CN103640696B - Hang down and drop unmanned plane and control method thereof - Google Patents
Hang down and drop unmanned plane and control method thereof Download PDFInfo
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- CN103640696B CN103640696B CN201310643358.1A CN201310643358A CN103640696B CN 103640696 B CN103640696 B CN 103640696B CN 201310643358 A CN201310643358 A CN 201310643358A CN 103640696 B CN103640696 B CN 103640696B
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Abstract
The present invention relates to a kind of hanging down and drop unmanned plane and control method thereof. Hanging down and drop unmanned plane, including head propeller, fuselage, wing and empennage, head propeller is connected on nose engine, and the lower section of two wings is respectively symmetrically and is fixed with a wing and hangs electromotor, and the front that every wing hangs electromotor is connected to wing propeller. Hang down and drop the control method of unmanned plane, comprise the following steps: (1) obtains to hang down and drops the coordinate information that place is concrete; (2) based on the state of flight information of aircraft, flight path is divided into cruising flight, underriding acceleration, the new line that climbs, vertical ascent and decline four-stage; (3) the control loop that design is variable with flight path and flight attitude the two parameter, and the trajector deviation caused because of flow perturbation or control error is made correction immediately, exporting pneumatic control surface deflection controlled quentity controlled variable and each electromotor pulling force controlled quentity controlled variable, control aircraft completes whole hanging down and drops process. The present invention can make unmanned plane carry out vertical dropping, and improves serviceability and the ability to work of aircraft.
Description
Technical field
The present invention relates to unmanned flight's platform, specifically unmanned plane and control method thereof drop in a kind of hanging down, and belong to aeronautical engineering technical field.
Background technology
Vertical landing (referred to as " hang down and drop ") technology refers to that aircraft need not be slided and runs the technology just can landed. Generally, the landing modes of conventional airplane is that sliding race is landed, so needing runway. And hang down to dropping and refer mainly to aircraft and just can not can hang down in original place by runway and drop, it does not have the requirement to runway, so being always up the target of aviation personage pursuit.
The vertical technique functions that drops of conventional airplane starts from five sixties after World War II, and fears are entertained that, and airfield runway is caused damage to cause that conventional airplane cannot be set out by atomic warfare, thus has expedited the emergence of this aeronautical technology. Existing hang down the technology of dropping be used primarily in fighter plane (as the sparrow hawk formula of Britain, the Ya Ke of the Soviet Union, the U.S. F-35B etc.) and stunt model plane on, due to the difference of magnitude and task, the existing technology of dropping of hanging down can not be transplanted on all kinds of screw drawing-in type conventional airplane.
Screw drawing-in type normal arrangement unmanned plane, comprise head propeller, fuselage, wing and empennage etc., fuselage resistance is overcome to advance under the drawing in of nose engine, wing produces lift under incoming flow effect and overcomes gravity to fly, and completes the driftage of fuselage, upset, pitching etc. by the deflection of each pneumatic rudder face. Owing to task needs, this unmanned plane it is frequently necessary to some do not have enough spatial domains can as the environment of landing runway under work, so the demand that this type aircraft vertical drops technology is extremely urgent.
Summary of the invention
The present invention is directed to the problems referred to above, it is provided that a kind of runway vertical is dropped unmanned plane without what rely on when landing, additionally also provide for a kind of this and hang down and drop control method of unmanned plane.
According to technical scheme: unmanned plane drops in a kind of hanging down, including head propeller, fuselage, wing and empennage, described head propeller is connected on nose engine, the lower section of two described wings is respectively symmetrically and is fixed with a wing and hangs electromotor, and the front that every described wing hangs electromotor is connected to wing propeller.
Each electromotor adopts power-driven power system.
Described empennage includes tailplane and vertical tail.
The blade of described wing propeller is collapsed configuration with the wind.
Being provided with aspect in described fuselage and measure system, described aspect measures that system includes airborne anemobiagraph, rate gyroscope, accelerometer, magnetic heading take into account GPS sensor.
