CN103979105A - Vertical take-off and landing type variable-wing aircraft - Google Patents
Vertical take-off and landing type variable-wing aircraft Download PDFInfo
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- CN103979105A CN103979105A CN201410218942.7A CN201410218942A CN103979105A CN 103979105 A CN103979105 A CN 103979105A CN 201410218942 A CN201410218942 A CN 201410218942A CN 103979105 A CN103979105 A CN 103979105A
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Abstract
The invention discloses a vertical take-off and landing type variable-wing aircraft. The vertical take-off and landing type variable-wing aircraft comprises an aircraft body, a main wing, a left wing and a right wing, wherein the main wing is arranged at the lower part of the aircraft body; the left wing and the right wing are respectively connected to two ends of the main wing; a left wing rotation shaft sleeve and a right wing rotation shaft sleeve are mounted in the main wing; one set of left wing rotation shaft in the left wing rotation shaft sleeve is arranged in the left wing; one set of right wing rotation shaft in the right wing rotation shaft sleeve is arranged on the right wing; a left wing steering engine and a right wing steering engine are also arranged in the main wing; the left wing steering engine is used for driving the left wing rotation shaft to adjust the direction of the left wing; the right wing steering engine is used for driving the right wing rotation shaft to adjust the direction of the right wing. The vertical take-off and landing type variable-wing aircraft is capable of realizing the vertical take-off and landing of a model airplane and an unmanned aircraft, quickly realizing various flight states and effectively braking and moving backward in the flight.
Description
Technical field
The present invention relates to model plane and unmanned vehicle, in particular a kind of vertical takeoff and landing adjustable wing aircraft.
Background technology
Existing aircraft mainly divides following several, it is respectively fixed-wing, helicopter and Multi-axis aircraft, the shortcoming of its fixed-wing is to pass through runway rolling start and landing, get off the plane and cannot obtain enough lift and make to take off and land in the situation that there is no runway, in this case to flying field require high.Autogyro is lower to the requirement in place, and can in very little scope, take off and land, the flight that its shortcoming cannot be long, speed is slow, cannot carry more equipment.Its shortcoming of Multi-axis aircraft cannot be flown for a long time, and speed is slow, and motor and electricity adjust quantity many, requires highly to what fly control, and the stability of self is poor.
In existing patent, vertical takeoff and landing (VTOL) is mainly directly to order about motor by rotating mechanism to change its direction of pull and order about aircraft vertical takeoff and landing (VTOL), its indexing is all between 0-90 degree, its shortcoming is that wing can produce certain resistance to screw propeller, make some loss of aircraft power, cannot carry more equipment.When the angle of and 90 degree vertical when airplane ascensional force system, for aircraft, sensitivity and accuracy rate control forward, backward, left, to the right reduces.Make to be difficult to the state of flight that reaches desirable in manipulation, in the time that converting vertical flight in fixed-wing flight course, can not change immediately by actv. by aircraft, the speed of aircraft need to be dropped to minimum speed and just can convert plumbness to, such state is got off the plane and can be dropped rapidly, needs in this case flight effector's flight level to require the high aircraft of could controlling to drop.Simultaneously after plumbness, cannot reach brake and retreat fast effect converting to, requiring relative difficulty higher to the flight of manipulation hand.
Therefore, there is defect in prior art, needs to improve.
Summary of the invention
Technical matters to be solved by this invention is: a kind of vertical takeoff and landing (VTOL) that can realize model plane and unmanned vehicle is provided, realizes fast the vertical takeoff and landing adjustable wing aircraft that various state of flights and actv. play flight brake and retreat effect.
Technical scheme of the present invention is as follows: a kind of vertical takeoff and landing adjustable wing aircraft, comprise fuselage and the host wing that is arranged at underbelly, also comprise the port wing and the starboard wing that are connected respectively with host wing two ends, wherein, the inside of host wing is provided with port wing rotary axle box and starboard wing rotary axle box; Port wing is provided with a port wing turning cylinder being placed in port wing rotary axle box, and starboard wing is provided with a starboard wing turning cylinder being placed in starboard wing rotary axle box; And host wing inside is also provided for ordering about port wing turning cylinder and adjusts the port wing steering wheel of port wing direction, and adjust the starboard wing steering wheel of starboard wing direction for ordering about starboard wing turning cylinder.
