CN103332292A - 4+4 rotor craft respectively controlled by lift force and navigation - Google Patents
4+4 rotor craft respectively controlled by lift force and navigation Download PDFInfo
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- CN103332292A CN103332292A CN2013102398930A CN201310239893A CN103332292A CN 103332292 A CN103332292 A CN 103332292A CN 2013102398930 A CN2013102398930 A CN 2013102398930A CN 201310239893 A CN201310239893 A CN 201310239893A CN 103332292 A CN103332292 A CN 103332292A
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Abstract
The invention discloses a 4+4 rotor craft respectively controlled by lift force and navigation. The 4+4 rotor craft comprises an aircraft body, a lift force power pack, a control power pack and an avionics system; the lift force power pack comprises four large brushless motors and four large propellers, the control power pack comprises four small brushless motors and four small propellers; the avionics system comprises a battery pack, a control system, four large electronic speed controllers connected with the control system and four small electronic speed controllers; the four large brushless motors of the lift force power pack are used as lift force for driving the large propellers; under the instruction of the control system, the four small brushless motors are used for driving the four small propellers to take effect of stabilizing aircraft state and controlling flying in different rotate speeds. The flight height, posture and stable flight control of trajectory navigation of the multi-rotor aircraft are guaranteed through the respective lift force control and flight control.
Description
Technical field
The present invention relates to the 4+4 rotor craft of a kind of lift and the control of navigation branch, belong to the special device field.
Background technology
Present many rotors small-sized unmanned aircraft has quadruple screw propeller or six screw propeller small-sized unmanned aircrafts, and its 4 (or 6) screw propellers of this class unmanned rotary wing aircraft are simultaneously as the device of the lift of keeping aircraft weight with control attitude of flight vehicle and track.Because this class rotor craft does not have the wing of keeping lift and glide effect as aircraft, keeping lift is controlled by same screw propeller pulling force with the manipulation aircraft flight, therefore can produce automatic control contradiction and coupling situation, and cause flight unstable, even the aircraft upset can occur and fall.
Therefore, the present invention proposes a kind of new design, to solve the above-mentioned technical matters that exists.
Summary of the invention
The invention provides the 4+4 rotor craft of a kind of lift and the control of navigation branch, it can keep stable maintenance aircraft weight and lifting, can keep control aircraft flight with lift simultaneously with not conflicting.
The present invention adopts following technical scheme: a kind of lift and navigation divide the 4+4 rotor craft of control; comprise the aircraft body; the lift power pack; control power pack and avionics system; described aircraft body comprises fuselage; eight struts; alighting gear and back up ring; described eight struts comprise four short struts and four long struts; described lift power pack comprises four big brushless motors and four king bolt oars; described four big brushless motors are installed on respectively on four short struts; described control power pack comprises four little brushless motors and four minor spiral oars, and described four little brushless motors are installed on respectively on four long struts.
Described avionics system comprises battery pack, the control system that links to each other with battery pack, four big electronic governors and four little electronic governors of linking to each other with control system, described four big electronic governor mouths connect four big brushless motors respectively, described four little electronic governor mouths connect four little brushless motors respectively, four big brushless motors drive the power effect that hoists of four king bolt oars, and control system drives four minor spiral oars by four little brushless motors and plays the stable and flight control action of attitude of flight vehicle with different rotating speeds.
The present invention has following beneficial effect:
(1) lift of the present invention and navigation divide the lift control of the 4+4 rotor craft of control to separate execution with attitude of flight vehicle and TRAJECTORY CONTROL;
(2) lift of the present invention and navigation divide the 4+4 rotor craft of control efficient solution to conflict and the coupling situation with Navigation Control except lift control in the aircraft auto-flare system, can keep stable maintenance aircraft weight and lifting, can keep the ground automatic vehicle flight that do not conflict with lift simultaneously.
Description of drawings
Fig. 1 divides the 4+4 rotor craft overall pattern of control for lift of the present invention and navigation.
Fig. 2 is strut and 4+4 rotor arrangement plan in the 4+4 rotor craft of lift of the present invention and the control of navigation branch.
Fig. 3 divides the avionics system arrangement plan of the 4+4 rotor craft of control for lift of the present invention and navigation.
Fig. 4 divides avionics system and the power pack block diagram of the 4+4 rotor craft of control for lift of the present invention and navigation.
Fig. 5 divides the 4+4 rotor rotation direction scheme drawing of the 4+4 rotor craft of control for lift of the present invention and navigation.
Fig. 6 divides four big brushless motor lift and the gravitational equilibrium schematic diagram of the 4+4 rotor craft of control for lift of the present invention and navigation.
