FIG. 17 is a graph showing the response change for a roll angle zero condition at an input command of 5;
FIG. 18 is a plot of propeller pull on a wing as a function of time.
Wherein: 1-fuselage and 2-wing.
For the fuselage, 11-first propeller, 12-second propeller, 13-first tilting mechanism, 14-second tilting mechanism, 15-variant mechanism, 16-guide rail, 17-connection structure, 18-landing gear.
For the tilting mechanism, 131-power set fixed rod, 132-steering engine and 133-power set.
For the variant mechanism, 151-motor, 152-worm, 153, 154-worm wheel, 155, 156-disc structure, 157, 158-ball bearing.
For the wing, 21-the third propeller, 22-the fourth propeller.
Detailed Description
In order to make the technical field of the present invention better understand the scheme of the present invention, the structure, characteristics and specific implementation of the variant flying-wing tilt-rotor unmanned aerial vehicle applied by the present invention will be clearly and completely described below with reference to the attached drawings in the embodiment of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. In the following description, different "embodiments" do not necessarily refer to the same embodiment. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, shall fall within the scope of the present invention.
As shown in fig. 1, the variant flying-wing tilt rotor unmanned aerial vehicle disclosed in this embodiment includes a fuselage 1, and wings 2 connected to two ends of the fuselage 1; the fuselage 1 is provided with first and second tiltable propellers 11, 12 and corresponding first and second tilting mechanisms 13, 14, as shown in fig. 6. A variant mechanism 15 is arranged in the fuselage 1, a guide rail 16 and a connecting structure 17 are arranged at the joint of the two ends of the fuselage and the wings, and an undercarriage 18 is arranged at the belly of the fuselage 1; the wing 2 is provided with a third propeller 21 and a fourth propeller 22, and one end of the wing 2 connected with the fuselage 1 is provided with a corresponding connecting structure 17.
This variant rotor unmanned aerial vehicle that verts, the complete machine adopt all-wing aircraft formula overall arrangement to it is higher to make flight in-process flight efficiency, possess longer time of endurance. Referring to fig. 1, the attitude is a quad-rotor attitude of the unmanned aerial vehicle, and when the unmanned aerial vehicle executes a takeoff command, the control device can control the tilting mechanisms 13 and 14, so that the first propeller 11 and the second propeller 12 keep the disk surfaces of the first propeller and the second propeller parallel to the horizontal plane, the unmanned aerial vehicle can realize vertical takeoff without a runway, and meanwhile, the requirement on the size of a takeoff field space is reduced as much as possible. After turning into the expansion state in fig. 2, unmanned aerial vehicle can obtain more excellent flight performance with the flight of fixed wing mode, control system can drive tilting mechanism 13, 14 for first screw 11, second screw 12 with the quotation adjust to with horizontal plane vertical position, the gesture after the adjustment is as shown in fig. 3, the tilting transform of two screws is the thrust that unmanned aerial vehicle provided the horizontal direction, make unmanned aerial vehicle possess the ability with the flight of fixed wing gesture, the extension duration. When the unmanned aerial vehicle is about to descend, the control system can control the disc surfaces of the first propeller 11 and the second propeller 12 to be adjusted to be parallel to the horizontal plane, so that the unmanned aerial vehicle can vertically descend without supporting a runway. The in-process of verting, first screw 11, second screw 12, third screw 21, fourth screw 22 can be by control system synchro control, can guarantee that unmanned aerial vehicle keeps the gesture stable not influenced at the screw in-process of verting, can steadily turn into fixed wing flight mode and do not take place the stall phenomenon. Meanwhile, the control system controls the morphing mechanism 15 in the morphing process, so that the wings 2 can be ensured to rotate stably and continuously along the guide rails 16, good symmetry is achieved, the wing positions on two sides are ensured to be synchronous in the unfolding process, the unmanned aerial vehicle posture is ensured not to be influenced, and the stalling phenomenon is avoided.
