CN102951290A - Non-co-axial multi-rotor aircraft and attitude control method thereof - Google Patents
Non-co-axial multi-rotor aircraft and attitude control method thereof Download PDFInfo
- Publication number
- CN102951290A CN102951290A CN2012104297094A CN201210429709A CN102951290A CN 102951290 A CN102951290 A CN 102951290A CN 2012104297094 A CN2012104297094 A CN 2012104297094A CN 201210429709 A CN201210429709 A CN 201210429709A CN 102951290 A CN102951290 A CN 102951290A
- Authority
- CN
- China
- Prior art keywords
- rotor
- power system
- pitch
- rotation
- assemblies
- 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
Images
Landscapes
- Transmission Devices (AREA)
Abstract
The present invention relates to a non-co-axial multi-rotor aircraft, which comprises an aircraft body, a power system, a transmission system, a flying control system, and 2N rotor components, wherein N is more than or equal to 2, the power system drives the rotor component to rotate through the transmission system, the flying control system controls the power system to work, every rotor component comprises a rotor and a blade pitch driving mechanism for changing a rotor blade pitch, the flying control system is provided for controlling works of every blade pitch driving mechanism, the transmission system comprises N forward direction transmission mechanisms and N reverse direction transmission mechanisms, the forward direction transmission mechanisms and the reverse direction transmission mechanisms are sequentially and staggedly distributed, and the power system drives the rotors of the N rotor components to rotate along the same direction through the N forward direction transmission mechanisms. With the present invention, technical problems of single driving manner, low aircraft load, short flying time and the like due to application of rotor rotation speed changing to control an aircraft attitude by the existing multi-rotor aircraft are solved.
Description
Technical field
The invention belongs to the aeronautical product technical field, relate to the aircraft of a kind of multi-rotor aerocraft attitude control method and use the method.
Background technology
The control method of the multi-rotor aerocraft on the market all is to control attitude of flight vehicle by changing gyroplane rotate speed now, and there is following defective in such control method:
1. its rotor type of drive is applicable to motor-driven more, the multi-rotor aerocraft when being not easy to manufacture and design heavy lift, long boat.
2. be not easy to use the control of the type of drive except motor-driven, drive such as fuel oil.
Summary of the invention
Present multi-rotor aerocraft controls by changing gyroplane rotate speed that the type of drive that attitude of flight vehicle causes is single, aircraft load is little in order to solve, the technical matters such as short during boat, the invention provides a kind of multi-rotor aerocraft and attitude control method thereof.
Technical solution of the present invention is as follows:
A kind of non co axial class multi-rotor aerocraft comprises body, power system, driving system, flight control system, a 2N rotor assemblies, wherein N 〉=2; Described power system is rotated by the transmission system drives rotor assemblies, the work of described flight control system control power system; Its special character is:
Described each rotor assemblies comprises rotor and the pitch driver train that is used for changing the rotor pitch, and described flight control system is used for the work of each pitch driver train of control;
Described driving system comprises N forward transmission device and N the reverse drive mechanism that is interspersed successively; Described power system is passed through the rotor of a N forward transmission device driving N rotor assemblies along same direction rotation, the rotor that described power system drives an other N rotor assemblies by N reverse drive mechanism is along opposite spin, and the gyroplane rotate speed absolute value of a described 2N rotor assemblies equates.
Above-mentioned power system is engine installation and speed reduction gearing, and described engine installation is electrical motor or driving engine;
Described forward transmission device comprises transmission component, and described reverse drive mechanism comprises commutation assembly and the transmission component identical with the forward transmission device, and described transmission component is gear-driven assembly, belt drive component, shaft drive assembly or chain kit; Described commutation assembly is used for changing the relation that turns between speed reduction gearing output shaft and the transmission component input end;
The output shaft of described speed reduction gearing links to each other with the input end of the transmission component of all forward transmission devices respectively, links to each other with the input end of the transmission component of all reverse drive mechanisms respectively by the commutation assembly simultaneously.
Above-mentioned power system also comprises power-transfer clutch, and described power-transfer clutch is arranged between the driving engine of power system and the speed reduction gearing or is arranged between power system and the driving system.
