CN102501967A - Multi-rotor aircraft - Google Patents

Abstract

The invention relates to a multi-rotor aircraft. The multi-rotor aircraft comprises four main rotor systems, two auxiliary rotor systems, an aircraft body and an integrated flight system which is arranged in the aircraft body, wherein an original point of a coordinate system of the aircraft body is the center of gravity of the aircraft, a z axis is vertical upwards, an x axis is vertical to the z axis and points forward, and a y axis is determined by a right-hand rule; the four main rotor systems are respectively distributed in four quadrants of an xy plane of the coordinate system of the aircraft body; an included angle theta is formed between each rotary axis of the four main rotor systems and the z axis of the coordinate system of the aircraft body; and the projection of each rotary axis to an xoy plane of the coordinate system of the aircraft body is coincided with the projection of a connecting line of a rotary center and the original point of the coordinate system of the aircraft body to the xoy plane of the coordinate system of the aircraft body. By regulating the rotary speed of the four main rotor systems and the two auxiliary rotor systems, the movement and attitude of the aircraft can be changed, the aircraft can vertically take off and land, fly forwards, fly backwards, hover and roll, and the multi-rotor aircraft is high in stability and controllability.

Description

multi-rotor aircraft

technical field

The invention relates to the field of aircraft, in particular to a multi-rotor aircraft.

Background technique

Rotor-type aircraft with functions such as vertical take-off and landing and hovering not only play an important role in the military field, but also show great application potential in disaster scene rescue, dangerous environment detection, traffic surveillance or aerial photography, and have been widely accepted. focus on.

At present, the rotor aircraft mainly includes four structural forms such as single-rotor (main rotor + tail rotor) helicopter, double-rotor (coaxial reverse propeller) helicopter, quad-rotor aircraft and six-rotor aircraft, such as the MH-16 helicopter of McDonnell Douglas. , Russia's Ka-29 helicopter, Germany's Microdrone company, Canada's Dranganflyer company's quadrotor aircraft, etc. Single-rotor helicopters or coaxial reverse-rotor helicopters need tail rotors to eliminate the torsion produced by the rotors on the body. Quadrotors eliminate the torsion on the body through the forward and reverse rotors on the diagonal. The common problems of the above-mentioned rotorcraft are: it is a kinematic coupling system itself, the direction and attitude in flight are coupled, the stability and maneuverability are poor, the forward flight speed is low, the lift and weight of the aircraft are relatively low, and the design When becoming a small aircraft, the carrying capacity is poor. Therefore, it is imperative to develop a new structure aircraft with high forward flight speed, high attitude stability and controllability.

Contents of the invention

The technical problem to be solved by the present invention is to provide a multi-rotor aircraft that can effectively improve the stability and maneuverability of the aircraft.

In order to solve the above technical problems, the multi-rotor aircraft of the present invention includes four main rotor systems, a body, and a flight integrated system installed in the body; the origin of the body coordinate system is the center of gravity of the aircraft, the z axis is vertically upward, and the x axis is perpendicular to The z axis points to the front, and the y axis is determined by the right-hand rule; it is characterized in that the four main rotor systems are respectively located in the four quadrants of the xy plane of the body coordinate system, and the rotation axes of the four main rotor system rotors are in line with the body coordinate system The z-axis forms an included angle θ, 0<θ<90°, and the projection of the rotation axis of each rotor on the xoy plane of the body coordinate system and the line connecting the rotor rotation center to the origin of the body coordinate system are on the xoy plane of the body coordinate system The projection coincides.

Described each main rotor system is made up of first rotor, second rotor, main rotor driving device and main rotor fixing mechanism; The first rotor is installed above the second rotor, and the rotation planes of the first rotor and the second rotor are parallel; The rotor drive device is provided with two output shafts, the two output shafts are collinear, respectively connected to the first rotor and the second rotor, and the first rotor and the second rotor are respectively positive and negative propellers; the main rotor fixing mechanism connects the main rotor drive device Connect and fix with the body.

The geometric dimensions of the first rotors and the second rotors of the main rotor systems are the same; the shapes of the first rotors and the second rotors are similar, and the ratio of the geometric dimensions of the first rotors to the second rotors is 1.0-1.1.

As a further improvement of the present invention, it further includes two auxiliary rotor systems; the two auxiliary rotor systems are respectively located on both sides of the x-axis, and their rotation axes are parallel to the x-axis.

