CN105119552B - Multi-axis aircraft asynchronous machine parallel connection speed regulation method and product - Google Patents
Multi-axis aircraft asynchronous machine parallel connection speed regulation method and product Download PDFInfo
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- CN105119552B CN105119552B CN201510595199.1A CN201510595199A CN105119552B CN 105119552 B CN105119552 B CN 105119552B CN 201510595199 A CN201510595199 A CN 201510595199A CN 105119552 B CN105119552 B CN 105119552B
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Abstract
The Multi-axis aircraft of AC power source power supply, using Multi-axis aircraft asynchronous machine parallel connection speed regulation method, it is characterized in that including satellite positioning-terminal and communication module including fuselage, multiple electronic rotors, aircraft load, state of flight computer control system, remote controler and AC power source, state of flight computer control system.It enables the three-phase windings of each motor be connected in series to form three branches, power supply is connected in series or in parallel to each branch；One multifunction module is at least contained to a part of multifunction module in parallel and every branch of at least one winding of each motor or winding；Change the state for controlling each motor by changing the state of multifunction module.External three-phase alternating-current powered Multi-axis aircraft of the invention can save the weight of many batteries by means of external power supply facility and possess the ability of empty flight stagnant for a long time.
Description
Technical field
The present invention relates to Multi-axis aircraft asynchronous machine parallel connection speed regulation method and products.
Background technique
Existing Multi-axis aircraft is arranged symmetrically using multiaxis rotor, when original state is hovering, this season one of them
Or the appropriate slack-off and total lift of revolving speed of adjacent 2 to 3 rotors is constant, since the rotor lift to slow accordingly becomes smaller
Aircraft axial line is caused to tilt, so that the component that the wind-force of each rotor generates a horizontal direction pushes aircraft edge to slow down speed
The rotor position direction of degree moves horizontally.Existing Multi-axis aircraft mostly uses battery to power, hang time and electricity
Tankage is related and shorter.Have the advantages that in view of asynchronous machine it is certain and it is proposed that using the wired power supply of external power supply, because
This needs to develop the ac speed control technology for being suitble to Multi-axis aircraft.
Summary of the invention
The invention aims to provide Multi-axis aircraft asynchronous machine parallel connection speed regulation method and product.
The present invention solves the method Multi-axis aircraft asynchronous machine parallel connection speed regulation method of its technical problem: one alternating current of manufacture
The Multi-axis aircraft of source power supply, including it is fuselage, multiple electronic rotors, aircraft load, state of flight computer control system, distant
It controls device and AC power source, state of flight computer control system includes satellite positioning-terminal, accelerometer, magnetometer, air pressure sensing
Device, gyroscope and communication module, AC power source include the AC power source being introduced from outside into using power transmission line and in aircraft
The AC power source generated by inversion with DC power supply；The motor for driving electronic rotor is AC induction motor；Electronic rotor
The control of driving motor is introduced by taking ac three-phase asynchronous motor as an example, referring to this case where for other than ac three-phase asynchronous motor
A little content accommodations are realized；
Each AC induction motor of all electronic rotors of driving is distributed two one group according to Space Axisymmetric and is divided into one
Above motor group enables the three-phase windings of each motor of each motor group be connected in series to form three branches, to each motor group
All branches formed take mode in series or in parallel, connect to power supply；
To one multifunction module of an at least phase winding or part winding symmetric parallel and every branch of every motor
At least contain a multifunction module in road；
Multifunction module includes flight control circuit, controlled rectification or chopper circuit, rechargeable battery, power load and vacation
Load.Controlled rectification or chopper circuit adjust its power output by changing the service time of rectifying device.Power load
Including filter circuit of pressure-stabilizing, state of flight computer control system, flight control circuit, for detecting each multifunction module electric current
With the detection device, radio reception transmit circuit and other all possible electricity consumption devices of voltage；Fictitious load includes can power transformation
Resistance also includes fixed resistance device and concatenates with it silicon-controlled, and fictitious load is for consuming electric energy to influence its rotation in parallel
The state of wing motor and all rotor motors；Flight control circuit work normally when can also completely from rechargeable battery take electricity without
Electricity is taken from controlled rectification or chopper circuit, it means that the increase of aircraft lift；Flight control circuit is as state of flight
A part of computer control system connect and connects with state of flight computer control system host signal and is controlled by it.
