CN104787317B - Aircraft and its control method - Google Patents
Aircraft and its control method Download PDFInfo
- Publication number
- CN104787317B CN104787317B CN201510186054.6A CN201510186054A CN104787317B CN 104787317 B CN104787317 B CN 104787317B CN 201510186054 A CN201510186054 A CN 201510186054A CN 104787317 B CN104787317 B CN 104787317B
- Authority
- CN
- China
- Prior art keywords
- main rotor
- deflector
- rotor
- aircraft
- center duct
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Wind Motors (AREA)
- Structures Of Non-Positive Displacement Pumps (AREA)
Abstract
The present invention relates to a kind of aircraft and its control method, which includes rack and the control unit that is installed in rack, main rotor unit and more than two secondary rotor units；Wherein, main rotor unit includes center duct and the first main rotor and the second main rotor that are placed in the center duct, and the first main rotor is with the direction of rotation of the second main rotor on the contrary, the axis of the first main rotor and the second main rotor is conllinear with the middle line of center duct；Secondary rotor unit is distributed evenly in the periphery of center duct；Paddle diameter of the paddle diameter less than the second main rotor of the first main rotor of downwash flow is provided to the blade root region of the second main rotor.The aircraft has preferable pneumatic efficiency.
Description
Technical field
The present invention relates to a kind of aircraft and its control method with multiple rotors.
Background technique
Aircraft, the control unit and rotor unit for generally including rack and being installed in rack, rotor unit usually wrap
The rotor for including power device and being driven by the power device.Control unit generally includes detection sensor, control circuit board and electricity
It adjusts, electricity is called in the revolving speed of adjustment rotor；The flight attitude and regulation power device that control unit is used for sense aircraft are to control
Traveling posture, direction of travel and travel speed of aircraft processed etc..
A kind of coaxial multi-rotor aerocraft of duct is disclosed in the patent document that notification number is CN104085530A comprising
Airframe systems, dynamical system and control system, airframe systems include that center duct, main rotor and several centers that are evenly distributed on are contained
The secondary rotor of road periphery, main rotor include upper main rotor and lower main rotor, and the center of upper main rotor and lower main rotor is located at same
It is fixed on to vertical axis in the duct of center.The upper and lower main rotor that the aircraft is reversely rotated by setting rises in common provide
The reaction torque generated in the rotary course of power is cancelled out each other, and aircraft is made steadily to fly.In flight course, due to upper main rotation
The wing is identical as the paddle diameter of lower main rotor, along both blade root be directed toward the direction of blade tip, the linear velocity of the upper each point of blade by
It is cumulative big, so that the downwash flow amount in neighbouring blade root region is very small, blade tip is directed toward along blade root due to blade form and is gradually become
Change, in mid blade region, downwash flow amount is maximum, when the revolving speed of upper main rotor is greater than lower main rotor, what upper main rotor generated
Downwash flow will strike on the blade of lower main rotor, cause biggish energy loss；If the revolving speed of upper main rotor is less than lower master
When rotor, upper main rotor then hinders the sucking of the downwash flow of lower main rotor, and two kinds of situations make the pneumatic of entire main rotor
Efficiency reduces, even if the revolving speed of upper main rotor and lower main rotor is consistent, when the blade of upper main rotor and lower main rotor is in diameter
Upwards when overlapping, more serious windage will be generated between upper main rotor and lower main rotor, this also reduces entire main rotor
Pneumatic efficiency.In addition, the upper and lower main rotor of paddles diameter is waited to be easy to produce airstream vibration noise in rotary course, vibration noise
Generate the efficiency of energy utilization for reducing aircraft.
Summary of the invention
The main object of the present invention be to provide it is a kind of with multiple rotors and there are two rotor coaxial line arrangement aircraft,
To improve its pneumatic efficiency；
It is a further object of the present invention to provide a kind of control methods of above-mentioned aircraft.
In order to achieve the above-mentioned main objectives, aircraft provided by the invention includes rack and the control list being installed in rack
Member, main rotor unit and more than two secondary rotor units；Main rotor unit includes center duct and is placed in the center duct
The first main rotor and the second main rotor, the direction of rotation of the first main rotor and the second main rotor is on the contrary, the first main rotor and
The axis of two main rotors is conllinear with the middle line of center duct；Secondary rotor unit is distributed evenly in the periphery of center duct；The
The paddle diameter of one main rotor is less than the paddle diameter of the second main rotor, and the first main rotor is in the case where the blade root region of the second main rotor provides
Gas washing stream.
As can be seen from the above scheme, the paddle diameter due to the paddle diameter of the first main rotor less than the second main rotor, makes the first main rotor
The blade tip of blade and the inner sidewall of center duct between keep certain spacing, convenient for its blade design and manufacture；Due to
For the paddle diameter of one main rotor less than the paddle diameter of the second main rotor, the downwash flow amount of the first main rotor will be as the paddle of the second main rotor
One supplement of the downwash flow amount in root zone domain makes that more downwash flow amounts can be generated in the surfaces of revolution of the second main rotor, mentions
The pneumatic efficiency of the high aircraft.Further, since the first main rotor is different from the paddle diameter of the second main rotor, two can be effectively reduced
Person's generated airstream vibration noise in rotary course, improves the efficiency of energy utilization of the aircraft.