The two auxiliary rotors are equipped with forward and reverse propellers, the directions of rotation are opposite, and the torque pitches can cancel each other out.

The auxiliary rotors of the auxiliary rotor system adopt double symmetrical airfoils, and each auxiliary rotor provides forward and backward thrusts to the aircraft by directly changing the direction of rotation.

The auxiliary rotor system is composed of an auxiliary rotor, an auxiliary rotor driving device and an auxiliary rotor fixing mechanism, and the auxiliary rotor fixing mechanism connects and fixes the auxiliary rotor driving device with the body.

Said each driving device comprises at least one electric motor or one motor.

The airframe can be in the form of spokes formed by multiple rods, in the shape of a net, or in the shape of a dish with a lift airfoil, but is not limited to the above shapes.

The integrated flight system includes a control system, an inertial sensor and an attitude measurement system, a navigation system, and an image acquisition and transmission system.

Each rotor system can adopt a ducted propeller structure to improve wind resistance and increase safety.

The beneficial effects of the present invention are as follows:

1. Through the spatial configuration of three inclination angles formed by the rotation axes of the four main rotor systems and the XOY plane of the body coordinate system, the aircraft has force and moment components on the three axes of the body coordinate system XYZ, so by adjusting the four main rotor systems The rotor speed can realize the movement and attitude change of the aircraft, and the aircraft can realize vertical take-off and landing, forward flight, inverted flight, hovering, rolling and other actions. Since the rotors of the four main rotor systems have force components on the three axes of the body coordinate system, the stability and maneuverability of the aircraft are effectively increased.

2. A total of eight rotors generate lift through four main rotor systems, providing greater lift in a limited space, which can improve the aircraft's carrying capacity and lift/weight ratio.

3. Due to the aerodynamic interference between the coaxial dual rotors, the pulling force of the upper and lower rotors with the same geometric size and the shape of the wake vortex change, so that the rotational resistance of the two rotors changes, and the reaction torque differs, which increases the aircraft's heading control. Difficulty, the first rotor and the second rotor satisfying the geometric similarity condition in the present invention have different geometric dimensions, and the ratio is 1.0 to 1.1, which can reduce or even eliminate the difference in reaction torque, so that the combined torque of the upper and lower rotors in the main rotor system is zero.

4. Since the rotation axes of the two auxiliary rotors are parallel to the x-axis of the body coordinate system, the lift is forward, which can effectively increase the forward flight speed of the aircraft.

5. The two auxiliary rotor systems adopt double symmetrical airfoils, and each auxiliary rotor provides forward and backward thrust to the aircraft by directly changing the direction of rotation, so as to realize the forward or backward acceleration and deceleration flight of the aircraft; the two auxiliary rotor systems are installed Forward and reverse rotors, the torque can cancel each other out.

6. Through the four main rotor system rotation axes and the body coordinate system XOY plane respectively form three inclinations and the spatial configuration of the six rotor system rotation axes parallel to the x-axis of the two auxiliary rotor systems, so that the force and The components of the moment can be adjusted separately, so the aircraft can maintain balance in different flight attitudes, which not only improves the stability and operability of the aircraft, but also simplifies the gimbal carrying the video equipment, thereby reducing the overall mass of the aircraft.

Description of drawings

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

Fig. 1 shows the structural representation of multi-rotor aircraft of the present invention.

Fig. 2 shows the schematic diagram of the installation structure of the main rotor system of the present invention.

Fig. 3 shows a schematic diagram of the installation structure of the auxiliary rotor system of the present invention.

Fig. 4 represents the bisymmetric airfoil used by the auxiliary rotor of the present invention.

Fig. 5 shows a schematic view of the dish-shaped body and the duct structure of the present invention.

In the figure: 1. Main rotor system, 2. Main rotor system, 3. Main rotor system, 4. Main rotor system, 5. Auxiliary rotor system, 6. Auxiliary rotor system, 7. Body, 8. Flight integrated system, 9 1. The projection of the line connecting the rotor rotation center to the origin of the body coordinate system in the main rotor system on the xoy plane of the body coordinate system. 10. The projection of the line connecting the auxiliary rotor rotation center to the origin of the body coordinate system on the body coordinate system xoy plane. 101. The first Rotor, 102, second rotor, 103, main rotor driving device, 104, main rotor fixing mechanism, 501, auxiliary rotor, 502, auxiliary rotor driving device, 503, auxiliary rotor fixing mechanism, 111, main rotor system ducted propeller structure , 511, auxiliary rotor system ducted propeller structure, 711, disc-shaped body.

