CN104802985B - Variable axial multi-rotor aircraft and flight attitude adjustment method thereof - Google Patents

Variable axial multi-rotor aircraft and flight attitude adjustment method thereof Download PDF

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Publication number
CN104802985B
CN104802985B CN201510218685.1A CN201510218685A CN104802985B CN 104802985 B CN104802985 B CN 104802985B CN 201510218685 A CN201510218685 A CN 201510218685A CN 104802985 B CN104802985 B CN 104802985B
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China
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aircraft
push rod
screw
engine
bearing bar
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CN201510218685.1A
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Chinese (zh)
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CN104802985A (en
Inventor
陈乐春
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数字鹰(泰州)农业科技有限公司
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Publication of CN104802985A publication Critical patent/CN104802985A/en
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Abstract

The invention discloses a variable axial multi-rotor aircraft and a flight attitude adjustment method of the variable axial multi-rotor aircraft. At least three rotor arms extending outwards are mounted on an aircraft body; the rotor arms are symmetrically mounted on the body relative to a vertical plane where a central axis of the body is located; variable axis devices are mounted at the tail ends of the rotor arms; engines are mounted on the variable axis devices; propellers are mounted on the engines; and the variable axis devices control the engines and the propellers to rotate freely in spaces above horizontal planes where the variable axis device are located. According to the aircraft, the engine mounted on the rotor arms can change axes to any direction via the variable axis devices, so that motions such as turning, advancing, backing, left translation and right translation of the aircraft are achieved; the aircraft can keep a horizontal state all the time in a flying process; when the aircraft is used for carrying a measuring instrument, the safety of the instrument carried by the aircraft can be ensured; and the aircraft can be applied to practice as well as large-scale production and popularization.