It further includes reaction torque control unit that one specific scheme, which is above-mentioned aircraft,；The reaction torque control unit includes setting
The first deflector and the second deflector at the lower lip of center duct, the first deflector and the second deflector respectively can around with
Orthogonal the first deflector rotary shaft rotation of the middle line of center duct, the first deflector and the second deflector are about the center duct
Median centre be arranged symmetrically.Aircraft can be effectively prevent rolling imaging occur by the work of reaction torque control unit,
Middle line rolling of the aircraft around center duct can also be controlled when aircraft needs to turn to.
Another specific scheme is that above-mentioned aircraft further includes traveling control unit；The traveling control unit includes being set to
Third deflector at the lower lip of center duct, third deflector can be around second deflectors orthogonal with the middle line of center duct
Rotary shaft rotation.The travel speed of aircraft can be controlled by traveling control unit.
More specific scheme is that third deflector itself is arranged symmetrically about the median centre of center duct.
Another specific scheme is that the first main rotor of above-mentioned aircraft is located at the top of the second main rotor.
One preferred scheme be the ratio between the first main rotor paddle diameter and second main rotor paddle diameter of above-mentioned aircraft be 0.3 to
0.6.While can effectively ensure that its downwash flow amount in the proportional region, the overlapping of the two downwash flow amount is reduced.
Another preferred scheme is that the quantity of secondary rotor unit is 4 or more and is even number, two pairs positioned opposite
The direction of rotation of the rotor of rotor unit is identical, the direction of rotation of the rotor of more than one pair of pair rotor unit and other secondary rotors
The direction of rotation of the rotor of unit is opposite.
Another preferred scheme is that above-mentioned secondary rotor unit is ducted fan.Effectively improve the secondary rotation of the aircraft
The response speed of wing unit can promptly be adjusted the flight attitude of aircraft.
Another preferred scheme be the rotary shaft of the rotor of secondary rotor unit axis with the middle line phase of center duct
Same intersection point is met at, which is located at the top of center duct.Stability of the aircraft in flight course can be effectively improved.
In order to achieve the above-mentioned another object, the present invention provides a kind of control method of aircraft, which includes rack
And it is installed on control unit, main rotor unit, reaction torque control unit, traveling control unit and secondary rotor list in the rack
Member；Main rotor unit includes center duct and the first main rotor and the second main rotor that are placed in the center duct, the first main rotation
The direction of rotation of the wing and the second main rotor is on the contrary, the axis of the first main rotor and the second main rotor is total with the middle line of center duct
Line, the paddle diameter of the first main rotor is less than the paddle diameter of the second main rotor, and the first main rotor is in the blade root region of the second main rotor
Downwash flow is provided；Secondary rotor unit is the ducted fan for being distributed evenly in the periphery of center duct, the quantity of ducted fan
It for 4 or more and is even number, the direction of rotation of the rotor of two ducted fans positioned opposite is identical, more than one pair of duct wind
The direction of rotation of rotor of direction of rotation and other ducted fans of the rotor of fan is opposite；Reaction torque control unit includes in being set to
The first deflector and the second deflector at the lower lip of heart duct, the first deflector and the second deflector respectively can around with center
Orthogonal the first deflector rotary shaft rotation of the middle line of duct, the middle line of the first deflector and the second deflector about center duct
It is centrosymmetrically arranged；Traveling control unit includes the third deflector at the lower lip of center duct, the third deflector
It can be rotated around the second deflector rotary shaft orthogonal with the middle line of center duct；First main rotor is located at the upper of the second main rotor
Side, the ratio between paddle diameter and the paddle diameter of the second main rotor of the first main rotor are 0.3 to 0.6；The control method includes: reaction torque control
System, the revolving speed that control unit controls the first main rotor is greater than the revolving speed of the second main rotor, when control unit detects center duct
When there is rolling, control unit controls the first deflector and the second deflector and rotates respective corners in the opposite direction with identical revolving speed
Degree to center duct stops rolling；Direction of travel control, control unit controls the first deflector and the second deflector and center is contained
Angle between the middle line in road so that center duct towards a direction rolling to the normal direction that direction of travel is third deflector in horizontal plane
On projection；Travel speed control, control unit is by the angle between control third deflector and the middle line of center duct to reach
To corresponding travel speed.
