CN104608924A - Multi-rotor-wing craft with tilting fixed wing and control method of multi-rotor-wing craft - Google Patents
Multi-rotor-wing craft with tilting fixed wing and control method of multi-rotor-wing craft Download PDFInfo
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Abstract
The invention relates to a multi-rotor-wing craft with tilting fixed wings and a control method of the multi-rotor-wing craft. The multi-rotor-wing craft comprises a craft body, fixed wings arranged at two sides of the craft body by a rotating shaft, multiple rotor wings arranged on the craft body, a power system for driving all the rotor wings to rotate and driving the fixed wings to tilt, and a control system for controlling the tilting angle of the fixed wing and controlling the rotating speed and the propeller pitch of each rotor wing. According to the multi-rotor-wing craft with the tilting fixed wings, the fixed wing can tilt, the attack angle can be controlled independently, the cruising efficiency and the load weight of the craft are improved, and the maneuverability and the controllability of the multi-rotor-wing craft are effectively improved due to the arrangement.
Description
Technical field
The present invention relates to vehicle technology field, particularly a kind of band verts the multi-rotor aerocraft of fixed-wing and control method thereof.
Background technology
Traditional aircraft mainly contains Fixed Wing AirVehicle and rotor craft two kinds, Fixed Wing AirVehicle generally adopts the mode of Horizontal Take-off and Landing, the lift relying on fixed-wing to produce carries out landing and cruises, its advantage is that flying speed is very fast, voyage and cruise duration longer, but the landing of Fixed Wing AirVehicle distance is longer, higher to the requirement of runway, makes it apply and has limitation.
The lift that rotor craft relies on rotor to produce, can carry out vertical takeoff and landing.The multi-rotor aerocraft being representative with four rotors occurred in recent years, except can vertical takeoff and landing, the difference of rotor lift can also be relied on to distribute and to realize the gesture stability of aircraft, without any need for control rudder face, thus there is the advantages such as structure is simple, flexible operation.But during owing to cruising, the resistance of rotor is comparatively large, so the flight efficiency of rotor craft, flying speed, voyage and cruise duration are all not so good as Fixed Wing AirVehicle.Further, the existing multi-rotor aerocraft overwhelming majority adopts direct motor drive, and its power and load are all less.Therefore, rotor craft also has its limitation.
Notification number is in the patent documentation of CN202728575U, disclose the composite aircraft that a kind of fixed-wing and electronic many rotors form, this kind of aircraft comprises one group of electronic many rotor power system and a master controller, fixed-wing power system and electronic many rotor power system structurally separate, this master controller comprises this fixed-wing control system and the electronic many rotor control systems for controlling this electronic many rotor power system works, and this master controller is also for controlling this fixed-wing control system and electronic many rotor control systems work independently or collaborative work; The rotor wing rotation plane of described electronic many rotor power system is parallel with fuselage center shaft.This kind of aircraft both can vertical takeoff and landing and flight as helicopter, can landing and flight as fixed wing aircraft, and the pattern of two power system hybrid workings also can be used in landing and flight course to realize.
Aircraft involved by this patent has two and overlaps independently power system, and therefore when wherein a set of power system works independently time, another set of power system just becomes deadweight, greatly reduces cruise efficiency and load weight.
Secondly, the wing of the aircraft involved by this patent is fixed on fuselage, and therefore the angle of airfoil chord plane and rotor wing rotation plane can not change, and namely the angle of attack of wing can not independently control, thus causes the manoevreability of aircraft and handlingly greatly to reduce.Further, because its many rotor power system adopts motor to drive, so compared to fuel engines, its maximum power and load weight are all less, are not suitable for relatively large aircraft, have significant limitation.
Summary of the invention
The object of this invention is to provide a kind of band to vert the multi-rotor aerocraft of fixed-wing, its fixed-wing can vert, the angle of attack can independently control, and improves cruise efficiency and the load weight of aircraft, and the manoevreability of aircraft and handlingly obtain effective raising.Present invention also offers a kind of control method of above-mentioned multi-rotor aerocraft.
