CN114715395A - Servo type batwing aircraft - Google Patents
Servo type batwing aircraft Download PDFInfo
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- CN114715395A CN114715395A CN202210559929.2A CN202210559929A CN114715395A CN 114715395 A CN114715395 A CN 114715395A CN 202210559929 A CN202210559929 A CN 202210559929A CN 114715395 A CN114715395 A CN 114715395A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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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
- B64D27/24—Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
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- B64D27/353—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
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- B64U50/19—Propulsion using electrically powered motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention belongs to the field of aircraft design, and discloses a servo-type batwing aircraft, which comprises a batwing aircraft body, a photovoltaic energy system, an intelligent obstacle avoidance and flight control system, a communication link system and a task load. The servo type batwing aircraft can realize a task mode of long-term servo and intermittent reconnaissance, namely, the servo type batwing aircraft is hidden on a roof in the daytime, a photovoltaic energy system is used for collecting energy, and reconnaissance is carried out on a designated area at night, so that the limit of frequent recovery and charging and discharging of the traditional unmanned aerial vehicle is broken through; in addition, the flapping of the flexible batwing is higher in efficiency and lower in noise compared with a fixed wing and a rotor wing, and hidden reconnaissance is facilitated; the intelligent obstacle avoidance and flight control system has the advantages of ultrasonic and infrared distance measurement, and can assist the aircraft in completing obstacle avoidance flight at night; the communication link system supports the Beidou satellite communication function, so that aircraft instructions and image transmission are not limited by distance any more.
Description
Technical Field
The invention belongs to the field of aircraft design, and particularly relates to a servo type batwing aircraft.
Background
The existing flapping wing aircraft has the advantages of low flight noise and strong concealment, and can be used for low-altitude reconnaissance. However, the system is limited by the capacity of the carried battery, the reconnaissance task can be executed only in a small radius range with the ground station as the center, the release and the recovery both depend on manual operation, the system does not have the capability of automatically acquiring energy, and the system needs to return to charge and maintain after the reconnaissance task is completed every time, so that the ground guarantee work is complicated.
The Chinese patent application with publication number CN113002772A discloses a flapping-folding integrated bat flapping wing aircraft, which takes a direct current brushless motor set as a driving mechanism, reduces the rotating speed and increases the torque through a two-stage cylindrical gear reducer; the double-crank flapping mechanism converts the rotary motion of the motor into the reciprocating flapping wing motion of the aircraft; the single-stage bevel gear changes the direction of the rotary motion, and then the rotary motion is converted into the folding motion of the wings of the aircraft through the crank sliding block mechanism. Chinese patent application publication No. CN113335521A discloses a high maneuvering flapping wing type bionic bat aircraft with a flexible structure, which adopts a micro motor and a steering engine as driving devices, can realize pitching and rolling control of attitude and adjust flight speed in the flight process, has more efficient and flexible flight performance, and has a simple and compact structure, and is easy to miniaturize, control, manage, assemble and overhaul.
In addition, the existing flapping wing aircraft has many insect and bird imitation types, the flight efficiency is relatively low, the extension of the endurance time is not facilitated, the reconnaissance task can be executed only in the daytime, and the larger flight potential safety hazard exists because surrounding obstacles cannot be effectively identified during night flight. Although some obstacle avoidance devices are used, the obstacle avoidance devices are generally developed based on an ultrasonic ranging technology or an infrared ranging technology, wherein ultrasonic waves are not limited by visible light, and the batwing aircraft cannot be interfered by paddle vibration, but the range measurement precision is low, the detection range is narrow, and the influence of strong wind weather is large; the infrared light distance measurement precision is high, and the range can reach tens of meters, but can not work under the environment that does not have visible light at all, therefore, both kinds of distance measurement modes can not realize all-weather obstacle avoidance flight.
Disclosure of Invention
In view of the problems in the prior art, the invention provides a servo-type batwing aircraft, which can autonomously absorb and store energy, has the capacity of all-weather obstacle avoidance flight, is not limited in distance from a ground station, has high flight efficiency and low noise, and can execute long-term servo-flight and intermittent reconnaissance tasks compared with the traditional flapping-wing aircraft.