Detailed description of the invention
Fig. 1 is the perspective view of aircraft first embodiment of the present invention；
Fig. 2 is the structural exploded view of aircraft first embodiment of the present invention；
Fig. 3 is the structure chart of the first ducted fan in aircraft first embodiment of the present invention；
Fig. 4 is the structure chart of the second ducted fan in aircraft first embodiment of the present invention；
Fig. 5 is the perspective view of ducted fan fixation kit in aircraft first embodiment of the present invention；
Fig. 6 is the perspective view of reaction torque control unit in aircraft first embodiment of the present invention；
Fig. 7 is the perspective view of traveling control unit in the bright aircraft first embodiment of we；
Fig. 8 be in aircraft first embodiment of the present invention first main rotor, the second main rotor and the two driving motor with
Support bracket fastened relative position schematic diagram；
Fig. 9 is the rotation direction schematic diagram of aircraft first embodiment of the present invention each rotor in flight course；
Figure 10 be in aircraft second embodiment of the present invention first main rotor, the second main rotor and the two driving motor with
Support bracket fastened relative position schematic diagram；
Figure 11 be in aircraft 3rd embodiment of the present invention first main rotor, the second main rotor and the two driving motor with
Support bracket fastened relative position schematic diagram；
Figure 12 is the structural schematic diagram of the first main rotor in the 8th embodiment of aircraft of the present invention；
Figure 13 is the relative position of the second deflector rotary shaft and third deflector in the 9th embodiment of aircraft of the present invention
Schematic diagram.
The invention will be further described with reference to the accompanying drawings and embodiments.
Specific embodiment
Aircraft and its control method first embodiment
Referring to Fig. 1 and Fig. 2, aircraft 1 is advanced by rack, control unit, main rotor unit, reaction torque control unit 14
Control unit 15 and 4 secondary rotor units are constituted.Main rotor unit by center duct 11 and be placed in center duct 11 first
Main rotor 12 and driving motor, the second main rotor 13 and driving motor are constituted.4 secondary rotor units are to be distributed evenly in center
First ducted fan 16 of the periphery of duct 11, the second ducted fan 17, the first ducted fan 18 and the second ducted fan 19；In
It is fixed with a cross mounting bracket 111 in heart duct 11, the driving motor of the first main rotor 12 and the second main rotor 13 passes through
Fixed bracket is installed in mounting bracket 111, the axis of the first main rotor 12, the axis and center duct 11 of the second main rotor 13
Middle line it is conllinear；First main rotor 12 is located at the top of the second main rotor 13；First ducted fan 16,18, the second ducted fan
17, it 19 is fixed on the lateral wall of center duct 11 by four ducted fan fixation kits 112；Mounting bracket 111, driving electricity
The fixation bracket and ducted fan fixation kit 112 of machine constitute the rack of the present embodiment.
Referring to Fig. 3, the first ducted fan 16 is solid by the first duct 161, bracket 163, flow deflector 166 and by bracket 163
First motor 162 in the first duct 161, the first duct paddle 164 and the first rectification cap 165 are constituted.First duct paddle 164
For right-hand airscrew, flow deflector 166 is made of 4 rectangular slabs radially arranged along the first duct 161, and flow deflector 166 is led
Stream interface is parallel with the middle line of the first duct 161, and one end of bracket 163 and inner sidewall of the flow deflector 166 far from the first duct 161 is solid
Fixed connection.
Referring to fig. 4, the second ducted fan 17 is by the second duct 171, bracket 173, flow deflector 176 and solid by bracket 173
Due to the second motor 172 in the second duct 171, the second duct paddle 174 and the second rectification cap 175 are constituted.Second duct paddle 174
For left-hand airscrew, flow deflector 176 is made of 4 rectangular slabs radially arranged along the second duct 171, and flow deflector 176 is led
Stream interface is parallel with the middle line of the second duct 171, and one end of bracket 173 and inner sidewall of the flow deflector 176 far from the second duct 171 is solid
Fixed connection.
Referring to Fig. 5, ducted fan fixation kit 112 is made of openable and closable two semicircular cylinders 1121, on semicircular cylinder 1121
It is welded with the fixation bracket 11210 for being fixed on ducted fan fixation kit 112 on 11 lateral wall of center duct.
Referring to Fig. 6, reaction torque control device 14 is by the first deflector rotary shaft 1401, the first deflector rotary shaft 1402,
First deflector 141, the first deflector 142, the second deflector 143, the second deflector 144, two first connecting rods 145 and two
Second connecting rod 146 is constituted.First deflector rotary shaft 1401 and the first deflector rotary shaft 1402 are fixed on center culvert in parallel
At the lower lip in road 11, the axis of the first deflector rotary shaft 1401 and the first deflector rotary shaft 1402 about center duct 11
It is centrosymmetrically arranged, the first deflector 141 and the second deflector 143 can be rotatably mounted to around the first deflector rotary shaft 1401
In first deflector rotary shaft 1401, the first deflector 142 and the second deflector 144 can be revolved around the first deflector rotary shaft 1402
It is installed in the first deflector rotary shaft 1402 with turning, two first connecting rods 145 are connected to the first deflector 141 and the first water conservancy diversion
On the both ends of plate 142, rotate the two around the first deflector rotary shaft with same revolving speed, two first connecting rods 146 are connected to second
On the both ends of deflector 143 and the second deflector 144, rotate the two around the first deflector rotary shaft with same revolving speed.First leads
Flowing plate 141 is arranged symmetrically with the second deflector 144 about the median centre of center duct 11, and the first deflector 142 is led with second
Flowing plate 143 is arranged symmetrically about the median centre of center duct 11, to make the first deflector and the second deflector about center
The median centre of duct 11 is arranged symmetrically.