Be applied to technique scheme, in described vertical takeoff and landing adjustable wing aircraft, port wing is also respectively arranged with left handed propeller and left motor, and starboard wing is also respectively arranged with right-hand screw oar and right motor, and the afterbody of fuselage also arranges tail screw propeller and an afterbody motor of a variablepiston.
Be applied to each technique scheme, in described flight structure, each end of described port wing turning cylinder and described starboard wing turning cylinder is connected respectively host wing and port wing and starboard wing by bearing fixed seat, bearing and bearing (setting) plate.
Be applied to each technique scheme, in described vertical takeoff and landing adjustable wing aircraft, the symmetrical installation of described port wing and described starboard wing arranges.
Be applied to each technique scheme, in described vertical takeoff and landing adjustable wing aircraft, described port wing steering wheel and described starboard wing steering wheel are 40 grams of steering wheels.
Be applied to each technique scheme, in described vertical takeoff and landing adjustable wing aircraft, described tail screw propeller and described afterbody motor are arranged on respectively top or the bottom of afterbody.
Be applied to each technique scheme, in described vertical takeoff and landing adjustable wing aircraft, port wing also arranges a port aileron, port aileron steering wheel and left tire, and starboard wing also arranges a starboard aileron, starboard aileron steering wheel and right tire, and the middle part of fuselage and afterbody are also respectively arranged with a steering wheel.
Be applied to each technique scheme, in described vertical takeoff and landing adjustable wing aircraft, described left motor and described right motor be corresponding being placed in the left motor cover and right motor cover of setting respectively.
Be applied to each technique scheme, in described vertical takeoff and landing adjustable wing aircraft, on described fuselage, be fixedly installed one and fly to control plate, describedly fly to control RC receiver, GPS receiver, 3 axis angular rate sensors, 3 axle acceleration sensors, geomagnetic sensor and the baroceptor that on plate, setting is connected with arm processor, arm processor is connected with each motor and each steering wheel by driving circuit.
Adopt such scheme, the present invention is by arranging rotary port wing and starboard wing, utilize port wing and starboard wing to rotate to control the vertical takeoff and landing (VTOL) of model plane and unmanned vehicle, and attitude conversion between fixed-wing flight, when port wing and starboard wing forward or the two kinds of angles that recede change, by to wing forward, recede the front and back flight of vertical aircraft, in the time that port wing and starboard wing angle of inclination one change to two kinds of angles of last inclination backward, can control the rotation of model plane and unmanned vehicle heading, after converting plumbness to, can play brake and retreat effect by actv. fixed-wing simultaneously.
Brief description of the drawings
Fig. 1 is the structure exploded view one of invention.
Fig. 2 is the structure exploded view two of invention.
Fig. 3 is the flight schematic diagram one of invention.
Fig. 4 is the flight schematic diagram two of invention.
Fig. 5 is the flight schematic diagram three of invention.
Fig. 6 is the flight schematic diagram four of invention.
Fig. 7 is the flight schematic diagram five of invention.
Fig. 8 is the flight schematic diagram six of invention.
Fig. 9 is the flight schematic diagram seven of invention.
Figure 10 is the flight schematic diagram eight of invention.
Figure 11 is the flight schematic diagram nine of invention.
Figure 12 is the flight schematic diagram ten of invention.
Figure 13 is the flight schematic diagram 11 of invention.
Figure 14 is the structure connection diagram that flies to control plate in invention.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
The present embodiment provides a kind of vertical takeoff and landing adjustable wing aircraft, be mainly used in model plane and unmanned vehicle, as shown in Figure 1, aircraft comprises fuselage and is arranged at the host wing 3 of underbelly, fuselage is made up of left fuselage 2 and right fuselage 1, and the structure of aircraft also comprises horizontal tail 4, canopy 9 is also set on fuselage, safeguards hatchcover 10 and safeguard hatchcover 11, and horizontal tail 4 chuck 20, rudder face rocking arm 21 and the rudder face rocker arm bracket 32 that arrange.