Hang down and drop the control method of unmanned plane, comprise the following steps:
(1) acquisition is hung down and is dropped the coordinate information that place is concrete;
(2) based on the state of flight information of aircraft, the flight path of aircraft is planned, flight path is divided into cruising flight, underriding acceleration, the new line that climbs, vertical ascent and decline four-stage;
Pack up to reduce resistance after cruising flight phase, the blade down wind of wing propeller;
At underriding boost phase, aircraft flies the region closely will landed, and starts the wing and hangs electromotor, dives and accelerate into overhead, region to be dropped;
In the new line stage of climbing, when there being enough lift more than needed to provide centripetal force, aircraft starts to climb and faces upward;
In vertical ascent and decline stage, in the process of facing upward, adjust rudder face in time when air speed direction becomes vertically upward, making airplane ascensional force is zero, thus centripetal force disappears, only exists the fuselage axial force being perpendicular to ground, aircraft moves along original direction, enters vertical ascent state; Then, adjusting each engine power makes aircraft rise then uniform descent again;
(3) the control loop that design is variable with flight path and flight attitude the two parameter, and the trajector deviation caused because of flow perturbation or control error is made correction immediately, exporting pneumatic control surface deflection controlled quentity controlled variable and each electromotor pulling force controlled quentity controlled variable, control aircraft completes whole hanging down and drops process.
Hang down and drop the concrete coordinate information in place for specifying in advance or gathering temporarily.
The method of interim coordinate acquisition information is: aircraft is arrived in by plane to be intended to hang down and dropped above place, determined the concrete optical information in place to be dropped by the optical imaging device on fuselage, and determined height by the laser range finder module on fuselage in conjunction with airborne air pressure and take into account GPS locating module and obtain place to be dropped and the concrete coordinate information of airframe.
The method have technical effect that: the present invention can make unmanned plane carry out vertical dropping, and reduces the aircraft requirement to runway, substantially increases serviceability and the ability to work of aircraft.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the track plot of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is further described.
In Fig. 1, hang electromotor 5, wing 6, tailplane 7, vertical tail 8 etc. including head propeller 1, nose engine 2, fuselage 3, wing propeller 4, the wing.
As it is shown in figure 1, be that unmanned plane drops in a kind of hanging down, body adopts screw drawing-in type normal arrangement, and including head propeller 1, fuselage 3, wing 6 and empennage, head propeller 1 is connected on nose engine 2, and empennage includes tailplane 7 and vertical tail 8. The present invention is respectively symmetrically in the lower section of two wings 6 and is fixed with a wing and hangs electromotor 5, and the front that every wing hangs electromotor 5 is connected to wing propeller 4, thus forming three propellers to draw in form.
Nose engine 2 mainly does cruising flight use, and two wings hang electromotor 5 and coordinate nose engine 2 to use when hanging down and dropping. During cruising flight, two wings hang electromotor 5 and close, and wing when dropping that hangs down hangs electromotor 5 and opens offer reinforcing, drops action by completing the control of electromotor and rudder face to hang down.
During cruising flight, the wing hangs electromotor 5 for deadweight, and the blade of wing propeller 4 adopts collapsed configuration with the wind, can reduce flight resistance, affects little on the flying quality of aircraft.
Each electromotor adopts power-driven power system.
Being provided with aspect in fuselage 3 and measure system, aspect measures that system includes airborne anemobiagraph, rate gyroscope, accelerometer, magnetic heading take into account GPS sensor.
The control method of unmanned plane drops in above-mentioned hanging down, and comprises the following steps:
(1) acquisition is hung down and is dropped the coordinate information that place is concrete. Hang down and drop the concrete coordinate information in place for specifying in advance or gathering temporarily.
The method of interim coordinate acquisition information is: aircraft is arrived in by plane to be intended to hang down and dropped above place, determined the concrete optical information in place to be dropped by the optical imaging device on fuselage, and determined height by the laser range finder module on fuselage in conjunction with airborne air pressure and take into account GPS locating module and obtain place to be dropped and the concrete coordinate information of airframe.
(2) based on the state of flight information of aircraft, the flight path of aircraft is planned, flight path is divided into cruising flight, underriding acceleration, the new line that climbs, vertical ascent and decline four-stage; As in figure 2 it is shown, the straight line 1 in figure represents that cruising flight phase, curve 2 represent underriding boost phase, curve 3 expression is climbed the new line stage, and straight line 4 represents vertical ascent and decline stage.
Pack up to reduce resistance after cruising flight phase, the blade down wind of wing propeller.