Detailed ways

As shown in FIG. 1 , the present invention includes four main rotor systems 1 , 2 , 3 , 4 , two auxiliary rotor systems 5 , 6 , an airframe 7 , and a flight integrated system 8 installed in the airframe 7 . The integrated flight system 8 includes a control system, an inertial sensor and an attitude measurement system, a navigation system, and an image acquisition and transmission system. The body coordinate system of the aircraft is the center of gravity of the aircraft, the z-axis is vertically upward, the x-axis is perpendicular to the z-axis and points forward, the y-axis is determined by the right-hand rule, the auxiliary rotor systems 5 and 6 are distributed on both sides of the x-axis, and the main rotor system 1 to 4 are respectively distributed in the four quadrants of the xy plane of the body coordinate system.

As shown in Figure 2, each rotation axis of main rotor systems 1 and 2 in the four main rotor systems forms a clockwise 45° angle with the z-axis of the body coordinate system, and each rotation axis of main rotor systems 3 and 4 is at an angle with The z-axis of the body coordinate system forms an included angle of 45° counterclockwise, and the projection of the rotation axis of each rotor on the xoy plane of the body coordinate system and the projection of the line connecting the rotation center to the origin of the body coordinate system on the xoy plane of the body coordinate system9 Overlap; each main rotor system is made up of first rotor 101, second rotor 102, main rotor driving device 103 and main rotor fixing mechanism 104, first rotor 101 is installed above second rotor 102, first rotor 101 and second The rotation plane of rotor 102 is parallel, and main rotor drive device 103 is provided with two output shafts, and output shaft is collinear, connects first rotor 101 and second rotor 102 respectively, and first rotor 101 and second rotor 102 are installed positive and negative paddles, The main rotor fixing mechanism 104 connects and fixes the main rotor driving device 103 with the body 7, and the main rotor driving device 103 includes at least one electric motor or an engine; the first rotor geometric dimension of each main rotor system is the same, and the second rotor geometric dimension is identical, The first rotor and the second rotor have the same shape and similar geometric dimensions, and the ratio of the geometric dimensions between the first rotor and the second rotor is 1.0-1.1.

As shown in Figure 3, the auxiliary rotor system 5,6 is made up of rotor 501, auxiliary rotor driving device 502 and auxiliary rotor fixing mechanism 503, and the auxiliary rotor fixing mechanism connects and fixes the auxiliary rotor driving device with the body 7; the auxiliary rotor system 5,6 The axis of rotation is parallel to the x-axis, forward and reverse rotors are installed, the direction of rotation is opposite, and the torque distance is offset.

As shown in Figure 4, the auxiliary rotors 501 of the auxiliary rotor systems 5 and 6 adopt a double symmetrical airfoil, and each auxiliary rotor 501 directly changes the rotation direction of the output shaft of the auxiliary rotor driving device 502, thereby changing the rotation direction of the rotor, providing the aircraft with Forward and backward thrust.

The airframe 7 may be in the shape of spokes formed by a plurality of rods, in the shape of a net, or in the shape of a dish with a lift airfoil, but is not limited to the above shapes.

Each rotor system can adopt a ducted propeller structure to improve wind resistance and increase safety.

In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific examples described here are only used to explain the present invention and are not intended to limit the present invention. .

Embodiment one:

As shown in Fig. 1, the present invention comprises four main rotor systems 1,2,3,4, two auxiliary rotor systems 5,6, a body 7, and a flight integrated system 8 installed in the body 7, the body 7 is extended around Out of six connecting rods 11, 21, 31, 41, 51, 61, the integrated flight system 8 includes a control system, an inertial sensor and an attitude measurement system, a navigation system, an image acquisition and transmission system, and the origin of the body coordinate system of the aircraft is The center of gravity of the aircraft, the z-axis is vertically upward, the x-axis is perpendicular to the z-axis and points forward, the y-axis is determined by the right-hand rule, the secondary rotor systems 5 and 6 are distributed on both sides of the x-axis, and the main rotor systems 1 to 4 are respectively distributed on Within the four quadrants of the xy plane of the body coordinate system. The four main rotor systems 1, 2, 3, and 4 are equipped with coaxial reversed double rotors, and the dual rotors are forward and reverse propellers respectively; the four main rotor systems 1, 2, 3, and 4 protrude through the periphery of the body 7 respectively The connecting rods 11, 21, 31, 41 are connected to the body 7, and the four connecting rods 11, 21, 31, 41 are distributed in a "cross" shape; the rotation centers of the first rotors of each main rotor system are located on the same horizontal plane , the rotation centers of the second rotors are located on the same horizontal plane, and the distances from the rotation centers of the main rotor systems to the origin of the body coordinate system are equal. The rotation axes of the two auxiliary rotor systems 5 and 6 are parallel to the x-axis of the body coordinate system, and the distances from the rotation centers of the two auxiliary rotor systems 501 to the origin of the body coordinate system are equal, the rotation directions are opposite, and the torque distances are offset. The two auxiliary rotor systems 5,6 are connected to the body 7 by connecting rods 51,61.

As shown in Figure 2, each rotation axis of main rotor systems 1 and 2 in the four main rotor systems forms a clockwise 45° angle with the z-axis of the body coordinate system, and each rotation axis of main rotor systems 3 and 4 is at an angle with The z-axis of the body coordinate system forms an included angle of 45° counterclockwise, and the projection of each rotation axis on the xoy plane of the body coordinate system coincides with the projection 9 of the line connecting the rotation center to the origin of the body coordinate system on the xoy plane of the body coordinate system; Each main rotor system is made up of the first rotor 101, the second rotor 102, the main rotor driving device 103 and the main rotor fixing mechanism 104, the first rotor 101 is installed above the second rotor 102, the first rotor 101 and the second rotor 102 The planes of rotation are parallel to each other, the main rotor driving device 103 is provided with two output shafts, the output shafts are collinear, respectively connected to the first rotor 101 and the second rotor 102, and the main rotor fixing mechanism 104 connects and fixes the main rotor driving device 103 and the body 7 , the main rotor drive device 103 includes at least one electric motor or an engine; the first rotor 101 of each main rotor system has the same geometric dimensions, the second rotor 102 has the same geometric dimensions, the first rotor 101 and the second rotor 102 have similar shapes, and the geometric dimensions are similar, and the ratio of the geometric dimensions of the first rotor to the second rotor is 1.0-1.1.

As shown in FIG. 3 , the auxiliary rotor systems 5 and 6 are composed of a rotor 501 , an auxiliary rotor driving device 502 and an auxiliary rotor fixing mechanism 503 , and the auxiliary rotor fixing mechanism 503 connects and fixes the auxiliary rotor driving device 502 with the body 7 .

As shown in FIG. 4 , the auxiliary rotor 501 adopts a double symmetrical airfoil, and each auxiliary rotor provides forward and backward thrust to the aircraft by directly changing the direction of rotation.

Embodiment two:

As shown in Figure 5, the main rotor system 111 comprising four ducted propeller structures, the auxiliary rotor system 511 of two ducted propeller structures, the dish-shaped body 711, and the flight integrated system 811 installed in the body 711, the flight integrated System 811 includes a control system, an inertial sensor and an attitude measurement system, a navigation system, and an image acquisition and transmission system. The origin of the body coordinate system of the aircraft is the center of gravity of the aircraft, the z-axis is vertically upward, and the x-axis is perpendicular to the z-axis, pointing forward , the y-axis is determined by the right-hand rule, the auxiliary rotor system 511 is distributed on both sides of the x-axis, and the four main rotor systems 111 are respectively distributed in four quadrants of the xy plane of the body coordinate system. Among the four main rotor systems, each rotation axis of main rotor systems 1 and 2 forms a clockwise 45° angle with the z-axis of the body coordinate system, and each rotation axis of main rotor systems 3 and 4 forms a clockwise angle with the z-axis of the body coordinate system. form an included angle of 45° counterclockwise, and the projection of each axis of rotation on the xoy plane of the body coordinate system coincides with the projection 9 of the line connecting the rotation center to the origin of the body coordinate system on the xoy plane of the body coordinate system; the auxiliary rotor systems 5 and 6 The axis of rotation is parallel to the x-axis, forward and reverse rotors are installed, the direction of rotation is opposite, and the torque distance is offset.