The folding of the drone is controlled by a worm gear mechanism, as shown in fig. 4. Because the worm gear transmission has the self-locking characteristic, the wing can not be folded by the pneumatic resistance of the wing in the backward direction along the chord direction during flying, and the wing can be controlled to be unfolded and folded only when the motor 151 rotates. When the worm 152 rotates to drive the worm wheels 153 and 154 to rotate, because the two worm wheels are respectively positioned at two sides of the worm, the rotation direction of the worm 152 is opposite when the worm rotates, and the rotation direction is just corresponding to the unfolding direction of the wing.
The worm gears 153, 154 are moving in the aircraft reference frame and there is a pair of disc- type structures 155, 156 at the rotor periphery for connecting the propeller to the fuselage 1, and since the discs are relatively stationary in the aircraft reference frame, friction between the worm gears 153, 154 and the discs 155, 156 is inevitable. To avoid this adverse effect, a set of ball bearings 157, 158 is provided between the two, as shown in fig. 5. The worm wheels 153 and 154 are fixed with a connecting structure 17, which is fixedly connected with the side section wing connecting structure 17, so as to drive the wing 2 to rotate. When the motor 151 drives the worm 152 to rotate, the worm 152 drives the worm wheels 153 and 154, the connecting structures 17 fixedly connected to the worm wheels 153 and 154 transmit the rotation of the worm wheels 153 and 154 to the connecting structures 17 on the wings, so that the wings 2 can rotate around the centers of the worm wheels 153 and 154 to change the sweepback angle of the wings, and the unmanned aerial vehicle can be switched between the fixed wing attitude and the four-rotor attitude.
As shown in fig. 6, four power packs of the unmanned aerial vehicle are all fixed on the tilting mechanism, taking the first propeller as an example, the power pack 133 fixing rod 131 is connected with the steering engine 132, and the steering engine 132 can be controlled by the control system to rotate to drive the power pack fixing rod 131 to rotate, so that the control system can control the tilting angle of the propeller.
The working method of the flying wing type tilt rotor unmanned aerial vehicle disclosed by the embodiment comprises the following steps:
the first is that the drone completes the morphing phase.
The unmanned aerial vehicle is positioned in the air after taking off, the morphing mechanism 15 can be driven by the control system to realize that wings on two sides slide along the guide rail 16 and are unfolded outwards, after the morphing mechanism 15 is unfolded to a proper position, the morphing mechanism 15 stops working and enters a self-locking state to realize the position fixation of the unfolded state of the wings, and the posture is shown in figure 2.
As shown in fig. 8, a plane xy coordinate system is established with the midpoint of the connecting line of the positions of the two propellers in the fuselage as the origin of coordinates. The variable sweep process can be divided into three states as shown in fig. 8. Rotating the state 1 to the state 2 by 18 degrees, wherein the propellers on the wings are respectively the same as the x coordinates of the propellers in the fuselage; the state 2 to the state 3 are rotated by 60 °. Through calculation, the y coordinate of the propeller on the wings from the state 1 to the state 2 is almost unchanged, so the attitude disturbance in the process is negligible, and only the change relation between the tension and the rotation angle of each propeller between the state 2 and the state 3 is concerned.
Total tension of propeller on wing is F1(theta) total propeller tension in fuselage of F2(θ), in the range of θ ∈ (0 °, 60 °), there is the following equation.
When the unmanned aerial vehicle is in the rotor mode (state 2), the balance relation is satisfied
In the formula, m1，m2The total wing mass and the fuselage mass of the unmanned aerial vehicle are respectively (x) in the state 21,y1) The coordinate position of the propeller on the wing and the ordinate of the gravity center of the wing are y1，(x2,y2) As the coordinates of the center of gravity of the fuselage, (x)G(θ),yG(theta)) is the barycentric coordinates of the unmanned aerial vehicle during rotation.
