CN104627359B - Multi-axis aircraft - Google Patents
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- CN104627359B CN104627359B CN201510086859.3A CN201510086859A CN104627359B CN 104627359 B CN104627359 B CN 104627359B CN 201510086859 A CN201510086859 A CN 201510086859A CN 104627359 B CN104627359 B CN 104627359B
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- 238000002955 isolation Methods 0.000 claims abstract description 17
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 238000005265 energy consumption Methods 0.000 abstract description 3
- 238000006243 chemical reaction Methods 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 238000005119 centrifugation Methods 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
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Abstract
The present invention relates to Multi-axis aircraft, it includes having on the mainframe of fulcrum, the power set being arranged on fulcrum, power set the pulling force rotor driven, and arranges and be positioned at the supercharging rotor of pulling force rotor upper side with coaxial line with pulling force rotor.The diameter of supercharging rotor, less than the diameter of pulling force rotor, is provided with isolation deflector between supercharging rotor and pulling force rotor.Decrease gas current friction, improve the work efficiency of rotor, reduce energy consumption, improve the cruising time of Multi-axis aircraft.
Description
Technical field
The present invention relates to a kind of aircraft, particularly relate to a kind of Multi-axis aircraft.
Background technology
Generally, driving the power of aircraft ascending motion to be referred to as pulling force, the power ordering about aircraft horizontal movement is referred to as thrust.Existing Multi-axis aircraft generally uses vane type rotor to provide pulling force as pulling force rotor for Multi-axis aircraft.
As it is shown in figure 1, Multi-axis aircraft 100 is a kind of rotor craft with two or more rotor shaft 101.Multi-axis aircraft has mainframe 110, it is arranged on the power supply on mainframe 110, control circuit, electricity tune and fulcrum 111, every fulcrum 111 end is respectively arranged with motor 121, and motor 121 drives the rotor 122 being fixed in motor 121 rotating shaft to rotate, thus obtains the flying power of Multi-axis aircraft.The direction of arrow is the direction of rotation of rotor shaft 101, and rotor shaft 101 is generally vertically arranged, and fixes with the relative position of mainframe 110, the angle of attack of rotor is also fixing, by changing the rotating speed of rotor, the moment of torsion of propulsive force can be changed, thus control the running orbit of aircraft.
The Basic Flight Maneuver of Multi-axis aircraft 100 has vertical displacement movement, seesaws, lateral movement, elevating movement, roll motion, yawing rotation.
See Fig. 2 as a example by four-axle aircraft 200, its four motors be crosswise be distributed the most orthogonal X with in Y-axis, and X-axis positive direction is considered as heading.Motor 1 is positioned at X-axis positive axis, and motor 3 is positioned at X-axis and bears semiaxis；Motor 2 is positioned at Y-axis positive axis, and motor 4 is positioned at Y-axis and bears semiaxis；Z axis is vertical.
Elevating movement: four motors improve rotating speed simultaneously, the pulling force that four-axle aircraft 200 obtains increases and moves along Z axis positive direction；Four motors reduce rotating speed simultaneously, and the pulling force that four-axle aircraft 200 obtains reduces and moves along Z axis negative direction.
Pitching motion: motor 1 raises speed, motor 3 reduction of speed, four-axle aircraft 200 rotates around Y-axis and lifts head and face upward, while move along X-axis negative direction；Otherwise, four-axle aircraft 200 is nutation around Y-axis rotation test head, moves along X-axis positive direction simultaneously.
Roll motion: motor 4 raises speed, motor 2 reduction of speed, four-axle aircraft 200 turns about the X axis and Right deviation, and moves along Y-axis positive direction；Otherwise, four-axle aircraft 200 turns about the X axis and left-leaning, and moves along Y-axis negative direction.When motor 4 and motor 2 speed discrepancy are sufficiently large, four-axle aircraft 200 will occur complete horizontal rolling, i.e. roll motion.
