CN103935513B - The control method of many rotary wing changing distance aircraft and control setup - Google Patents
The control method of many rotary wing changing distance aircraft and control setup Download PDFInfo
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- CN103935513B CN103935513B CN201410201627.3A CN201410201627A CN103935513B CN 103935513 B CN103935513 B CN 103935513B CN 201410201627 A CN201410201627 A CN 201410201627A CN 103935513 B CN103935513 B CN 103935513B
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- 230000009471 action Effects 0.000 abstract description 18
- 238000009987 spinning Methods 0.000 abstract description 15
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
- B64C27/58—Transmitting means, e.g. interrelated with initiating means or means acting on blades
- B64C27/59—Transmitting means, e.g. interrelated with initiating means or means acting on blades mechanical
- B64C27/605—Transmitting means, e.g. interrelated with initiating means or means acting on blades mechanical including swash plate, spider or cam mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
- B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
- B64U30/296—Rotors with variable spatial positions relative to the UAV body
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/20—Transmission of mechanical power to rotors or propellers
- B64U50/27—Transmission of mechanical power to rotors or propellers with a single motor serving two or more rotors or propellers
Abstract
This application discloses the control setup of a kind of many rotary wing changings apart from aircraft, described aircraft comprises main part and drives the rotor assemblies of described main part, described rotor assemblies comprises the first rotor and the second rotor that are arranged alternately, described control setup comprises the first control stalk, the pitch that described control stalk controls described first rotor on the first moving direction increases, the pitch simultaneously controlling described second rotor reduces, the pitch that described first control stalk controls described first rotor on the second moving direction reduces, and the pitch simultaneously controlling described second rotor increases.Disclosed herein as well is the control method of a kind of many rotary wing changings apart from aircraft.Compared to existing multi-motor driving multi-rotor aerocraft, when carrying out spinning action, the load variations brought to motor of the present invention is softer, and the speed performing spinning action is faster more accurate.And the multiple motors comparing transmission scheme drive and carry out spinning action, and the present invention does not need the rotating speed frequently going to change each motor, therefore power saving more.
Description
Technical field
The application belongs to the field of taking photo by plane, and is specifically related to a kind of control method and control setup of many rotary wing changing distance aircraft.
Background technology
Each axle of the Multi-axis aircraft in existing technical scheme is by corresponding screw propeller and drive the motor of corresponding screw propeller to form.The attitude of aircraft flight keeps and maneuver controls each motor speed (rotation direction of each motor of existing Multi-axis aircraft is contrary in pairs, to offset spinning moment) respectively by flight control system to reach attitude of flight vehicle and action control.The attitude of vertically taking off and landing flyer comprises level, tilts.Maneuver comprises flat flying, and rises, and declines, spin (vertical axis around self Z axis, i.e. housing construction horizontal surface).The rise and fall action of Multi-axis aircraft the synchronization of all motors is promoted or declines to realize; The horizontal flight of aircraft is that the paired rotating speed official post aircraft that must increase by two motors on diagonal line keeps certain level lateral attitude cornerwisely to point to Low speed electric motor direction by pot motor along this and move and realize; Cw (conter clockwise) spin increases (minimizing) complete machine all cws (conter clockwise) rotary electric machine rotating speed simultaneously and minimizing (increase) complete machine all conter clockwises (cw) rotary electric machine rotating speed realizes simultaneously.Using the application force that the lift that each motor-driven screw propeller produces varies in size as, using the rotating speed of each motor as positive and negative moment one by one, controlling the attitude of aircraft and action is exactly that the size of the size and each moment constantly increasing and decreasing each application force realizes.