In the wing unfolding process of the unmanned aerial vehicle, namely the morphing process (state 2 to state 3), the unmanned aerial vehicle is in a hovering state, the horizontal advancing direction speed is zero, and a balance equation is satisfied
After the rotation is finished, the tension of the propeller on the wing is zero, the gravity center position of the aircraft is the same as the vertical coordinate of the propeller position in the fuselage, namely F1(60°)＝0，yG(60 °) to 0. The change rule of the propeller tension on the wing obtained by the formulas (5) and (6) meets
And the weight and gravity center relation of the unmanned aerial vehicle in the transition process from state 2 to state 3 and at the end moment of the change can be obtained
According to formula (8), m1/m2Can be expressed as y2/y1A function of (a) y2/y1The requirement that the propeller tension in the fuselage is zero at the end of the deformation process (theta 60 DEG) can be met at-0.5, and m is in the moment1/m 21, substituted by formula (7)
Further obtaining the change rate of the propeller pulling force on the wing as
Control F1The time is uniform, the time-varying relation of the angle and the angular speed of the variant process is obtained
In the formula, C1Determined by the rate of change of propeller drag on the wing and the weight of the wing. Here, considering the actual demand, the time required for determining the whole process of varying the sweep back is 7s, which is calculated
Therefore, a signal of k theta (t) is given to the motor 151, the motor 151 drives the worm 152 to rotate, the worm gears 153 and 154 are driven to rotate, the worm gears 153 and 154 are fixedly connected with the wing 2 through the connecting structure 17, the wing 2 is driven to move along the guide rail 16, the morphing process of the unmanned aerial vehicle can be carried out under the requirements that the flight attitude is not influenced, and the tension variation of the propeller in the fuselage and on the wing is uniform within 0 to 7s, as shown in fig. 9.
As shown in fig. 10, the simplified flow of control calculation is to perform amplitude limiting processing on the rotation angular velocity of the worm 152, and then to perform wing spreading angular velocity ω according to the transmission ratio i of the worm gear 153 and 154 to the worm 152 being 451The amplitude limiting is carried out, and the amplitude is 20 rad/s. In addition, a step signal with an amplitude of 0.018rad was introduced at 3s during deployment, and the effect of flare interference on the small engine thrust rate of change was observed. Wherein the proportion term of the PID control module is 20, the integral term is 0, the differential term is 0.01, and the ideal value of the change rate of the propeller tension on the wing is
As can be seen from simulation, as shown in FIG. 11, the variation rate of the propeller tension on the wing can be rapidly converged to-0.7N/s within 0.5s, and the overshoot is controlled within 3%. As shown in fig. 12, after the step disturbance signal is input, a small obvious change of the thrust change rate of the engine is caused within 0.005s, the influence time is short, the influence on the steady-state value is small, and the error is only 0.04N/s.
The tilting phase is then completed.
Four power packs of unmanned aerial vehicle all are fixed in on the mechanism that verts as shown in fig. 6 to first screw is the example, and power pack 133 dead lever 131 links to each other with steering wheel 132, can rotate through control system control steering wheel 132 and drive power pack dead lever 131 and rotate, and then realizes control system to the control of screw angle of verting, can effectively ensure both sides screw simultaneously and accomplish the process of verting steadily symmetrically, avoids unmanned aerial vehicle to vert the condition that the in-process stall appears falling down. When the aircraft vertically takes off and lands, the control system controls the surface of the propeller disc to be kept in a position parallel to the horizontal plane, and when the aircraft enters a level flight mode, the control system controls the angle change of the propeller.
In order to simplify the model, the visible M does not change along with the time in the process, and after arrangement, the change relational expression of the propeller tension in the machine body along with the time can be further obtained
Therefore, through the process, the propeller surface is changed to be perpendicular to the horizontal plane, the thrust in the horizontal direction is provided, and the conversion from the four-rotor wing posture to the fixed wing posture is realized.
Attitude control is performed on the unmanned aerial vehicle after the variant expansion, control methods of a pitching channel, a yawing channel and a rolling channel are analyzed respectively, and Matlab is used for carrying out numerical simulation verification, relevant parameters are shown in a table 1, and y values in the table represent distances from the head position of the unmanned aerial vehicle in a fixed wing mode.
