CN104859851A - Multi-rotor aircraft driven by duct lift fans with diversion helms - Google Patents
Multi-rotor aircraft driven by duct lift fans with diversion helms Download PDFInfo
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- CN104859851A CN104859851A CN201510206269.XA CN201510206269A CN104859851A CN 104859851 A CN104859851 A CN 104859851A CN 201510206269 A CN201510206269 A CN 201510206269A CN 104859851 A CN104859851 A CN 104859851A
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Abstract
The invention discloses a multi-rotor aircraft driven by duct lift fans with diversion helms. The multi-rotor aircraft comprises the multiple duct lift fans with diversion helms, and an aircraft fuselage, wherein the aircraft fuselage comprises a frame, a landing gear, a power module, a flight control module , a load cabin and other function modules; the duct lift fans with the diversion helms are mounted on the aircraft fuselage and mainly consist of propellers, propeller driving units, the diversion helms, diversion helm driving units, ducts and the like, and the ducts are arranged at the peripheries of the propellers and used for improving the efficiency of the propellers, protecting the propellers and reducing the noise of the propellers; the propellers are driven by the propeller driving units; and the diversion helms driven by the diversion helm driving units are arranged on the air inlet sides or the air outlet sides of the duct lift fans.
Description
Art
The present invention relates to a kind of multi-rotor aerocraft, be applicable to the high-mobility, multipurpose, wheeled vehicle flights such as manned, loading, monitoring, detection.
Background technology
Existing multi-rotor aerocraft, relies on open type spiral oar positive and negative each other in groups to rotate by contrary rotation direction, and offset the spinning moment of screw propeller generation with this and obtain lift, its shortcoming is:
1, in flight course, in order to maintain each screw propeller spinning moment balance, the flight control system of multi-rotor aerocraft needs the rotating speed changing each screw propeller frequently, and the rotating speed of this frequent change screw propeller can reduce the work efficiency of complete machine.
2, in flight course, the flight control system of multi-rotor aerocraft regulates the lift of each screw propeller by the relative rotation speed adjusted between each screw propeller, and overcome the spinning moment of each screw propeller and keep spinning moment to balance, to control flight attitude and to realize various maneuvering flight, when any one screw propeller lost efficacy, spinning moment balance then between each screw propeller just cannot keep, and aircraft is out of control, spin crash is Great possibility.
3, in flight course, in order to guarantee smooth flight, need to ensure that multi-rotor aerocraft center-of-gravity position is fixed, and the center of gravity of multi-rotor aerocraft and structure centre need to overlap as far as possible, which has limited the application of multi-rotor aerocraft.
4, in flight course, when running into large wind and affecting, aircraft needs the inclination carrying out larger angle, the making a concerted effort of the lift produced by each screw propeller and aircraft self gravitation balance external interference wind-force, flight course smoothness is poor, and wind loading rating is poor, and safety factor is low.
5, open type spiral oar also faces the problems such as efficiency is low, noise large, poor stability.
In view of this, the invention provides a kind of multi-rotor aerocraft driven by the duct lift fan of band water conservancy diversion rudder, to solve the shortcoming existing for existing multi-rotor aerocraft.
Summary of the invention
The invention provides a kind of multi-rotor aerocraft driven by the duct lift fan of band water conservancy diversion rudder, to improve its flight safety, having a smooth flight property, and improve flight efficiency and reduce flight noise, to adapt to high-mobility, multipurpose, wheeled vehicle flight.
The technical solution adopted in the present invention is: the multi-rotor aerocraft driven by the duct lift fan of band water conservancy diversion rudder, it is made up of aircraft fuselage and multiple duct lift fans of being installed on aircraft fuselage, and is configured with water conservancy diversion rudder in the inlet side of all or part of duct lift fan or air side.
Described aircraft fuselage, comprises the functional modules such as frame, alighting gear, power plant module, flight control modules, load cabin; When carrying out someone and flying, load cabin can be driving compartment; When carrying out unmanned flight, by command and control station remote control distributor, load cabin can be used for loading.