Change the state for controlling each motor by changing the state of multifunction module, comprising: as needed, when winged
The state control of row device requires to fly to some direction, can enable and be located at the rotor electricity in the direction under the guide of gyroscope
The multifunction module of machine parallel connection consumes some electric currents more, specifically includes the silicon-controlled of the fictitious load branch for enabling related multifunction module
Service time it is longer, or the resistance value of variable resistance is enabled to become smaller, therefore the rotor is because the by-pass current of motor increases
Add itself input power to reduce lift and also reduces the lift generation one for leading to the run-off the straight of aircraft axial line to aircraft
Push aircraft mobile to the direction to the horizontal component in the direction.What is concatenated with fictitious load is silicon-controlled as flight control
One execution unit of circuit, it is ensured that power control of the flight control circuit to each multifunction module.For because of more function
Energy module increases the problem that may cause aircraft lift deficiency using electric energy, can solve by other means, including increases
Add the voltage of external three-phase alternating-current supply.The suitable power load of attribute can also connect with the branch of all motor forms
Or it is in parallel.
The present invention realizes the technical solution of its purpose according to the method described above: what manufacture one external three-phase alternating-current supply was powered
Multi-axis aircraft, including fuselage, multiple electronic rotors, aircraft load, state of flight computer control system, remote controler and friendship
Galvanic electricity source, state of flight computer control system include satellite positioning-terminal, accelerometer, magnetometer, baroceptor, gyroscope
And communication module, AC power source are included the AC power source being introduced from outside into using power transmission line and are used in aircraft by inversion
The AC power source that DC power supply generates；The control of the driving motor of electronic rotor is introduced by taking ac three-phase asynchronous motor as an example, right
The case where other than ac three-phase asynchronous motor, is realized referring to these content accommodations；
Circuit is formed using the power load of three power transmission lines and external three-phase alternating-current supply and the aircraft；
Each AC induction motor of all electronic rotors of driving is distributed two one group according to Space Axisymmetric and is divided into one
Above motor group enables the three-phase windings of the motor of each motor group be connected in series to form three branches, to each motor group shape
At all branches take mode in series or in parallel, connect to power supply；
A part of multifunction module in parallel of at least one winding or a winding to each motor and
Every branch at least contains a multifunction module；Multifunction module includes flight control circuit, controlled rectification or copped wave electricity
Road, rechargeable battery, power load and fictitious load；Controlled rectification or chopper circuit by change the service time of rectifying device come
Adjust its power output；Power load include filter circuit of pressure-stabilizing, state of flight computer control system, flight control circuit,
For detecting the detection device, radio reception transmit circuit and other all possible use of each multifunction module electric current and voltage
Electrical part；Fictitious load includes variable resistance, also includes fixed resistance device and concatenating with it silicon-controlled；Flight control circuit is just
Electricity can be taken without taking electricity from controlled rectification or chopper circuit from rechargeable battery completely when often work；Flight control circuit conduct
A part of state of flight computer control system connect with state of flight computer control system host signal and receives its control
System.
An automatic connector can also be concatenated between power transmission line and the aircraft, automatic connector includes one and connects
Line device socket and an electric wire connecting junction plug；Electric wire connecting junction plug is connect with power transmission line；And contain a power transmission line automatic locking device part；
Connector jack and power transmission line automatic locking device part are set on fuselage；Power transmission line automatic locking device part is calculated as state of flight
The execution unit of machine control system；Power transmission line automatic locking device part includes an electronic pressure tongue；Electronic pressure tongue includes electromagnetism pressure tongue；
Electronic pressure tongue is normally closed to push down power transmission line；When the state of electronic pressure tongue from it is normally closed become open when, electric wire connecting junction plug itself and it is defeated
Fuselage is detached under electric wire gravity to fall, or:
Aircraft contains an automatic wire winding device, for the power transmission line that folding and unfolding is located below, or；
The electric line carrier communication mould being connect on board the aircraft and at external power supply containing one with powerline signal
Block realizes that wire signal transmits using power transmission line.