TABLE 1 simulation parameters related after unfolding state
For the pitch channel, the pitch control moment is provided by the differential speed of the third propeller 21 and the fourth propeller 22 on the wing. Specifically, when a head-up moment is required, the third propeller 21 and the fourth propeller 22 on the wing are deflected downward while increasing the power to generate the required head-up moment, and when a head-down moment is required, the third propeller 2 on the wing is deflected downward1 and the fourth propeller 22 are deflected upwards while increasing the power, producing the required low head moment. The control variable corresponding to the process is F in the formula (3)1、F1And
three variables, which were simulated according to the feedback control shown in fig. 13, the control parameters K were selected separately in the control scheme1＝-2000，K20.4 and with reference to the actual propeller thrust case pair F1Perform amplitude limiting, | F1Less than or equal to 8N. As can be seen from the simulation results, as shown in fig. 14, the change process of the pitch angle from 0 ° to 5 ° can be completed within 0.25s, so that the efficiency of the direct control of the vector force is obviously superior to that of the pneumatic rudder, and the overshoot is 0. In addition, as shown in FIG. 15, the three variable controls all vary within reasonable limits, and if further optimization is desired, control F can be considered1、F1The change rule of the change rate enables the change rate to meet the actual working condition better, and the change process may be lengthened at the moment, but the characteristic of quick response still needs to be met.
For the roll channel, roll control torque is provided by the differential speed of the first and second propellers 11, 12 in the airframe. According to different rolling directions, the rotating speed of the propeller is adjusted to change the tension, the corresponding control scheme of the process is the same as the pitching control scheme, and the related control parameter is K1＝-100，K20.4, considering the actual tension of the propeller on the wing, the tension difference between the two sides of the propeller is delta F1Clipping is performed so that | Δ F1And (4) obtaining a simplified flow chart of the calculation of the rolling channel control scheme, wherein the | ≦ 1N is shown in figure 16. According to the control scheme, the response change of the roll angle from 0 degrees to 5 degrees is obtained, as shown in FIG. 17, the change process of the roll angle is finished in about 1s, the response speed is high, and the efficiency is high. In addition, as shown in fig. 18, the thrust difference is controlled within 1N, the rolling process can be completed without large difference, and if further optimization is desired, the constraint condition under the actual working condition can be given to the variation rate of the thrust difference of the small engine, so that the rolling can be completed smoothly.
Aiming at a yaw channel, the yaw channel is turned by utilizing sideslipThe first propeller 11 and the second propeller 12 in the body are differentially driven to provide yaw control torque, specifically, when the unmanned aerial vehicle needs to yaw to the right, the power of the first propeller 11 on the left side is increased, the power of the second propeller 12 is reduced at the same time, and yaw control torque towards the right is generated, and when the unmanned aerial vehicle needs to yaw to the left, the power of the second propeller 12 on the right side is increased, the power of the first propeller 11 is reduced at the same time, and yaw control torque towards the left is generated. The specific control variable is analyzed as follows, taking a left turn as an example, and setting the power output by the two propellers during differential turning as F21(t)、F22(t) (wherein, F)21(t)＜F22(t), two engines are spaced x apart0The linear velocity of the aircraft is v and the velocity is constant, and the relative gravity center moment of inertia J of the aircraft0Turning radius R (t), moment of resistance MfThen the aircraft angular acceleration α satisfies:
at any dt times, the aircraft angle d φ satisfies:
it is easy to know that the turning radius R satisfies:
get R1＝R-1D phi/dt from
d ω ═ α dt, available as
Assuming that the change laws of the two propellers are the same, the trends are opposite, and the magnitude of the resultant force is the same as that before turning, i.e.
If order
Namely the turning radius is kept unchanged and the finished product is obtained
Get it solved
In the formula C1And C2And determining according to the turning radius and the turning speed.