A kind of non co axial class multi-rotor aerocraft comprises body, a 2N power system, flight control system, a 2N rotor assemblies, wherein N 〉=2; Described power system drives corresponding rotor assemblies and rotates, the work of described flight control system control power system; Its special character is:
Described each rotor assemblies comprises rotor and the pitch driver train that is used for changing the rotor pitch, and described flight control system is used for the work of each pitch driver train of control;
The rotor of a described N power system driving N rotor assemblies is along same direction rotation, the rotor of N rotor assemblies of described other N reverse power system drive is along opposite spin, the hand of rotation of the rotor of described arbitrary neighborhood is opposite, and the gyroplane rotate speed absolute value of a described 2N rotor assemblies equates.
Above-mentioned power system is engine installation and speed reduction gearing, and described engine installation is electrical motor or driving engine;
The output shaft of described speed reduction gearing links to each other with the axle drive shaft of corresponding rotor respectively;
Described power system also comprises power-transfer clutch, and described power-transfer clutch is arranged between the driving engine of power system and the speed reduction gearing or is arranged between power system and the rotor assemblies.
A kind of non co axial class multi-rotor aerocraft comprises body, a N power system, driving system, flight control system, a 2N rotor assemblies, wherein N 〉=2; Described power system is rotated by the transmission system drives rotor assemblies, the work of described flight control system control power system; Its special character is:
Described each rotor assemblies comprises rotor and the pitch driver train that is used for changing the rotor pitch, and described flight control system is used for the work of each pitch driver train of control;
Described driving system comprises forward transmission device and the reverse drive mechanism that the diagonal angle arranges; Described power system is arranged on the centre of forward transmission device and reverse drive mechanism, described power system drives the rotor wing rotation of a rotor assemblies by the forward transmission device, this power system drives the rotor wing rotation of the another one rotor assemblies of diagonal angle setting by reverse drive mechanism, the hand of rotation of the rotor of described arbitrary neighborhood is opposite, and the gyroplane rotate speed absolute value of a described 2N rotor assemblies equates.
Above-mentioned power system is engine installation and speed reduction gearing, and described engine installation is electrical motor or driving engine;
Described forward transmission device comprises transmission component, and described reverse drive mechanism comprises commutation assembly and the transmission component identical with the forward transmission device, and described transmission component is gear-driven assembly, belt drive component, shaft drive assembly or chain kit; Described commutation assembly is used for changing the relation that turns between speed reduction gearing output shaft and the transmission component input end;
The output shaft of described speed reduction gearing links to each other with the input end of the transmission component of all forward transmission devices respectively, links to each other with the input end of the transmission component of all reverse drive mechanisms respectively by the commutation assembly simultaneously.
Above-mentioned power system also comprises power-transfer clutch, and described power-transfer clutch is arranged between the driving engine of power system and the speed reduction gearing or is arranged between power system and the driving system.
A kind of attitude control method of non co axial class multi-rotor aerocraft, its special character is: may further comprise the steps:
1] fuel engines of multi-rotor aerocraft drives at least that 2N rotor rotates with rotating speed, makes multi-rotor aerocraft be in flight or floating state, N wherein 〉=2;
2] flight control system is controlled attitude of flight vehicle in the following way:
2.1] the control step of the attitude of hovering is as follows:
2.1.1] make the rotating speed of all rotors identical, the hand of rotation of adjacent rotor is opposite;
2.1.2] make the pitch of all rotors identical;
2.2] the control step of rising attitude is as follows:
2.2.1] make the rotating speed of all rotors identical, the hand of rotation of adjacent rotor is opposite;
2.2.2] make all rotors increase simultaneously the blade angle of identical rotor;
2.3] the control step of descend attitude is as follows:
2.3.1] make the rotating speed of all rotors identical, the hand of rotation of adjacent rotor is opposite;
2.3.2] make all rotors reduce simultaneously the blade angle of identical rotor;
2.4] the control step of pitch attitude is as follows:
2.4.1] make the rotating speed of all rotors identical, the hand of rotation of adjacent rotor is opposite;
2.4.2] to make the rotor blade angle of the rotor pitch that is positioned at X-axis one side and X-axis opposite side produce pitch poor, the pitch of X-axis the same side rotor is identical;
2.5] the control step of roll attitude is as follows:
2.5.1] make the rotating speed of all rotors identical, the hand of rotation of adjacent rotor is opposite;
2.5.2] to make the rotor pitch of the rotor pitch that is positioned at Y-axis one side and Y-axis opposite side produce pitch poor, the pitch of Y-axis the same side rotor is identical;
2.6] the control step of yaw attitude is as follows:
2.6.1] make the rotating speed of all rotors identical, the hand of rotation of adjacent rotor is opposite;
2.6.2] pitch of all identical rotors of same diagonal line hand of rotation is increased simultaneously and to produce pitch poor with opposite hand of rotation, namely the pitch of opposite hand of rotation is constant or reduce.