A kind of band provided by the invention verts the multi-rotor aerocraft of fixed-wing, comprise fuselage, be arranged at the fixed-wing of described fuselage both sides by rotating shaft, multiple rotor be arranged on described fuselage, for the power system that drives rotor wing rotation described in each and fixed-wing to vert and for the tilt angle that controls described fixed-wing with control the rotating speed of rotor described in each and the control system of pitch.
Preferably, described rotating shaft is perpendicular to the plane of symmetry of described multi-rotor aerocraft.
Preferably, the quantity of described rotor is four, four described rotors with the plane of symmetry of described multi-rotor aerocraft for the plane of symmetry is symmetrical, and before and after the center of gravity being uniformly distributed in described aircraft.
Preferably, described power system comprises propulsion source and Aircraft Steering Engine, and described propulsion source is turboaxle motor, aviation piston engine or electrical motor.
Preferably, verting of described fixed-wing is driven by described Aircraft Steering Engine.
Present invention also offers the control method of the multi-rotor aerocraft being with the fixed-wing that verts, in aircraft takeoff process, increase the rotating speed of rotor described in each or pitch gradually to increase lift, aircraft vertical is taken off, rotates fixed-wing simultaneously and adjust its angle of attack to make its resistance minimum; After aircraft rises to preset height, rotate fixed-wing to horizontality.
Preferably, when aircraft transfers cruising condition to by takeoff condition, increase rotating speed or the pitch of the rotor before the rotating speed of the rotor after aircraft center of gravity or pitch, reduction aircraft center of gravity, lean forward gradually to make fuselage, the pulling force flight forward forward utilizing rotor to produce, rotates fixed-wing simultaneously and adjusts its angle of attack to make its 1ift-drag ratio maximum.
Preferably, when aircraft transfers landing state to by cruising condition, reduce rotating speed or the pitch of the rotor before the rotating speed of the rotor after aircraft center of gravity or pitch, increase aircraft center of gravity, to make the attitude of fuselage gradually become hypsokinesis from leaning forward, the pulling force backward utilizing rotor to produce reduces the speed of aircraft; When aircraft speed is reduced to pre-set velocity, increase rotating speed or the pitch of the rotor before the rotating speed of the rotor after aircraft center of gravity or pitch, reduction aircraft center of gravity, the attitude of fuselage is made to gradually become horizontality from hypsokinesis, then reduce the rotating speed of all rotors or pitch gradually to reduce lift, aircraft vertical is landed; In the process, fixed-wing keeps horizontality.
Preferably, in the aircraft landing stage, by increasing rotating speed or the pitch of hand of rotation each rotor contrary with the direction that aircraft wish will deflect, reduce rotating speed or the pitch of hand of rotation each rotor identical with the direction that aircraft wish will deflect simultaneously, deflect to respective direction to make aircraft.
Preferably, in the aircraft landing stage, reduce rotating speed or the pitch of each rotor before the rotating speed of each rotor after aircraft center of gravity or pitch, increase aircraft center of gravity, come back to make fuselage; Or, increase rotating speed or the pitch of each rotor before the rotating speed of each rotor after aircraft center of gravity or pitch, reduction aircraft center of gravity, bow to make fuselage.
Preferably, in the aircraft landing stage, reduce rotating speed or the pitch of each rotor on the left of the rotating speed of each rotor on the right side of fuselage or pitch, increase fuselage, to make aircraft rolling to the right; Or, increase rotating speed or the pitch of each rotor on the left of the rotating speed of each rotor on the right side of fuselage or pitch, reduction fuselage, to make aircraft rolling left.
Preferably, in aircraft cruising phase, reduce rotating speed or the pitch of each rotor before the rotating speed of each rotor after aircraft center of gravity or pitch, increase aircraft center of gravity, come back to make fuselage; Or, increase rotating speed or the pitch of each rotor before the rotating speed of each rotor after aircraft center of gravity or pitch, reduction aircraft center of gravity, bow to make fuselage.