Yawing rotation: the reaction torque contrary with rotation direction can be formed due to air drag effect in rotor 5 rotation process.In order to overcome reaction torque to affect, the arrangement of four rotors uses two to rotate forward two reversions, and opposed rotor turn to identical.It is relevant with the rotating speed of rotor 5 that each rotor 5 produces the size of reaction torque, and rotor 5 rotating speed is the highest, and the reaction torque of generation is the biggest.When four rotor 5 rotating speeds are identical, the reaction torque that four-axle aircraft 200 is produced by four rotors 5 is cancelled out each other, and the relative Z axis of four-axle aircraft 200 does not rotates；When the rotating speed of four rotors is incomplete same, and reaction torque can not be cancelled out each other completely, reaction torque can cause four-axle aircraft 200 to rotate relative to Z axis, thus realizes yawing rotation.Motor 1 and 3 rotating speed improves (rotating forward), and motor 2 and 4 rotating speed reduces (reversion), and four-axle aircraft 200 will rotate about the z axis and deflect to the right, go off course the most to the right.Owing to motor 1 and 3 rotating speed improves, motor 2 and 4 rotating speed reduces, and overall pulling force is constant, so four-axle aircraft 200 will not rise or fall.
It is flat that the mainframe of usual Multi-axis aircraft is designed to be comparison, i.e. horizontal direction has bigger size, and height dimension is less, so can reduce horizontal direction windage, reduces the impact of beam wind.
At present, Multi-axis aircraft all utilizes inertia measuring module (IMU) to control flight attitude.Inertia measuring module includes accelerometer and gyroscope, also known as INS.With reference to rectangular coordinate system in space, on X, Y, Z axis direction, it is respectively arranged a gyroscope, for measuring Multi-axis aircraft rotary motion on above three direction；On X, Y, Z axis direction, it is respectively arranged an accelerometer, for measuring Multi-axis aircraft acceleration of translational motion on above three direction.Inertia measuring module be able to detect that aircraft pitch, tilt, the attitude such as driftage, and corresponding signal is fed back to the control circuit of Multi-axis aircraft, Multi-axis aircraft controls motor speed according to the control signal of the gesture stability rule being preset in the memorizer in control circuit or remote controller input and adjusts flight attitude.
Small-sized or miniature Multi-axis aircraft can use the hollow-cup motor that high speed low torque, efficiency are higher directly to drive the rotor that the angle of attack is less.Bigger Multi-axis aircraft is relatively big due to take-off weight, in order to obtain enough pulling force, needs to use moment of torsion directly to drive, compared with brushless electric machine big, that rotating speed is relatively low, the rotor that the angle of attack is bigger.
The motor of some Multi-axis aircraft is not arranged on a tip of the axis, and is provided in fulcrum end position in the inner part, is beneficial to fulcrum and rotor constitutes the protection of horizontal direction.
Owing to Multi-axis aircraft is relatively simple for structure, control system and performance are the most more stable so that Multi-axis aircraft is prone to miniaturization, and application popularization speed in recent years is greatly improved.The type that now market is on sale has two axles, three axles, four axles, five axles, six axles, the Multi-axis aircraft of eight axles, even more multiaxis, and is most commonly that four-axle aircraft.
Multi-axis aircraft is in addition to as remote control distributor performance model, moreover it is possible to enter the various adverse circumstances that should not enter of people easily, the aerial mission such as the film that can perform to take photo by plane is found a view, monitoring, landform exploration in real time.
In order to perform more diversified task, Multi-axis aircraft needs be equipped with frame more firm, multi-functional and carry more application apparatus.In order to obtain bigger lift, every of Multi-axis aircraft the tip of the axis is equipped with a pair positive and negative rotor.The upper and lower coaxial arrangement of positive and negative rotor, is driven by independent motor respectively, and the rotating speed size equidirectional of positive and negative rotor is contrary.Owing to positive and negative rotor is directly installed on respective motor respectively, and at a distance of relatively near, when positive and negative rotor is close to each other, the windage between rotor is more serious, and energy loss is bigger.
Summary of the invention
Present invention aim at providing a kind of to obtain the most capable of reducing energy consumption compared with lift thus improve the Multi-axis aircraft of flying power.
For achieving the above object, the Multi-axis aircraft of the present invention, including on the mainframe with fulcrum, be arranged on the power set on fulcrum, power set the pulling force rotor driven, arrange with pulling force rotor coaxial line and be positioned at the supercharging rotor above pulling force rotor.The diameter of supercharging rotor, less than the diameter of pulling force rotor, is provided with isolation deflector between supercharging rotor and pulling force rotor.