Electric wire connecting junction plug and/or fuselage can also be enabled to connect a parachute, be detached from fuselage when issuing to electric wire connecting junction plug
Instruction after 0.2 second, parachute starts to open.
It is the above rotary aircraft of an axis that the aircraft, which can also be enabled, comprising one is substantially in same with rotor
The film-form object of horizontal plane position；Film-form object aperture at electronic rotor.
It can also enable and contain a revolute pair mechanism between automatic wire winding device and basis.
Same group can also be passed through using the aircraft more than two framves, the power load of two frame the above aircraft
Power transmission line is concatenated into a circuit loop.
A sprinkling unit, including two frame Multi-axis aircrafts spray aircraft, assisting in flying device and tracking can also be formed
Trolley, tracking trolley are mounted with automatic wire winding device, the automatic retraction device of water delivery pipe, external power supply and medicinal cupping；With transmission of electricity
Line connects external power supply and power load on aircraft unit, on sprinkling aircraft containing sprinkling port, using a both ends
The delivery pipe being connected to respectively with sprinkling port and medicinal cupping, or；
A sowing unit, including two frame Multi-axis aircrafts sowing aircraft, assisting in flying device and tracking trolley are formed, with
Track trolley be mounted with automatic wire winding device, external power supply, seed transport tube automatic retraction device and seed cabin；Connected with power transmission line
It connects external power supply and power load on aircraft unit, distinguish on sowing aircraft containing sowing module, using a both ends
The seed transport tube being connected to sowing module and seed cabin.
Speed regulation mentioned herein includes for the state control to aircraft.
Rotor craft includes a column and multiaxis rotor craft, and a column includes single-blade and double-vane.
Beneficial effects of the present invention: when only needing fixed point or a small range using related aircraft, the present invention
The Multi-axis aircraft of external three-phase alternating-current supply power supply by means of external power supply facility can save many batteries weight and
Possess the ability of empty flight stagnant for a long time.Amateur photographers also can use aircraft of the invention and carry out shooting acquisition and use
Shooting effect in midair similar in large size photography facility.
Detailed description of the invention
Fig. 1 is that the aerial marshalling of the Multi-axis aircraft of an external three-phase alternating-current supply power supply is connected with external power source knot
Structure schematic diagram.
Fig. 2 and Fig. 3 is the double plug in automatic connectors in three ends respectively to be inserted into singly slotting states and changes structural schematic diagrams from double,
Its amplification that can be regarded as the double plug in automatic connectors in three ends in Fig. 1 embodiment.
Fig. 4 is one and utilizes the structural schematic diagram that following aircraft is that aircraft above shares transmission of electricity specific electric load.
Fig. 5 is the circuit block diagram of the 4 asynchronous motors concatenation of a 4 axis aircraft.
Fig. 6 is the upper view structural schematic diagram of a 4 axis rotor remotely-piloted vehicles.
Fig. 7 is the functional block diagram of a multifunction module.
Fig. 8 is the working principle diagram of an agricultural spraying rotor flying unit.
Fig. 9 is the working principle diagram of an agricultural sowing rotor flying unit.
1. aircraft in figure；2. fuselage；4. remote controler；5. external power supply；6. power transmission line；7. automatic wire winding device；13. three
Hold double plug in automatic connectors；14. unmanned ship；15. the water surface；16. socket；17. plug；18. Auto-plug lock；19.
Electronic rotor；21. spring；22. support block；23. electronic pressure tongue；24. electric reel；25. pedestal；26. bifurcated terminals；27. prison
Control device；28. acceleration transducer；29. automatic wire winding device；42,43,44,45. electronic rotor；42.1,43.1,44.1,
45.1 motors；46. parachute；47. variable resistance；48-51. multifunction module；53. controlled rectification or chopper circuit；54. filling
Battery；55. power load；56. fictitious load；68. spray aircraft；69. assisting in flying device；70. landing platform；71. pesticide
Tank；72. tracking trolley；73. spraying port；74. delivery pipe；75. sowing aircraft；76. seed cabin；77. sowing module；78.