Preferably, in aircraft cruising phase, reduce rotating speed or the pitch of each rotor on the left of the rotating speed of each rotor on the right side of fuselage or pitch, increase fuselage, deflect to the right to make aircraft; Or, increase rotating speed or the pitch of each rotor on the left of the rotating speed of each rotor on the right side of fuselage or pitch, reduction fuselage, deflect left to make aircraft.
Preferably, in aircraft cruising phase, by increasing rotating speed or the pitch of each rotor that hand of rotation wants the direction of rolling contrary with aircraft wish, reduce rotating speed or the pitch of each rotor that hand of rotation wants the direction of rolling identical with aircraft wish, to make aircraft to respective direction rolling simultaneously.
Preferably, in aircraft cruising phase, by rotating fixed-wing, reducing the angle of attack of the fixed-wing on the left of fuselage, increasing the angle of attack of the fixed-wing on the right side of fuselage, to make aircraft rolling left simultaneously; Or, by rotating fixed-wing, increasing the angle of attack of the fixed-wing on the left of fuselage, reducing the angle of attack of the fixed-wing on the right side of fuselage, to make aircraft rolling to the right simultaneously.
Aircraft provided by the invention, based on multi-rotor aerocraft, is namely provided with the aircraft of multiple rotor, and be provided with fixed-wing in the fuselage both sides of this kind of aircraft, fixed-wing is arranged on the both sides of fuselage by rotating shaft, and when fixed-wing verts, its angle of attack changes.When aircraft takeoff, increase lift, aircraft vertical is taken off by the rotating speed or pitch increasing all rotors gradually, the tilt angle simultaneously by controlling fixed-wing adjusts the angle of attack of fixed-wing to make its resistance minimum.When aircraft cruises, adjust the angle of attack of fixed-wing to make its 1ift-drag ratio maximum by the tilt angle controlling fixed-wing.Along with the increase of flying speed, the lift that fixed-wing produces also constantly increases.Therefore, compared with simple multi-rotor aerocraft, the cruise efficiency of this aircraft is higher, voyage and cruise duration longer.After the resistance of aircraft is equal with the pulling force forward that rotor produces, aircraft can keep certain speed cruise.
In preferred version of the present invention, the propulsion source of power system can be turboaxle motor.It should be noted that, each rotor can share a turboaxle motor, certainly, also respectively can adopt a turboaxle motor.Turboaxle motor has larger power, effectively can improve the load weight of aircraft, and course continuation mileage is longer.
Present invention also offers a kind of control method, by controlling rotating speed or the pitch of rotor, and the tilt angle of fixed-wing, realize taking off and cruising of aircraft.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention 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, accompanying drawing in the following describes is only embodiments of the invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to the accompanying drawing provided.
Fig. 1 be in the specific embodiment of the invention aircraft in the schematic top plan view of takeoff phase;
Fig. 2 is the connection diagram of fixed-wing and fuselage in the specific embodiment of the invention;
Fig. 3 be in the specific embodiment of the invention aircraft in the front-view schematic diagram of cruising phase;
Fig. 4 be in the specific embodiment of the invention aircraft in the schematic top plan view of landing phases.
In Fig. 1-Fig. 4:
Fuselage-1, fixed-wing-2, power system-3, the first rotor-4, the second rotor-4a, three rotor-4b, four rotor-4c, control system-5, rotating shaft-6, bearing-61.
Detailed description of the invention
This detailed description of the invention provides a kind of band and to vert the multi-rotor aerocraft of fixed-wing, its fixed-wing can vert, the angle of attack can independently control, and improves cruise efficiency and the load weight of aircraft, and the manoevreability of aircraft and handlingly obtain effective raising.This detailed description of the invention additionally provides a kind of control method of above-mentioned multi-rotor aerocraft.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, carry out clear, complete description to 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, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Please refer to Fig. 1-Fig. 4, the aircraft that this detailed description of the invention provides, on the basis of multi-rotor aerocraft, be provided with the fixed-wing 2 being with function of verting, described in specific as follows:
This aircraft is comprised fuselage 1, is arranged at the fixed-wing 2 of fuselage 1 both sides by rotating shaft 6, multiple rotor be arranged on fuselage 1, for the power system 3 that drives each rotor wing rotation and fixed-wing 2 to vert and the control system 5 for the tilt angle that controls fixed-wing 2 and the rotating speed controlling each rotor and pitch.