Existing multi-rotor aerocraft, in spin process, is that cw (conter clockwise) spin increases (minimizings) complete machine all cws (conter clockwise) rotary electric machine rotating speed simultaneously and minimizing (increase) complete machine all conter clockwises (cw) rotary electric machine rotating speed realizes simultaneously.When spinning, the motor speed rotated due to positive dirction increases, and reciprocal motor speed all reduces, in order to maintain the resultant lift of complete machine, the lift that the lift that rotating speed increases generation wants compensating rotational speed to reduce, if wish that spinning action is enough fast, then this speed discrepancy is larger, the motor load of now rotating speed increase is larger, and the mode of operation of this unexpected increase motor speed easily makes brushless model plane electrical machinery life shorten sooner, adds the fugitiveness of aircraft work.If consideration electrical machinery life, then cost is response and the responsiveness of the spin reducing aircraft.
Summary of the invention
Object of the present invention provides the control method of a kind of many rotary wing changing apart from aircraft and control setup, solve unmanned vehicle electrical machinery life in prior art short, react insensitive technical matters.
For achieving the above object, the invention provides following technical scheme:
The embodiment of the present application discloses the control method of a kind of many rotary wing changings apart from aircraft, described aircraft comprises main part and drives the rotor assemblies of described main part, described rotor assemblies comprises the first rotor and the second rotor that are arranged alternately, and the pitch of the pitch and/or the second rotor that change described first rotor realizes the spin of aircraft.
Preferably, at above-mentioned many rotary wing changings apart from the control method of aircraft, the pitch of described first rotor and the pitch of the second rotor change simultaneously, and wherein, when the pitch of described first rotor increases, the pitch of described second rotor reduces; When the pitch of described first rotor reduces, the pitch of described second rotor increases.
Preferably, at above-mentioned many rotary wing changings apart from the control method of aircraft, the pitch of described first rotor and/or the second rotor is changed to control the flight attitude of aircraft.
Preferably, at above-mentioned many rotary wing changings apart from the control method of aircraft, described rotor comprises the rotor S1, rotor S2, rotor S3 and the rotor S4 that are located at described main part surrounding successively in the counterclockwise direction, described rotor S1 and rotor S2 is positioned at the head of described aircraft, described rotor S3 and rotor S4 is positioned at the afterbody of described aircraft, described flight attitude comprises and flies forward, flies backward, flies left, flies to the right, climbs and decline, and wherein, the change of described flight attitude corresponding pitch is as follows:
Fly forward: the pitch of rotor S1 and rotor S2 reduces, the pitch of rotor S3 and rotor S4 increases simultaneously;
Fly backward: the pitch of rotor S1 and rotor S2 increases, the pitch of rotor S3 and rotor S4 reduces simultaneously;
Fly left: the pitch of rotor S2 and rotor S3 reduces, the pitch of rotor S1 and rotor S4 increases simultaneously;
Fly to the right: the pitch of rotor S2 and rotor S3 increases, the pitch of rotor S1 and rotor S4 reduces simultaneously;
Climb: the pitch of rotor S1, rotor S2, rotor S3 and rotor S4 increases simultaneously;
Decline: the pitch of rotor S1, rotor S2, rotor S3 and rotor S4 reduces simultaneously.
Preferably, at above-mentioned many rotary wing changings apart from the control method of aircraft, described aircraft comprises a motor, and described motor drives described all rotors to carry out synchronous axial system simultaneously.
The embodiment of the present application also discloses the control setup of a kind of many rotary wing changings apart from aircraft, described aircraft comprises main part and drives the rotor assemblies of described main part, described rotor assemblies comprises the first rotor and the second rotor that are arranged alternately, described control setup comprises the first control stalk, the pitch that described control stalk controls described first rotor on the first moving direction increases, the pitch simultaneously controlling described second rotor reduces, the pitch that described first control stalk controls described first rotor on the second moving direction reduces, the pitch simultaneously controlling described second rotor increases.