The duct lift fan of described band water conservancy diversion rudder, it is primarily of formations such as screw propeller, screw propeller driver element, water conservancy diversion rudder, water conservancy diversion rudder driver element, ducts; Screw propeller periphery arranges duct, and duct is for improving propeller efficiency, and protection screw propeller also improves safety, reduces propeller noise; Screw propeller is by screw propeller drive unit drives; In inlet side or the air side of duct lift fan, arrange by the water conservancy diversion rudder of water conservancy diversion rudder drive unit drives, the angle of inclination that water conservancy diversion rudder rudder face and duct lift fan lift direction are formed can according to the control overflow dynamic conditioning that flies; The airflow function that all duct lift fans drive carrys out the spinning moment of symmetric screw propeller in the distance of making a concerted effort of the component perpendicular to duct lift fan lift direction that respective water conservancy diversion rudder produces and controls flight attitude,
Described multiple duct lift fan, duct lift fan need in strict accordance with symmetrical and burst mode configuration; Duct lift fan can be not limited to must at same plane; The number of duct lift fan can be individual arbitrarily; Water conservancy diversion rudder can be all or part of duct lift fan and configured.
Multi-rotor aerocraft of the present invention:
1, flying power is provided by all duct lift fans, controls the rotating speed of each duct lift fan screw propeller and the lift that produces, maintain the balance tilting forward and back, tilt of multi-rotor aerocraft by flight control modules; The lift that all duct lift fans controlled by flight control modules produce is to balance multi-rotor aerocraft own wt and external disturbance, realize the rising of multi-rotor aerocraft, decline, hover action, and keep the balance tilting forward and back, tilt of multi-rotor aerocraft.
2, the flying forward, backward of multi-rotor aerocraft, drives the lift produced and multi-rotor aerocraft self gravitation with joint efforts by all duct lift fans when multi-rotor aerocraft leaning forward in horizontal surface, hypsokinesis.
3, the left and right of multi-rotor aerocraft is flat flies, and drives the lift produced and multi-rotor aerocraft self gravitation with joint efforts by all duct lift fans during multi-rotor aerocraft tilting in horizontal surface.
4, water conservancy diversion rudder rudder face and duct lift fan lift direction form angle of inclination, the component perpendicular to duct lift fan lift direction that produces in water conservancy diversion rudder of airflow function that duct lift fan drives, its large I changes with the change of the rotating speed of duct lift fan screw propeller and the angle of inclination of water conservancy diversion rudder.
The distance of making a concerted effort of the component perpendicular to duct lift fan lift direction that the airflow function 5, driven by duct lift fan produces when water conservancy diversion rudder balances spinning moment and the external disturbance of all duct lift fan screw propellers, realizes multi-rotor aerocraft left rotation and right rotation balance and drives multi-rotor aerocraft left and right turn.
The distance of making a concerted effort of the component perpendicular to duct lift fan lift direction that the airflow function 6, driven by duct lift fan produces when water conservancy diversion rudder balances the spinning moment of all duct lift fan screw propellers, the adjustment of rotational speed of the screw propeller of duct lift fan is not limited to screw propeller spinning moment balance, the rotating speed of screw propeller can by the real-time change of multi-rotor aerocraft center of gravity dynamic conditioning, multi-rotor aerocraft center of gravity need not coincide with its structure centre.
7, the angle of inclination of all water conservancy diversion rudders are controlled by flight control modules, the component perpendicular to duct lift fan lift direction that the airflow function that duct lift fan drives produces when water conservancy diversion rudder is not only for controlling left rotation and right rotation balance and the left and right turn of multi-rotor aerocraft, extra propulsive effort can also be provided for multi-rotor aerocraft, the lift that when this propulsive effort and multi-rotor aerocraft all around tilt, all duct lift fans produce, the combined action of aircraft self gravitation, improve the wind loading rating of multi-rotor aerocraft and having a smooth flight property.
8, flight control modules detect multi-rotor aerocraft flight attitude data and according to flight control overflow, control each rotating speed of duct lift fan screw propeller and the angle of inclination of water conservancy diversion rudder, control and keep the flight attitude of multi-rotor aerocraft, realize various flare maneuver.