It should be noted that, rotating shaft 6 can be supported on fuselage by bearing 61, the mounting means of rotor is identical with the mounting means of multi-rotor aerocraft in prior art, namely each rotor all connects on the fuselage 1 by support arm, and, the rotating speed of each rotor and pitch can control separately, and the pitch regulative mode of each rotor can refer to the pitch regulative mode of helicopter in prior art, no longer specifically introduces herein.
In this detailed description of the invention, fixed-wing 2 is arranged on two side positions of fuselage 1 by rotating shaft 6, and fixed-wing 2 rotates centered by rotating shaft 6, to regulate its angle of attack.
It should be noted that, the tilt angle of the rotating speed of each rotor and pitch and fixed-wing 2 all realizes controlling by control system 5.
Setting like this, when aircraft takeoff, increases lift by the rotating speed or pitch increasing all rotors gradually, aircraft vertical is taken off, and the tilt angle simultaneously by controlling fixed-wing 2 adjusts the angle of attack of fixed-wing 2 to make its resistance minimum.When aircraft cruises, adjust the angle of attack of fixed-wing 2 to make its 1ift-drag ratio maximum by the tilt angle controlling fixed-wing 2.Along with the increase of flying speed, the lift that fixed-wing 2 produces also constantly increases.Therefore, compared with simple multi-rotor aerocraft, the cruise efficiency of this aircraft is higher, voyage and cruise duration longer.After the resistance of aircraft is equal with the pulling force forward that rotor produces, aircraft can keep certain speed cruise.
In addition, in the preferred version that this detailed description of the invention provides, rotating shaft 6 is perpendicular to the plane of symmetry of aircraft.Setting like this, the centre of gration of fixed-wing 2 and the plane of symmetry of aircraft perpendicular, the adjustment of the angle of attack of fixed-wing 2 is more accurate.
In this detailed description of the invention, the quantity of rotor can be four, can be the first rotor 4 as shown in the figure, second rotor 4a, 3rd rotor 4b and the 4th rotor 4c, wherein, first rotor 4 and the 3rd rotor 4b are positioned on the left of fuselage 1, second rotor 4a and the 4th rotor 4c is positioned on the right side of fuselage 1, first rotor 4 and the second rotor 4a, 3rd rotor 4b and the 4th rotor 4c all with the aircraft plane of symmetry for the plane of symmetry is symmetrical, in addition, first rotor 4 and the second rotor 4a are arranged at the front side of aircraft center of gravity, 3rd rotor 4b and the 4th rotor 4c is arranged at the rear side of aircraft center of gravity.
Certainly, the rotor that this detailed description of the invention provides also can be other quantity, such as, three, five etc., when rotor quantity is three, the centre of gration of one of them rotor can be positioned at aircraft center of gravity forward position, and overlaps with the aircraft plane of symmetry, and two other is symmetrically distributed in the both sides of the aircraft plane of symmetry and is positioned at the rearward position of aircraft center of gravity.When rotor is five, the rotor that a centre of gration and aircraft center of gravity coincide can be increased on the basis of four rotors.The magnitude setting of rotor and set-up mode can be arranged according to multi-rotor aerocraft of the prior art, repeat no longer one by one herein.
The aircraft that this detailed description of the invention provides, the propulsion source of its power system 3 can adopt turboaxle motor, and turboaxle motor has larger power, and course continuation mileage is longer.Power system 3 can utilize Aircraft Steering Engine to drive fixed-wing 2 to vert.
This detailed description of the invention additionally provides a kind of control method of aircraft, for convenience of description, below content be described combining the aircraft with four rotors.
The control method that this detailed description of the invention provides, in aircraft takeoff process, increases the rotating speed of each rotor or pitch gradually to increase lift, aircraft vertical is taken off, rotates fixed-wing 2 simultaneously and adjust its angle of attack to make its resistance minimum; After aircraft rises to preset height, rotate fixed-wing 2 to horizontality.