Referring to Fig. 7, traveling control unit 15 is by two second deflector rotary shafts 1501,1502, two pieces of third deflectors
151,152 and two third connecting rods 153 constitute.Third deflector 151 can be revolvably installed around the second deflector rotary shaft 1501
In in the second deflector rotary shaft 1501, third deflector 152 can be rotatably mounted to around the second deflector rotary shaft 1502
In two deflector rotary shafts 1502, two third connecting rods 153 are connected to the both ends of third deflector 151 and third deflector 152,
Rotate the two around the second deflector rotary shaft with same revolving speed.Second deflector rotary shaft 1501 and the second water conservancy diversion board shaft 1502 are closed
It is arranged symmetrically in the median centre of center duct 11, third deflector 151 and third deflector 152 are about in center duct 11
Line is centrosymmetrically arranged.
Referring to Fig. 8, the first main rotor 12 is installed on the armature spindle of the first driving motor 122, and the first driving motor 122 is logical
The first fixed bracket 123 is crossed to be fixed in mounting bracket 111.Second main rotor 13 is installed on the rotor of the second driving motor 132
On axis, the second driving motor 132 is fixed in mounting bracket 111 by the second fixed bracket 133.The paddle diameter of first main rotor 12
The ratio between paddle diameter D of d and the second main rotor 13 is 0.56.Aircraft 1 is in flight course, since the paddle diameter of the first main rotor 12 is small
In the paddle diameter of the second main rotor 13, the downwash flow amount that the rotation of the first main rotor 12 is formed will become the blade of the second main rotor 13
One of blade root region downwash flow amount supplement, make that more downwash flows can be generated in the surfaces of revolution of the second main rotor 13
Amount；Since the area that the rotation of the first main rotor 12 is formed only covers a quarter left side that the rotation of the second main rotor 13 forms area
The right side, and it is predominantly located at the blade root region of the second main rotor 13, it can effectively mitigate it and downwash flow of the second main rotor 13 is formed
It hinders.
Referring to Fig. 9, control method of the aircraft 1 in flight course is as follows, overlooks from up to down along Z axis, the first main rotation
The wing 12 is to rotate clockwise, and the second main rotor 13 is that rotation, the two generate upward lifting force to aircraft 1, make counterclockwise
Aircraft 1 takes off vertically, and the rotor in the first ducted fan 16 and the first ducted fan 18 is rotated counterclockwise with the first revolving speed, the
Rotor in two ducted fans 17 and the second ducted fan 19 is also rotated clockwise with the first revolving speed；First ducted fan 16,
Two ducted fans 17, third ducted fan 18 and the 4th ducted fan 19 are to generate upward lifting force, are rising for aircraft 1
Fly to provide auxiliary lifting；In first ducted fan 16, the second ducted fan 17, the first ducted fan 18 and the second ducted fan 19
The reaction torque that is generated in rotary course of rotor can be offset by the reaction torque that downwash flow generates the effect of its flow deflector, in master
When rotor stops because of failure, there is emergency descent to prevent aircraft 1 in the lifting force that can be generated by four ducted fans
And there is damage situation；In normal flight operations, four ducted fans be mainly used for aircraft 1 occur posture deflection or by
There is the adjustment of situations such as oblique attitude in flow perturbation, to reduce consumption of the ducted fan to power supply.In flight course
In, the first main rotor 12 is rotated with the revolving speed higher than the second main rotor 13, to generate in the blade root region of the second main rotor 13
Higher downwash flow speed, to generate higher lifting force in a limited space, and the generation of the first main rotor 12 is anti-
The reaction torque that torque generates the second main rotor 13 of counteracting can control first by control unit and lead if can not be completely counterbalanced by
Flowing plate 141, the first deflector 142 lower end rotating around 1402 court of the first deflector rotary shaft 1401 and the first deflector rotary shaft
X-axis rotates in the forward direction；The lower end of the second deflector 143 and the second deflector 144 is rotating around the first deflector rotary shaft simultaneously
1401 and first negative sense of the deflector rotary shaft 1402 with same revolving speed along X-axis rotate, the size for rotating angle is as needed
Depending on the reactive torque of counteracting；It, only need to be by adjusting relevant apparatus in aircraft 1 if aircraft 1 needs to move towards a direction
The reaction torque of upper generation is to make aircraft 1 rotate an angle to direction third deflector around the middle line of main duct 11
The projection of 151 normal direction in the horizontal plane；Control for the travel speed of aircraft 1, such as aircraft 1 are needed in level side
Variation is generated to towards the mobile speed of Y-axis forward direction, then control unit will control third deflector 151 and the 4th deflector 152
Lower end rotates equal angular rotating around the negative sense of the second deflector rotary shaft 1501 and the second deflector rotary shaft 1502 towards Y-axis,
Under the airflow function washed and third deflector 151 and the 4th deflector 152 to aircraft generate one towards Y-axis forward direction thrust, make
Aircraft is mobile towards Y-axis forward direction；Control for aircraft change of flight direction is by changing the first deflector 141, first
The rotation angle of deflector 142, the second deflector 143 and the second deflector 144, so that center duct 11 be made to revolve around its middle line
Turn, the heading of aircraft 1 is made to generate change.