The above detailed description is further intended to illustrate the objects, technical solutions and advantages of the present invention, and it should be understood that the above detailed description is only an example of the present invention and should not be used to limit the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. The utility model provides an all-wing aircraft formula rotor unmanned aerial vehicle that verts which characterized in that: comprises a fuselage and two wings connected with the two sides of the fuselage;
the wings are connected with two ends of the fuselage, and a propeller capable of tilting and a tilting mechanism are arranged in the fuselage; a variant mechanism is arranged in the fuselage, a guide rail and a connecting mechanism are arranged at the joint of the two ends of the fuselage and the wings, and an undercarriage is arranged on the belly of the fuselage; the propeller is arranged in the wing, and a corresponding connecting mechanism is arranged at one end of the wing, which is connected with the fuselage;
the aircraft body comprises a variant mechanism, a tilting mechanism, a connecting mechanism, an undercarriage and a power device;
the variant mechanism comprises a ball bearing, a guide rail, a worm and two worm gears which are symmetrically arranged; the worm can drive the two worm wheels to symmetrically rotate through rotation; the ball bearing is used for assisting the worm wheel in the deformation mechanism to rotate, and reducing the friction between the worm wheel and the machine body; the guide rail is used for assisting the symmetrically arranged wings to rotate along a preset fixed track; the worm and worm wheel is meshed to drive the worm wheels which are symmetrically arranged to rotate, the worm wheels drive wings to be unfolded or folded through ball bearings, connecting devices and guide rails, the unfolded state of the wings corresponds to a flat flying mode, the folded state of the wings corresponds to a four-axis mode, namely, a worm and worm gear mechanism is used for realizing the efficient conversion of the unmanned aerial vehicle between a rotor wing mode and a fixed wing mode;
the tilting mechanism is used for controlling the tilting of the propeller of the airplane body; a propeller for tilting and a corresponding tilting mechanism are arranged in the machine body; the propeller is fixed on a motor base, the motor base is connected with a tilting shaft, two ends of the tilting shaft are connected with steering engines, and the steering engines can drive the tilting shaft to rotate by rotating so as to control the propeller to tilt; the propeller can be tilted until the disc surface of the propeller is vertical to the horizontal plane and reset until the disc surface of the propeller is parallel to the horizontal plane;
the connecting mechanisms are respectively arranged in a plurality of groups on the left and right, each group comprises a wing connecting piece and a corresponding fuselage connecting piece, and the wing connecting pieces and the corresponding fuselage connecting pieces are respectively arranged on a wing main beam and a worm wheel and are fixed by bolts;
the undercarriage is arranged on the belly of the aircraft body and can be disassembled to adapt to different takeoff environments and meet various task requirements;
the wings and the fuselage are respectively provided with a power device, and the layout of the power devices on the wings and the fuselage is determined according to the aerodynamic requirements and the structural strength; the power device comprises a propeller, a motor, an electronic speed regulator and a power supply, wherein the power supply supplies power to the electronic speed regulator, the electronic speed regulator controls the power of the motor, and the propeller rotates along with the motor to generate power, so that the control of the power is realized.
2. The flying wing tilt rotor unmanned aerial vehicle of claim 1, wherein: the folding of the unmanned aerial vehicle is controlled by a worm gear mechanism; the worm is driven to rotate by the motor to drive the worm wheel to rotate, the worm wheel is fixedly connected with the left wing and the right wing to drive the wings to move along the guide rail, and the function of deformation is realized; the folding mechanism has the adverse effect of friction between the worm wheel and the disc, so the ball bearing is arranged between the worm wheel and the disc, when the motor drives the worm to rotate, the worm drives the worm wheel, and the influence caused by friction can be greatly reduced due to the existence of the ball bearing between the worm wheel and the wing.
3. The flying wing tilt rotor unmanned aerial vehicle of claim 2, wherein: in order to make the deformation process smoother, reduce friction and ensure the stability and reliability of the deformation process, a left ball bearing and a right ball bearing are respectively adopted; the propeller is arranged in the worm gear for compact structure and convenient carrying.
4. The flying wing tilt rotor unmanned aerial vehicle of claim 2, wherein: in order to facilitate the realization of the attitude control and the morphing process control of the aircraft, two propellers are arranged in the aircraft body and are matched with the two propellers in the wings; in order to improve the reliability, reduce and vert and the variant process control degree of difficulty, reduce the active structure and the movable part of aircraft, only set up four screw, and only two screw can vert.
5. The flying wing tilt rotor unmanned aerial vehicle of claim 2, wherein: in order to guarantee structural strength, guarantee that the load transfer is reasonable reliable among the deformation process, increase aircraft life, reduce the structural redundancy simultaneously, the maintenance of being convenient for, respectively adopt two sets of connecting pieces about in this embodiment, and carbon-fibre composite is selected to the connecting piece material.