When aircraft transfers cruising condition to by takeoff condition, increase the rotating speed of the 3rd rotor 4b and the 4th rotor 4c or the rotating speed of pitch, reduction first rotor 4 and the second rotor 4a or pitch, lean forward gradually to make fuselage 1, the pulling force flight forward forward utilizing rotor to produce, rotates fixed-wing 2 simultaneously and adjusts its angle of attack to make its 1ift-drag ratio maximum.
When aircraft transfers landing state to by cruising condition, reduce the rotating speed of the 3rd rotor 4b and the 4th rotor 4c or the rotating speed of pitch, increase by first rotor 4 and the second rotor 4a or pitch, to make the attitude of fuselage 1 gradually become hypsokinesis from leaning forward, the pulling force backward utilizing rotor to produce reduces the speed of aircraft; When aircraft speed is reduced to pre-set velocity, increase the rotating speed of the 3rd rotor 4b and the 4th rotor 4c or the rotating speed of pitch, reduction first rotor 4 and the second rotor 4a or pitch, the attitude of fuselage 1 is made to gradually become horizontality from hypsokinesis, then reduce the rotating speed of all rotors or pitch gradually to reduce lift, aircraft vertical is landed; In the process, fixed-wing 2 keeps horizontality.
In addition, its gesture stability is realized in the aircraft landing stage by following method.By increasing rotating speed or the pitch of hand of rotation each rotor contrary with the direction that aircraft wish will deflect, reducing rotating speed or the pitch of hand of rotation each rotor identical with the direction that aircraft wish will deflect simultaneously, deflecting to respective direction to make aircraft.Such as aircraft, for deflecting to the right, by the rotating speed of increase by second rotor 4a and the 3rd rotor 4b or pitch, can reduce rotating speed or the pitch of the first rotor 4 and the 4th rotor 4c simultaneously, deflects to the right to make aircraft; Or such as aircraft, for deflecting left, by the rotating speed of reduction second rotor 4a and the 3rd rotor 4b or pitch, can increase rotating speed or the pitch of the first rotor 4 and the 4th rotor 4c, deflects left to make aircraft simultaneously; So can realize the control of aircraft in the yaw attitude in landing stage.
By rotating speed or the pitch of the rotating speed or pitch, increase by first rotor 4 and the second rotor 4a that reduce the 3rd rotor 4b and the 4th rotor 4c, come back to make fuselage; Or, increase the rotating speed of the 3rd rotor 4b and the 4th rotor 4c or the rotating speed of pitch, reduction first rotor 4 and the second rotor 4a or pitch, bow to make fuselage; So can realize the control of aircraft in the pitch attitude in landing stage.
By rotating speed or the pitch of the rotating speed or pitch, increase by first rotor 4 and the 3rd rotor 4b that reduce the second rotor 4a and the 4th rotor 4c, to make aircraft rolling to the right; Or, increase the rotating speed of the second rotor 4a and the 4th rotor 4c or the rotating speed of pitch, reduction first rotor 4 and the 3rd rotor 4b or pitch, to make aircraft rolling left; So can realize the control of aircraft in the roll attitude in landing stage.
And aircraft controls by following method in each attitude of cruising phase.By rotating speed or the pitch of the rotating speed or pitch, increase by first rotor 4 and the second rotor 4a that reduce the 3rd rotor 4b and the 4th rotor 4c, come back to make fuselage; Or, increase the rotating speed of the 3rd rotor 4b and the 4th rotor 4c or the rotating speed of pitch, reduction first rotor 4 and the second rotor 4a or pitch, bow to make fuselage; So can realize the control of aircraft in the pitch attitude of cruising phase.
By rotating speed or the pitch of the rotating speed or pitch, increase by first rotor 4 and the 3rd rotor 4b that reduce the second rotor 4a and the 4th rotor 4c, deflect to the right to make aircraft; Or, increase the rotating speed of the second rotor 4a and the 4th rotor 4c or the rotating speed of pitch, reduction first rotor 4 and the 3rd rotor 4b or pitch, deflect left to make aircraft; So can realize the control of aircraft in the yaw attitude of cruising phase.