In above-mentioned control method, when control unit detects that rolling situation occurs in center duct 11, control unit control
The first deflector is made to rotate by a certain angle in the opposite direction with the second deflector with identical revolving speed and offset corresponding reaction torque
Until center duct 11 stops rolling.
In order to carry by transport object, one gondola can be set in the lower section of center duct, in order to reduce gondola to downwash flow
Resistance, there is gondola the top of fairshaped outer housing and neighbouring center duct 11 to be equipped with radome fairing.
In this example, the propeller pitch angle of the first main rotor 12 is greater than the propeller pitch angle of the second main rotor 13, the rotation of the first deflector
Axis 1401 is mutually orthogonal with the second deflector rotary shaft 1501.
Aircraft and its control method second embodiment
As the explanation to aircraft of the present invention and its control method second embodiment, below only to above-mentioned aircraft and
The difference of its control method first embodiment is illustrated.
Referring to Figure 10, the first fixed bracket 223 is located at the lower section of the second fixed bracket 233, and the first driving motor 222 turns
Sub- axis is formed through the armature spindle coaxial line in the through-hole in the armature spindle of the second driving motor 232, with the second driving motor 232
Arrangement.The first driving motor 222 can be effectively reduced in rotary course in first main rotor 22 and the second main rotor 23
Air between one main rotor 22 and the second main rotor 32 flows to form obstruction, and the wheel hub of the first main rotor 22 is main less than second
The wheel hub of rotor 23 reduces the obstruction near axis downwash flow, improves the pneumatic efficiency of entire aircraft.First main rotor
The ratio between paddle diameter D of 22 paddle diameter d and the second main rotor 23 is 0.6.
Aircraft and its control method 3rd embodiment
As the explanation to aircraft of the present invention and its control method 3rd embodiment, below only to above-mentioned aircraft and
The difference of its control method first embodiment is illustrated.
Referring to Figure 11, the first main rotor 32 is located at the lower section of the second main rotor 33, and it is solid that the first fixed bracket 323 is located at second
The top of fixed rack 333, the armature spindle of the second driving motor 333 are formed through in the armature spindle of the first driving motor 323
Through-hole, to be arranged with the armature spindle coaxial line of the first driving motor 323.First main rotor 32 is being rotated through with the second main rotor 33
Cheng Zhong can be effectively reduced the first driving motor 222 and flow to the air between the first main rotor 22 and the second main rotor 32
It is formed and is hindered, improve the pneumatic efficiency of aircraft.The ratio between the paddle diameter d of first main rotor 32 and the paddle diameter D of the second main rotor 33 are
0.3.Since the downwash flow amount that the first main rotor 32 rotates and is formed mainly passes through from 33 blade root region of the second main rotor, effectively
Ground supplements the downwash flow amount of the part.
Aircraft and its control method fourth embodiment
As the explanation to aircraft of the present invention and its control method fourth embodiment, below only to above-mentioned aircraft and
The difference of its control method first embodiment is illustrated.
The ratio between paddle diameter d and the paddle diameter D of the second main rotor of first main rotor are 0.4.
The 5th embodiment of aircraft and its control method
As the explanation to the 5th embodiment of aircraft of the present invention and its control method, below only to above-mentioned aircraft and
The difference of its control method first embodiment is illustrated.
The ratio between paddle diameter d and the paddle diameter D of the second main rotor of first main rotor are 0.5.
Aircraft and its control method sixth embodiment
As the explanation to aircraft of the present invention and its control method sixth embodiment, below only to above-mentioned aircraft and
The difference of its control method first embodiment is illustrated.
The quantity of first deflector and the second deflector be it is a piece of, the quantity of the first deflector rotary shaft is one, the
The midpoint of one deflector rotary shaft is located on the middle line of center duct.
The quantity of third deflector be it is a piece of, the quantity of the second deflector rotary shaft is one, the second deflector rotary shaft
Midpoint be located on the middle line of center duct.
The 7th embodiment of aircraft and its control method
As the explanation to the 7th embodiment of aircraft of the present invention and its control method, below only to above-mentioned aircraft and
The difference of its control method first embodiment is illustrated.
The axis co-planar of the rotary shaft of first deflector and the rotary shaft of the second deflector.