The quantity of above-mentioned driving engine is that one, N platform or quantity are consistent and corresponding one by one with the quantity of rotor.
Beneficial effect of the present invention:
1, non co axial class multi-rotor aerocraft of the present invention, each gyroplane rotate speed of aircraft is identical making, under the opposite condition of adjacent gyroplane rotate speed, adjust attitude of flight vehicle by control rotor pitch, overcome at present by gyroplane rotate speed carry out that the type of drive that attitude of flight vehicle control causes is single, aircraft load is little, the technical matters such as short during boat.
2, the attitude control method of non co axial class multi-rotor aerocraft of the present invention makes the rotating speed of all rotors identical, and the hand of rotation of adjacent rotor is opposite; The rotating speed of rotor is by the same passage control of control system and keep that rotating speed is identical all the time.Each rotor all can independently be controlled the rotor pitch, changes lift by the control pitch, and then can realize six-degree-of-freedom posture and the motion control of aircraft.
Description of drawings
Fig. 1 is the pulp distance varying mechanism scheme drawing;
Fig. 2 is the rotor assemblies structural scheme of mechanism of variablepiston;
Fig. 3 is the rotor distributed architecture figure of quadrotor;
Fig. 4 is the rotor wing rotation scheme drawing of quadrotor;
Fig. 5 is the rotor constitution diagram that quadrotor is in perpendicular attitude control;
Fig. 6 is the rotor constitution diagram that quadrotor is in pitching/roll attitude control;
Fig. 7 is the rotor constitution diagram that quadrotor is in yaw attitude control;
The specific embodiment
A kind of multi-rotor aerocraft comprises body, flight control system, is installed on power-driven system and 2N rotor assemblies on the body, N 〉=2 wherein, and rotor assemblies is installed on the body top and is distributed on the circumference centered by frame.
Power train comprises power splitting mechanism and the reversing device that is arranged between speed reduction gearing and the rotor assemblies, and the quantity of power splitting mechanism is consistent with the quantity of rotor assemblies, and the quantity of reversing device is half of rotor assemblies quantity; The power that power splitting mechanism is exported speed reduction gearing according to the attitude control signal of flight control system directly is dispensed to corresponding rotor assemblies or is redistributed to adjacent rotor assemblies by reversing device,
Speed reduction gearing is used for the rotating speed of driving engine output is reduced, the output speed of speed reduction gearing passes to the rotor assemblies of a plurality of variablepistons by a plurality of Power trains, Power train is divided into positive power transmission device and reverse power transmission mechanism, the rotating speed of positive power transmission device output and the output speed of speed reduction gearing are in the same way, the rotating speed of reverse power transmission device output and the output speed of speed reduction gearing oppositely to, reverse drive mechanism and forward transmission device interval arrange, and Power train can pass through transmission shaft 2 transmissions.
Each rotor assemblies includes a feather assembly 3, and the input end of feather assembly 3 is connected with flight control system, and mouth is connected with rotor.
Flight control system comprises servomechanism (comprising pitch, throttle), multiple sensors (comprising rotating speed, barometric height, GPS, airspeed sensor), based on the MEMS(micro mechanical system) Inertial Measurement Unit three-axis attitude IMU, triaxial accelerometer, three number of axle word compass, attitude control computing machine, navigation control computer.The wireless communication data link comprises that line number passes up and down, figure conducts electricity platform and transmit receive antenna system; Also comprise ground station and remote controller.
Aircraft can carry the various mission payloads that can be used for the aircraft carry, such as imaging devices such as visible light, infrared, synthetic aperture radar; Agricultural chemicals, chemical fertilizer, electronic jamming device, communication trunking; Various weaponrys that can be used for the aircraft carry etc.
In order to understand more clearly the attitude control method of multi-rotor aerocraft, below with reference to description of drawings, (by mechanical drive engine power is passed to four rotors synchronously, make their constant speed rotations) as an example of 1 engine drive of four rotors example.