6. The flying wing tilt rotor unmanned aerial vehicle of claim 2, wherein: according to the prior art, in order to improve the complexity of the overall structure of the aircraft and the effective load of the aircraft, four propeller mechanisms are distributed on the wings and the fuselage; to simplify control, the propellers placed on the wings are not tiltable; in order to facilitate the realization of control in the morphing process and the control of the flight attitude in the rotor wing and fixed wing modes, two propellers in the fuselage are large and provide main power for the flight of the aircraft, and the propellers in the wings are responsible for balancing and assisting.
7. The flying wing tilt rotor unmanned aerial vehicle of claim 2, wherein: a reconnaissance camera and a radar detection device can be mounted on the airframe, so that the airframe can be used for enemy detection, resource exploration and safety deployment and control tasks, and can also be used for executing tasks such as material transportation, express delivery and the like in cities by utilizing the advantages of vertical take-off and landing and efficient level flight of the airframe, or directly striking a target by carrying weapons and ammunition; because this unmanned aerial vehicle's size is less, can realize that the individual soldier carries, increase and use the flexibility ratio, assist the small-scale sudden advance and reconnaissance.
8. A flying wing tilt rotor drone according to claim 1, 2, 3, 4, 5, 6 or 7, wherein: the working method is that,
the advantages of the rotor craft and the flying wing type fixed wing craft are combined, and the rotor craft has the advantages of low requirement on taking-off and landing environment, free hovering, small parking area and the like; meanwhile, in the process of flat flight with the fixed wing attitude, due to the flying wing type layout, the device has the advantages of high pneumatic efficiency, high flying speed, strong cruising ability and the like; in addition, the invention uses a worm gear mechanism as a variant mechanism, namely the worm gear mechanism is used for realizing the high-efficiency conversion of the unmanned aerial vehicle between a rotor wing mode and a fixed wing mode, and the invention has the following advantages: (1) the worm gear and worm transmission ratio is high, so that the unmanned aerial vehicle is rapid, stable, symmetrical and reliable in the deformation process; (2) the worm and gear mechanism has self-locking property, so that the unmanned aerial vehicle can be locked after the working mode is changed, and a stable and reliable pneumatic appearance suitable for flying is formed; (3) the worm gear sets up inside the fuselage, compact structure, and need not to change the unmanned aerial vehicle appearance, and then reduces unmanned aerial vehicle's aerodynamic drag, further promotes aircraft aerodynamic efficiency, duration.
9. The flying wing tiltrotor unmanned aerial vehicle of claim 8, wherein: the propellers are arranged on the left side and the right side of the airplane body, and can be tilted until the propeller disc surface of the propeller is vertical to the horizontal plane and reset until the propeller disc surface of the propeller is parallel to the horizontal plane; when the unmanned aerial vehicle is about to take off or land, the control device can control the surface of the propeller to be parallel to the horizontal plane, and the propeller provides thrust in the vertical direction, so that the aircraft can take off and land vertically, the taking off and landing process of the aircraft is independent of a runway, and the requirement on the runway is reduced; when the aircraft is about to fly in a fixed wing attitude, the control device can control the propeller to tilt until the propeller disc surface of the propeller is vertical to the horizontal plane, and the propeller provides thrust in the horizontal direction, so that the aircraft can fly in the fixed wing flight attitude, power is saved, endurance time is prolonged, excellent cruising ability and carrying ability are obtained, and the aircraft has stronger task adaptability;
when unmanned aerial vehicle takes off the back and is located aloft, can drive variant mechanism through control system, realize that both sides wing slides along the guide rail and outwards expandes, expand suitable position, can carry out the switching of rotor and fixed wing mode aloft, compromise above-mentioned rotor and fixed wing aircraft's advantage, realize VTOL under adverse conditions to through the variant process, make unmanned aerial vehicle have fixed wing aircraft's flying speed, continuation of the journey and mobility concurrently.