Seed transport tube.
Specific embodiment
Fig. 1 provides embodiment 1.
In embodiment 1, a sky is formed with the multiaxis rotor remotely-piloted vehicle 1 of three-phase alternating-current supply power supply outside two framves
Middle marshalling.Aircraft 1 includes fuselage 2, electronic rotor 19, state of flight computer control system, radio signal reception processing
Launch facility, aircraft load and remote controler 4.Circuit is formed with external power supply 5 and aircraft power load using one group three
Power transmission line 6.6 one end proximal end of power transmission line and aircraft 1 are electrically connected, other end distal end and the automatic winding of power transmission line 6
Device 7 is sequentially connected, and is electrically connected by automatic wire winding device 7 and external power supply 5；External power supply 5 is continued by power transmission line 6
Supply 1 electric energy of aircraft.
Automatic wire winding device 7 includes chassis 9, Plane Rotation vice mechanism 10 and the electronic reel of belt wheel group 8.Automatic winding
The distance that flies away from of the device 7 with aircraft 1, automatic deploying and retracting power transmission line 6.The chassis 9 of belt wheel group 8 fills automatic winding
Setting 7 can move freely.Plane Rotation vice mechanism 10 is for 7 pivoting of automatic wire winding device above chassis 9.Automatic winding
Device 7 can not also include chassis 9 and the plane revolute pair mechanism 10 of belt wheel group 8.
Two frame aircraft 1 are shared on one group of power transmission line 6 and unmanned ship 14 by a multichannel automatic socket device 13
Automatic wire winding device 7 connects and takes electricity from external power supply 5.
It is used to share the weight of part power transmission line, referred to as assisting in flying device using the frame in two frame aircraft 1, takes on
Task include pull-up power transmission line 6 to avoid the other farther away aircraft of frame flying distance --- main carry-on power transmission line
6 readily access the unfavorable operating condition of the water surface 15.
Unmanned ship 14 in embodiment 1 can also be changed to unmanned submarines.Concealment is more preferable in this way.
External power supply power supply remotely-piloted vehicle itself configures a small amount of power electric battery for making a return voyage under the state of emergency.By
Few in the battery of carrying, even if calculating the weight into power transmission line, the lift-off weight of external power supply power supply remotely-piloted vehicle is still more
It is low.The aircraft of same load, power of motor are smaller.
Fig. 2 and Fig. 3 provides embodiment 2.
In embodiment 2, the double plug in automatic connectors in three ends include two sockets, 16, two plugs 17 and two Auto-plug locks
Determine device 18.Plug 17 is concentric three wire configuration and is electrically connected with power transmission line 6.Concentric three wire configuration particular content can be with reference to existing
Having technology includes the twin-core plug of handset earphone.21 sliding fiting sleeve of spring is on power transmission line 6.Auto-plug lock 18 includes
Support block 22 and electronic pressure tongue 23, and connect or be electrically connected using signal with state of flight computer control system.It is automatic to insert
Head lock 18 is that normally closed i.e. electronic pressure tongue 23 is protruding and plug 17 is pressed in support block 22 to locking plug 17；At this moment
Spring 21 is in compressive state.Socket 17 is also electrically connected with power transmission line 6.
Once Auto-plug lock 18 instructs to obtain electric opening according to state of flight computer control system host, then electric
Dynamic pressure tongue 23 retracts, and plug 17 pops up under the promotion of spring 21, realizes the automatic extraction of plug 17, and power transmission line 6 and aircraft are de-
From.
The double plug in automatic connectors 13 in three ends of embodiment 2 remove one group of socket and plug, and picture be rotated up and down after will be remaining
Under socket 16 connect with the fuselage of aircraft, just constitute both ends singly plug in automatic connector.It can be used for aircraft and outer
The electrical connection of portion's power supply, and power transmission line can be in case of emergency got rid of automatically.Unmanned plane after getting rid of power transmission line can be according to
Electric energy by battery makes a return voyage.