The 8th embodiment of aircraft and its control method
As the explanation to the 8th embodiment of aircraft of the present invention and its control method, below only to above-mentioned aircraft and
The difference of its control method first embodiment is illustrated.
Referring to Figure 12, the blade quantity of the first main rotor 42 is 3, is a duct paddle.
The 9th embodiment of aircraft and its control method
As the explanation to the 9th embodiment of aircraft of the present invention and its control method, below only to above-mentioned aircraft and
The difference of its control method first embodiment is illustrated.
Referring to Figure 13, the quantity of third deflector 551 is one, flat with the middle line of center duct in third deflector 551
The middle part of capable one end is formed with a through-hole, the rotation of the second deflector along the middle line direction for being parallel to the second deflector rotary shaft 5501
Shaft 5501 and the via clearance ordinatedly pass through the through-hole, in the traveling control unit course of work, third deflector 551 around
The middle line of the through-hole rotates, and in rotary course, the point of resultant force for the power that the air-flow washed under center duct is interior generates it exists
At the midline position of the through-hole, it will not change with the rotation of third deflector 551.
The tenth embodiment of aircraft and its control method
As the explanation to the tenth embodiment of aircraft of the present invention and its control method, below only to above-mentioned aircraft and
The difference of its control method first embodiment is illustrated.
Distance in the rotation of first main rotor at the upper lip of face distance center duct is center duct along its middle line side
To the one third of length, the distance of the lower lip of face distance center duct is center duct along it in the rotation of the second main rotor
The one third of middle line direction length, dynamical system has good pneumatic efficiency at this time.
Face refers to that the midpoint of the blade root of the blade of rotor in the axial direction rotates the plane constituted around rotary shaft in above-mentioned rotation.
The 11st embodiment of aircraft and its control method
As the explanation to the 11st embodiment of aircraft of the present invention and its control method, below only to above-mentioned aircraft
And its difference of control method first embodiment is illustrated.
The rotation of rotor is driven using oil machine substitution motor.
Claims (7)
1. a kind of aircraft, including rack and the control unit being installed in the rack, main rotor unit and more than two
Ducted fan；
The main rotor unit includes center duct and the first main rotor and the second main rotor that are placed in the center duct, institute
State the direction of rotation of the first main rotor and second main rotor on the contrary, first main rotor and second main rotor axis
Line is conllinear with the middle line of the center duct；
The ducted fan is distributed evenly in the periphery of the center duct；
It is characterized by:
The ducted fan is fixed on the lateral wall of the center duct by ducted fan fixation kit, the ducted fan
Air inlet be located on the outside of the center duct, and along the middle line direction of the center duct, the air inlet of the ducted fan
Between the air intake and gas outlet of the center duct；
To the blade root region of the blade of second main rotor provide the paddle diameter of first main rotor of downwash flow with it is described
The ratio between paddle diameter of second main rotor is 0.3 to 0.6, and the blade of the blade of first main rotor and second main rotor rotates
The area coverage of formation partly overlaps, and first main rotor is located at the top of second main rotor.
2. aircraft according to claim 1, it is characterised in that:
It further include reaction torque control unit；
The reaction torque control unit includes the first deflector and the second deflector at the lower lip of the center duct,
First deflector and second deflector can rotate respectively around the first deflector rotary shaft orthogonal with the middle line, institute
It states the first deflector and is arranged symmetrically with second deflector about the median centre.
3. aircraft according to claim 1, it is characterised in that:
It further include traveling control unit；
The traveling control unit includes the third deflector at the lower lip of the center duct, the third deflector
It can be rotated around the second deflector rotary shaft orthogonal with the middle line.
4. aircraft according to claim 3, it is characterised in that:
The third deflector itself is arranged symmetrically about the median centre.
5. according to claim 1 to any one of 4 aircraft, it is characterised in that:
The quantity of the ducted fan is 4 or more and is even number, the rotation of the rotor of two ducted fans positioned opposite
Turn that direction is identical, the direction of rotation phase of the rotor of the direction of rotation and other ducted fans of the rotor of more than one pair of ducted fan
Instead.
6. according to claim 1 to any one of 4 aircraft, it is characterised in that:
The axis of the rotor of the ducted fan intersects at same intersection point with the middle line, and the intersection point is located at center culvert
The top in road.