From above scheme, pulling force rotor and supercharging rotor are arranged in the rotating shaft of same power set, two rotor coaxial lines are arranged, the diameter of supercharging rotor is less than the diameter of pulling force rotor, supercharging rotor and pulling force rotor can be produced strong windage and gas shock by the isolation deflector being arranged between supercharging rotor and pulling force rotor when being separated and avoid the two close to each other, gas from supercharging rotor can also be guided pulling force rotor by this isolation deflector swimmingly, thus further reduce gas current friction, improve the work efficiency of rotor, reduce energy consumption, improve the cruising time of Multi-axis aircraft.
Further scheme is, supercharging rotor described pulling force rotor side is provided with water conservancy diversion vertebra.Be conducive to flowing into airflow smooth supercharging rotor, improve rotor work efficiency.
Another further scheme is, supercharging rotor is centrifugal impeller, and isolation deflector is arranged on one end of the close pulling force rotor of centrifugal impeller.Centrifugal impeller setting coaxial with pulling force rotor as supercharging impeller, isolation deflector is between centrifugal impeller and pulling force rotor, the blade of centrifugal impeller will not liquidate with the blade of pulling force rotor and form strong gas current friction, simultaneously, the air-flow flowing to pulling force rotor from centrifugal impeller will not vertically be beaten on the blade of pulling force rotor, further reduce mechanical loss, improve the work efficiency of rotor.
Another further scheme is, the diameter ratio of supercharging rotor and pulling force rotor, between 0.2 to 0.35, flows to the air-flow major part of pulling force rotor from supercharging rotor and flows to the middle outside in the radial direction of pulling force rotor.The air-flow making supercharging rotor flow to pulling force rotor is effectively captured by pulling force rotor, improves the work efficiency of rotor.
Further scheme is, the rotating ratio of supercharging rotor and pulling force rotor is between 1 to 1.3.So can ensure that supercharging rotor is unlikely to again to make this air-flow that pulling force rotor is caused intense impact friction to the air-flow that pulling force rotor is provided with, effectively prevent unnecessary energy loss.
Another further scheme is, the guide face of isolation deflector is the opening side towards the round platform of pulling force rotor.It is more beneficial for from supercharging rotor, air-flow is guided the middle part to pulling force rotor, captures efficiently for pulling force rotor.
Further scheme is, the bus of round platform and the angle of axis are between 50 degree to 85 degree.It is more beneficial for again from supercharging rotor, air-flow is guided the middle part to pulling force rotor, captures efficiently for pulling force rotor.
The most further scheme is, the radial outside of supercharging rotor and pulling force rotor is provided with the rotation axis coincident of the coaming plate of cylindrical shape, the axis of coaming plate and pulling force rotor.Desirably prevent supercharging rotor to flow to the air-flow of pulling force rotor and leak, improve the work efficiency of rotor.
The most further scheme is, the diameter ratio of pulling force rotor and the gap of coaming plate and pulling force rotor is between 0.01 to 0.02.Desirably prevent supercharging rotor further to flow to the air-flow of pulling force rotor and leak, improve the work efficiency of rotor.
Another the most further scheme is, the Plane of rotation of pulling force rotor is positioned at coaming plate middle section position in the axial direction.Desirably prevent supercharging rotor further to flow to the air-flow of pulling force rotor and leak, improve the work efficiency of rotor.
Accompanying drawing explanation
Fig. 1 is existing Multi-axis aircraft axonometric chart；
Fig. 2 is another existing Multi-axis aircraft axonometric chart；
Fig. 3 is the axonometric chart of Multi-axis aircraft of the present invention；
Fig. 4 is the partial enlarged view of Fig. 3；
Fig. 5 is the front view of Fig. 4；
Fig. 6 is the axonometric chart after Multi-axis aircraft of the present invention installs fender bracket additional.