Description

Become axial multi-rotor aerocraft and its flight attitude method of adjustment
Technical field
The present invention relates to small aircraft and its progress control method and in particular to a kind of become axial multi-rotor aerocraft and The method of its flight attitude adjustment.
Background technology
Multi-rotor aerocraft utilizes multiple screw flights, and micro-camera of can arranging in pairs or groups records airborne video it is also possible to use To carry various measuring instruments, to carry out aerological sounding or high-altitude object is thrown, can apply pre- in agricultural, detection, meteorology, disaster The various fields such as report and rescue.
Existing multi-rotor aerocraft, is all using change of flight device engine output, or changes blade pitch, Make to exist lift difference or difference in torque between multiple engines to realize attitude of flight vehicle change.So that aircraft is steady How flight, when adjusting each flight attitude, specifically will change the power output of engine or the pitch changing blade, Need to utilize computer process, accurately calculated, process is loaded down with trivial details, be difficult to popularize, be difficult to deal with real time complicated and changeable Flight environment of vehicle.And use existing method of adjustment, often occur that aircraft fuselage inclines during flight attitude changes Oblique situation, is unfavorable for carrying video recording equipment or observation instrument on board the aircraft.
Content of the invention
In order to solve the above problems, the invention discloses a kind of become axial multi-rotor aerocraft and its flight attitude adjustment side Method.
Technical scheme is as follows:
A kind of change axial direction multi-rotor aerocraft, including fuselage, described fuselage is provided with outwardly directed rotor arm, described At least three, rotor arm, the vertical plane being located with respect to the axis of fuselage, being arranged on fuselage of positional symmetry;Described Rotor arm end is provided with change shaft device;On described change shaft device, engine is installed;On described engine, screw is installed; Described become shaft device can control described engine and screw described become shaft device be located horizontal plane on space in from By rotating.
Its further technical scheme is: described engine is motor, internal combustion engine or jet engine.
Its further technical scheme is: described change shaft device includes clutch shaft bearing bar and second bearing bar;Described first One end of bearing rod connects described rotor arm, and the other end connects one end of second bearing bar, and junction is universal ball end joint shaft Hold;The other end of described second bearing bar is provided with the first fixed platform;It is solid that the both sides of described clutch shaft bearing bar are provided with second Fixed platform;Also include push rod, described push rod includes the first push rod and the second push rod;Moveable hinge is passed through in one end of described first push rod Chain is fixed in the second fixed platform, one end socket of the other end and the second push rod, can be with the second push rod relative telescopic displacement;Institute The other end stating the second push rod is fixed on described second bearing bar side wall by hinges;Described push rod has two, with respect to The vertical plane that described clutch shaft bearing bar is located is symmetrically installed.
Its further technical scheme is: described push rod is electric pushrod, Pneumatic hydraulic push rod or servos control push rod.
A kind of flight attitude method of adjustment becoming axial multi-rotor aerocraft described above, by controlling described change shaft device Make screw all tilt same angle, realize hovering, advance, retrogressing, left and the right translation of aircraft;Described by controlling Becoming shaft device makes screw all tilt counterclockwise or inclination clockwise, realizes right turn or the left steering of aircraft;Pass through Computer and flight control system control the power output of each engine to realize aircraft balance;Manually control the output of engine Power realizes the height change of aircraft;
Specifically include scenario described below:
When needing to make aircraft be in floating state, the oar face making screw is all in horizontality;
When needing to make aircraft be in translation state, make oar face all directions of screw consistent, angle of inclination identical court Tilt to translation direction;
When needing to make aircraft right turn, the oar face of screw is made to tilt both facing to counter clockwise direction;
When needing to make aircraft left steering, the oar face of screw is made to tilt both facing to clockwise direction.
The method have the benefit that:
Change axial direction multi-rotor aerocraft disclosed by the invention, is a kind of technical side different from existing multi-rotor aerocraft Case, can be used in each scene such as agricultural, meteorology, measurement, tourism and the disaster relief, have very high use value and promotional value.
Become corresponding to axial direction multi-rotor aerocraft with disclosed by the invention, the present invention also also discloses a kind of change axially many rotations The flight attitude method of adjustment of rotor aircraft, is that a kind of and existing multi-rotor aerocraft adjustment flight attitude method is entirely different Technical scheme, only lean on the direction in each screw oar face of change, you can so that aircraft is made advance, retreat, move to left, moving to right And the attitude turned left, turn right, compared with vertical rotor aircraft and existing multi-rotor aerocraft, this method is so that fly Device remains horizontality during flight, when being applied to carry measuring instrument it is ensured that aircraft is carried Instrument safety.And compared with the control method of existing multi-rotor aerocraft, this method principle it can be readily appreciated that make and Operation all very simple, is conducive to being applied in practice and large-scale produce and promote.
Brief description
Fig. 1 is Flight Vehicle Structure schematic diagram.
Fig. 2 is to become shaft device structural representation.
Fig. 3 is flight attitude schematic diagram during aircraft forward-reverse.
Fig. 4 is flight attitude schematic diagram during translation about aircraft.
Fig. 5 is flight attitude schematic diagram when aircraft is turned right.
Fig. 6 is the top view of Fig. 5.
Fig. 7 is flight attitude schematic diagram when aircraft turns left.
Fig. 8 is the top view of Fig. 7.
Specific embodiment
Fig. 1 is the Flight Vehicle Structure schematic diagram of the present invention.Aircraft includes fuselage 3, and fuselage support 4 is arranged at fuselage 3 bottom.Machine Outwardly directed rotor arm is provided with body 3, at least three, rotor arm, vertically put down with respect to what the axis of fuselage was located Face, being arranged on fuselage 3 of positional symmetry.In the present embodiment, rotor arm has four, orthogonal, and interval angles are 90 degree. Rotor arm end is provided with change shaft device 1, becomes and is provided with engine on shaft device 1, engine is provided with screw 2, can carry Dynamic screw 2 rotates.Become shaft device 1 and can control the direction of engine and screw 2 so that engine and screw 2 can become Freely rotatable in the space on horizontal plane that shaft device 1 is located.Engine can start for motor, internal combustion engine or jet Machine.
Fig. 2 is to become shaft device structural representation.Become shaft device 1 and include bearing rod 5 and bearing rod 6, one end of bearing rod 5 is even Connect rotor arm, the other end connects one end of bearing rod 6, and the junction of bearing rod 5 and bearing rod 6 is universal ball end oscillating bearing 7, Bearing rod 6 can freely be rotated to all angles.The other end of bearing rod 6 is provided with fixed platform 11, and the two of bearing rod 5 While being provided with fixed platform 8.Become shaft device and also include push rod, push rod includes push rod 9 and push rod 10.Pass through to live in one end of push rod 9 Dynamic hinge is fixed in fixed platform 8, and the other end is socketed with one end of push rod 10, can be with push rod 10 relative telescopic displacement.Push rod 10 other end is fixed on the side wall of bearing rod 6 by hinges.Push rod has two, vertical with respect to what bearing rod 5 was located Plane symmetry is installed.Push rod can be electric pushrod, Pneumatic hydraulic push rod or servos control push rod, i.e. push rod 9 and push rod 10 Between relative telescoping movement have different control modes.
For above-mentioned change axial direction multi-rotor aerocraft, the present invention devises the side of corresponding aircraft flight pose adjustment Method.If the horizontal plane that screw is located is with the oar face of screw, have:
A., when the oar face of screw is all in horizontality, aircraft hovers.
B. oar face all directions of screw consistent towards translation direction tilt when, aircraft translate.
Fig. 3 is the flight attitude schematic diagram that moves forward and backward of aircraft.Fig. 3 is the side view of aircraft, then screw When oar face changes incline direction according to the direction of arrow, aircraft is in the attitude advanced or retreat.
Flight attitude sensor (as gyroscope, acceleration transducer etc.), flight appearance are provided with the aircraft of the present invention The flight attitude of state sensor continuous explorer vehicle in whole flight course, then will detect data is activation to calculating Machine.In the ideal situation, export a control signal after computer is to the calculating of flight attitude data to flight control system, fly Control system controls the power output of each engine of aircraft according to this control signal, so that the output of each engine prop The longitudinal direction decomposition vector of power is equal or is in a deviation range allowing.This control signal has error in practice, The balance of aircraft can not be realized by a secondary control.Establish feedback control loop for this present invention, passed by flight attitude Flight attitude after being adjusted is sent to computer by sensor again, constantly repeats above-mentioned calculating and control by computer Process is modified to flight attitude, until realizing the balance of aircraft.
Depict the output force resolution polar plot of screw in Fig. 3, aircraft adjust state when, propeller tilt, Power output f of screw can be analyzed to the component f2 in component f1 and horizontal direction in vertical direction.Under any state, institute The vertical stress component f1 having screw will keep equal, or be not completely equivalent but be in one permission deviation range in, this The all of screw of sample is of substantially equal to the propulsive force upwards of fuselage, and fuselage 3 can be kept to be always horizontality.
Fig. 4 is the left and right translation flight attitude schematic diagram of aircraft.Fig. 4 is the front view of aircraft, then the oar of screw When face changes incline direction according to the direction of arrow, aircraft is in the attitude of left or right translation.
C. when the oar face of screw tilts identical angle both facing to counter clockwise direction, aircraft right turn.
Fig. 5 is the right-hand rotation flight attitude schematic diagram of aircraft, can be seen in the figure that the heeling condition in screw oar face.Fig. 6 The top view of Fig. 5, can aircraft as seen from the figure direction of rotation.
D. when the oar face of screw tilts identical angle both facing to clockwise direction, aircraft left steering.
Fig. 7 is the left-hand rotation flight attitude schematic diagram of the present invention, can be seen in the figure that the heeling condition in screw oar face.Fig. 8 The top view of Fig. 7, can aircraft as seen from the figure direction of rotation.
Above-described is only the preferred embodiment of the present invention, the invention is not restricted to above example.It is appreciated that this Skilled person directly derive without departing from the spirit and concept in the present invention or associate other improve and become Change, be all considered as being included within protection scope of the present invention.

Claims (2)

1. a kind of become axial multi-rotor aerocraft it is characterised in that: include fuselage (3), described fuselage (3) be provided with to overhanging The rotor arm going out, at least three, described rotor arm, the vertical plane being located with respect to the axis of fuselage (3), positional symmetry Be arranged on fuselage (3);Described rotor arm end is provided with change shaft device (1);It is provided with described change shaft device (1) and start Machine;Screw (2) is provided with described engine;Described change shaft device (1) controls described engine and screw (2) described Become freely rotatable in the space on the horizontal plane that shaft device (1) is located;
Described engine is motor or internal combustion engine;
Described change shaft device (1) includes clutch shaft bearing bar (5) and second bearing bar (6);One end of described clutch shaft bearing bar (5) is even Connect described rotor arm, the other end connects one end of second bearing bar (6), junction is universal ball end oscillating bearing (7) so that the Two bearing rods (6) can freely rotate to all angles;The other end of described second bearing bar (6) is provided with the first fixed platform (11);The both sides of described clutch shaft bearing bar (5) are provided with the second fixed platform (8);Also include push rod, described push rod includes first Push rod (9) and the second push rod (10);One end of described first push rod (9) is fixed on the second fixed platform (8) by hinges On, one end socket of the other end and the second push rod (10), can be with the second push rod (10) relative telescopic displacement;Described second push rod (10) the other end is fixed on described second bearing bar (6) side wall by hinges;Described push rod has two, with respect to described The vertical plane that clutch shaft bearing bar (5) is located is symmetrically installed;
Described push rod is electric pushrod or Pneumatic hydraulic push rod.
2. a kind of flight attitude method of adjustment becoming axial multi-rotor aerocraft as claimed in claim 1 it is characterised in that: logical Cross and control described change shaft device to make screw all tilt same angle, realize the hovering of aircraft, advance, retrogressing, left and Right translation;So that screw is all tilted counterclockwise or inclination clockwise by controlling described change shaft device, realize the right side of aircraft Turn to or left steering;The power output of each engine is controlled to realize aircraft balance by computer and flight control system;Pass through The power output of Non-follow control engine realizes the height change of aircraft;
Specifically include scenario described below:
When needing to make aircraft be in floating state, the oar face making screw is all in horizontality;
When needing to make aircraft be in translation state, the oar face all directions making screw are consistent, angle of inclination identical is towards flat Move direction to tilt;
When needing to make aircraft right turn, the oar face of screw is made to tilt both facing to counter clockwise direction;
When needing to make aircraft left steering, the oar face of screw is made to tilt both facing to clockwise direction.
CN201510218685.1A 2015-04-30 2015-04-30 Variable axial multi-rotor aircraft and flight attitude adjustment method thereof CN104802985B (en)

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