Such as Fig. 4, at first four rotors 1 are divided into two groups of cw and conter clockwises, be positioned at same cornerwise two rotors on the same group, i.e. rotor 1,3 one groups, 2,4 one groups.The rotating speed of four rotors is by the same passage control of control system and keep that rotating speed is identical all the time.Four rotors all can independently be controlled the rotor pitch.Change lift by four rotor control pitches, and then can realize six-degree-of-freedom posture and the motion control of aircraft.
As shown in Figure 5, under certain rotating speed, when four rotor pitches were identical, anti-twisted power was cancelled out each other in twos, and aircraft can hover; Increase simultaneously or reduce the pitch angle and can realize aircraft vertical uplift, descending motion.
As shown in Figure 6, under certain rotating speed, only rotor 1 increases pitch, and rotor 3 pitches are constant or reduce, and then aircraft produces the luffing around Y-axis, and the translation that can produce respective direction, and vice versa.
Under certain rotating speed, only rotor 2 increases pitches, and rotor 4 pitches are constant or reduce, and then aircraft produces the rolling movement around X-axis, and the translation that can produce respective direction, and vice versa.
As shown in Figure 7, under certain rotating speed, equivalent increases or reduces same group of rotor pitch, such as: rotor (1,3) increases simultaneously, and rotor (2,4) pitch is constant or reduce, then aircraft causes yawing rotation around Z axis because producing anti-twisted power, vice versa.
This feather is controlled the attitude of many rotors and the method for motion, is applicable to cross layout quadrotor.By the coupling control algorithm of different rotors also being applicable to the quadrotor of X-type layout, the while can expand to and comprise three rotors, six rotors, eight rotors ... on the aircraft of the layouts such as N rotor.
As use two engine drives, then drive same cornerwise on the same group rotor with a driving engine by mechanical drive respectively.Need simultaneously to use two groups of tachogens to monitor respectively the rotating speed of these two groups of rotors, and adjust the throttle amount so that two groups of rotors keep same rotational speed by control loop.
As use the aircraft of four and above many rotor-hub configuration of engine drive, then (can directly be driven by rotor of an engine drive respectively, also can be driven by mechanical drive), need simultaneously to each rotor tachogen to be installed and monitor this gyroplane rotate speed, so and adjust the throttle amount so that rotor keeps same rotational speed by control loop.
This kind variable pitch control method also is applicable to electric motor driven multi-rotor aerocraft.For the control signal of this type of multi-rotor aerocraft, can be by generations such as remote control receiver or flight control computers.
Rotor among the present invention also becomes screw propeller.
Claims (10)
1. a non co axial class multi-rotor aerocraft comprises body, power system, driving system, flight control system, a 2N rotor assemblies, wherein N 〉=2; Described power system is rotated by the transmission system drives rotor assemblies, the work of described flight control system control power system;
It is characterized in that:
Described each rotor assemblies comprises rotor and the pitch driver train that is used for changing the rotor pitch, and described flight control system is used for the work of each pitch driver train of control;
Described driving system comprises N forward transmission device and N the reverse drive mechanism that is interspersed successively; Described power system is passed through the rotor of a N forward transmission device driving N rotor assemblies along same direction rotation, the rotor that described power system drives an other N rotor assemblies by N reverse drive mechanism is along opposite spin, and the gyroplane rotate speed absolute value of a described 2N rotor assemblies equates.
2. non co axial class multi-rotor aerocraft according to claim 1 is characterized in that:
Described power system is engine installation and speed reduction gearing, and described engine installation is electrical motor or driving engine;
Described forward transmission device comprises transmission component, and described reverse drive mechanism comprises commutation assembly and the transmission component identical with the forward transmission device, and described transmission component is gear-driven assembly, belt drive component, shaft drive assembly or chain kit; Described commutation assembly is used for changing the relation that turns between speed reduction gearing output shaft and the transmission component input end;
The output shaft of described speed reduction gearing links to each other with the input end of the transmission component of all forward transmission devices respectively, links to each other with the input end of the transmission component of all reverse drive mechanisms respectively by the commutation assembly simultaneously.
3. non co axial class multi-rotor aerocraft according to claim 2, it is characterized in that: described power system also comprises power-transfer clutch, described power-transfer clutch is arranged between the driving engine of power system and the speed reduction gearing or is arranged between power system and the driving system.
