Become axial multi-rotor aerocraft and its flight attitude method of adjustment
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.
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
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
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.
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.
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
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.