10. The flying wing tiltrotor unmanned aerial vehicle of claim 9, wherein: the unmanned aerial vehicle morphing process and the flight attitude control after morphing are realized by the assistance of propellers on a fuselage and wings;
the variant process control, namely the conversion from the rotor wing control mode to the fixed wing control mode, is to ensure that the flight attitude is not influenced by the tilting of the propellers in the fuselage in the subsequent fixed wing attitude control process, and the gravity center of the unmanned aerial vehicle is required to be positioned at the geometric center of the distribution of the propellers in the fuselage when the variant conversion is completed, so that the control factors are further simplified, the rotating speed of the propellers on the wings is zero, and the uniform change of the tension generated by the propellers along with the time in the whole process is realized; in the rotor wing stage, the attitude of the unmanned aerial vehicle is controlled according to the existing rotor wing flight mode, and the propeller surface of the propeller is kept on the plane where the unmanned aerial vehicle is located; further, the screw takes place to vert in step in the fuselage, truns into the vertical direction by the horizontal direction, truns into and provides the pulling force forward by upwards providing lift, accomplishes the transformation to the fixed wing mode, and for keeping this process unmanned aerial vehicle vertical direction stress balance, unmanned aerial vehicle stress relation needs to satisfy
In the formula, F2To generate the total pulling force for the propeller in the machine body,
the tilting angle of the propeller in the machine body is,
the lift force generated by the unmanned aerial vehicle is in direct proportion to a velocity square term, k is a related pneumatic parameter, M is the weight of the unmanned aerial vehicle, g is the acceleration of gravity, and a is the acceleration of horizontal flight of the unmanned aerial vehicle;
the first equation in the formula (1) is derived with respect to time, and the second equation in the formula (1) is substituted into the first equation, so that the change relation of the propeller tension in the fuselage with time can be further obtained through arrangement in order to simplify the model that the visual M does not change with time in the process
The pitching channel control is realized by utilizing three variables of propeller tension on the wing, propeller tension in the fuselage and tilting angle thereof; simplifying a dynamic model of the aircraft, and establishing a motion equation set under a coordinate system of the aircraft body as a formula (3);
in the formula, F1Total tension, y, generated for propellers on the wingcp、yGY-axis coordinate values of the aerodynamic center and the gravity center respectively, theta, alpha and xi are a pitch angle, an attack angle and a track inclination angle respectively, and M isfzFor pitch damping moment, IzIs moment of inertia about the z-axis;
simplifying the dynamic model, and taking a track inclination angle xi as 0 degrees, wherein the pitch angle is an attack angle, and theta as alpha; as can be seen from equation (3), there are three control variables that affect the pitch angle: f1、F1And
controlling the pitch angle through three control variables; in a PID control loop, performing feedback control by using the angular speed and the angle parameter;
the rolling channel is controlled to provide rolling torque by using differential speed of propellers symmetrically distributed on the wings, the symmetrical propellers have the same tension change rule and opposite trend, and the resultant force is kept unchanged; the difference value of the thrust provided by the propellers symmetrically distributed on the two sides of the wing is delta F1The motion equation set is added with an equation (4) on the basis of the equation set (3);
the feedback control mode of the rolling channel is similar to the control mode of the pitching channel;
the yawing channel control provides yawing moment through the differential speed of the propellers symmetrically distributed in the machine body, the symmetrical propeller tension change rules are the same, the trends are opposite, the resultant force is kept unchanged, and yawing motion is realized by utilizing a Slip To Turn (STT).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210381916.0A CN114715392A (en) | 2022-04-12 | 2022-04-12 | Variant all-wing aircraft formula rotor unmanned aerial vehicle that verts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210381916.0A CN114715392A (en) | 2022-04-12 | 2022-04-12 | Variant all-wing aircraft formula rotor unmanned aerial vehicle that verts |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114715392A true CN114715392A (en) | 2022-07-08 |