4. a non co axial class multi-rotor aerocraft comprises body, a 2N power system, flight control system, a 2N rotor assemblies, wherein N 〉=2; Described power system drives corresponding rotor assemblies and rotates, the work of described flight control system control power system;
It is characterized in that:
Described each rotor assemblies comprises rotor and the pitch driver train that is used for changing the rotor pitch, and described flight control system is used for the work of each pitch driver train of control;
The rotor of a described N power system driving N rotor assemblies is along same direction rotation, the rotor of N rotor assemblies of described other N reverse power system drive is along opposite spin, the hand of rotation of the rotor of described arbitrary neighborhood is opposite, and the gyroplane rotate speed absolute value of a described 2N rotor assemblies equates.
5. non co axial class multi-rotor aerocraft according to claim 4 is characterized in that:
Described power system is engine installation and speed reduction gearing, and described engine installation is electrical motor or driving engine;
The output shaft of described speed reduction gearing links to each other with the axle drive shaft of corresponding rotor respectively;
Described power system also comprises power-transfer clutch, and described power-transfer clutch is arranged between the driving engine of power system and the speed reduction gearing or is arranged between power system and the rotor assemblies.
6. a non co axial class multi-rotor aerocraft comprises body, a N power system, driving system, flight control system, a 2N rotor assemblies, wherein N 〉=2; Described power system is rotated by the transmission system drives rotor assemblies, the work of described flight control system control power system;
It is characterized in that:
Described each rotor assemblies comprises rotor and the pitch driver train that is used for changing the rotor pitch, and described flight control system is used for the work of each pitch driver train of control;
Described driving system comprises forward transmission device and the reverse drive mechanism that the diagonal angle arranges; Described power system is arranged on the centre of forward transmission device and reverse drive mechanism, described power system drives the rotor wing rotation of a rotor assemblies by the forward transmission device, this power system drives the rotor wing rotation of the another one rotor assemblies of diagonal angle setting by reverse drive mechanism, the hand of rotation of the rotor of described arbitrary neighborhood is opposite, and the gyroplane rotate speed absolute value of a described 2N rotor assemblies equates.
7. non co axial class multi-rotor aerocraft according to claim 6 is characterized in that:
Described power system is engine installation and speed reduction gearing, and described engine installation is electrical motor or driving engine;
Described forward transmission device comprises transmission component, and described reverse drive mechanism comprises commutation assembly and the transmission component identical with the forward transmission device, and described transmission component is gear-driven assembly, belt drive component, shaft drive assembly or chain kit; Described commutation assembly is used for changing the relation that turns between speed reduction gearing output shaft and the transmission component input end;
The output shaft of described speed reduction gearing links to each other with the input end of the transmission component of all forward transmission devices respectively, links to each other with the input end of the transmission component of all reverse drive mechanisms respectively by the commutation assembly simultaneously.
8. non co axial class multi-rotor aerocraft according to claim 7, it is characterized in that: described power system also comprises power-transfer clutch, described power-transfer clutch is arranged between the driving engine of power system and the speed reduction gearing or is arranged between power system and the driving system.
9. the attitude control method of a non co axial class multi-rotor aerocraft is characterized in that: may further comprise the steps:
1] fuel engines of multi-rotor aerocraft drives at least that 2N rotor rotates with rotating speed, makes multi-rotor aerocraft be in flight or floating state, N wherein 〉=2;
2] flight control system is controlled attitude of flight vehicle in the following way:
2.1] the control step of the attitude of hovering is as follows:
2.1.1] make the rotating speed of all rotors identical, the hand of rotation of adjacent rotor is opposite;
2.1.2] make the pitch of all rotors identical;
2.2] the control step of rising attitude is as follows:
2.2.1] make the rotating speed of all rotors identical, the hand of rotation of adjacent rotor is opposite;
2.2.2] make all rotors increase simultaneously the blade angle of identical rotor;
2.3] the control step of descend attitude is as follows:
2.3.1] make the rotating speed of all rotors identical, the hand of rotation of adjacent rotor is opposite;
2.3.2] make all rotors reduce simultaneously the blade angle of identical rotor;
2.4] the control step of pitch attitude is as follows:
2.4.1] make the rotating speed of all rotors identical, the hand of rotation of adjacent rotor is opposite;
2.4.2] to make the rotor blade angle of the rotor pitch that is positioned at X-axis one side and X-axis opposite side produce pitch poor, the pitch of X-axis the same side rotor is identical;
2.5] the control step of roll attitude is as follows:
2.5.1] make the rotating speed of all rotors identical, the hand of rotation of adjacent rotor is opposite;
2.5.2] to make the rotor pitch of the rotor pitch that is positioned at Y-axis one side and Y-axis opposite side produce pitch poor, the pitch of Y-axis the same side rotor is identical;
2.6] the control step of yaw attitude is as follows:
2.6.1] make the rotating speed of all rotors identical, the hand of rotation of adjacent rotor is opposite;
2.6.2] pitch of all identical rotors of same diagonal line hand of rotation is increased simultaneously and to produce pitch poor with opposite hand of rotation, namely the pitch of opposite hand of rotation is constant or reduce.