Fly schematic diagram before the little brushless motor realization of control symmetry of Fig. 7 for lift of the present invention and the 4+4 rotor craft of navigation branch control.
Wherein:
The 1-fuselage; The big brushless motor of 2-; The little brushless motor of 3-; 4-king bolt oar; 5-minor spiral oar; The 6-alighting gear; The 7-strut; The 8-back up ring; The 9-control system; The big electronic governor of 10-; The little electronic governor of 11-; The 12-battery pack.
The specific embodiment
Please refer to shown in Figure 1ly, lift of the present invention and navigation divide the 4+4 rotor craft of control to comprise aircraft body, lift power pack, control power pack and avionics system; Described aircraft body comprises fuselage 1, eight struts 7, alighting gear 6 and back up rings 8, and wherein eight struts 7 comprise four short struts and four long struts.Eight struts 7 are fixed on the aircraft center square box body fuselage 1, and back up ring 8 is connected in long pole point place, and alighting gear 6 is connected in both sides, fuselage 1 bottom.In order to guarantee to alleviate as far as possible body weight and to guarantee the structural strength of carrying, the making with carbon fiber composite material of fuselage, strut and alighting gear, the back up ring is to make hollow tubular with the kevlar resin composite material.
Please refer to Fig. 1 and in conjunction with shown in Figure 2, the lift power pack comprises that four big brushless motors 2 and 4, four big brushless motors 2 of four king bolt oars are installed on four short pole points respectively, being positioned at the aircraft center is little square four summits of the centre of form; The control power pack comprises that four little brushless motors 3 and 5, four little brushless motors 3 of four minor spiral oars are installed on four long strut outer ends respectively; Being positioned at the aircraft center is big square four summits of the centre of form, is the arm of force with long strut, has bigger control torque; Four little squares of big brushless motor and four big square positions of little brushless motor are for rotating 45.
Please refer to Fig. 3 and shown in Figure 4, lift of the present invention and navigation divide the avionics system of the 4+4 rotor craft of control to comprise battery pack 12, control system 9, four big electronic governors 10 and four little electronic governors 11 of linking to each other with control system 9, four big electronic governor 10 mouths connect 2, four little electronic governor 11 mouths of four big brushless motors respectively and connect four little brushless motors 3 respectively.Avionics system all is installed in the fuselage box body, and wherein control system 9 is installed in the box body center with battery pack 12, around four big electronic governors 10 and four little electronic governors 11 are installed in the box body.Control system 9 is made up of inertia, magnetic, air pressure, satellite navigation receiver multisensor and little process computer, can be according to prearranged altitude and flight path from the master control navigation flight.Battery pack 12 links to each other with control system 9, four big electronic governors 10, four little electronic governors 11 respectively, and control system 9 links to each other with four big electronic governors 10, four little electronic governors 11.Four big electronic governors 10 link to each other with four big brushless motors 2, and four little electronic governors 11 link to each other with four little brushless motors 3.Control system is controlled lift power pack and control power pack respectively.
Please refer to 4+4 rotor rotation direction and control principle shown in Figure 5, four little brushless motors of control power pack
,
,
,
, 2 forward rotation, 2 backward rotation wherein are set, with counteracting minor spiral oar reactive torque, and under the control system instruction, drive four minor spiral oars with different rotating speeds and play the stable and flight control action of attitude of flight vehicle; Four big brushless motors of lift power pack
,
,
,
, 2 forward rotation, 2 backward rotation wherein are set, offset king bolt oar reactive torque, and drive the power effect that hoists of king bolt oar.
Four big brushless motor lift and gravitational equilibrium principle as shown in Figure 6, by control system by four big electronic governors to four big brushless motors of lift power pack
,
,
,
Control realize the balance of lift and aircraft total weight; Control system is regulated simultaneously to four big brushless motor rotating speed sizes, to control the aircraft lifting or to hover.
Control and fly principle as shown in Figure 7 before symmetrical little brushless motor is realized, be in two little brushless motors and the minor spiral oar of symmetry, regulated both rotating speeds by little electronic governor by control system, because both pulling force vary in size, body slightly tilts, because the horizontal component T of both pulling force
3XWith T
1XDifference and produce horizontal onward impulse; In like manner, two other symmetrical little brushless motor and minor spiral oar are by the pulling force control that varies in size, to realize the flight of both line directions.
This lift control and the design that flight control separates have guaranteed the stabilized flight control of flying height, attitude and the track navigation of aircraft.
The above only is preferred implementation of the present invention, should be pointed out that for those skilled in the art, can also make some improvement under the prerequisite that does not break away from the principle of the invention, and these improvement also should be considered as protection scope of the present invention.