And, the port wing 5 and the starboard wing 6 that are connected respectively with host wing 3 two ends are also set, wherein, the inside of host wing 3 is provided with port wing rotary axle box and starboard wing rotary axle box, and port wing rotary axle box and starboard wing rotary axle box are fixedly mounted on the inside of host wing 3, port wing 5 is provided with a port wing turning cylinder 27, port wing turning cylinder 27 is placed in port wing rotary axle box, and, starboard wing 6 is provided with a starboard wing turning cylinder 39, starboard wing turning cylinder 39 is placed in starboard wing rotary axle box, port wing turning cylinder 27 one end portions are respectively by the bearing fixed seat 24 arranging, one bearing 25 is fixedly connected with port wing 5 with a bearing (setting) plate 26, its other end is equally by bearing fixed seat 24, one bearing 25 and a bearing (setting) plate 26 fix with host wing 3, wherein, it is to fix with host wing 3 by being placed in port wing rotary axle box, in fixing, it is also connected with the inner port wing steering wheel 37 arranging of host wing 3, drive by port wing steering wheel 37, can order about port wing turning cylinder 27 rotates, port wing turning cylinder 27 drives port wing 5 to rotate in rotating, thereby adjust the direction of port wing 5, it is the angle of port wing 5 relative fuselages.
Same, starboard wing turning cylinder 39 one end portions are respectively by the bearing fixed seat 24 arranging, one bearing 25 is fixedly connected with starboard wing 6 with a bearing (setting) plate 26, its other end is equally by bearing fixed seat 24, one bearing 25 and a bearing (setting) plate 26 fix with host wing 3, wherein, it is to fix with host wing 3 by being placed in starboard wing rotary axle box, in fixing, it is also connected with the inner starboard wing steering wheel 38 arranging of host wing 3, drive by starboard wing steering wheel 38, can order about starboard wing turning cylinder 39 rotates, starboard wing turning cylinder 39 drives starboard wing 6 to rotate in rotating, thereby adjust the direction of starboard wing 6, it is the angle of starboard wing 6 relative fuselages.
And, port wing 5 is also respectively arranged with left handed propeller 29 and left motor 31, and left handed propeller 29 is fixing with left oar cover 28 by nut 13, pad 14, and is arranged on left oar seat 30, on left motor 31, be provided with left motor cover 7, left motor 31 is placed in left motor cover 7; Starboard wing 6 correspondences are provided with right-hand screw oar 15 and right motor 17, and right-hand screw oar 15 is same fixing by nut, pad and right oar cover 12, and is arranged on right oar seat 16, is provided with right motor cover 8 on right motor 17, and right motor 17 is placed in right motor cover 8.
And, the afterbody of fuselage also arranges tail screw propeller 35 and an afterbody motor 34 of a variablepiston, luffing angle when afterbody motor 34 is controlled aircraft flight by driving tail screw propeller 35, and, the tail screw propeller 35 of variablepiston and afterbody motor 34 can be arranged on the top of fuselage, as shown in Figure 1, or, also can be arranged on the bottom of fuselage, as shown in Figure 2.
Left motor 31 and right motor 17 turn with port wing 5 and starboard wing 6 Pour, and different tilt angles and power differential produce and make aircraft pulling force upwards realize the vertical takeoff and landing of aircraft, or tractive force is forward realized the quick cruising flight of level.By angle and the control of motor strength of vert port wing 5 and starboard wing 6 relative fuselages, produce upwards and horizontal direction component, can accomplish to advance, retreat flight, start fast horizontal flight and snap catch.
And, port wing 5 also arranges a port aileron 43, port aileron steering wheel 18 and left tire 22, starboard wing also arranges corresponding starboard aileron 44, starboard aileron steering wheel 40 and right tire 45, port aileron steering wheel 18 manipulates port aileron 43 by an aileron control steel wire 19, and starboard aileron steering wheel 40 manipulates starboard aileron 44 by an aileron control steel wire 19 equally; And, fuselage inside middle is also provided with a steering wheel 42, and steering wheel 42 carrys out the elevating rudder of level of control empennage by a long manipulating wire 36, and, the top of afterbody motor 34 is also provided with a steering wheel 41, and steering wheel 41 controls by regulating control 33 pitch of handling afterbody motor rotor.Or according to the size of application force, port wing steering wheel 37 and starboard wing steering wheel 38 adopt 40 grams of steering wheels, port aileron steering wheel 18, starboard aileron steering wheel 40, steering wheel 42 and steering wheel 41 all adopt 9 grams of steering wheels.