At underriding boost phase, aircraft flies the region closely will landed, and starts the wing and hangs electromotor, dives and accelerate into overhead, region to be dropped. Owing to the level speed of aircraft is generally relatively low, even if being also not enough to when adjusting rudder face and increasing airfoil lift coefficient produce enough lift more than needed to provide centripetal force, so accumulating rate need to be carried out by the mode dived. Now electromotor standard-sized sheet, is completely converted into aircraft kinetic energy by electromotor acting and gravitional force.
In the new line stage of climbing, when there being enough lift more than needed to provide centripetal force, aircraft starts to climb and faces upward. The change of the power being subject in the process that aircraft new line climbs is complicated, but can efficiently control trajector deviation by gesture stability. Need to ensure that when climbing speed is to ensure rudder effectiveness, when power and rudder effectiveness are satisfied by demand, by being can realize aircraft by the track flight set to the adjustment controlling rudder face and power. Climb in process, adjust rudder face when air speed direction becomes vertically upward in time so that airplane ascensional force is zero, thus centripetal force disappears, only existing the fuselage axial force being perpendicular to ground, aircraft moves along original direction, entering vertical ascent state, new line process of now climbing terminates.
In the vertical ascent stage, pneumatic rudder face must play maintenance fuselage and longitudinally make a concerted effort to be zero, and can immediately deflect the anti-body pitching of rudder face and roll under fitful wind effect. Adjusting each engine power makes full machine slow down the then uniform descent again that rises. First being aircraft, electromotor makes a concerted effort to should be less than fuselage gravity. Under downward acceleration effect, velocity attitude is from upwards becoming downwards, dropping aircraft in process owing to hanging down must be slow uniform descent (otherwise aircraft is likely to because quick washing sustains damage), itself and full machine gravitational equilibrium must being made by control engine power when rate gyroscope perceives when fuselage speed reaches rated value, dropping thus completing to hang down.
(3) the control loop that design is variable with flight path and flight attitude the two parameter, and the trajector deviation caused because of flow perturbation or control error is made correction immediately, exporting pneumatic control surface deflection controlled quentity controlled variable and each electromotor pulling force controlled quentity controlled variable, control aircraft completes whole hanging down and drops process.
The present invention can make unmanned plane carry out vertical dropping, and reduces the aircraft requirement to runway, substantially increases serviceability and the ability to work of aircraft; The present invention can apply on multiple normal arrangement screw drawing-in type aircraft, portable strong.
Claims (6)
1. one kind hang down unmanned plane drops, including head propeller (1), fuselage (3), wing (6) and empennage, described head propeller (1) is connected on nose engine (2), it is characterized in that: the lower section of two described wings (6) is respectively symmetrically and is fixed with a wing and hangs electromotor (5), the front that every described wing hangs electromotor (5) is connected to wing propeller (4); The blade of described wing propeller (4) is collapsed configuration with the wind; Described empennage includes tailplane (7) and vertical tail (8).
2. unmanned plane drops in vertical described in claim 1, it is characterized in that: each electromotor adopts power-driven power system.
3. unmanned plane drops in vertical described in claim 1, it is characterized in that: is provided with aspect in described fuselage (3) and measures system, and described aspect measures that system includes airborne anemobiagraph, rate gyroscope, accelerometer, magnetic heading take into account GPS sensor.
4. the vertical control method dropping unmanned plane described in claim 1, is characterized in that, comprise the following steps:
(1) acquisition is hung down and is dropped the coordinate information that place is concrete;
(2) based on the state of flight information of aircraft, the flight path of aircraft is planned, flight path is divided into cruising flight, underriding acceleration, the new line that climbs, vertical ascent and decline four-stage;
Pack up to reduce resistance after cruising flight phase, the blade down wind of wing propeller;
At underriding boost phase, aircraft flies the region closely will landed, and starts the wing and hangs electromotor, dives and accelerate into overhead, region to be dropped;
In the new line stage of climbing, when there being enough lift more than needed to provide centripetal force, aircraft starts to climb and faces upward;
In vertical ascent and decline stage, in the process of facing upward, adjust rudder face in time when air speed direction becomes vertically upward, making airplane ascensional force is zero, thus centripetal force disappears, only exists the fuselage axial force being perpendicular to ground, aircraft moves along original direction, enters vertical ascent state; Then, adjusting each engine power makes aircraft rise then uniform descent again;
(3) the control loop that design is variable with flight path and flight attitude the two parameter, and the trajector deviation caused because of flow perturbation or control error is made correction immediately, exporting pneumatic control surface deflection controlled quentity controlled variable and each electromotor pulling force controlled quentity controlled variable, control aircraft completes whole hanging down and drops process.