Detailed description of the invention
As it is shown on figure 3, the mainframe 310 of Multi-axis aircraft 300 is fixed with 311, four legs 312 of four fulcrums by the way of assembling and flies to control device 313.Fly to control device 313 and be built-in with power supply, control circuit, gyroscope, accelerometer and electricity tune.Fulcrum 311 end is respectively fixed with a motor 320 as power set.The rotary shaft of motor 320 is fixed with the centrifugal impeller 340 as supercharging rotor and pulling force rotor 330 the most successively, centrifugal impeller 340 and the coaxial setting of pulling force rotor 330, i.e. centrifugal impeller 340 and pulling force rotor 330 has common axis of rotation line, centrifugal impeller 340 is positioned at the top of pulling force rotor 330, and the diameter of centrifugal impeller 340 is less than the diameter of pulling force rotor 330.
As shown in Figure 4, being provided with isolation deflector 341 between centrifugal impeller 340 and pulling force rotor 330, isolation deflector 341 is positioned at the lower end of centrifugal impeller 340, it is preferred that centrifugal impeller 340 is one-body molded with isolation deflector 341.The upside of centrifugal impeller 340 is provided with water conservancy diversion vertebra 342, it is preferable that water conservancy diversion vertebra 342 is one-body molded with isolation deflector 341.
The diameter ratio of centrifugal impeller 340 and pulling force rotor 330 is between 0.2 to 0.35, it is preferable that this ratio is 0.3.
As it is shown in figure 5, the air-flow A1 of close centrifugal impeller rotation axis part is in dirty impeller 340 by centrifugation of guiding of water conservancy diversion vertebra 342, and flow to pulling force rotor 330 obliquely under isolation deflector 341 effect.Air-flow A3 still general vertical away from centrifugal impeller 340 rotation axis part down flows to pulling force rotor 330.Air-flow A2 between A3 and A1 slightly deviates rotation axis 343 ground and is downwardly towards pulling force rotor 330.Air current flow is smooth and easy, and the blade of centrifugal impeller 340 will not produce strong gas current friction with the blade of pulling force rotor 330 because of close to each other, and work efficiency is high.
As shown in Figure 6, Multi-axis aircraft 300 installs fender bracket 350 additional.4 cylindric coaming plates 351 mated respectively it are provided with pulling force rotor 330 in fender bracket 350.Coaming plate 351 is positioned at centrifugal impeller 340 and pulling force rotor 330 outside radially, the axis of coaming plate 351 and the rotation axis coincident of pulling force rotor 330.Preferably, the diameter ratio of pulling force rotor 330 and the gap of coaming plate 351 and pulling force rotor 330 is between 0.01 to 0.02.The Plane of rotation of pulling force rotor 330 is positioned at coaming plate 351 middle section position in the axial direction.
Isolation deflector 341 is not limited to be perpendicular to rotation axis 343 ground and arranges.Improving as one, the isolation deflector 341 guide face near centrifugal impeller 330 side is the opening side towards the round platform of pulling force rotor 330, and the bus of round platform and the angle of rotation axis 343 are between 50 degree to 85 degree.
Centrifugal impeller 340 and pulling force rotor 330 are not limited to be driven by a motor shaft, it is also possible to driven by different motors respectively.Such as, pulling force rotor 330 is driven by the hollow axle of hollow shaft motor, and centrifugal impeller 340 is driven by the solid shafting of the solid shafting motor being arranged in below hollow shaft motor, and wherein, solid shafting is located coaxially in hollow axle, and the rotating shaft of two motors is the most upwards arranged.And for example, centrifugal impeller 340 is driven by rotating shaft motor upwards, and pulling force rotor 330 is driven by the motor that a rotating shaft is downward.When centrifugal impeller 340 and pulling force rotor 330 are by when being driven by different rotating shafts respectively, and centrifugal impeller 340 can obtain different rotating speeds with pulling force rotor 330.When between the diameter ratio of centrifugal impeller 340 and pulling force rotor 330 is 0.2 to 0.35, it is preferable that the rotating ratio of centrifugal impeller 340 and pulling force rotor 330 is between 1 to 1.3.
The power set of the present invention are not limited to motor, it is also possible to be other power set such as internal combustion engine.