10. multi-rotor aerocraft attitude control method according to claim 9 is characterized in that: the quantity of described driving engine is that one, N platform or quantity are consistent and corresponding one by one with the quantity of rotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012104297094A CN102951290A (en) | 2012-10-31 | 2012-10-31 | Non-co-axial multi-rotor aircraft and attitude control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012104297094A CN102951290A (en) | 2012-10-31 | 2012-10-31 | Non-co-axial multi-rotor aircraft and attitude control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102951290A true CN102951290A (en) | 2013-03-06 |
Family
ID=47760799
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012104297094A Pending CN102951290A (en) | 2012-10-31 | 2012-10-31 | Non-co-axial multi-rotor aircraft and attitude control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102951290A (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103231802A (en) * | 2013-04-17 | 2013-08-07 | 华南农业大学 | Y-type non-coaxial multi-rotor aircraft |
| CN103287576A (en) * | 2013-05-24 | 2013-09-11 | 北京航空航天大学 | Tailless layout single tail seat type vertical take-off and landing aircraft |
| CN103434643A (en) * | 2013-07-12 | 2013-12-11 | 国家电网公司 | Hexa-rotor aircraft |
| CN103552686A (en) * | 2013-10-21 | 2014-02-05 | 北京航空航天大学 | Combined type ducted aerial reconnaissance robot |
| CN103754361A (en) * | 2014-01-10 | 2014-04-30 | 江苏艾锐泰克无人飞行器科技有限公司 | Vertical take-off and landing unmanned aerial vehicle |
| CN103754359A (en) * | 2014-01-23 | 2014-04-30 | 江苏艾锐泰克无人飞行器科技有限公司 | Multi-axial aircraft |
| CN103786888A (en) * | 2014-01-17 | 2014-05-14 | 江苏艾锐泰克无人飞行器科技有限公司 | Variable-pitch aircraft |
| CN103950537A (en) * | 2014-05-13 | 2014-07-30 | 江苏艾锐泰克无人飞行器科技有限公司 | Control method and device of variable pitch aircraft |
| CN104139860A (en) * | 2014-04-23 | 2014-11-12 | 李晓宇 | Multi-shaft rotor aircraft and transmission mechanism thereof |
| CN104309802A (en) * | 2014-10-21 | 2015-01-28 | 深圳大学 | Fuel power quadrotor unmanned aerial vehicle |
| CN104494820A (en) * | 2014-12-18 | 2015-04-08 | 国家电网公司 | Oil-driven four-rotor-wing unmanned aerial vehicle |
| CN104875881A (en) * | 2015-05-26 | 2015-09-02 | 苏州绿农航空植保科技有限公司 | Central plate structure of multi-rotor craft |
| CN105383691A (en) * | 2015-12-24 | 2016-03-09 | 上海埃威航空电子有限公司 | Motor used for multi-rotor-wing unmanned aerial vehicle power device |
| CN105398570A (en) * | 2015-11-26 | 2016-03-16 | 北京浩恒征途航空科技有限公司 | Oil-operated multi- rotor aerocraft |
| CN105644782A (en) * | 2014-11-14 | 2016-06-08 | 陕西飞机工业（集团）有限公司 | Method and layout for stable vertical take-off and landing of unmanned aerial vehicle |
| CN105775114A (en) * | 2016-03-14 | 2016-07-20 | 北京航空航天大学 | Variable-incidence multi-degree-of-freedom agile flight unmanned rotorcraft |
| CN108473198A (en) * | 2015-09-03 | 2018-08-31 | 乔伊·音·陈 | More rotor gyroplane aircraft |
| US10160538B2 (en) | 2013-05-31 | 2018-12-25 | SZ DJI Technology Co., Ltd. | Self-tightening rotor |
| CN110162933A (en) * | 2019-06-26 | 2019-08-23 | 上海交通大学 | The coaxial more rotor emulation modes of one kind and system |
| CN113353251A (en) * | 2021-08-09 | 2021-09-07 | 四川聚变未来航空科技有限公司 | Multi-rotor aircraft |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6467726B1 (en) * | 1999-06-29 | 2002-10-22 | Rokuro Hosoda | Aircraft and torque transmission |