5. the vertical control method dropping unmanned plane described in claim 4, is characterized in that: hangs down and drops the concrete coordinate information in place for specifying in advance or gathering temporarily.
6. the vertical control method dropping unmanned plane described in claim 5, it is characterized in that: the method for interim coordinate acquisition information is: aircraft is arrived in by plane to be intended to hang down and dropped above place, determined the concrete optical information in place to be dropped by the optical imaging device on fuselage, and determined height by the laser range finder module on fuselage in conjunction with airborne air pressure and take into account GPS locating module and obtain place to be dropped and the concrete coordinate information of airframe.
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| CN201310643358.1A CN103640696B (en) | 2013-12-05 | 2013-12-05 | Hang down and drop unmanned plane and control method thereof |
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| CN201310643358.1A CN103640696B (en) | 2013-12-05 | 2013-12-05 | Hang down and drop unmanned plane and control method thereof |
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| CN103640696B true CN103640696B (en) | 2016-06-08 |
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| CN104015922B (en) * | 2014-04-11 | 2016-08-24 | 南京航空航天大学 | Wing body rotates and becomes aspect ratio unmanned vehicle |
| CN105923147B (en) * | 2016-06-07 | 2018-07-10 | 广东泰一高新技术发展有限公司 | A kind of fixed-wing unmanned plane landing control method |
| CN106043690B (en) * | 2016-07-29 | 2018-09-07 | 厦门南羽科技有限公司 | Fixed-wing unmanned plane stall hovering landing method and system |
| CN109383776A (en) * | 2017-08-02 | 2019-02-26 | 百润红科技有限公司 | H.D unmanned plane is determined with air pressure |
| CN108089594B (en) * | 2017-12-13 | 2020-11-27 | 王俊梅 | Unmanned aerial vehicle sight dead angle steering escape flight method |
| CN109255983A (en) * | 2018-09-29 | 2019-01-22 | 成都戎创航空科技有限公司 | Aircraft landing attitude rectification alarm system |
| CN111766888B (en) * | 2019-06-27 | 2024-09-24 | 北京京东乾石科技有限公司 | Aircraft-based control method and aircraft |
| CN115356935B (en) * | 2022-10-18 | 2023-01-10 | 北京理工大学 | Large airspace conversion flight strategy optimization method based on multi-stage variable shape |
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| ES2015827A6 (en) * | 1989-10-10 | 1990-09-01 | Del Campo Aguilera Juan | Remote-controlled equipment-carrying aircraft |
| US5340057A (en) * | 1991-11-20 | 1994-08-23 | Freewing Aerial Robotics Corporation | Thrust vectoring free wing aircraft |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE2736120A1 (en) * | 1976-08-14 | 1978-02-16 | Rolls Royce | AXIAL FAN, ESPECIALLY AS A PULLER FOR AIRCRAFT, WITH INCLUDING AND RELEASABLE COUPLING |
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|---|---|---|---|---|
| ES2015827A6 (en) * | 1989-10-10 | 1990-09-01 | Del Campo Aguilera Juan | Remote-controlled equipment-carrying aircraft |
| US5340057A (en) * | 1991-11-20 | 1994-08-23 | Freewing Aerial Robotics Corporation | Thrust vectoring free wing aircraft |
| CN201923320U (en) * | 2011-01-13 | 2011-08-10 | 杨苡 | Twin-engine vertical take-off and landing fixed-wing unmanned aerial vehicle |
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Address after: 213164 Jiangsu city of Changzhou province Wujin Fenglin national hi tech Industrial Development Zone, Road No. 199 Patentee after: New United Group Address before: 213164 Jiangsu city of Changzhou province were Wujin high tech Industrial Development Zone, Road No. 68 Patentee before: New United Group |
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Effective date of registration: 20190220 Address after: 213000 No. 199 Fenglin South Road, Wujin High-tech Industrial Development Zone, Changzhou City, Jiangsu Province Co-patentee after: Xinyu Defense Technology Co., Ltd. Patentee after: New United Group Co., Ltd. Address before: 213164 No. 199 Fenglin South Road, Wujin National High-tech Industrial Development Zone, Changzhou City, Jiangsu Province Patentee before: New United Group Co., Ltd. |
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