Spring in the various automatic connectors of the present invention can also not have to.At this moment it can realize that automatic extract is inserted by gravity
Head.Technology in relation to these plugs can refer to the prior art.Usually require that the contact engaging and separating forces of these plugs close to zero.Delivery fire
In the electric connector using zero insertion force on arrow.Fig. 4 provides embodiment 3.
In embodiment 3, two frame external power supplies power multiaxis rotor remotely-piloted vehicle 1 by sharing one group of concatenation of power transmission line 6
It is connect with the automatic wire winding device 7 on ground and takes electricity from external power supply 5.Automatic wire winding device 7 includes 24 He of electric reel
Two pedestals 25 being connect with electric reel 24.And inside aircraft 1 above, it is also equipped with an automatic wire winding device
29, including an electric reel 24.The power transmission line 6 being located below for folding and unfolding.This tandem and power transmission line arrangement
Since following aircraft undertakes the weight of a big chunk power transmission line, is conducive to aircraft above and flies get Geng Gao, freer.
Single rack aircraft use automatic wire winding device 29, be suitble to nap of the earth flight without draw power transmission line, can to avoid or
Person mitigates the abrasion and yoke of power transmission line significantly, and can pack up power transmission line and realize recycling.
In embodiment 3, below aircraft using three naked steel wires be used as power transmission line, and one bifurcated wiring of use
Three power transmission lines 6 are drawn at end 26, and every power transmission line respectively uses an automatic wire winding device individually to be stored.Naked steel wire does not have to
Insulating layer is conducive to that heat dissipation, component is light, does not have the problem of wearout.
Insulating layer can also be set to surface of three naked steel wire power transmission lines at bifurcated terminals 26 above, because one
Winding upper part, which occurs, for three power transmission lines of denier first to collide.
One prison connecting with state of flight computer control system host signal can also be set on the aircraft
Device 27 is controlled, when recognizing that three power transmission lines are in the hole, monitor 27 is reported to state of flight computer control system,
Accident is avoided to cut off the power in time.
Can also be arranged on the aircraft one connect with state of flight computer control system host signal plus
Velocity sensor 28 makes three transmissions of electricity more than 100 degree including rotating horizontally when the state for recognizing the aircraft goes wrong
When line is possible to winding, is reported to state of flight computer control system, avoid accident to cut off the power in time.
Automatic wire winding device can also include folding and unfolding line control circuit and retractable cable execution unit.Retractable cable execution unit contains
There is the interface circuit connecting with folding and unfolding line control circuit signal, the state of automatic wire winding device is according to the control circuit state
Change and changes；The control circuit and state of flight computer control system are networked.
In embodiment 3, the heat absorption coil pipe heat transfer of the inner surface and a compressor refrigerating plant of electric reel 24 is enabled to connect,
The temperature for two layers of power transmission line for being close to 24 inner surface of electric reel is greatly lowered, to keep good operating condition.Work as major part
When power transmission line remains in electric reel surface, the power transmission line of aircraft load is few, its load is light, the electric current of power transmission line is also smaller.
It is 1 meter one long, the power transmission line that two layers of diameter is 2 millimeters is wound on 0.67 meter of outer diameter of electric reel, then transmit electricity
The length of line is up to 2 kms.
In embodiment 4, the automatic wire winding device including an electric reel and two pedestals can also be reduced to one it is defeated
Electric wire wire storehouse is used only for storage power transmission line.And the line storehouse can also be with the absorbing heat disk of a compressor refrigerating plant
Pipe heat transfer connection, for cooling down.
Fig. 5 to 7 provides embodiment 4.