And, port wing and starboard wing also respectively correspondence left alighting gear steel wire 23 and right alighting gear steel wire are installed, left and right alighting gear steel wire is symmetrical to be installed, left alighting gear steel wire 23 and right alighting gear steel wire are for controlling the alighting gear that port wing and starboard wing are set; And each symmetrical configuration of each structure of port wing and starboard wing is installed and is arranged.
Or, on fuselage, be fixedly installed one and fly to control plate, fly to control the electrical block diagram of plate as shown in figure 10, fly to control RC receiver, GPS receiver, 3 axis angular rate sensors, 3 axle acceleration sensors, geomagnetic sensor and baroceptor that on plate, setting is connected with arm processor, arm processor is connected with each motor and each steering wheel by driving circuit.
Wherein, arm processor uses the STM32 enhancement mode of integrated embedded Flash and SRAM memory device, and kernel is ARM Cortex-M3.The advantage of arm processor is low in energy consumption, fast operation, and working stability, and also bus interface is abundant.The measurement of flying posture of system is by three axle electronic compasss, 3-axis acceleration sensor, three-axis gyroscope, baroceptor and GPS receiver composition, system has 9 road pwm control signal outputs, control respectively 3 groups of motors and 6 groups of steering wheels, RC receiver has 6 road pwm inputs, for gathering the order of RC remote controlled floor pilot manipulation.
So, fly to control plate by what arrange, can realize following functions, by gathering each sensing data, and data are carried out to filtering and fusion, then attitude algorithm, the data acquisition that makes a return voyage, realize aspect and course line stable with control.Can carry out offline mode management, according to ground aviator's instruction, aircraft will complete the steady switching of offline mode aloft.Safety management, monitors state of flight, airborne equipment and communication link, makes a return voyage if desired and lands.
Model plane and unmanned vehicle flight attitude as shown in Fig. 3-Figure 13, when manipulation, first task that flies control is to allow take off, fly control and will control vertical the flying up of aircraft, at this moment flying control first will be by port wing and two wing ends while 90-degree rotation backward of starboard wing, allow two screw propellers of port wing and starboard wing front end, be that left handed propeller and right-hand screw oar produce lift upwards, again according to the personnel's of control remote control input, control two motors above of aircraft, be left motor and right motor and the basic throttle amount of an afterbody motor below, then the data of measuring by imu calculate the current attitude of aircraft, go out the correction of each motor by current flight attitude algorithm, collaborative work just can complete steadily taking off of aircraft like this.
The change in the aerial course of aircraft and other is different from rotor, fixed-wing, it is by two wings of front end, be that port wing and starboard wing complete to the rotation of different directions, for example aircraft need left-handed turning to, at this moment the port wing of aircraft rotates backward simultaneously starboard wing and rotates forward, and the port wing of aircraft can produce component backward like this, and starboard wing can produce component forward, and the lift that left and right fuselage produces is identical, fuselage is naturally stressed to anticlockwise and can therefore not tilt; Equally, reverse in this to the right, the port wing of aircraft rotates forward simultaneously starboard wing and rotates backward.
Second task is to become fixed-wing pattern from vertical mode, and this step is aloft to complete, and just can be transformed into fixed-wing pattern and fly after aircraft is raised to predetermined altitude, can have so better cruising speed and cruise duration.Pattern switch be to have had after certain speed forward when aircraft, simultaneously by two wings, i.e. port wing and starboard wing 90-degree rotation forward, before two screw propellers, left handed propeller and right-hand screw oar produce impulse force forward, aircraft stablize forward fly.
So, in the time that aircraft takes off vertically, port wing is greater than 90 degree with the angle of the relative fuselage of starboard wing, so, the impulse force producing by left handed propeller and right-hand screw oar regulates the direction of aircraft flight, and the speed of aircraft flight, in the time of aircraft normal flight, the angle of port wing and the relative fuselage of starboard wing is 0 degree, the impulse force that left handed propeller and right-hand screw oar produce can regulate the speed of aircraft flight, and, by port wing and starboard wing are turned round, the resistance producing by left handed propeller aircraft flight direction relative to right-hand screw oar, can reach the effect of Quick brake.