Preferably, at above-mentioned many rotary wing changings apart from the control setup of aircraft, described rotor comprises the rotor S1 rotor S1 being located at described main part surrounding successively in the counterclockwise direction, rotor S2, rotor S3 and rotor S4, described rotor S1 rotor S1 and rotor S2 is positioned at the head of described aircraft, described rotor S3 and rotor S4 is positioned at the afterbody of described aircraft, described control setup also comprises the second control stalk and the 3rd control stalk, the pitch that described second control stalk controls described rotor S1 rotor S1 and rotor S2 on the 3rd moving direction reduces, control the increase of rotor S3 and rotor S4 pitch simultaneously, the pitch that described second control stalk controls described rotor S1 rotor S1 and rotor S2 on the 4th moving direction increases, and the pitch simultaneously controlling described rotor S3 and rotor S4 reduces, the pitch that described second control stalk controls described rotor S2 and rotor S3 on the 5th moving direction reduces, and the pitch simultaneously controlling described rotor S1 rotor S1 and rotor S4 increases, the pitch that described second control stalk controls described rotor S2 and rotor S3 on the 6th moving direction increases, and the pitch simultaneously controlling described rotor S1 rotor S1 and rotor S4 reduces.
Preferably, at above-mentioned many rotary wing changings apart from the control setup of aircraft, described control setup also comprises the 3rd control stalk, and described 3rd control stalk controls described rotor S1 rotor S1 on the 7th moving direction, the pitch of rotor S2, rotor S3 and rotor S4 increases simultaneously; Described 3rd control stalk controls described rotor S1 rotor S1 on the 8th moving direction, the pitch of rotor S2, rotor S3 and rotor S4 reduces simultaneously.
Preferably, at above-mentioned many rotary wing changings apart from the control setup of aircraft, described aircraft comprises a motor, and described motor drives described all rotors to carry out synchronous axial system simultaneously.
Compared with prior art, the invention has the advantages that:
Because displacement multi-rotor aerocraft adopts single motor synchronous drive, each oar rotating speed is consistent, and rotor inertia is offset between two, so itself almost do not have the difference due to rotor inertia to cause the trend spinned.The resistance that is contrary and rotation direction that change pitch size makes the oar of coarse-pitch receive than the oar of fine pitch is larger.With the pitch size rotating counterclockwise oar, aircraft is spinned by changing cw against coarse-pitch oar rotation direction.
Compared to existing multi-motor driving multi-rotor aerocraft, when carrying out spinning action, the load variations brought to motor of the present invention is softer, and the speed performing spinning action is faster more accurate.And the multiple motors comparing transmission scheme drive and carry out spinning action, and the present invention does not need the rotating speed frequently going to change each motor, therefore power saving more.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present application or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, the accompanying drawing that the following describes is only some embodiments recorded in the application, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Figure 1 shows that the perspective view of displacement Multi-axis aircraft in the specific embodiment of the invention;
Figure 2 shows that the exploded perspective view of displacement Multi-axis aircraft in the specific embodiment of the invention;
Figure 3 shows that the structural representation of the main driving synchronizing wheel of double end in the specific embodiment of the invention;
Figure 4 shows that the schematic perspective view of displacement rotor in the specific embodiment of the invention;
Figure 5 shows that the exploded perspective view of displacement rotor in the specific embodiment of the invention;
Figure 6 shows that the rough schematic view of displacement Multi-axis aircraft in the specific embodiment of the invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be described in detail the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under the prerequisite not making creative work, all belongs to the scope of protection of the invention.
This case relates to a kind of displacement Multi-axis aircraft, on the one hand, multiple rotor can be driven synchronously to rotate by a motor simultaneously, on the other hand, and the variable pitch of each rotor.Below by way of citing, its structure is specifically described.
Shown in ginseng Fig. 1, displacement aircraft comprises support 10 and the drive system 20 that is installed on support and displacement rotor 30.
Support 10 is a support platform, can be fixed with alighting gear, holder for aerial photographing etc. below it, can carry the parts such as power supply, circuit card above it.
Figure 2 shows that the exploded perspective view of displacement aircraft in the specific embodiment of the invention, for convenience of description, in figure, relative Fig. 1 conceals section components.