Claims (2)
1. a lift divides the 4+4 rotor craft of control with navigation; comprise the aircraft body; the lift power pack; control power pack and avionics system; it is characterized in that: described aircraft body comprises fuselage; eight struts; alighting gear and back up ring; described eight struts comprise four short struts and four long struts; described lift power pack comprises four big brushless motors and four king bolt oars; described four big brushless motors are installed on respectively on four short struts; described control power pack comprises four little brushless motors and four minor spiral oars, and described four little brushless motors are installed on respectively on four long struts.
2. lift as claimed in claim 1 and navigation divide the 4+4 rotor craft of control, it is characterized in that: described avionics system comprises battery pack, the control system that links to each other with battery pack, four big electronic governors and four little electronic governors of linking to each other with control system, described four big electronic governor mouths connect four big brushless motors respectively, described four little electronic governor mouths connect four little brushless motors respectively, four big brushless motors drive the power effect that hoists of four king bolt oars, and control system drives four minor spiral oars by four little brushless motors and plays the stable and flight control action of attitude of flight vehicle with different rotating speeds.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013102398930A CN103332292A (en) | 2013-06-18 | 2013-06-18 | 4+4 rotor craft respectively controlled by lift force and navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013102398930A CN103332292A (en) | 2013-06-18 | 2013-06-18 | 4+4 rotor craft respectively controlled by lift force and navigation |
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| Publication Number | Publication Date |
|---|---|
| CN103332292A true CN103332292A (en) | 2013-10-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013102398930A Pending CN103332292A (en) | 2013-06-18 | 2013-06-18 | 4+4 rotor craft respectively controlled by lift force and navigation |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103786869A (en) * | 2014-02-17 | 2014-05-14 | 沈阳金丰春航空科技有限公司 | Novel multi-rotor-wing glide vehicle plant protection machine |
| CN106956769A (en) * | 2017-03-23 | 2017-07-18 | 南京航空航天大学 | It is a kind of can quick covert multi-rotor aerocraft |
| CN109153445A (en) * | 2016-02-17 | 2019-01-04 | 雅顿技术有限公司 | Multi-rotor aerocraft with different purposes propellers |
| CN111776197A (en) * | 2020-06-08 | 2020-10-16 | 宁波诺丁汉大学 | Propeller stable speed regulation unmanned aerial vehicle and control method thereof |
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| CN101992854A (en) * | 2010-11-03 | 2011-03-30 | 中国科学院长春光学精密机械与物理研究所 | Foldable six-axis multi-rotor aircraft |
| CN102490897A (en) * | 2011-12-19 | 2012-06-13 | 李玉杰 | Multi-driving embedded rotor manned helicopter |
| CN102501967A (en) * | 2011-11-09 | 2012-06-20 | 中国科学院长春光学精密机械与物理研究所 | Multi-rotor aircraft |
| CN102514711A (en) * | 2011-12-02 | 2012-06-27 | 叶洪新 | Multi-rotor fuel-electric hybrid aircraft |
| CN102935892A (en) * | 2012-11-20 | 2013-02-20 | 吉林大学 | Multi-duct aircraft |
-
2013
- 2013-06-18 CN CN2013102398930A patent/CN103332292A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101992854A (en) * | 2010-11-03 | 2011-03-30 | 中国科学院长春光学精密机械与物理研究所 | Foldable six-axis multi-rotor aircraft |
| CN102501967A (en) * | 2011-11-09 | 2012-06-20 | 中国科学院长春光学精密机械与物理研究所 | Multi-rotor aircraft |
| CN102514711A (en) * | 2011-12-02 | 2012-06-27 | 叶洪新 | Multi-rotor fuel-electric hybrid aircraft |
| CN102490897A (en) * | 2011-12-19 | 2012-06-13 | 李玉杰 | Multi-driving embedded rotor manned helicopter |
| CN102935892A (en) * | 2012-11-20 | 2013-02-20 | 吉林大学 | Multi-duct aircraft |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103786869A (en) * | 2014-02-17 | 2014-05-14 | 沈阳金丰春航空科技有限公司 | Novel multi-rotor-wing glide vehicle plant protection machine |
| CN109153445A (en) * | 2016-02-17 | 2019-01-04 | 雅顿技术有限公司 | Multi-rotor aerocraft with different purposes propellers |
| US11807356B2 (en) | 2016-02-17 | 2023-11-07 | SIA InDrones | Multicopter with different purpose propellers |
| CN106956769A (en) * | 2017-03-23 | 2017-07-18 | 南京航空航天大学 | It is a kind of can quick covert multi-rotor aerocraft |
| CN111776197A (en) * | 2020-06-08 | 2020-10-16 | 宁波诺丁汉大学 | Propeller stable speed regulation unmanned aerial vehicle and control method thereof |
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Application publication date: 20131002 |