7. a kind of control method of aircraft, the aircraft includes rack and the control unit being installed in the rack, master
Rotor unit, reaction torque control unit, traveling control unit and secondary rotor unit；
The main rotor unit includes center duct and the first main rotor and the second main rotor that are placed in the center duct, institute
State the direction of rotation of the first main rotor and second main rotor on the contrary, first main rotor and second main rotor axis
Line is conllinear with the middle line of the center duct；
First main rotor is used for the blade root region in the blade of second main rotor and provides downwash flow, and described first is main
The blade of the blade of rotor and second main rotor rotates the area coverage to be formed and partly overlaps；
The pair rotor unit is to be uniformly fixed on the lateral wall of the center duct by ducted fan fixation kit
Ducted fan, the air inlet of the ducted fan are located at the middle and upper part on the outside of the center duct, the quantity of the ducted fan
It for 4 or more and is even number, the direction of rotation of the rotor of two ducted fans positioned opposite is identical, more than one pair of culvert
The direction of rotation of rotor of direction of rotation and other ducted fans of the rotor of road fan is opposite；
The reaction torque control unit includes the first deflector and the second deflector at the lower lip of the center duct,
First deflector and second deflector can rotate respectively around the first deflector rotary shaft orthogonal with the middle line, institute
It states the first deflector and is arranged symmetrically with second deflector about the median centre；
The traveling control unit includes the third deflector at the lower lip of the center duct, the third deflector
It can be rotated around the second deflector rotary shaft orthogonal with the middle line, the third deflector itself is about the median centre pair
Claim arrangement；
First main rotor is located at the top of second main rotor, the paddle diameter of first main rotor and the described second main rotation
The ratio between paddle diameter of the wing is 0.3 to 0.6；
The control method includes:
Reaction torque control, the revolving speed that described control unit controls first main rotor are greater than the revolving speed of second main rotor,
When described control unit detects that rolling occurs in the center duct, described control unit controls first deflector and institute
It states the second deflector and respective angles is rotated to center duct stopping rolling with identical revolving speed in the opposite direction；
Direction of travel control, described control unit control between first deflector and second deflector and the middle line
Angle so that the center duct towards a direction rolling to the direction of travel be the third deflector normal direction in horizontal plane
On projection；
Travel speed control, described control unit is by controlling the third deflector with the angle between the middle line to reach phase
The travel speed answered.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510186054.6A CN104787317B (en) | 2015-04-17 | 2015-04-17 | Aircraft and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510186054.6A CN104787317B (en) | 2015-04-17 | 2015-04-17 | Aircraft and its control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104787317A CN104787317A (en) | 2015-07-22 |
| CN104787317B true CN104787317B (en) | 2019-01-25 |
Family
ID=53552600
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510186054.6A Active CN104787317B (en) | 2015-04-17 | 2015-04-17 | Aircraft and its control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104787317B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105253300B (en) * | 2015-11-08 | 2017-03-15 | 北京航空航天大学 | A kind of miniature coaxial double-rotary wing unmanned plane based on weakening rotor |
| CN105775127A (en) * | 2016-03-06 | 2016-07-20 | 刘海涛 | Anti-torque blade |
| CN105947205B (en) * | 2016-04-29 | 2018-09-07 | 易瓦特科技股份公司 | Unmanned plane with the double paddle structures of fast disassembly type |
| CN105833537B (en) * | 2016-04-29 | 2018-09-07 | 易瓦特科技股份公司 | Multi-rotor unmanned aerial vehicle with the double paddle structures of detachable |
| CN105966628B (en) * | 2016-04-29 | 2018-01-05 | 湖北文理学院 | Self-control landing type airborne vehicle and fall umbrella device |
| CN105947207B (en) * | 2016-04-29 | 2018-10-12 | 易瓦特科技股份公司 | Unmanned plane with coaxial double-oar structure |
| CN105923149B (en) * | 2016-04-29 | 2018-09-07 | 易瓦特科技股份公司 | Rotor fast disassembly type unmanned plane |
| CN105818975B (en) * | 2016-04-29 | 2018-12-18 | 易瓦特科技股份公司 | Multi-rotor unmanned aerial vehicle with coaxial double-oar structure |
| CN105818974B (en) * | 2016-04-29 | 2018-10-19 | 易瓦特科技股份公司 | Unmanned plane with detachable rotor structure |
| CN109703748A (en) * | 2017-10-26 | 2019-05-03 | 深圳光启合众科技有限公司 | Rotor craft |
| CN109941429A (en) * | 2019-02-19 | 2019-06-28 | 陈健平 | Unmanned plane |