The technical scheme of the invention is as follows:
a servo type batwing aircraft comprises a batwing aircraft body 1, a photovoltaic energy system 2, an intelligent obstacle avoidance and flight control system 3, a communication link system 4 and a task load, wherein,
the batwing aircraft body 1 comprises a flexible batwing 101, a composite fuselage 102, a control surface control arm 103, a flapping mechanism 104 and a driving mechanism 105;
the photovoltaic energy system 2 comprises a flexible photovoltaic cell 201, an energy storage cell 202 and an energy management module 203; the flexible photovoltaic cell 201 is arranged on the upper surface of the flexible batwing 101, and the energy storage cell 202, the energy management module 203 and the task load are all arranged on the composite material fuselage 102;
the intelligent obstacle avoidance and flight control system 3 comprises an ultrasonic and near infrared obstacle avoidance module 301 and a flight control module 302, wherein the ultrasonic and near infrared obstacle avoidance module 301 is arranged at the front end of the composite material fuselage 102, and the flight control module 302 is arranged in the composite material fuselage 102;
the communication link system 4 is provided at the head of the composite fuselage 102.
Preferably, the flexible photovoltaic cell 201 is a gallium arsenide flexible thin film cell, and the outside of the flexible photovoltaic cell is covered with a transparent waterproof film.
Preferably, the energy storage battery 202 is a lithium-metal secondary battery, the specific energy of the battery core is more than or equal to 450Wh/kg, the cycle characteristic is more than or equal to 60 times, and the energy storage battery and the composite material machine body are integrally molded.
Preferably, the energy management module 203 includes an MPPT module and a voltage reduction module, and the MPPT module adjusts an output voltage and a current of the flexible photovoltaic cell 201 according to a lighting condition, so as to ensure that the flexible photovoltaic cell 201 absorbs energy at a maximum power; the voltage reduction module adjusts voltage and outputs electric energy according to the electricity consumption requirement of the servo-type batwing aircraft, wherein the MPPT represents a maximum power tracker.
Preferably, the ultrasonic and near-infrared obstacle avoidance module 301 has ultrasonic ranging and near-infrared ranging functions; the flight control module 302 has real-time positioning, course planning, and attitude control functions.
Preferably, the communication link system 4 comprises an antenna, an antenna housing and an airborne terminal, wherein the antenna adopts an S-band signal with a frequency of 2-4Ghz to realize communication with the Beidou satellite.
Preferably, the middle part of the flexible batwing 101 is fixedly connected with the composite material fuselage 102 and can perform flapping motion relative to the composite material fuselage 102; the control surface control arm 103 is positioned at the tail part of the composite material fuselage 102 and comprises a left control arm and a right control arm which can deflect up and down; the flapping mechanism 104 is in transmission connection with a driving mechanism 105 and is used for supporting and controlling the flexible batwing 101.
Preferably, the flexible batwing 101 is made of a honeycomb-shaped spandex (PU) fabric.
Preferably, the composite fuselage 102 is streamlined as a whole, and has a head portion shaped like a bat head portion and made of a glass fiber composite material, and the composite fuselage 102 is made of a carbon fiber composite material except for the head portion.
Compared with the prior art, the invention has the beneficial effects that:
1. the servo type batwing aircraft can be hidden in a hidden area for a long time, a reconnaissance task is automatically executed after a task instruction is received, the scout task is automatically returned to a hidden place after the task is completed, the task period reaches more than 30 days, manual intervention is not needed in the whole process, and the limit of manual recovery and release of the traditional unmanned aircraft is broken through.
2. The batwing aircraft body simulates the configuration and flight behavior of bats, can provide up to 40 percent of lift force through 'leading edge vortex' generated when the batwings flap down, thereby effectively improving the energy utilization efficiency, and has stronger concealment and is not easy to be found by enemies in a reconnaissance area.
3. The photovoltaic energy system can absorb and store light energy in the daytime, and breaks through the limitation that the traditional flapping wing air vehicle can only be charged manually. The flexible photovoltaic cell is laid on the flexible batwing, so that the light receiving area can be effectively increased, and the possible damage to the photovoltaic cell caused by the batwing flapping can be reduced. The energy storage battery and the composite material machine body are integrally designed, and a maintenance opening cover and a connecting piece are omitted.
4. The ultrasonic and near-infrared light obstacle avoidance module has the advantages of ultrasonic distance measurement and infrared light distance measurement, overcomes the defects of two distance measurement modes, has high distance measurement precision, is not limited by visible light and weather, and can help the batwing aircraft to realize all-weather obstacle avoidance flight.
5. The communication link system has the capability of communicating with the Beidou satellite, so that the communication between the aircraft and the ground station is not limited by the distance any more, and the distributed reconnaissance and the centralized management and control of the aircraft are facilitated.