Claims (9)
1. Multi-axis aircraft, including
Mainframe；
Fulcrum, is arranged on described mainframe；
Power set, are arranged on described fulcrum；
Pulling force rotor, is driven by described power set；
It is characterized in that:
Supercharging rotor, arranges with described pulling force rotor coaxial line, and is positioned at the top of described pulling force rotor；
Described supercharging rotor is centrifugal impeller, and diameter is less than the diameter of described pulling force rotor；
Being provided with isolation deflector between described supercharging rotor and described pulling force rotor, described isolation deflector is arranged on described centrifugal impeller
Near one end of described pulling force rotor, described deflector forces the air-flow edge flowed out from described supercharging rotor to deviate described supercharging rotor
The direction of axis flow to described pulling force rotor.
2. Multi-axis aircraft as claimed in claim 1, it is characterised in that:
Described supercharging rotor described pulling force rotor side is provided with water conservancy diversion vertebra.
3. Multi-axis aircraft as claimed in claim 1, it is characterised in that:
The diameter ratio of described supercharging rotor and described pulling force rotor is between 0.2 to 0.35.
4. Multi-axis aircraft as claimed in claim 3, it is characterised in that:
The rotating ratio of described supercharging rotor and described pulling force rotor is between 1 to 1.3.
5. Multi-axis aircraft as claimed in claim 1, it is characterised in that:
The guide face of described isolation deflector is the opening side towards the round platform of described pulling force rotor.
6. Multi-axis aircraft as claimed in claim 5, it is characterised in that:
The bus of described round platform and the angle of axis are between 50 degree to 85 degree.
7. the Multi-axis aircraft as described in claim 1 to 6 is arbitrary, it is characterised in that:
The radial outside of described supercharging rotor and described pulling force rotor is provided with the coaming plate of cylindrical shape；
The axis of described coaming plate and the rotation axis coincident of described pulling force rotor.
8. Multi-axis aircraft as claimed in claim 7, it is characterised in that:
The diameter ratio of described pulling force rotor and the gap of described coaming plate and described pulling force rotor is between 0.01 to 0.02.
9. Multi-axis aircraft as claimed in claim 7, it is characterised in that:
The Plane of rotation of described pulling force rotor is positioned at described coaming plate middle section position in the axial direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510086859.3A CN104627359B (en) | 2015-02-17 | 2015-02-17 | Multi-axis aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510086859.3A CN104627359B (en) | 2015-02-17 | 2015-02-17 | Multi-axis aircraft |
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| Publication Number | Publication Date |
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| CN104627359A CN104627359A (en) | 2015-05-20 |
| CN104627359B true CN104627359B (en) | 2016-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510086859.3A Active CN104627359B (en) | 2015-02-17 | 2015-02-17 | Multi-axis aircraft |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018076206A1 (en) * | 2016-10-26 | 2018-05-03 | 深圳市道通智能航空技术有限公司 | Aerial vehicle and flight control method and device thereof |
| CN114264445B (en) * | 2021-11-26 | 2024-01-26 | 中电科芜湖通用航空产业技术研究院有限公司 | Flutter test flight excitation device and method |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2365392B (en) * | 2000-03-22 | 2002-07-10 | David Bernard Cassidy | Aircraft |
| DE102004018535A1 (en) * | 2004-04-14 | 2005-12-29 | Sascha Mattiza | Aircraft for transporting people or goods uses impellers for propulsion |
| CN102745329A (en) * | 2012-08-08 | 2012-10-24 | 南昌航空大学 | Vortex rotary wing type flight vehicle |
| CN103803065A (en) * | 2012-11-15 | 2014-05-21 | 西安韦德沃德航空科技有限公司 | Belt-transmission disc type multi-rotor-wing aircraft |
| CN103318406A (en) * | 2013-06-27 | 2013-09-25 | 长源动力（北京）科技有限公司 | Composite rotor craft |
| CN203996869U (en) * | 2014-07-04 | 2014-12-10 | 丁士才 | A kind of flat wing formula aircraft |
| CN204548488U (en) * | 2015-02-17 | 2015-08-12 | 何春旺 | Multi-axis aircraft |
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Effective date of registration: 20161229 Address after: 519000 Guangdong city of Zhuhai province Hengqin Baohua Road No. 6, room 105 -14724 Patentee after: Zhuhai pan Lei Intelligent Technology Co Ltd Address before: 519000 Guangdong city of Zhuhai province Xiangzhou martyrs Road No. 2 Building 2 Tong En Culture Communication Co. Ltd. Patentee before: He Chunwang |