The invention has the beneficial effects as follows: when the part duct lift fan of multi-rotor aerocraft lost efficacy, as long as ensure that the maximum lift of residue actv. duct lift fan can balance the weight of multi-rotor aerocraft, change the rotating speed of residue effective helix angle oar and the angle of inclination of water conservancy diversion rudder, the application force that the spinning moment of each screw propeller still can be provided by water conservancy diversion rudder balances, multi-rotor aerocraft still can keep flight attitude stable and can not out of controlly crash, there is higher failure redundancy, improve flight safety, be applicable to the manned high-mobility, multipurpose, wheeled vehicle that waits and fly; Multiple water conservancy diversion rudder backups each other, and when part water conservancy diversion rudder lost efficacy, can not affect the stabilized flight of multi-rotor aerocraft; Each duct lift fan screw propeller does not need frequently to change rotating speed to balance the spinning moment of each screw propeller, improves flight efficiency; The adjustment of rotational speed of each duct lift fan screw propeller is not limited to screw propeller spinning moment balance, the rotating speed of screw propeller can according to the change of aircraft self center-of-gravity position real-time dynamic conditioning keep aircraft to balance, the adaptivity of multi-rotor aerocraft to center-of-gravity position change in flight course is good; By changing each rotating speed of duct lift fan screw propeller and the deflection angle of water conservancy diversion rudder, wind loading rating and the flight stability of aircraft effectively can be improved; Screw propeller periphery arranges duct, reduces flight noise, and improves the flight safety of multi-rotor aerocraft.
From above-described content, this multi-rotor aerocraft has that structure is simple, flight safety is high, flight stability is good, have higher failure redundancy, can be applicable to the high-mobility, multipurpose, wheeled vehicle flights such as manned, loading preferably.
Accompanying drawing explanation
Figure 1 shows that the schematic perspective view of multi-rotor aerocraft in first embodiment of the invention
Figure 2 shows that the exploded perspective view of multi-rotor aerocraft in first embodiment of the invention
Figure 3 shows that the exploded perspective view of the duct lift fan module of belt deflector rudder in first embodiment of the invention
Figure 4 shows that the schematic perspective view of multi-rotor aerocraft frame assembly in first embodiment of the invention
Figure 5 shows that the schematic perspective view of multi-rotor aerocraft in second embodiment of the invention
Described in figure: frame 1, power plant module 2, flight control modules 3, load cabin 4, alighting gear 5, screw propeller 6, screw propeller driver element 7, duct 8, water conservancy diversion rudder driver element 9, water conservancy diversion rudder 10
Specific embodiments
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be described in detail technical scheme of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, other embodiments all that those of ordinary skill in the art obtain under the prerequisite not making creative work, all belong to the scope of protection of the invention.
Shown in ginseng Fig. 1 and Fig. 2, multi-rotor aerocraft comprises frame 1, power plant module 2, flight control modules 3, load cabin 4, alighting gear 5, screw propeller 6, screw propeller driver element 7, duct 8, water conservancy diversion rudder driver element 9, water conservancy diversion rudder 10.
Shown in ginseng Fig. 4, power plant module 2, flight control modules 3, load cabin 4, alighting gear 5 are all installed in frame 1, form multi-rotor aerocraft frame assembly.
Shown in ginseng Fig. 3, screw propeller 6, screw propeller driver element 7, duct 8, water conservancy diversion rudder driver element 9, water conservancy diversion rudder 10 form the duct lift fan module of belt deflector rudder together, screw propeller 6 is driven by screw propeller driver element 7 and is arranged in duct 8, and water conservancy diversion rudder 10 is driven by water conservancy diversion rudder driver element 9 and is arranged on screw propeller 6 air side.The present invention does not limit the air side that water conservancy diversion rudder 10 must be positioned at screw propeller 6, such as can be the inlet side being positioned at screw propeller 6 yet.
The present embodiment has the duct lift fan module of 4 belt deflector rudders, and the screw propeller 6 of the duct lift fan module of 4 belt deflector rudders is preferably 2 positive 2 and instead configures, and screw propeller according to 2 just, 2 anti-rotation directions rotate.Blade quantity the present invention of screw propeller 6 does not limit, and such as also can be 2.The volume cost invention of duct lift fan module does not limit and is necessary for 4, and the present invention does not limit each duct lift fan module yet must configure water conservancy diversion rudder 10 and water conservancy diversion rudder driver element 9.
The duct lift fan module of the present embodiment 4 belt deflector rudders is installed in frame 1.The plane of rotation of the screw propeller 6 of the present invention's all duct lift fans module can be not limited to be necessary for same plane, and does not limit all duct lift fan modules and must be arranged symmetrically with.
Power plant module 2 provides power for multi-rotor aerocraft.The present invention does not limit power plant module 2 and is necessary for battery pack, can be such as fuel engines yet.When the present embodiment selectes power plant module 2 for battery pack, screw propeller driver element 7, water conservancy diversion rudder driver element 9 can be chosen to be electrical motor.
Flight control modules 3 gathers the flight attitude data of multi-rotor aerocraft by sensor, computing is carried out by corresponding control algorithm through flight control modules 3, and according to the requirement of flare maneuver, control the rotating speed of each screw propeller 6 and the angle of inclination of each water conservancy diversion rudder 10, the angle of inclination of water conservancy diversion rudder refer to the angle in water conservancy diversion rudder rudder face and duct lift fan lift direction.
Driving compartment when load cabin 4 can be used as manned can be also for loading in loading flight, or manned loading be carried out simultaneously.
Below the principle of work of multi-rotor aerocraft in the present embodiment is described:
Multi-rotor aerocraft flying power is provided by all screw propellers 6, controls the rotating speed of each screw propeller 6 and the lift that produces, maintain the balance tilting forward and back, tilt of multi-rotor aerocraft by flight control modules 3; The lift that all screw propellers 6 controlled by flight control modules 3 produce comes trimmed flight device own wt and external disturbance, realize the rising of multi-rotor aerocraft, decline, hover action, and the balance keeping multi-rotor aerocraft to tilt forward and back in horizontal surface, tilt.
The front and back flight of multi-rotor aerocraft, drives the lift produced and multi-rotor aerocraft self gravitation with joint efforts by all screw propellers 6 when multi-rotor aerocraft leaning forward in horizontal surface, hypsokinesis.
The left and right of multi-rotor aerocraft is flat to fly, and drives the lift produced and multi-rotor aerocraft self gravitation with joint efforts by all screw propellers 6 during multi-rotor aerocraft tilting in horizontal surface.
The airflow function driven by all screw propellers 6 balances spinning moment and the external disturbance of all screw propellers 6 in the distance with joint efforts of the component perpendicular to duct lift fan lift direction that water conservancy diversion rudder 10 produces, and realizes multi-rotor aerocraft left rotation and right rotation balance and drives aircraft left and right turn.
The airflow function driven by all screw propellers 6 balances the spinning moment of all screw propellers 6 in the distance with joint efforts of the component perpendicular to duct lift fan lift direction that water conservancy diversion rudder 10 produces, the adjustment of rotational speed of screw propeller 6 is not limited to the balance of screw propeller 6 spinning moment, the rotating speed of screw propeller 6 can by the real-time change of the center of gravity of multi-rotor aerocraft dynamic conditioning, the center of gravity of multi-rotor aerocraft is without requiring the symmetrical configuration center coinciding with multi-rotor aerocraft.
When rotating speed one timing of screw propeller 6, the airflow function that screw propeller 6 drives is controlled by the component perpendicular to duct lift fan lift direction that water conservancy diversion rudder 10 produces the angle of inclination that air flow line that the rudder face of water conservancy diversion rudder 10 and screw propeller 6 drive formed.The rotating speed of screw propeller 6 and the deflection angle of water conservancy diversion rudder 10 require dynamic conditioning by flight control modules 3 according to flight attitude and flight, both ensured that all screw propellers 6 provided the lift meeting flight, making a concerted effort apart from the spinning moment meeting all screw propellers 6 of balance of the component perpendicular to duct lift fan lift direction that the airflow function making again screw propeller 6 drive produces in water conservancy diversion rudder, and meet the various flare maneuver requirements of multi-rotor aerocraft.
The angle of inclination of all water conservancy diversion rudders 10 are controlled by flight control modules 3, the application force that the airflow function that screw propeller 6 drives produces in water conservancy diversion rudder 10 not only balances for controlling aircraft left rotation and right rotation and drives aircraft left and right turn, additional motive power can also be provided for multi-rotor aerocraft, the lift that this propulsive effort and all screw propellers 6 of multi-rotor aerocraft produce, the combined action of multi-rotor aerocraft self gravitation, improve the wind loading rating of multi-rotor aerocraft and having a smooth flight property.
Flight control modules 3, according to sensing data, according to related algorithm computing, controls the rotating speed of each screw propeller 6 and the angle of inclination of water conservancy diversion rudder 10, controls and keeps the flight attitude of multi-rotor aerocraft, and realize various flare maneuver according to operating order.
In second embodiment of ginseng shown in Fig. 5, water conservancy diversion rudder 10 is arranged at the inlet side of screw propeller 6.
It should be noted that, in this article, the such as relational terms of first and second grades and so on is only used for an entity or operation to separate with another entity or operational zone, and not necessarily requires or imply that these entities and operation directly exist the relation or sequentially of any this reality.And, term " comprises ", " comprising " or any other variant are intended to contain comprising of nonexcludability, thus make to comprise the process of a series of key element, method, article or equipment and not only comprise those key elements, but also comprise other key element clearly do not listed, or also comprise by the intrinsic key element of this process, method, article or equipment.When not more restrictions, there is the key element that statement " comprising ... " limits, and be not precluded within process, method, article or the equipment comprising described key element and also there is other identical element.
The foregoing is only specific embodiments of the invention, be not limited to the present invention, all do within principle of the present invention and spirit any amendment, equivalent to replace and improvement etc., be all just included within protection scope of the present invention.
Claims (3)
1. the multi-rotor aerocraft driven by the duct lift fan of band water conservancy diversion rudder, it is made up of aircraft fuselage and multiple duct lift fans of being installed on aircraft fuselage, it is characterized in that: the quantity of duct lift fan can be individual arbitrarily, and all or part of duct lift fan is with the water conservancy diversion rudder being positioned at duct lift fan inlet side or air side, the angle of inclination that water conservancy diversion rudder rudder face and duct lift fan lift direction are formed can carry out dynamic conditioning according to the control overflow that flies; The airflow function that duct lift fan drives is when water conservancy diversion rudder, produce perpendicular to the component in duct lift fan lift direction, the angle of inclination that the size of this component is formed by the propeller speed of duct lift fan and water conservancy diversion rudder rudder face and duct lift fan lift direction determine; The distance of making a concerted effort of the component perpendicular to duct lift fan lift direction that the airflow function that the duct lift fan of all band water conservancy diversion rudders drives produces in water conservancy diversion rudder, for balancing the spinning moment of all duct lift fan screw propellers, and drive multi-rotor aerocraft together with the lift produced with duct lift fan.
2. be with the duct lift fan of water conservancy diversion rudder according to claim 1, it is characterized in that: form primarily of screw propeller, screw propeller driver element, water conservancy diversion rudder, water conservancy diversion rudder driver element, duct and relevant supplementary module; Screw propeller is by screw propeller drive unit drives and be arranged in duct; Arrange by the water conservancy diversion rudder of water conservancy diversion rudder drive unit drives in the inlet side of duct lift fan or air side; The angle of inclination that water conservancy diversion rudder rudder face and duct lift fan lift direction are formed can carry out dynamic conditioning according to the control overflow that flies; The duct of screw propeller periphery is for improving propeller efficiency, reducing screw propeller noise and protection screw propeller raising flight safety.
3. aircraft fuselage according to claim 1, is formed primarily of functional modules such as frame, alighting gear, power plant module, flight control modules, load cabins, wherein: power plant module is not limited to be necessary for battery pack; Flight control modules detects the flight attitude of multi-rotor aerocraft, and according to flight control overflow, accurately controls the angle of inclination that the rotating speed of the screw propeller of each duct lift fan, water conservancy diversion rudder rudder face and duct lift fan lift direction are formed.
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Application publication date: 20150826 |