Drawings
In order to illustrate embodiments of the present invention or technical solutions in the prior art more clearly, the drawings which are needed in the embodiments will be briefly described below, so that the features and advantages of the present invention can be understood more clearly by referring to the drawings, which are schematic and should not be construed as limiting the present invention in any way, and for a person skilled in the art, other drawings can be obtained on the basis of these drawings without any inventive effort. Wherein:
FIG. 1 is a four-view illustration of the present invention of a flying batwing aircraft;
FIG. 2 is a schematic view of the components of the present invention;
FIG. 3 is a logic diagram of the flight control of the present invention servo-type batwing aircraft;
FIG. 4 is an energy link diagram of the present invention's servo-type batwing aircraft.
The intelligent batwing aircraft comprises a 1-batwing aircraft body, a 2-photovoltaic energy system, a 3-intelligent obstacle avoidance and flight control system, a 4-communication link system, a 101-flexible batwing, a 102-composite fuselage, a 103-control surface control arm, a 104-flapping mechanism, a 105-driving mechanism, a 201-flexible photovoltaic cell, a 202-energy storage cell, a 203-energy management module, a 301-ultrasonic wave and near infrared light obstacle avoidance module and a 302-flight control module.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention, taken in conjunction with the accompanying drawings and detailed description, is set forth below. It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
A servo-type batwing aircraft comprises a batwing aircraft body 1, a photovoltaic energy system 2, an intelligent obstacle avoidance and flight control system 3, a communication link system 4 and a task load, wherein the photovoltaic energy system 2, the intelligent obstacle avoidance and flight control system 3, the communication link system 4 and the task load are installed on the batwing aircraft body 1, and the servo-type batwing aircraft is shown in figures 1-2.
The batwing aircraft body 1 comprises a flexible batwing 101, a composite fuselage 102, a control surface control arm 103, a flapping mechanism 104 and a driving mechanism 105.
The flexible batwing 101 is made of a honeycomb-shaped Polyurethane (PU) fabric, and the material has high toughness and elasticity, so that the internal stress of the material caused by the batwing flapping can be absorbed, and the batwing can be prevented from being damaged when being impacted from the outside. The flexible batwing 101 planar profile is similar to the wings of a bat, with higher aerodynamic efficiency than conventional flapping wings.
The middle part of the flexible batwing 101 is fixedly connected with the composite material fuselage 102 through a bolt, and the two sides are symmetrical relative to the axis of the composite material fuselage 102 and can perform flapping motion relative to the composite material fuselage 102. The composite material fuselage 102 is streamline overall, can effectively reduce flight resistance, and is similar to a bat head in shape of the head, thereby being beneficial to improving scouting concealment. The composite fuselage 102 head is made of fiberglass composite material to meet the requirements of shape maintenance and antenna wave-transparent. The main body portion of the composite fuselage 102, excluding the head portion, is made of carbon fiber composite material, which has greater strength and rigidity than the head portion.
The control surface control arm 103 comprises a left control arm and a right control arm, which are located at the tail of the composite material fuselage 102 and can deflect up and down respectively and drive the flexible batwing 101 to generate the deformation of turning up and down. The pitch and roll coupling control is realized through the actuation of the control surfaces on the two sides: when the control arms on the two sides deflect upwards simultaneously, the aircraft climbs upwards; when the control arms on the two sides deflect downwards simultaneously, the aircraft dives downwards; the left control arm deflects downwards, and when the right control arm deflects upwards, the aircraft rolls to the right; when the left control arm deflects upwards and the right control arm deflects downwards, the aircraft rolls to the left.
The driving mechanism 105 is installed in the composite material body 102, and is composed of a brushless motor and an electronic governor. After receiving the motion command, the electronic governor obtains electric energy from the energy storage battery 202 with high specific energy and high cycle, adjusts the voltage, outputs the electric energy to the brushless motor, and drives the brushless motor to rotate. The flapping mechanism 104 converts the rotation motion of the motor shaft into the periodic reciprocating motion of a connecting rod mechanism, and the connecting rod mechanism is fixed with the flexible batwing 101, so that the batwing can flap up and down.
The photovoltaic energy system 2 comprises a flexible photovoltaic cell 201, an energy storage cell 202 with high specific energy and high cycle and an energy management system 203. The flexible photovoltaic cell 201 is a gallium arsenide flexible thin film cell, is laid on the upper surface of the flexible batwing 101 in a gluing mode, and is covered with a layer of transparent waterproof film. The energy storage battery 202 with high specific energy and high cycle is a lithium-metal secondary battery, the specific energy of the battery cell is more than or equal to 450Wh/kg, and the cycle characteristic is more than or equal to 60 times. The energy storage battery 202 and the composite material body 102 are integrally formed, and a mounting cover and connecting bolts are omitted. And the energy management module 203 comprises an MPPT module and a voltage reduction module. The MPPT module is configured to adjust an output voltage and a current of the flexible photovoltaic cell 201 according to a lighting condition, so as to ensure that the photovoltaic cell absorbs energy at a maximum power; the voltage reduction module is used for adjusting voltage according to power consumption requirements and outputting electric energy.