These are only preferred embodiment of the present invention, be not limited to the present invention, all any amendments of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (9)
1. a vertical takeoff and landing adjustable wing aircraft, comprises fuselage and the host wing that is arranged at underbelly, it is characterized in that,
Also comprise the port wing and the starboard wing that are connected respectively with host wing two ends, wherein, the inside of host wing is provided with port wing rotary axle box and starboard wing rotary axle box;
Port wing is provided with a port wing turning cylinder being placed in port wing rotary axle box, and starboard wing is provided with a starboard wing turning cylinder being placed in starboard wing rotary axle box;
And host wing inside is also provided for ordering about port wing turning cylinder and adjusts the port wing steering wheel of port wing direction, and adjust the starboard wing steering wheel of starboard wing direction for ordering about starboard wing turning cylinder.
2. vertical takeoff and landing adjustable wing aircraft according to claim 1, it is characterized in that, port wing is also respectively arranged with left handed propeller and left motor, and starboard wing is also respectively arranged with right-hand screw oar and right motor, and the afterbody of fuselage also arranges tail screw propeller and an afterbody motor of a variablepiston.
3. vertical takeoff and landing adjustable wing aircraft according to claim 2, is characterized in that, each end of described port wing turning cylinder and described starboard wing turning cylinder is connected respectively host wing and port wing and starboard wing by bearing fixed seat, bearing and bearing (setting) plate.
4. vertical takeoff and landing adjustable wing aircraft according to claim 2, is characterized in that, the symmetrical installation of described port wing and described starboard wing arranges.
5. vertical takeoff and landing adjustable wing aircraft according to claim 2, is characterized in that, described port wing steering wheel and described starboard wing steering wheel are 40 grams of steering wheels.
6. vertical takeoff and landing adjustable wing aircraft according to claim 2, is characterized in that, described tail screw propeller and described afterbody motor are arranged on respectively top or the bottom of afterbody.
7. vertical takeoff and landing adjustable wing aircraft according to claim 2, it is characterized in that, port wing also arranges a port aileron, port aileron steering wheel and left tire, and starboard wing also arranges a starboard aileron, starboard aileron steering wheel and right tire, and the middle part of fuselage and afterbody are also respectively arranged with a steering wheel.
8. vertical takeoff and landing adjustable wing aircraft according to claim 2, is characterized in that, described left motor and described right motor be corresponding being placed in the left motor cover and right motor cover of setting respectively.
9. according to the arbitrary described vertical takeoff and landing adjustable wing aircraft of claim 1-8, it is characterized in that, on described fuselage, be fixedly installed one and fly to control plate, describedly fly to control RC receiver, GPS receiver, 3 axis angular rate sensors, 3 axle acceleration sensors, geomagnetic sensor and the baroceptor that on plate, setting is connected with arm processor, arm processor is connected with each motor and each steering wheel by driving circuit.
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| CN201410218942.7A CN103979105B (en) | 2014-05-23 | 2014-05-23 | A kind of vertical takeoff and landing adjustable wing aircraft |
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| CN201410218942.7A CN103979105B (en) | 2014-05-23 | 2014-05-23 | A kind of vertical takeoff and landing adjustable wing aircraft |
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| CN103979105A true CN103979105A (en) | 2014-08-13 |
| CN103979105B CN103979105B (en) | 2015-11-18 |
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Cited By (14)