By increasing rotating speed or the pitch of each rotor that hand of rotation wants the direction of rolling contrary with aircraft wish, reduce rotating speed or the pitch of each rotor that hand of rotation wants the direction of rolling identical with aircraft wish, to make aircraft to respective direction rolling simultaneously.Such as, aircraft for will rolling to the right time, rotating speed or the pitch of the first rotor 4 and the 4th rotor 4c can be increased, reduce rotating speed or the pitch of the second rotor 4a and the 3rd rotor 4b simultaneously; Aircraft for will rolling left time, rotating speed or the pitch of the first rotor 4 and the 4th rotor 4c can be reduced, increase rotating speed or the pitch of the second rotor 4a and the 3rd rotor 4b simultaneously; So can realize the control of aircraft in the roll attitude of cruising phase.In aircraft cruising phase, the angle of attack of adjustment fixed-wing 2 can also be passed through, with the roll attitude of auxiliary control aircraft.Such as, by rotating fixed-wing 2, reducing the angle of attack of the fixed-wing on the left of fuselage, increasing the angle of attack of the fixed-wing on the right side of fuselage, to make aircraft rolling left simultaneously; By rotating fixed-wing 2, increasing the angle of attack of the fixed-wing on the left of fuselage, reducing the angle of attack of the fixed-wing on the right side of fuselage, to make aircraft rolling to the right simultaneously; So can assist and control the roll attitude of aircraft in cruising phase.
It should be noted that, above-mentioned " left side " " right side " is all in a top view, with the plane of symmetry of aircraft be reference plane, the left side that divides to heading for reference orientation with tail and right side.
Setting like this, by control method provided by the invention, makes rotor realize coordinating with fixed-wing 2 and rotate, and then effectively improves cruise efficiency and the load weight of aircraft.And, by this control method, the manoevreability of aircraft and handlingly obtain effective raising.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (15)
1. a band verts the multi-rotor aerocraft of fixed-wing, it is characterized in that, comprise fuselage, be arranged at by rotating shaft the fixed-wing of described fuselage both sides, multiple rotor be arranged on described fuselage, for the power system that drives rotor wing rotation described in each and fixed-wing to vert and for the tilt angle that controls described fixed-wing with control the rotating speed of rotor described in each and the control system of pitch.
2. multi-rotor aerocraft as claimed in claim 1, it is characterized in that, described rotating shaft is perpendicular to the plane of symmetry of described multi-rotor aerocraft.
3. multi-rotor aerocraft as claimed in claim 1, it is characterized in that, the quantity of described rotor is four, four described rotors with the plane of symmetry of described multi-rotor aerocraft for the plane of symmetry is symmetrical, and before and after the center of gravity being uniformly distributed in described multi-rotor aerocraft.
4. multi-rotor aerocraft as claimed in claim 1, it is characterized in that, described power system comprises propulsion source and Aircraft Steering Engine, and described propulsion source is turboaxle motor, aviation piston engine or electrical motor.
5. multi-rotor aerocraft as claimed in claim 4, is characterized in that, verting of described fixed-wing is driven by described Aircraft Steering Engine.
6. a band verts the control method of multi-rotor aerocraft of fixed-wing, it is characterized in that, in aircraft takeoff process, increase the rotating speed of rotor described in each or pitch gradually to increase lift, aircraft vertical is taken off, rotates fixed-wing simultaneously and adjust its angle of attack to make its resistance minimum; After aircraft rises to preset height, rotate fixed-wing to horizontality.
7. control method as claimed in claim 6, it is characterized in that, when aircraft transfers cruising condition to by takeoff condition, increase rotating speed or the pitch of the rotor before the rotating speed of the rotor after aircraft center of gravity or pitch, reduction aircraft center of gravity, lean forward gradually to make fuselage, the pulling force flight forward forward utilizing rotor to produce, rotates fixed-wing simultaneously and adjusts its angle of attack to make its 1ift-drag ratio maximum.