The flight principle of the aircraft is as follows:

Taking specific embodiment 1 as an example, when four groups of main rotors rotate at the same speed and two groups of auxiliary rotors rotate at zero speed, the resultant torsion of the aircraft is zero. When the resultant force is equal to the gravity, the aircraft hovers at a certain height; when the speed of the four sets of main rotor systems increases or decreases at the same time, the aircraft can rise or fall along the z-axis direction; adjust the rotation speed of the auxiliary rotor system 5 and 6 to make the rotation speed of the two Differently, the aircraft can roll around the z-axis. Adjust the speed of main rotor system 1, 2, 3, 4 and auxiliary rotor system 5, 6 so that the speed of main rotor system 1, 2, 3, 4 is the same, and the speed of rotor system 5, 6 is the same. At this time, directly change the auxiliary rotor drive The rotation direction of the device changes the rotation direction of the auxiliary rotor systems 5 and 6, and the aircraft can quickly fly forward horizontally, accelerate and decelerate or retreat. When the rotational speeds of main rotor systems 1 and 4 are greater than the rotational speeds of rotor systems 2 and 3, the aircraft can roll around the x-axis; when the rotational speeds of main rotor systems 1 and 2 are greater than the rotational speeds of main rotor systems 3 and 4, the aircraft can roll around the y-axis. Therefore, by adjusting the speed control of the six sets of rotors, different movements and attitude changes of the aircraft can be realized. The aircraft can realize vertical take-off and landing, fast forward flight, inverted flight, hovering, rolling and other actions. Since the resultant force and resultant moment of the six rotor systems have components on the three axes of the body coordinate system, the decoupling of the motion and attitude of the aircraft is realized, and the stability and maneuverability of the aircraft are effectively increased.

Claims (8)

1. A multi-rotor aircraft, comprising four main rotor systems, a body (7), and a flight integrated system (8) installed in the body (7); the origin of the body coordinate system is the center of gravity of the aircraft, and the z-axis is vertically upward , the x-axis is perpendicular to the z-axis, pointing forward, and the y-axis is determined by the right-hand rule; it is characterized in that the four main rotor systems are respectively located in the four quadrants of the xy plane of the body coordinate system, and the rotation of the four main rotor system rotors The axis and the z-axis of the body coordinate system form an angle θ, 0<θ<90°, and the projection of the rotation axis of each rotor on the xoy plane of the body coordinate system and the connection line between the rotor rotation center and the origin of the body coordinate system are in the body coordinates The projections on the xoy plane coincide. 2. The multi-rotor aircraft according to claim 1, characterized in that each main rotor system consists of a first rotor (101), a second rotor (102), a main rotor drive (103) and a main rotor fixing mechanism (104) is formed; the first rotor (101) is installed above the second rotor (102), and the rotation planes of the first rotor (101) and the second rotor (102) are parallel; the main rotor driving device (103) is provided with two Output shaft, two output shafts are collinear, connect the first rotor (101) and the second rotor (102) respectively, and the first rotor and the second rotor are positive and negative paddles respectively; The main rotor fixing mechanism (104) connects the main rotor The driving device (103) is connected and fixed with the body (7). 3. The multi-rotor aircraft according to claim 2, characterized in that the first rotor (101) of each main rotor system has the same geometric dimension, and the second rotor (102) has the same geometric dimension; the first rotor (101) and The shape of the second rotor (102) is similar, and the ratio of the geometric dimension between the first rotor (101) and the second rotor (102) is 1.0-1.1. 4. The multi-rotor aircraft according to claim 1, further comprising two auxiliary rotor systems; the two auxiliary rotor systems are respectively located on both sides of the x-axis, and their rotation axes are parallel to the x-axis. 5. The multi-rotor aircraft according to claim 4, characterized in that the auxiliary rotors of the auxiliary rotor system adopt double symmetrical airfoils. 6. multirotor aircraft according to claim 5, is characterized in that described auxiliary rotor system is made up of auxiliary rotor (501), auxiliary rotor driving device (502) and auxiliary rotor fixing mechanism (503), auxiliary rotor fixing mechanism ( 503) Connect and fix the auxiliary rotor drive device (502) with the body (7). 7. The multi-rotor aircraft according to claim 1, characterized in that the body (7) is spoke-shaped, net-shaped, or disc-shaped with a lift airfoil formed by a plurality of rods. 8. The multi-rotor aircraft according to claim 1, characterized in that the main rotor system and the auxiliary rotor system adopt a ducted propeller structure.

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