Shown in ginseng Fig. 2, support 10 comprises the first side lever 11 of be arrangeding in parallel and the second side lever 12, first side lever 11 is two Hollow circular beam that length is identical, diameter is identical with the second side lever 12.Be fixed with mobile jib 13 between first side lever 11 and the second side lever 12, mobile jib 13 is a Hollow circular beam, and its two ends are individually fixed in the midway location of the first side lever 11 and the second side lever 12, and mobile jib 13 is preferably perpendicular to the first side lever 11 and the second side lever 12.
In other embodiments, mobile jib 13 also can be not orthogonal to the first side lever 11 and the second side lever 12.The material of the first side lever 11, second side lever 12 and mobile jib is preferably carbon fiber, is easy to it is contemplated that under the prerequisite meeting support strength, and the first side lever 11, second side lever 12 and mobile jib 13 can adopt other materials, more light better.
Above-mentioned support 10, owing to only adopting three round bars to be fixed, structure is simple, and maximizedly reduces weight.
Drive system 20 comprises motor 22, motor synchronous wheel 23, one main driving synchronizing wheel 24, synchronous drive belt 25 and a main shaft 26.Motor synchronous wheel 23 is installed on the output shaft of motor 22, main shaft 26 rotates to be located in mobile jib 13, main driving synchronizing wheel 24 to be sheathed on main shaft 26 and to fix with main shaft 26, motor synchronous wheel 23 is positioned at directly over main driving synchronizing wheel 24, realizes interlock between motor synchronous wheel 23 and main driving synchronizing wheel 24 by synchronous drive belt 25.Take turns between 23 and main driving synchronizing wheel 24 to prevent synchronous drive belt 25 and motor synchronous and skid, be provided with the teeth groove be meshed between the outside face that inside face and the motor synchronous of synchronous drive belt 25 take turns 23, the outside face of main driving synchronizing wheel 24 is also provided with the teeth groove be meshed with synchronous drive belt 25 inside face.
Each displacement rotor 30 comprises an axle drive shaft 31 vertically, the bottom of axle drive shaft 31 is sheathed and fix a rotor synchronizing wheel 32, the two ends of main shaft 26 are sheathed is respectively fixed with a double end main driving synchronizing wheel 27 (integrated two sides drive synchronizing wheel), shown in ginseng Fig. 3, the main driving synchronizing wheel 27 of each double end is provided with two drive divisions side by side, two drive divisions are connected with one end of two synchrodrive belts 28 respectively, and the other end of synchrodrive belt 28 is sheathed on the outside of a rotor synchronizing wheel 32 and rotor synchronizing wheel 32 can be driven to rotate.
The teeth groove be meshed is provided with, to prevent from skidding between the contact surface of synchrodrive belt 28 and the main driving synchronizing wheel 27 of double end and rotor synchronizing wheel 32.
It should be noted that, the main driving synchronizing wheel 27 of double end also can be two independently synchronizing wheels, and each synchronizing wheel respectively drive belt synchronous with connects.
The start principle of above-mentioned drive system is as follows: motor 22, by Power supply, directly drives motor synchronous wheel 23 to rotate; Motor synchronous wheel 23 drives main driving synchronizing wheel 24 to rotate by synchronous drive belt 25 further, is taken turns the diameter ratio of 23 and main driving synchronizing wheel 24, can control revolution ratio by adjustment motor synchronous; Because main driving synchronizing wheel 24 and main shaft 26 are fixed, main shaft 26 therefore can be driven further to rotate; Main shaft 26 drive is fixed on two main driving synchronizing wheels 27 of double end on main shaft and is carried out synchronous axial system, each double end main driving synchronizing wheel 27 drives corresponding rotor synchronizing wheel 32 to rotate respectively by two synchrodrive belts 28 again, rotor synchronizing wheel 32 and then drive corresponding fin to rotate.
Export propulsive effort to main shaft by a motor, and control the rotation of main shaft, main shaft outputs power to four rotors further by four synchrodrive belts.Can expect thus, technical scheme of the present invention goes for the aircraft with other quantity rotors equally, can according to the quantity of rotor on main shaft, correspondence is provided with the synchronizing wheel of identical number, such as: can increase a main driving synchronizing wheel of double end at the middle part of main shaft, simultaneously, the medium position of mobile jib can vertically fix a round bar, the two ends of this round bar are rotated respectively and are arranged a rotor, and so, main shaft can drive six rotors to carry out synchronous axial system simultaneously.
Unmanned vehicle of the present invention is provided with a motor, and drives all rotors synchronously to rotate by this motor, and owing to only arranging a motor, cost is low, lightweight; And relative to multiple motor, the impact of high-frequency vibration on visibility of taking photo by plane that motor produces obtains larger weakening; In addition, drive all rotors to rotate by a motor, synchronism easily controls simultaneously.
Shown in ginseng Fig. 4 and Fig. 5, displacement rotor 30 comprises axle drive shaft 31, rotor synchronizing wheel 32, first fin 331, second fin 332, propeller hub 34 and drive division.
Rotor synchronizing wheel 32 is fixed on the bottom of axle drive shaft 31, under the driving of synchrodrive belt 28, axle drive shaft 31 can be driven to rotate together.
Propeller hub 34 is a cylinder, the axis of its axes normal axle drive shaft 31, the middle part of propeller hub 34 vertically offers through hole or groove, and is formed fixing by the top that this through hole or groove are sheathed on axle drive shaft 31, and the rotation of axle drive shaft 31 can drive propeller hub 34 to rotate together.
The both sides of propeller hub 34 are rotatably provided with the first oar chuck 351 and the second oar chuck 352 respectively, first oar chuck 351 and the second oar chuck 352 are respectively equipped with holding part, and the first fin 331 and the second fin 332 are removably fixed on two holding parts respectively by screw.
Drive division comprises the first sliding part 36, first sliding part 36 is sheathed on axle drive shaft 31, and be positioned at the below of propeller hub 34, first sliding part 36 is extended with the first crab claw 361 and the second crab claw 362 respectively in the symmetrical both sides of axle drive shaft 31, first oar chuck 351 and the second oar chuck 352 are respectively equipped with the first rotation section 3511 and the second rotation section 3521, be rotatably connected between first rotation section 3511 and the first crab claw 361 second attaching parts 372 that to be rotatably connected between first attaching parts 371, second rotation section 3521 and the second crab claw 362.
Drive division also comprises the engine installation that the first sliding part 36 can be driven to rise.Engine installation comprises the second sliding part 381, distance-variable rocker arm 382, connecting rod 383 and steering wheel (not shown), second sliding part 381 is sheathed on axle drive shaft 31, and be positioned at the below of the first sliding part 36, distance-variable rocker arm 382 is rotatably installed on support 10, and one end of distance-variable rocker arm 382 and the first sliding part 36 are rotatably connected, connecting rod 383 is connected between the other end of steering wheel and distance-variable rocker arm 382.
Drive division can act on the first fin 331 and the second fin 332 simultaneously and drive the first fin 331 and the second fin 332 to stir along contrary clockwise.Thus the control realized fin pitch.
Displacement Multi-axis aircraft of the present invention, its advantage is:
1, flight control system again in order to control the attitude of complete machine and action and frequently change the rotating speed of each motor, need not save the power consumption of complete machine, is delayed cruise duration;
2, reduce the performance requriements to flying-controlled box, make the flying-controlled box exploitation of Multi-axis aircraft and use cost reduce a lot;
3, single motor-driven displacement Multi-axis aircraft cost when occurring such as to crash is low, prior art is that each motor is by each screw propeller of Hard link, encounter any object once crash screw propeller due to high rotating speed inertia at once to damage, can damage with screw propeller each motor hardwired further, the cost of the spare and accessory parts that such complete machine is changed in repair process will increase greatly simultaneously;
4, nonuniform pitch propeller is adopted can to allow motor under different rotating speeds, make the Aerodynamic force action of screw propeller optimum;
5, adopt nonuniform pitch propeller to control to make the movement posture corresponding speed of aircraft much sensitiveer than prior art, add the maneuvering performance of aircraft, can realize turning flight around;
6, adopt nonuniform pitch propeller, decrease the loss that motor is used, extend the service life of Multi-axis aircraft;
7, the body cross bar of the fixing screw propeller of H type and body vertical pole have certain flexibility.When the Propeller variable pitch of one end of body cross bar increases thrust, will make body cross bar, around body vertical pole, certain distortion occur, this distortion as a child will recover in the asymmetric thrust of body certainly.This slight and the housing construction that can recover distortion solves the key that variable-distance multiaxis H type airframe configuration scheme realizes spinning action just.During spin operation, article two, the rotor on diagonal line is apart from increasing respectively and reducing, the aerodynamic drag (antagonistic force) that is subject to of two rotors that pitch increases also increases, and makes aircraft carry out spinning action along this moment direction after aerodynamic drag is comprehensive to the moment of complete machine.In addition, two rotor lifts that pitch increases increase, and make former and later two cross bars have slight relative torsion, and some component of propulsive force that two rotors that this torsion also makes pitch increase produce acts on spin hand of rotation, accelerated spiral.
Shown in ginseng Fig. 6, conveniently the control method of aircraft is introduced, above-mentioned displacement Multi-axis aircraft is simplified, after simplification, it rotor assemblies comprising main part and drive main part, rotor assemblies comprises the rotor S1, rotor S2, rotor S3 and the rotor S4 that are located at main part surrounding successively in the counterclockwise direction, wherein S1 and S3 synchronously rotates clockwise, S2 and S4 synchronously rotates counterclockwise, S1 and S2 is positioned at the left and right sides of Vehicle nose, S3 and S4 is positioned at the left and right sides of aircraft afterbody.S1, S2, S3 and S4 be variable pitch under the driving of the steering wheel of correspondence respectively, the conversion of different attitude can be realized by the control of controller to different rotor pitch, this attitude comprise fly forward, fly backward, fly left, fly to the right, climb, decline, cw spin and conter clockwise free.
Control setup comprises the first control stalk, the second control stalk and the 3rd control stalk.
The pitch of the first control stalk control S1 and S3 on the first moving direction increases, and the pitch of control S2 and S4 reduces, to control the spinning of aircraft cw simultaneously.
The pitch of the first control stalk control S1 and S3 on the second moving direction reduces, and the pitch of control S2 and S4 increases, to control aircraft counterclockwise spin simultaneously.
The pitch of the second control stalk control S1 and S2 on the 3rd moving direction reduces, and the pitch of control S3 and S4 increases simultaneously, flies forward to control aircraft.
The pitch of the second control stalk control S1 and S2 on the 4th moving direction increases, and the pitch of control S3 and S4 reduces simultaneously, flies backward to control aircraft.
The pitch of the second control stalk control S2 and S3 on the 5th moving direction reduces, and the pitch of control S1 and S4 increases simultaneously, flies left to control aircraft.
The pitch of the second control stalk control S2 and S3 on the 6th moving direction increases, and the pitch of control S1 and S4 reduces simultaneously, flies to the right to control aircraft.
The pitch of the 3rd control stalk control S1, S2, S3 and S4 on the 7th moving direction increases, to control aircraft climb simultaneously.
The pitch of the 3rd control stalk control S1, S2, S3 and S4 on the 8th moving direction reduces simultaneously, declines to control aircraft.
The first above-mentioned moving direction and the second moving direction are preferably contrary direction; 3rd moving direction and the 4th moving direction are preferably contrary direction; 5th moving direction and the 6th moving direction are preferably contrary direction; 7th moving direction and the 8th moving direction are preferably contrary direction.