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| CN104494812A (en) * | 2015-01-08 | 2015-04-08 | 常州大学 | Fixed-wing air vehicle device with screw propeller having tiltable shaft |
| CN104743112A (en) * | 2015-04-24 | 2015-07-01 | 南昌航空大学 | Novel tilt wing aircraft |
| CN105346715A (en) * | 2015-09-29 | 2016-02-24 | 上海圣尧智能科技有限公司 | Vertical take-off and landing unmanned plane |
| CN105383681A (en) * | 2015-12-23 | 2016-03-09 | 赵琦良 | ZQL jet ultra short distance vertical take-off and landing fixed-wing aircraft |
| CN106362415A (en) * | 2015-07-20 | 2017-02-01 | 赖清坤 | Toy airplane combined component |
| CN106965928A (en) * | 2017-03-08 | 2017-07-21 | 贾杰 | The rotatable wing vertically taking off and landing flyer of multistage |
| CN107685605A (en) * | 2017-10-23 | 2018-02-13 | 天津飞眼无人机科技有限公司 | The control system of empty land two-purpose traffic tool |
| CN108176062A (en) * | 2017-12-28 | 2018-06-19 | 聂梓蕴 | A kind of convertible model plane of state of flight |
| CN108698683A (en) * | 2015-08-31 | 2018-10-23 | 马里兰大学帕克分校 | In the air, the General Motors that the stability of safety operation gets a promotion in water and ground environment |
| CN110304244A (en) * | 2019-06-26 | 2019-10-08 | 深圳市道通智能航空技术有限公司 | Flight control method, device, vert rotor aircraft and medium |
| CN110418753A (en) * | 2017-10-30 | 2019-11-05 | 深圳市大疆创新科技有限公司 | A kind of unmanned vehicle and its ascending, descending frame |
| CN111348197A (en) * | 2020-03-16 | 2020-06-30 | 华中科技大学 | Combined power system of vertical take-off and landing fixed wing aircraft |
| EP3730403A1 (en) | 2019-04-26 | 2020-10-28 | AIRBUS HELICOPTERS DEUTSCHLAND GmbH | A rotorcraft with a stabilizer wing |
| WO2021134539A1 (en) * | 2019-12-31 | 2021-07-08 | 李庆远 | Rotor display |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104494812A (en) * | 2015-01-08 | 2015-04-08 | 常州大学 | Fixed-wing air vehicle device with screw propeller having tiltable shaft |
| CN104743112A (en) * | 2015-04-24 | 2015-07-01 | 南昌航空大学 | Novel tilt wing aircraft |
| CN104743112B (en) * | 2015-04-24 | 2017-04-12 | 南昌航空大学 | Novel tilt wing aircraft |
| CN106362415A (en) * | 2015-07-20 | 2017-02-01 | 赖清坤 | Toy airplane combined component |
| CN108698683A (en) * | 2015-08-31 | 2018-10-23 | 马里兰大学帕克分校 | In the air, the General Motors that the stability of safety operation gets a promotion in water and ground environment |
| CN105346715A (en) * | 2015-09-29 | 2016-02-24 | 上海圣尧智能科技有限公司 | Vertical take-off and landing unmanned plane |
| CN105383681A (en) * | 2015-12-23 | 2016-03-09 | 赵琦良 | ZQL jet ultra short distance vertical take-off and landing fixed-wing aircraft |
| CN106965928A (en) * | 2017-03-08 | 2017-07-21 | 贾杰 | The rotatable wing vertically taking off and landing flyer of multistage |
| CN107685605A (en) * | 2017-10-23 | 2018-02-13 | 天津飞眼无人机科技有限公司 | The control system of empty land two-purpose traffic tool |
| CN107685605B (en) * | 2017-10-23 | 2024-05-14 | 天津飞眼无人机科技有限公司 | Control system of air-land dual-purpose vehicle |
| CN110418753A (en) * | 2017-10-30 | 2019-11-05 | 深圳市大疆创新科技有限公司 | A kind of unmanned vehicle and its ascending, descending frame |
| CN108176062B (en) * | 2017-12-28 | 2019-03-29 | 聂梓蕴 | A kind of convertible model plane of state of flight |
| CN108176062A (en) * | 2017-12-28 | 2018-06-19 | 聂梓蕴 | A kind of convertible model plane of state of flight |
| EP3730403A1 (en) | 2019-04-26 | 2020-10-28 | AIRBUS HELICOPTERS DEUTSCHLAND GmbH | A rotorcraft with a stabilizer wing |
| US11485487B2 (en) | 2019-04-26 | 2022-11-01 | Airbus Helicopters Deutschland GmbH | Rotorcraft with a stabilizer wing |
| US11702199B2 (en) | 2019-04-26 | 2023-07-18 | Airbus Helicopters Deutschland GmbH | Rotorcraft with a stabilizer wing |
| CN110304244A (en) * | 2019-06-26 | 2019-10-08 | 深圳市道通智能航空技术有限公司 | Flight control method, device, vert rotor aircraft and medium |
| WO2021134539A1 (en) * | 2019-12-31 | 2021-07-08 | 李庆远 | Rotor display |
| CN111348197A (en) * | 2020-03-16 | 2020-06-30 | 华中科技大学 | Combined power system of vertical take-off and landing fixed wing aircraft |
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