| CN201592778U (en) * | 2009-12-25 | 2010-09-29 | 西安理工大学 | Aircraft capable of tilting and rotating through four rotary wings |
| CN101875399A (en) * | 2009-10-30 | 2010-11-03 | 北京航空航天大学 | Tilt rotor aircraft adopting parallel coaxial dual rotors |
| CN201932359U (en) * | 2011-01-21 | 2011-08-17 | 文杰 | Distributive power multi-rotor vertical take-off and landing aircraft |
| CN102490896A (en) * | 2011-12-27 | 2012-06-13 | 天津曙光敬业科技有限公司 | Variable-torque four-rotor aircraft with large load capacity |
| CN203094440U (en) * | 2012-10-31 | 2013-07-31 | 西安韦德沃德航空科技有限公司 | Non-coaxial multi-rotor wing air vehicle |
-
2012
- 2012-10-31 CN CN2012104297094A patent/CN102951290A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6467726B1 (en) * | 1999-06-29 | 2002-10-22 | Rokuro Hosoda | Aircraft and torque transmission |
| CN101875399A (en) * | 2009-10-30 | 2010-11-03 | 北京航空航天大学 | Tilt rotor aircraft adopting parallel coaxial dual rotors |
| CN201592778U (en) * | 2009-12-25 | 2010-09-29 | 西安理工大学 | Aircraft capable of tilting and rotating through four rotary wings |
| CN201932359U (en) * | 2011-01-21 | 2011-08-17 | 文杰 | Distributive power multi-rotor vertical take-off and landing aircraft |
| CN102490896A (en) * | 2011-12-27 | 2012-06-13 | 天津曙光敬业科技有限公司 | Variable-torque four-rotor aircraft with large load capacity |
| CN203094440U (en) * | 2012-10-31 | 2013-07-31 | 西安韦德沃德航空科技有限公司 | Non-coaxial multi-rotor wing air vehicle |
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103231802A (en) * | 2013-04-17 | 2013-08-07 | 华南农业大学 | Y-type non-coaxial multi-rotor aircraft |
| CN103287576A (en) * | 2013-05-24 | 2013-09-11 | 北京航空航天大学 | Tailless layout single tail seat type vertical take-off and landing aircraft |
| US11267565B2 (en) | 2013-05-31 | 2022-03-08 | SZ DJI Technology Co., Ltd. | Self-tightening rotor |
| US10745119B2 (en) | 2013-05-31 | 2020-08-18 | SZ DJI Technology Co., Ltd. | Self-tightening rotor |
| US10196138B2 (en) | 2013-05-31 | 2019-02-05 | SZ DJI Technology Co., Ltd. | Self-tightening rotor |
| US10160538B2 (en) | 2013-05-31 | 2018-12-25 | SZ DJI Technology Co., Ltd. | Self-tightening rotor |
| CN103434643A (en) * | 2013-07-12 | 2013-12-11 | 国家电网公司 | Hexa-rotor aircraft |
| CN103552686B (en) * | 2013-10-21 | 2015-10-28 | 北京航空航天大学 | A kind of compound type duct aerial reconnaissance machine people |
| CN103552686A (en) * | 2013-10-21 | 2014-02-05 | 北京航空航天大学 | Combined type ducted aerial reconnaissance robot |
| CN103754361A (en) * | 2014-01-10 | 2014-04-30 | 江苏艾锐泰克无人飞行器科技有限公司 | Vertical take-off and landing unmanned aerial vehicle |
| CN103786888A (en) * | 2014-01-17 | 2014-05-14 | 江苏艾锐泰克无人飞行器科技有限公司 | Variable-pitch aircraft |
| CN103754359A (en) * | 2014-01-23 | 2014-04-30 | 江苏艾锐泰克无人飞行器科技有限公司 | Multi-axial aircraft |
| CN104139860A (en) * | 2014-04-23 | 2014-11-12 | 李晓宇 | Multi-shaft rotor aircraft and transmission mechanism thereof |
| CN103950537A (en) * | 2014-05-13 | 2014-07-30 | 江苏艾锐泰克无人飞行器科技有限公司 | Control method and device of variable pitch aircraft |
| CN104309802A (en) * | 2014-10-21 | 2015-01-28 | 深圳大学 | Fuel power quadrotor unmanned aerial vehicle |
| CN105644782A (en) * | 2014-11-14 | 2016-06-08 | 陕西飞机工业（集团）有限公司 | Method and layout for stable vertical take-off and landing of unmanned aerial vehicle |