The advantage of above-mentioned control method is adopted to be:
(1) compared to existing multi-motor driving multi-rotor aerocraft, when carrying out spinning action, the load variations brought to motor of the present invention is less, and the speed performing spinning action is faster more accurate.And the multiple motors comparing transmission scheme drive and carry out spinning action, and the present invention does not need the rotating speed frequently going to change each motor, therefore power saving more.
(2) the present invention climbs and the advantage controlled that declines is that action response speed is faster, and complete machine manoevreability is sensitiveer.And in aircraft decline process, existing scheme due to self each motor speed too low time aircraft decline there will be Dutch roll situation, easily cause aircraft turn on one's side danger close.And the present invention can utilize negative pitch to accelerate to decline, its descending speed performance can exceed existing scheme, greatly reduces fall time.
It should be noted that, in this article, the such as relational terms of first and second grades and so on is only used for an entity or operation to separate with another entity or operational zone, and not necessarily requires or imply the relation that there is any this reality between these entities or operation or sequentially.And, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thus make to comprise the process of a series of key element, method, article or equipment and not only comprise those key elements, but also comprise other key elements clearly do not listed, or also comprise by the intrinsic key element of this process, method, article or equipment.When not more restrictions, the key element limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment comprising described key element and also there is other identical element.
The above is only the detailed description of the invention of the application; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the application's principle; can also make some improvements and modifications, these improvements and modifications also should be considered as the protection domain of the application.
Claims (7)
1. rotary wing changing more than a kind is apart from the control method of aircraft, described aircraft comprises main part and drives the rotor assemblies of described main part, described rotor assemblies comprises the first rotor and the second rotor that are arranged alternately, it is characterized in that: the pitch of the pitch and/or the second rotor that change described first rotor realizes the spin of aircraft, change the pitch of described first rotor and/or the second rotor to control the flight attitude of aircraft, described rotor comprises the rotor S1 being located at described main part surrounding successively in the counterclockwise direction, rotor S2, rotor S3 and rotor S4, described rotor S1 and rotor S2 is positioned at the head of described aircraft, described rotor S3 and rotor S4 is positioned at the afterbody of described aircraft, described flight attitude comprises and flying forward, fly backward, fly left, fly to the right, climb and decline, wherein, the change of described flight attitude corresponding pitch is as follows:
Fly forward: the pitch of rotor S1 and rotor S2 reduces, the pitch of rotor S3 and rotor S4 increases simultaneously;
Fly backward: the pitch of rotor S1 and rotor S2 increases, the pitch of rotor S3 and rotor S4 reduces simultaneously;
Fly left: the pitch of rotor S2 and rotor S3 reduces, the pitch of rotor S1 and rotor S4 increases simultaneously;
Fly to the right: the pitch of rotor S2 and rotor S3 increases, the pitch of rotor S1 and rotor S4 reduces simultaneously;
Climb: the pitch of rotor S1, rotor S2, rotor S3 and rotor S4 increases simultaneously;
Decline: the pitch of rotor S1, rotor S2, rotor S3 and rotor S4 reduces simultaneously.
2. many rotary wing changings according to claim 1 are apart from the control method of aircraft, it is characterized in that: the pitch of described first rotor and the pitch of the second rotor change simultaneously, and wherein, when the pitch of described first rotor increases, the pitch of described second rotor reduces; When the pitch of described first rotor reduces, the pitch of described second rotor increases.
3. many rotary wing changings according to claim 1 are apart from the control method of aircraft, and it is characterized in that: described aircraft comprises a motor, described motor drives described all rotors to carry out synchronous axial system simultaneously.
4. rotary wing changing more than a kind is apart from the control setup of aircraft, described aircraft comprises main part and drives the rotor assemblies of described main part, described rotor assemblies comprises the first rotor and the second rotor that are arranged alternately, it is characterized in that: described control setup comprises the first control stalk, the pitch that described control stalk controls described first rotor on the first moving direction increases, the pitch simultaneously controlling described second rotor reduces, the pitch that described first control stalk controls described first rotor on the second moving direction reduces, and the pitch simultaneously controlling described second rotor increases.