Family
ID=82243753
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210381916.0A Pending CN114715392A (en) | 2022-04-12 | 2022-04-12 | Variant all-wing aircraft formula rotor unmanned aerial vehicle that verts |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114715392A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116853491A (en) * | 2023-09-01 | 2023-10-10 | 成都沃飞天驭科技有限公司 | Tilting device, design method thereof and aircraft |
| CN116986024A (en) * | 2023-08-15 | 2023-11-03 | 南京理工大学 | Combined bionic spinning aircraft |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103832585A (en) * | 2012-11-22 | 2014-06-04 | 上海市浦东新区知识产权保护协会 | Cruise aircraft |
| CN209581876U (en) * | 2019-01-11 | 2019-11-05 | 青岛农业大学 | It can VTOL fixed-wing fog machine |
| CN111645860A (en) * | 2020-06-18 | 2020-09-11 | 航大汉来（天津）航空技术有限公司 | Unmanned aerial vehicle is perched to air space that rotor triaxial verts and wing is folding more |
| CN112238939A (en) * | 2020-09-21 | 2021-01-19 | 南京航空航天大学 | Novel-configuration tilt rotor aircraft and flight control method thereof |
-
2022
- 2022-04-12 CN CN202210381916.0A patent/CN114715392A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103832585A (en) * | 2012-11-22 | 2014-06-04 | 上海市浦东新区知识产权保护协会 | Cruise aircraft |
| CN209581876U (en) * | 2019-01-11 | 2019-11-05 | 青岛农业大学 | It can VTOL fixed-wing fog machine |
| CN111645860A (en) * | 2020-06-18 | 2020-09-11 | 航大汉来（天津）航空技术有限公司 | Unmanned aerial vehicle is perched to air space that rotor triaxial verts and wing is folding more |
| CN112238939A (en) * | 2020-09-21 | 2021-01-19 | 南京航空航天大学 | Novel-configuration tilt rotor aircraft and flight control method thereof |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116986024A (en) * | 2023-08-15 | 2023-11-03 | 南京理工大学 | Combined bionic spinning aircraft |
| CN116853491A (en) * | 2023-09-01 | 2023-10-10 | 成都沃飞天驭科技有限公司 | Tilting device, design method thereof and aircraft |
| CN116853491B (en) * | 2023-09-01 | 2023-11-07 | 成都沃飞天驭科技有限公司 | Tilting device, design method thereof and aircraft |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| AU2018200729B2 (en) | Vertical takeoff and landing (VTOL) air vehicle | |
| CN112158325B (en) | Tailstock type vertical take-off and landing unmanned aerial vehicle and control method thereof | |
| CN105539833B (en) | Fixed-wing Multi-axis aircraft | |
| CN106892094A (en) | A kind of individually controllable four rotor unmanned aircraft of space six degree of freedom and its control method | |
| CN110316370B (en) | Layout and control method of distributed power tilting wing aircraft | |
| CN101549754B (en) | A composite rotating fixed-wing aircraft and its design method | |
| CN106114853B (en) | A kind of push-button aircraft | |
| JP7443365B2 (en) | Aircraft with separate degrees of freedom | |
| CN114715392A (en) | Variant all-wing aircraft formula rotor unmanned aerial vehicle that verts | |
| Misra et al. | A Review on Vertical Take‐Off and Landing (VTOL) Tilt‐Rotor and Tilt Wing Unmanned Aerial Vehicles (UAVs) | |
| Hrishikeshavan et al. | Design, performance and testing of a quad rotor biplane micro air vehicle for multi role missions | |
| US20220097849A1 (en) | Tailstock type vertical take-off and landing unmanned aerial vehicle and control method thereof | |
| Adams et al. | Design, development, and flight test of a small-scale cyclogyro UAV utilizing a novel cam-based passive blade pitching mechanism | |
| Ang et al. | Design and implementation of a thrust-vectored unmanned tail-sitter with reconfigurable wings | |
| Arshad et al. | Stability analysis for a concept design of vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV) | |
| CN111422348B (en) | Vertical take-off and landing unmanned aerial vehicle and control method thereof | |
| EP3730404A1 (en) | Vertical take-off and landing aircraft and related control method | |
| CN214267954U (en) | Composite structure aircraft with tiltable rotor wing | |
| He et al. | Simulation verification of Flight Control of a tilt tri-rotor UAV Using X-plane | |
| CN214084749U (en) | Compact dual rotor aircraft for indoor environments | |
| Marta et al. | Flight Dynamics Modeling of Dual Thrust System Hybrid UAV | |
| Benedict et al. | Development of a quad cycloidal-rotor unmanned aerial vehicle | |
| Zheng et al. | Mode transition control of dual tilt rotor unmanned aerial vehicle based on dynamic analysis | |
| Abhishek et al. | Design, development and flight testing of a novel quadrotor convertiplane unmanned air vehicle | |
| Yangping et al. | Transition flight control and test of a new kind tilt prop box-wing VTOL UAV |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |