CN103359283A - High-reliability unmanned aerial vehicle with tilt rotors - Google Patents
High-reliability unmanned aerial vehicle with tilt rotors Download PDFInfo
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- CN103359283A CN103359283A CN2013102731488A CN201310273148A CN103359283A CN 103359283 A CN103359283 A CN 103359283A CN 2013102731488 A CN2013102731488 A CN 2013102731488A CN 201310273148 A CN201310273148 A CN 201310273148A CN 103359283 A CN103359283 A CN 103359283A
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Abstract
The invention discloses a high-reliability unmanned aerial vehicle with tilt rotors. The high-reliability unmanned aerial vehicle comprises a rack, wherein a flight control system is arranged at the center of the rack, the rack is a Y-shaped rack formed by abutting three same arms, and one group of electric power units which is electrically connected with the flight control system and can set angle by rotating is arranged at the end part of each arm. Each electric power unit comprises a motor base rotatably connected to the end part of each arm, a permanent magnet brushless direct current motor fixed on the motor base, a rotor connected to an output shaft of the permanent magnet brushless direct current motor, and a motor steering server which is connected to one side of the motor base and used for driving the motor base to rotate by taking the arm as a shaft, and the input ends of the permanent magnet brushless direct current motor and the motor steering server are electrically connected with the output end of the flight control system. The high-reliability unmanned aerial vehicle has a capacity of keeping the attitude stable after certain rotor fails, and is variable in structure, for example, a three-rotor horizontal structure can be converted into a dual-rotor vertical structure so that the projection area can be reduced, thereby being suitable for flight in a limited space.
Description
Technical field
The present invention relates to a kind of many rotor unmanned aircrafts.Particularly relate to a kind of high reliability tilting rotor unmanned vehicle.
Background technology
Multi-rotor aerocraft claims again Multi-rotor abroad, is a kind of aircraft with a plurality of screw propellers, and is different from traditional helicopter, and multi-rotor aerocraft is realized exercises by the speed that changes screw propeller.
Rotor craft with vertical takeoff and landing and hover capabilities, than traditional single-rotor helicopter, have simple in structure, safeguard that easily blade lethality is little, the characteristics of safety of operation.Not only bringing into play the effect that becomes more and more important in military field, also in disaster assistance, assessment, the hazardous environment investigation, a plurality of civil areas such as traffic tour and aerophotography are widely used.
Existing many rotor unmanned aircrafts, in the situation that arbitrary cover engine installation breaks down, all can't keep attitude stabilization and crash, can draw by simple probability calculation, the global reliability of multi-rotor aerocraft system is far below Fixed Wing AirVehicle and common single rotor craft, and this has limited the application of multi-rotor aerocraft greatly.For example, carry in the aerial mission of expensive device at needs, although multi-rotor aerocraft has plurality of advantages, still be excluded outside range of choice.
On the other hand, present many rotor unmanned aircrafts are fixed configuration, and the aircraft area is large, is unfavorable for flying at small space.
Summary of the invention
Technical matters to be solved by this invention is that a kind of high reliability tilting rotor unmanned vehicle that can greatly improve the multi-rotor aerocraft reliability is provided.
The technical solution adopted in the present invention is: a kind of high reliability tilting rotor unmanned vehicle, include frame, the center of described frame is provided with flight control system, the Y-shaped frame that described frame is comprised of three identical horn docking, the end of each horn arranges one group of electric-powered unit that is electrically connected and can rotates set angle with flight control system.
Also be provided with the take-off and landing device that when aircraft lands, has buffer action on described each horn.
Described electric-powered unit includes the motor cabinet that is connected to the horn end that can rotate, be fixed on permanent-magnet brushless DC electric machine and the rotor that is connected on the permanent-magnet brushless DC electric machine output shaft on the motor cabinet, and being connected to the motor steering servomechanism that motor cabinet one side is rotated take horn as axle for the drive motor seat, the input end of described permanent-magnet brushless DC electric machine and motor steering servomechanism is electrically connected the mouth of flight control system.
The blade of described rotor is symmetrical airfoil or asymmetric airfoil.
Described horn is hollow structure, and described hollow structure is built-in with flight control system and takes the wire that is connected between the permanent-magnet brushless DC electric machine in device and the electric-powered unit with the motor steering private respectively.
The center of the frame of described Y-shaped is fixedly installed center plate, and described flight control system is fixedly installed on the described center plate.
Described flight control system includes the flight control unit, the driver element for the permanent-magnet brushless DC electric machine that drives electric-powered unit that is connected with the signal output part of flight control unit, and link to each other with described driver element and to be used for providing the stored energy power battery of power supply, the motor steering private that the signal output part of described flight control unit also connects in the electric-powered unit takes device.
Described flight control unit includes treater, connects respectively inertia measuring module and the data transmit-receive module of treater, and the motor steering private that the output signal of described treater connects respectively in driver element and the electric-powered unit takes device.
A kind of high reliability tilting rotor unmanned vehicle of the present invention, by the control to each rotor tilt angle, after losing efficacy, a certain rotor has the ability that keeps attitude stabilization, the aircraft configuration is variable, as can be exchanged into the vertical configuration of the bispin wing from three rotor horizontal configuration, can reduce the aircraft area of conter, be more suitable in finite space, flying.The present invention has following beneficial effect:
1, greatly improved the multi-rotor aerocraft reliability, in the situation that there is one group of power unit to lose efficacy, rotate the excess power unit by servomechanism, switch behind the offline mode still can stable aircraft attitude, guarantee aircraft energy safe falling, thereby protected ground staff and airborne equipment;
2, when aircraft runs into narrow space and need to pass, also can switch to double dynamical unit flying method, thereby expand the range of use of multi-rotor aerocraft.
Description of drawings
Fig. 1 is integral structure schematic diagram of the present invention;
Fig. 2 is the schematic diagram of the present invention when being in two electric-powered unit configuration;
Fig. 3 is that flight control system of the present invention consists of block diagram.
1: frame 11: horn
12: electric-powered unit 121: motor cabinet
122: permanent-magnet brushless DC electric machine 123: rotor
124: motor steering servomechanism 2: flight control system
21: flight control unit 22: driver element
23: stored energy power battery 24: the motor steering private takes device
211: treater 212: inertia measuring module
213: data transmit-receive module
The specific embodiment
Below in conjunction with embodiment and accompanying drawing a kind of high reliability tilting rotor unmanned vehicle of the present invention is made a detailed description.
A kind of high reliability tilting rotor unmanned vehicle of the present invention, include frame 1, the center of described frame 1 is provided with flight control system 2, the Y-shaped frame that described frame 1 is comprised of 11 docking of three identical horns, the end of each horn 11 arranges one group of electric-powered unit 12 that is electrically connected and can rotates set angle with flight control system 2.Three electric-powered unit 12 form an equilateral triangle.Stability when guaranteeing that unmanned vehicle the road also is provided with the take-off and landing device 3 that has buffer action when aircraft lands on described each horn 11.
Described electric-powered unit 12 includes the motor cabinet 121 that is connected to horn 11 ends that can rotate take horn 11 as axle, be fixed on permanent-magnet brushless DC electric machine 122 and the rotor 123 that is connected on permanent-magnet brushless DC electric machine 122 output shafts on the motor cabinet 121, and being connected to the motor steering servomechanism 124 that motor cabinet 121 1 sides are rotated take horn 11 as axle for drive motor seat 121, the input end of described permanent-magnet brushless DC electric machine 122 and motor steering servomechanism 124 is electrically connected the mouth of flight control system 2.The blade of described rotor 123 is symmetrical airfoil or asymmetric airfoil.
Described horn 11 is hollow structure, described hollow structure be built-in with flight control system 2 respectively with motor steering servomechanism 124 and electric-powered unit 12 in permanent-magnet brushless DC electric machine 122 between be connected wire.Thereby make the complete machine outside not have wire, whole succinct, safety.
The center of the frame 1 of described Y-shaped is fixedly installed center plate 4, and described flight control system 2 is fixedly installed on the described center plate 4.Described flight control system 2 includes flight control unit 21, the driver element 22 for the permanent-magnet brushless DC electric machine 122 that drives electric-powered unit 12 that is connected with the signal output part of flight control unit 21, and link to each other with described driver element 22 and to be used for providing the stored energy power battery 23 of power supply, the motor steering private that the signal output part of described flight control unit 21 also connects in the electric-powered unit 12 takes device 124.
Wherein, can to adopt model be the driver module of Hobbywing Skywalker40A or ZTW AL30A or Align REC-BL35P to described driver element 22.
Concrete is that described flight control unit 21 includes treater 211, connect respectively inertia measuring module 212 and the data transmit-receive module 213 of treater 211, the motor steering private that the output signal of described treater 211 connects respectively in driver element 22 and the electric-powered unit 12 takes device 13.
Wherein, can to adopt model be the inertia measuring module of Xsens MTI or Crossbow NAV440 or VMsens VM-i to described inertia measuring module 212.Described treater 211 is to adopt model as the treater of STMicroelectronics STM32F103 or STMicroelectronics STM32F405 or Atmel ATmega2560-16AU.Described data transmit-receive module 213 is to adopt model as the module of YL-100IL or FY-602 or RSD-500T.
A kind of high reliability tilting rotor unmanned vehicle of the present invention, principle of work be: during normal flight, two in three electric-powered unit of unmanned vehicle are in same plane, another power unit rotates to an angle under the driving of motor steering servomechanism, realizes balance and the attitude control of moment of torsion; When one of three electric-powered unit et out of order, unmanned vehicle switches to two electric-powered unit flying method, by remaining the swing stabilized flight attitude of the electric-powered unit of two covers, makes the unmanned vehicle safe landing.When unmanned vehicle runs into narrow space and need to pass, also can switch to the flying method of two electric-powered unit.
Above-mentioned example only is for example clearly is described, and is not the restriction to embodiment, for those of ordinary skill in the field, can also make on the basis of the above description other multi-form variation or changes.Here need not also can't give all embodiments exhaustive.And the apparent variation of amplifying out thus or change still are among the protection domain of the invention.
Claims (8)
1. high reliability tilting rotor unmanned vehicle, include frame (1), it is characterized in that, the center of described frame (1) is provided with flight control system (2), the Y-shaped frame that described frame (1) is comprised of three identical horns (11) docking, the end of each horn (11) arrange one group of electric-powered unit (12) that is electrically connected and can rotates set angle with flight control system (2).
2. a kind of high reliability tilting rotor unmanned vehicle according to claim 1 is characterized in that, also is provided with the take-off and landing device (3) that has buffer action when aircraft lands on described each horn (11).
3. a kind of high reliability tilting rotor unmanned vehicle according to claim 1, it is characterized in that, described electric-powered unit (12) includes the motor cabinet (121) that is connected to horn (11) end that can rotate, be fixed on the permanent-magnet brushless DC electric machine (122) on the motor cabinet (121) and be connected to rotor (123) on permanent-magnet brushless DC electric machine (122) output shaft, and being connected to the motor steering servomechanism (124) that motor cabinet (121) one sides are rotated take horn (11) as axle for drive motor seat (121), the input end of described permanent-magnet brushless DC electric machine (122) and motor steering servomechanism (124) is electrically connected the mouth of flight control system (2).
4. a kind of high reliability tilting rotor unmanned vehicle according to claim 3 is characterized in that, the blade of described rotor (123) is symmetrical airfoil or asymmetric airfoil.
5. a kind of high reliability tilting rotor unmanned vehicle according to claim 1, it is characterized in that, described horn (11) is hollow structure, and described hollow structure is built-in with flight control system (2) and takes the wire that is connected between the permanent-magnet brushless DC electric machine (122) in device (124) and electric-powered unit (12) with the motor steering private respectively.