When the servo-type batwing aircraft is in a latent state in the daytime, the flexible photovoltaic cell 201 absorbs light energy and converts the light energy into electric energy, and the electric energy is output to the energy storage cell 202 through the energy management system 203, so that the batwing aircraft can automatically store energy in the daytime; when the task is executed at night, the servo type batwing aircraft realizes flapping flight by means of the electric energy stored in the energy storage battery 202, returns to the latent area before the electric quantity is consumed, and is charged by absorbing the light energy in the daytime.
The intelligent obstacle avoidance and flight control system 3 comprises an ultrasonic and near-infrared obstacle avoidance module 301 and a flight control module 302. The ultrasonic and near-infrared obstacle avoidance module 301 has the functions of ultrasonic ranging and near-infrared ranging. Wherein, ultrasonic ranging is not restricted by visible light, and the batwing aircraft of serving the formula can not receive oar vibration interference, can assist its effectively to avoid the obstacle at night. But the ultrasonic ranging precision is lower, and the scope is narrower, and is influenced by strong wind weather greatly. The near infrared light distance measurement has high precision, the range can reach tens of meters, and the distance measurement is not influenced by strong wind but greatly influenced by visible light. Therefore, the ultrasonic wave and near infrared light obstacle avoidance module 301 has the advantages of both, and can help the servo-type batwing aircraft to achieve all-weather obstacle avoidance.
The flight control module 302 has functions of real-time positioning, route planning, attitude control, and the like. The flight control module 302 is designed based on a layered flapping wing control strategy, the inspiration of design comes from the intelligent behavior of the flying animal, as shown in fig. 3, the higher level control is similar to the brain of an animal, and the flight control module mainly performs task planning, execution mode determination, route planning and correction; and the lower-level control is similar to nerves of similar animals, and mainly carries out real-time monitoring and compensation on the posture and the stability.
The communication link system 4 is integrally installed at the head of the composite material body 102, and comprises an antenna, an antenna housing, an airborne terminal and the like. The antenna is communicated with the Beidou satellite by adopting an S-band signal with a frequency of 2-4Ghz, and is used for transmitting task instructions and transmitting image signals.
In summary, the servo system of the present inventionThe batwing aircraft carries out long-term servo and intermittent reconnaissance tasks according to the energy link shown in figure 4. Wherein the content of the first and second substances,E solarfor the total energy the batwing aircraft derives from the MPPT module,E battarythe energy stored in the energy storage battery 202 for the batwing aircraft is contained,E load•awaitfor the energy consumed by the airborne equipment under the servo state of the servo-type batwing aircraft,E load•spyfor the energy consumed by the airborne equipment under the reconnaissance state of the servo-type batwing aircraft,E motor•spyis the energy consumed by the power system under the reconnaissance state of the servo type batwing aircraft. In the daytime, the flexible photovoltaic cell absorbs energy, the MPPT module performs maximum power tracking, and a part of energy is transmitted to the airborne equipment and the task load through the voltage reduction module, so that the normal ground communication function is ensured, and the rest of energy is transmitted to the energy storage cell for storage. When the task is not executed at night, the energy storage battery provides electric energy for the airborne equipment and the task load; when the task is executed, the energy storage battery provides electric energy for the motor, the airborne equipment and the task load at the same time.
Furthermore, the foregoing describes only some embodiments and alterations, modifications, additions and/or changes may be made without departing from the scope and spirit of the disclosed embodiments, which are intended to be illustrative rather than limiting. Furthermore, the described embodiments are directed to embodiments presently contemplated to be the most practical and preferred, it being understood that the embodiments should not be limited to the disclosed embodiments, but on the contrary, are intended to cover various modifications and equivalent arrangements included within the spirit and scope of the embodiments. Moreover, the various embodiments described above can be used in conjunction with other embodiments, e.g., aspects of one embodiment can be combined with aspects of another embodiment to realize yet another embodiment. In addition, each individual feature or element of any given assembly may constitute additional embodiments.