| CN110963028B (en) * | 2019-11-11 | 2021-09-03 | 彩虹无人机科技有限公司 | Coaxial dual-rotor applicable to tilt rotor aircraft |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7143973B2 (en) * | 2003-11-14 | 2006-12-05 | Kenneth Sye Ballew | Avia tilting-rotor convertiplane |
| CN101934858A (en) * | 2010-07-08 | 2011-01-05 | 王泽峰 | Miniature electric ducted propeller type intelligent unmanned aerial vehicle |
| CN102285449A (en) * | 2011-06-07 | 2011-12-21 | 北京邮电大学 | Coaxial double-rotor wing ducted aircraft |
| CN103847960A (en) * | 2014-03-20 | 2014-06-11 | 西北工业大学 | Composite rotation driving vertical take-off and landing aircraft |
| CN203958613U (en) * | 2014-06-10 | 2014-11-26 | 南京航空航天大学 | The coaxial multi-rotor aerocraft of duct |
| CN204623829U (en) * | 2015-04-17 | 2015-09-09 | 何春旺 | Aircraft |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201049732Y (en) * | 2007-03-05 | 2008-04-23 | 银辉玩具制品厂有限公司 | Helicopter with horizontal control |
| JP2009297449A (en) * | 2008-06-17 | 2009-12-24 | Taiyo Co Ltd | Helicopter toy |
| CN102490898B (en) * | 2011-11-14 | 2015-06-10 | 李杏健 | Coaxial dual-rotor helicopter |
-
2015
- 2015-04-17 CN CN201510186054.6A patent/CN104787317B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7143973B2 (en) * | 2003-11-14 | 2006-12-05 | Kenneth Sye Ballew | Avia tilting-rotor convertiplane |
| CN101934858A (en) * | 2010-07-08 | 2011-01-05 | 王泽峰 | Miniature electric ducted propeller type intelligent unmanned aerial vehicle |
| CN102285449A (en) * | 2011-06-07 | 2011-12-21 | 北京邮电大学 | Coaxial double-rotor wing ducted aircraft |
| CN103847960A (en) * | 2014-03-20 | 2014-06-11 | 西北工业大学 | Composite rotation driving vertical take-off and landing aircraft |
| CN203958613U (en) * | 2014-06-10 | 2014-11-26 | 南京航空航天大学 | The coaxial multi-rotor aerocraft of duct |
| CN204623829U (en) * | 2015-04-17 | 2015-09-09 | 何春旺 | Aircraft |
Non-Patent Citations (1)
| Title |
|---|
| 主/从动式组合旋翼悬停状态气动特性分析;牛鑫，王正平;《航空计算技术》;20140731;第44卷(第4期);正文第55-58、62页，附图1、3 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104787317A (en) | 2015-07-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104787317B (en) | Aircraft and its control method | |
| KR101217804B1 (en) | Bottom propeller control type vehicle | |
| CN104787322B (en) | Power system and multi-axis aircraft | |
| CN107672802A (en) | Fluting culvert type plume rotor craft | |
| CN103072690A (en) | Single-ducted coaxial rotor/propeller saucer-shaped aircraft | |
| CN206503738U (en) | Ducted fan | |
| CN204623829U (en) | Aircraft | |
| CN203199178U (en) | Single-duct coaxial rotor/propeller saucer-shaped aircraft | |
| CN107031830A (en) | It is a kind of can be according to the unmanned plane of wind direction self-adjusting balance | |
| CN110418755A (en) | A kind of unmanned vehicle | |
| CN204548494U (en) | Five axle aircraft | |
| CN104743109B (en) | Dynamical system and aircraft | |
| CN105059525B (en) | A kind of small-sized vertically taking off and landing flyer aerodynamic arrangement | |
| CN204623839U (en) | Power system and aircraft | |
| CN113799970A (en) | Lifting surface structure of integrated ducted fan | |
| CN109367762A (en) | Tilting duct aircraft auxiliary rudder surface control device | |
| CN106081097A (en) | A kind of jet changement of aircraft | |
| CN104773292B (en) | Dynamical system and aircraft | |
| KR20120111340A (en) | Ventilation device using the windpower | |
| CN109703748A (en) | Rotor craft | |
| CN204623840U (en) | Power system and aircraft | |
| CN204623836U (en) | Power system and multi-axis aircraft | |
| CN208775012U (en) | A kind of VTOL flying platform high efficiency lift unit | |
| CN209567073U (en) | Aircraft based on flight attitude is adjusted to control plane | |
| CN110712748A (en) | Novel eight-rotor aircraft |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20170324 Address after: 519000 Guangdong city of Zhuhai province Hengqin Baohua Road No. 6, room 105 -14724 Applicant after: Zhuhai pan Lei Intelligent Technology Co Ltd Address before: 519000 Guangdong Province, Zhuhai city Xiangzhou District Road No. 2 Building 2 martyrs Tong En Culture Communication Co. Ltd. Applicant before: He Chunwang |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20150722 Assignee: Zhuhai mingjue communication equipment Co., Ltd Assignor: Zhuhai pan Lei Intelligent Technology Co Ltd Contract record no.: X2020440000025 Denomination of invention: Wing-flapping flight vehicle capably of taking off and landing automatically and control method thereof Granted publication date: 20190125 License type: Common License Record date: 20200303 |
|
| EE01 | Entry into force of recordation of patent licensing contract | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200325 Address after: 519000 Guangdong city of Zhuhai province Hengqin Baohua Road No. 6, room 105 -14724 Co-patentee after: ZHUHAI PANSHI ELECTRONIC TECHNOLOGY Co.,Ltd. Patentee after: ZHUHAI PANLEI INTELLIGENT TECHNOLOGY Co.,Ltd. Address before: 519000 Guangdong city of Zhuhai province Hengqin Baohua Road No. 6, room 105 -14724 Patentee before: ZHUHAI PANLEI INTELLIGENT TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right |