6. a kind of high reliability tilting rotor unmanned vehicle according to claim 1, it is characterized in that, the center of the frame of described Y-shaped (1) is fixedly installed center plate (4), and described flight control system (2) is fixedly installed on the described center plate (4).
7. a kind of high reliability tilting rotor unmanned vehicle according to claim 1, it is characterized in that, described flight control system (2) includes flight control unit (21), the driver element (22) for the permanent-magnet brushless DC electric machine (122) that drives electric-powered unit (12) that is connected with the signal output part of flight control unit (21), and link to each other with described driver element (22) and to be used for providing the stored energy power battery (23) of power supply, the motor steering private that the signal output part of described flight control unit (21) also connects in the electric-powered unit (12) takes device (124).
8. a kind of high reliability tilting rotor unmanned vehicle according to claim 7, it is characterized in that, described flight control unit (21) includes treater (211), connect respectively inertia measuring module (212) and the data transmit-receive module (213) of treater (211), the motor steering private that the output signal of described treater (211) connects respectively in driver element (22) and electric-powered unit (12) takes device (13).
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| CN2013102731488A CN103359283A (en) | 2013-06-29 | 2013-06-29 | High-reliability unmanned aerial vehicle with tilt rotors |
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| CN104626904A (en) * | 2015-02-24 | 2015-05-20 | 丁乃祥 | Multifunctional flying saucer |
| CN104802985A (en) * | 2015-04-30 | 2015-07-29 | 江苏数字鹰科技发展有限公司 | Variable axial multi-rotor aircraft and flight attitude adjustment method thereof |
| CN104843177A (en) * | 2015-04-30 | 2015-08-19 | 何春旺 | Aircraft |
| CN105292466A (en) * | 2015-11-06 | 2016-02-03 | 东莞华南设计创新院 | Differential motion vector propulsion servo system |
| CN105526923A (en) * | 2016-01-19 | 2016-04-27 | 昆明理工大学 | Mounting equipment for multi-rotor type aircraft |
| CN105797392A (en) * | 2014-12-27 | 2016-07-27 | 张向东 | A foldable tilted aeromodel support component |
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| CN107405527A (en) * | 2015-03-16 | 2017-11-28 | 艾克斯克拉夫特企业公司 | Unmanned vehicle with detachable computing device |
| CN107878752A (en) * | 2017-12-28 | 2018-04-06 | 四川建筑职业技术学院 | From steady wind resistance unmanned plane |
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| CN109116860A (en) * | 2018-08-29 | 2019-01-01 | 天津大学 | The nonlinear robust control method of three rotor wing unmanned aerial vehicles |
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| WO2020034137A1 (en) * | 2018-08-15 | 2020-02-20 | 东北大学 | Unmanned aerial vehicle-based four-axis tilt rotor mechanism and tilting method |
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| CN106005372A (en) * | 2016-07-01 | 2016-10-12 | 周小勇 | Four-rotor aircraft and control system thereof |
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| CN107878752A (en) * | 2017-12-28 | 2018-04-06 | 四川建筑职业技术学院 | From steady wind resistance unmanned plane |
| CN108945395A (en) * | 2018-07-25 | 2018-12-07 | 浙江大学 | Multivariant rotor system, the rotor system and unmanned plane for preventing kinking |
| WO2020034137A1 (en) * | 2018-08-15 | 2020-02-20 | 东北大学 | Unmanned aerial vehicle-based four-axis tilt rotor mechanism and tilting method |
| CN109116860A (en) * | 2018-08-29 | 2019-01-01 | 天津大学 | The nonlinear robust control method of three rotor wing unmanned aerial vehicles |
| CN109116860B (en) * | 2018-08-29 | 2022-05-03 | 天津大学 | Nonlinear robust control method for three-rotor unmanned aerial vehicle |
| CN110422326A (en) * | 2019-04-30 | 2019-11-08 | 李泽波 | A kind of course of new aircraft and its control method |
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Application publication date: 20131023 |