5. many rotary wing changings according to claim 4 are apart from the control setup of aircraft, it is characterized in that: described rotor comprises the rotor S1 being located at described main part surrounding successively in the counterclockwise direction, rotor S2, rotor S3 and rotor S4, described rotor S1 and rotor S2 is positioned at the head of described aircraft, described rotor S3 and rotor S4 is positioned at the afterbody of described aircraft, described control setup also comprises the second control stalk and the 3rd control stalk, the pitch that described second control stalk controls described rotor S1 and rotor S2 on the 3rd moving direction reduces, control the increase of rotor S3 and rotor S4 pitch simultaneously, the pitch that described second control stalk controls described rotor S1 and rotor S2 on the 4th moving direction increases, and the pitch simultaneously controlling described rotor S3 and rotor S4 reduces, the pitch that described second control stalk controls described rotor S2 and rotor S3 on the 5th moving direction reduces, and the pitch simultaneously controlling described rotor S1 and rotor S4 increases, the pitch that described second control stalk controls described rotor S2 and rotor S3 on the 6th moving direction increases, and the pitch simultaneously controlling described rotor S1 and rotor S4 reduces.
6. many rotary wing changings according to claim 5 are apart from the control setup of aircraft, it is characterized in that: described control setup also comprises the 3rd control stalk, the pitch that described 3rd control stalk controls described rotor S1, rotor S2, rotor S3 and rotor S4 on the 7th moving direction increases simultaneously; The pitch that described 3rd control stalk controls described rotor S1, rotor S2, rotor S3 and rotor S4 on the 8th moving direction reduces simultaneously.
7. many rotary wing changings according to claim 4 are apart from the control setup of aircraft, and it is characterized in that: described aircraft comprises a motor, described motor drives described all rotors to carry out synchronous axial system simultaneously.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410201627.3A CN103935513B (en) | 2014-05-13 | 2014-05-13 | The control method of many rotary wing changing distance aircraft and control setup |
| PCT/CN2014/094287 WO2015172559A1 (en) | 2014-05-13 | 2014-12-19 | Control method and control apparatus for multirotor variable-pitch aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410201627.3A CN103935513B (en) | 2014-05-13 | 2014-05-13 | The control method of many rotary wing changing distance aircraft and control setup |
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| CN103935513A CN103935513A (en) | 2014-07-23 |
| CN103935513B true CN103935513B (en) | 2015-10-28 |
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| WO (1) | WO2015172559A1 (en) |
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| EP2990332A1 (en) * | 2014-08-19 | 2016-03-02 | Tau Emerald Rotors Inc. | Controlling rotary wing aircraft |
| KR20160129592A (en) * | 2015-04-30 | 2016-11-09 | 문창근 | Drone |
| JP6806087B2 (en) * | 2015-12-31 | 2021-01-06 | 日本電産株式会社 | Multicopter |
| WO2018032415A1 (en) | 2016-08-17 | 2018-02-22 | SZ DJI Technology Co., Ltd. | Systems and methods for operating unmanned aerial vehicles |
| CN108706096A (en) * | 2018-04-02 | 2018-10-26 | 夏贵荣 | A kind of holder by adjusting the movement of rotor distance controlling quadrotor drone |
| CN109484629A (en) * | 2018-09-13 | 2019-03-19 | 嘉兴职业技术学院 | A kind of feather quadrotor |
| CN114056548A (en) * | 2021-12-17 | 2022-02-18 | 广东汇天航空航天科技有限公司 | Method and device for controlling propeller pitch of aerocar and aerocar |
| CN114104267A (en) * | 2021-12-17 | 2022-03-01 | 广东汇天航空航天科技有限公司 | Variable pitch control method and device for aircraft and aircraft |
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Also Published As
| Publication number | Publication date |
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| CN103935513A (en) | 2014-07-23 |
| WO2015172559A1 (en) | 2015-11-19 |
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