DE202004010057U1

DE202004010057U1 - Electrical helicopter has four inclined co-rotating lifting rotors with individual drives providing control over all axes, varies drive speeds selectively

Info

Publication number: DE202004010057U1
Application number: DE202004010057U
Authority: DE
Original assignee: Individual
Current assignee: Individual
Priority date: 2004-06-26
Filing date: 2004-06-26
Publication date: 2004-08-26
Anticipated expiration: 2014-06-27

Abstract

All four rotors turn in the same direction. Their axes are inclined with respect to the vertical by a mean angle (beta m). Torques applied to the rotors in hovering flight without yaw, are compensated by torque resulting from components of thrust perpendicular to the vertical axis. Yaw control in one direction, is achieved by speed increase in opposite rotors having an angle of inclination greater than the mean (beta m), simultaneously reducing speeds of the other two rotors having an angle of inclination less than the mean. To turn the helicopter in the other direction, this procedure is reversed.

Description

Stand der TechnikState of the art

Elektrohubschrauber mit 4 Hubrotoren konventioneller Bauart sind mit 2 rechts- und 2 linksdrehenden Rotoren ausgestattet.Electric helicopter with 4 lifting rotors conventional design are equipped with 2 right and 2 left rotating rotors.

Problemproblem

Der im Anspruch 1 angegebenen Erfindung lag das Problem zugrunde, einen 4– rotorigen, drehzahlgesteuerten Elektrohubschrauber zu schaffen, der mit handelsüblichen, rechtsdrehenden Propellern und Antriebsmotoren ausgestattet ist und über alle Achsen gesteuert wird. Hintergrund: Linksdrehende Propeller sind unüblich; die Auswahl ist klein. Viele Motoren haben eine Vorzugsdrehrichtung, nämlich Rechtslauf.The invention specified in claim 1 was based on the problem, a 4-rotor, speed-controlled To create electric helicopters, with commercial, right-handed propellers and drive motors and is controlled via all axes. Background: left-handed propellers are unusual; the selection is small. Many motors have a preferred direction of rotation, namely clockwise rotation.

Erfindunginvention

Dieses Problem wird mit den Maßnahmen des Anspruchs 1 gelöst.This problem comes with the measures of claim 1 solved.

Vorteilhafte Wirkung und Darstellung der Erfindungadvantageous Effect and presentation of the invention

Dargestellt und beschrieben wird ein Ausführungsbeispiel der Erfindung. 1 zeigt die Draufsicht eines 4-Rotoren-Elektrohubschraubers mit 4 gleichen Hubrotoren in schematischer Darstellung sowie 4 Ansichten A – D auf die 4 Rotoren 1 – 4. In den Ansichten sind die Winkel β₁ und β₂ zwischen den Rotorachsen und der Hochachse des Fluggeräts eingezeichnet. β_m ist der Mittelwert von β₁ und β₂.An exemplary embodiment of the invention is shown and described. 1 shows the top view of a 4-rotor electric helicopter with 4 identical lifting rotors in a schematic representation and 4 views A - D of the 4 rotors 1 - 4 , The angles β ₁ and β ₂ between the rotor axes and the vertical axis of the aircraft are shown in the views. β _m is the mean of β ₁ and β ₂ .

Schwebeflug ohne Gierbewegung wird wie folgt erreicht: Der Winkel β_m ist konstruktiv so festgelegt, dass r · F · sin(β_m) = M_Rotor. In dieser Gleichung ist M_Rotor das Drehmoment eines Rotors, F die Schubkraft je Rotor und r der Abstand der Rotorachse vom Zentrum des Fluggeräts. Die Differenz von β₁ und β₂ ist konstruktiv so festgelegt, dass das Fluggerät die gewünschte Agilität um die Hochachse zeigt.Hover without yaw is achieved as follows: The angle β _m is structurally determined so that r · F · sin (β _m ) = M _rotor . In this equation, M _{rotor is} the torque of a rotor, F is the thrust per rotor and r is the distance of the rotor axis from the center of the aircraft. The difference between β ₁ and β ₂ is structurally determined so that the aircraft shows the desired agility around the vertical axis.

Die Steuerung erfolgt wie beim konventionellen, drehzahlgesteuerten 4-Rotoren-Hubschrauber

The control is carried out as with the conventional, speed-controlled 4-rotor helicopter

Claims

Electric helicopter with 4 lifting rotors (all longitudinal, vertical and transverse axes) controlled ( 1 - 4 ), each rotor is equipped with its own drive, the 4 rotors are arranged in the top view of the aircraft at the corners of a square and the control is realized by adjusting the speeds of the drives, characterized in that the 4 rotors have the same direction of rotation and the axes of the rotors are inclined by an average angle (β _m ) with respect to the vertical axis in such a way that the drive torques of the rotors in hover flight without yawing movement are compensated by torques due to thrust force components perpendicular to the vertical axis, so that yaw control takes place in one direction of rotation by increasing the speed of 2 opposite rotors, whose angle of inclination is greater than the mean angle (β _m ), with simultaneous speed reduction of the other two opposite rotors, whose angle of inclination is smaller than the mean angle (β _m ), that the yaw control for the other direction of rotation takes place by reducing the speed of 2 opposite rotors, whose angle of inclination is greater than the mean angle (β _m ), while simultaneously Speed increase from the other two opposite rotors, whose angle of inclination is smaller than the mean angle (β _m ).