The foregoing description of the embodiments has been presented for purposes of illustration and description and is not intended to be exhaustive or to limit the disclosure. The various elements or features of a particular embodiment are generally not limited to that particular embodiment, but, where applicable, are interchangeable and can be used in a selected embodiment, even if not specifically shown or described. Such variations are not to be regarded as a departure from the disclosure, and all such modifications are intended to be included within the scope of the disclosure.
Accordingly, it is to be understood that the drawings and description are proffered by way of example to facilitate comprehension of the invention and should not be construed to limit the scope thereof.
Claims (9)
1. A servo type batwing aircraft is characterized by comprising a batwing aircraft body (1), a photovoltaic energy system (2), an intelligent obstacle avoidance and flight control system (3), a communication link system (4) and a task load, wherein,
the batwing aircraft body (1) comprises a flexible batwing (101), a composite material fuselage (102), a control surface control arm (103), a flapping mechanism (104) and a driving mechanism (105);
the photovoltaic energy system (2) comprises a flexible photovoltaic cell (201), an energy storage cell (202) and an energy management module (203); the flexible photovoltaic cell (201) is arranged on the upper surface of the flexible batwing (101), and the energy storage cell (202), the energy management module (203) and the task load are all arranged on the composite material fuselage (102);
the intelligent obstacle avoidance and flight control system (3) comprises an ultrasonic and near-infrared obstacle avoidance module (301) and a flight control module (302), the ultrasonic and near-infrared obstacle avoidance module (301) is arranged at the front end of the composite material fuselage (102), and the flight control module (302) is arranged in the composite material fuselage (102);
the communication link system (4) is arranged at the head of the composite material fuselage (102).
2. The batwing aircraft according to claim 1, wherein the flexible photovoltaic cell (201) is a gallium arsenide flexible thin film cell, covered on its outside with a transparent waterproof film.
3. The servo-type batwing aircraft according to claim 1, wherein the energy storage battery (202) is a lithium-metal secondary battery, has a specific cell energy of not less than 450Wh/kg and cycle characteristics of not less than 60 times, and is integrally molded with the composite fuselage.
4. The flying batwing aircraft according to claim 1, wherein the energy management module (203) comprises an MPPT module and a voltage reduction module, the MPPT module adjusting the output voltage and current of the flexible photovoltaic cell (201) according to the lighting conditions, thereby ensuring that the flexible photovoltaic cell (201) absorbs energy at maximum power; the voltage reduction module adjusts voltage according to the electricity demand of the servo-type batwing aircraft and outputs electric energy.
5. The servo-type batwing aircraft as claimed in claim 1, wherein the ultrasonic and near infrared light obstacle avoidance module (301) has ultrasonic ranging and near infrared light ranging functions; the flight control module (302) has the functions of real-time positioning, air route planning and attitude control.
6. The servo-type batwing aircraft as claimed in claim 1, wherein the communication link system (4) comprises an antenna, a radome and an airborne terminal, wherein the antenna adopts S-band signals with 2-4Ghz frequency to realize communication with the Beidou satellite.
7. The servo-type batwing aircraft as claimed in claim 1, wherein the middle part of the flexible batwing (101) is fixedly connected with the composite fuselage (102) and can perform flapping motion relative to the composite fuselage (102); the control surface control arm (103) is positioned at the tail part of the composite material fuselage (102) and comprises a left control arm and a right control arm which can deflect up and down; the flapping mechanism (104) is in transmission connection with the driving mechanism (105) and is used for supporting and controlling the flexible batwing (101).
8. The servo-type batwing aircraft as claimed in claim 7, wherein the flexible batwing (101) is made of a honeycomb spandex fabric.
9. The batwing aircraft of claim 1, wherein the composite fuselage (102) is generally streamlined and has a nose shaped like a bat head, made of a fiberglass composite, the composite fuselage (102) being made of a carbon fiber composite except for the nose.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210559929.2A CN114715395A (en) | 2022-05-23 | 2022-05-23 | Servo type batwing aircraft |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210559929.2A CN114715395A (en) | 2022-05-23 | 2022-05-23 | Servo type batwing aircraft |
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| CN114715395A true CN114715395A (en) | 2022-07-08 |
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| CN202210559929.2A Pending CN114715395A (en) | 2022-05-23 | 2022-05-23 | Servo type batwing aircraft |
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| US20110226895A1 (en) * | 2004-07-09 | 2011-09-22 | Moore David A | Dynamic human/wind powered flying suit |
| CN103950538A (en) * | 2014-05-06 | 2014-07-30 | 中国计量学院 | Goose group flapping wing imitation flight system |
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