| CN105644782B (en) * | 2014-11-14 | 2019-10-18 | 陕西飞机工业（集团）有限公司 | A kind of unmanned plane stablizes the method and layout of VTOL |
| CN104494820A (en) * | 2014-12-18 | 2015-04-08 | 国家电网公司 | Oil-driven four-rotor-wing unmanned aerial vehicle |
| CN104875881A (en) * | 2015-05-26 | 2015-09-02 | 苏州绿农航空植保科技有限公司 | Central plate structure of multi-rotor craft |
| CN108473198A (en) * | 2015-09-03 | 2018-08-31 | 乔伊·音·陈 | More rotor gyroplane aircraft |
| CN105398570A (en) * | 2015-11-26 | 2016-03-16 | 北京浩恒征途航空科技有限公司 | Oil-operated multi- rotor aerocraft |
| CN105383691B (en) * | 2015-12-24 | 2017-07-28 | 上海埃威航空电子有限公司 | Motor for multi-rotor unmanned aerial vehicle power set |
| CN105383691A (en) * | 2015-12-24 | 2016-03-09 | 上海埃威航空电子有限公司 | Motor used for multi-rotor-wing unmanned aerial vehicle power device |
| CN105775114A (en) * | 2016-03-14 | 2016-07-20 | 北京航空航天大学 | Variable-incidence multi-degree-of-freedom agile flight unmanned rotorcraft |
| CN110162933A (en) * | 2019-06-26 | 2019-08-23 | 上海交通大学 | The coaxial more rotor emulation modes of one kind and system |
| CN113353251A (en) * | 2021-08-09 | 2021-09-07 | 四川聚变未来航空科技有限公司 | Multi-rotor aircraft |
| CN113353251B (en) * | 2021-08-09 | 2021-12-28 | 四川聚变未来航空科技有限公司 | Multi-rotor aircraft |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102951290A (en) | Non-co-axial multi-rotor aircraft and attitude control method thereof | |
| CN203094440U (en) | Non-coaxial multi-rotor wing air vehicle | |
| CN100391790C (en) | Multi-rotor aerocraft | |
| CN102358420B (en) | Attitude transforming aircraft | |
| CN104176247A (en) | Four-rotor unmanned aerial vehicle with engine for directly driving rotor | |
| CN200951831Y (en) | Multi-rotor wing craft | |
| CN102126554A (en) | Unmanned air vehicle with multiple rotary wings in plane-symmetry layout | |
| CN103979105B (en) | A kind of vertical takeoff and landing adjustable wing aircraft | |
| CN105539833A (en) | Fixed-wing multi-shaft aircraft | |
| CN103979104B (en) | One can variant X-type wing vertical landing minute vehicle | |
| CN203780797U (en) | Double-motor variable-pitch multi-rotor aircraft | |
| CN103991539A (en) | Device for driving multiple rotors of airplane | |
| CN103552686B (en) | A kind of compound type duct aerial reconnaissance machine people | |
| CN104859854A (en) | Heavy-load low-structure-complexity double-coaxial-twin-rotor unmanned aerial vehicle | |
| CN104843177B (en) | Aircraft | |
| CN104139860A (en) | Multi-shaft rotor aircraft and transmission mechanism thereof | |
| CN105923147A (en) | Landing control method for unmanned aerial vehicle with fixed wings | |
| CN205076036U (en) | Aircraft | |
| CN103832584B (en) | A kind of with fixed wing, collapsible empennage to switch rotor aircraft | |
| CN201362363Y (en) | Saucer-shaped aircraft | |
| CN206243473U (en) | Multirotor helicopter power distribution system | |
| WO2017031946A1 (en) | Multi-shaft unmanned aircraft | |
| RU2539679C1 (en) | High-speed rotary-wing aircraft | |
| KR20180028193A (en) | A variable pitch-propeller dron with dual power source | |
| CN202491918U (en) | Fixed wing aircraft capable of vertically taking-off and landing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20130306 |