8. control method as claimed in claim 7, it is characterized in that, when aircraft transfers landing state to by cruising condition, reduce rotating speed or the pitch of the rotor before the rotating speed of the rotor after aircraft center of gravity or pitch, increase aircraft center of gravity, to make the attitude of fuselage gradually become hypsokinesis from leaning forward, the pulling force backward utilizing rotor to produce reduces the speed of aircraft; When aircraft speed is reduced to pre-set velocity, increase rotating speed or the pitch of the rotor before the rotating speed of the rotor after aircraft center of gravity or pitch, reduction aircraft center of gravity, the attitude of fuselage is made to gradually become horizontality from hypsokinesis, then reduce the rotating speed of all rotors or pitch gradually to reduce lift, aircraft vertical is landed; In the process, fixed-wing keeps horizontality.
9. control method as claimed in claim 8, it is characterized in that, in the aircraft landing stage, by increasing rotating speed or the pitch of hand of rotation each rotor contrary with the direction that aircraft wish will deflect, reduce rotating speed or the pitch of hand of rotation each rotor identical with the direction that aircraft wish will deflect simultaneously, deflect to respective direction to make aircraft.
10. control method as claimed in claim 9, is characterized in that, in the aircraft landing stage, reduces rotating speed or the pitch of each rotor before the rotating speed of each rotor after aircraft center of gravity or pitch, increase aircraft center of gravity, comes back to make fuselage; Or, increase rotating speed or the pitch of each rotor before the rotating speed of each rotor after aircraft center of gravity or pitch, reduction aircraft center of gravity, bow to make fuselage.
11. control methods as claimed in claim 10, is characterized in that, in the aircraft landing stage, reduce rotating speed or the pitch of each rotor on the left of the rotating speed of each rotor on the right side of fuselage or pitch, increase fuselage, to make aircraft rolling to the right; Or, increase rotating speed or the pitch of each rotor on the left of the rotating speed of each rotor on the right side of fuselage or pitch, reduction fuselage, to make aircraft rolling left.
12. control methods as claimed in claim 11, is characterized in that, in aircraft cruising phase, reduce rotating speed or the pitch of each rotor before the rotating speed of each rotor after aircraft center of gravity or pitch, increase aircraft center of gravity, come back to make fuselage; Or, increase rotating speed or the pitch of each rotor before the rotating speed of each rotor after aircraft center of gravity or pitch, reduction aircraft center of gravity, bow to make fuselage.
13. control methods as claimed in claim 12, is characterized in that, in aircraft cruising phase, reduce rotating speed or the pitch of each rotor on the left of the rotating speed of each rotor on the right side of fuselage or pitch, increase fuselage, deflect to the right to make aircraft; Or, increase rotating speed or the pitch of each rotor on the left of the rotating speed of each rotor on the right side of fuselage or pitch, reduction fuselage, deflect left to make aircraft.
14. control methods as claimed in claim 13, it is characterized in that, in aircraft cruising phase, by increasing rotating speed or the pitch of each rotor that hand of rotation wants the direction of rolling contrary with aircraft wish, reduce rotating speed or the pitch of each rotor that hand of rotation wants the direction of rolling identical with aircraft wish, to make aircraft to respective direction rolling simultaneously.
15. control methods as claimed in claim 14, is characterized in that, in aircraft cruising phase, by rotating fixed-wing, reducing the angle of attack of the fixed-wing on the left of fuselage, increasing the angle of attack of the fixed-wing on the right side of fuselage, to make aircraft rolling left simultaneously; Or, by rotating fixed-wing, increasing the angle of attack of the fixed-wing on the left of fuselage, reducing the angle of attack of the fixed-wing on the right side of fuselage, to make aircraft rolling to the right simultaneously.
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| CN201510073872.5A CN104608924B (en) | 2015-02-12 | 2015-02-12 | Band verts the multi-rotor aerocraft and its control method of fixed-wing |
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| CN201510073872.5A CN104608924B (en) | 2015-02-12 | 2015-02-12 | Band verts the multi-rotor aerocraft and its control method of fixed-wing |
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