In embodiment 4,4 axis rotor crafts 1 include fuselage 2, by 4 ACasynchronous motor drives electronic rotor 42,
43,44,45 and parachute 46.Using automatic connector.Concatenation forms three to the threephase stator coil of the motor two-by-two respectively
The head end of branch, three branches passes through naked steel wire power transmission line 6, automatic wire winding device 7 and variable resistance 47 and external controllable three-phase
AC power source connection.Three branch ends simultaneously connect, since the voltage and current that all motors correspond to phase winding is equal, motor
State it is also equal, but require their direction of rotation two just two anti-.
4 motors are divided into two groups, enable every group described in motor be arranged symmetrically in space with the axial line of aircraft, rotate
The contrary rotating reactive force with cancel out each other rotor and rotor.From Fig. 6 plane right-angle coordinate: electronic
Rotor 42,43,44,45 is respectively at the 1st, 2,3,4, four quadrants.
By the machine winding tap to 4 electronic rotors 42,43,44,45, at tap and related winding overhang is in parallel
Connect 4 multifunction modules 48,49,50,51 in total.Tapping to the motor be in order to obtain lower voltage come with
Light current load matched.
Multifunction module 48,49,50,51 includes flight control circuit, controlled rectification or chopper circuit 53, rechargeable battery
54, power load 55 and fictitious load 56.Controlled rectification or chopper circuit 53 are adjusted by changing the service time of rectifying device
Save its power output.Power load 55 include filter circuit of pressure-stabilizing, state of flight computer control system, flight control circuit,
Radio reception transmit circuit and other all possible electricity consumption devices；Fictitious load 56 includes resistance device and concatenates one controllably
Silicon.Rechargeable battery 54 also has voltage regulation filtering effect；All its dump energy is detected and filled after each aerial mission
Be discharged to setting range for example Full Charge Capacity 62% to 65%.The function of flight control circuit includes the control to the motor.Fly
Line control circuit can take electricity without taking electricity from controlled rectification or chopper circuit from rechargeable battery 54 completely when working normally.Fly
The a part and state of flight computer control system host signal of line control circuit as state of flight computer control system
It connects and connects and be controlled by it.As needed, when the state control of aircraft requires to enable and some direction to the flight of some direction
The multifunction module of rotor motor parallel connection consume some electric currents more, specifically include the fictitious load branch for enabling related multifunction module
Silicon-controlled service time it is longer, therefore the rotor because motor by-pass current increase itself input power reduce lift
Also reducing causes the run-off the straight of aircraft axial line to push away to which the lift of aircraft generates one to the horizontal component in the direction
Dynamic aircraft is mobile to the direction.The silicon-controlled execution unit as flight control circuit concatenated with fictitious load, really
Flight control circuit is protected to the power control of each multifunction module.
When flowing through the electric current of multifunction module 48,49,50,51 from zero to maximum, asynchronous machine 42.1,43.1,44.1,
45.1 power is from being up to minimum.
The status controlling packet of aircraft includes:
It is adjusted by voltage to external controllable three-phase alternating-current supply and/or frequency, and adjusts each variable resistance
52, it can be achieved that the motor power control and/or revolving speed control to realize to the status controlling packet of aircraft 1 include rising,
Aerial static, decline and stopping.
It can be sketched using the principle that multifunction module 48,49,50,51 adjusts state of flight are as follows: be in hovering in aircraft 1
It is described a certain to change by one or several power being adjusted in synchronism in multifunction module 48,49,50,51 when state
The state of platform or several motors, to realize the control to flight state.For example:
Enable in the 1st, the machine winding of two electronic rotors 42,45 of 4 quadrants and the multifunction module 48,51 that connects
Electrical power is greater than the electrical power with other two multifunction module 49,50, this will reduce the function of electronic rotor 45,42 associated motors
Rate increases the power of electronic rotor 43,44 associated motors simultaneously, and the spatial altitude of electronic rotor 45,42 is caused to be slightly less than electricity
The spatial altitude of dynamic rotor 43,44, this state start aircraft 1 to the direct north flight in other words of Y-axis arrow direction.
At this point, passing through the electrical power of 4 multifunction modules of synchronous balance 48,49,50,51, the power of electronic rotor 45,42 will be restored,
And electronic rotor 42,43,44,45 is caused to be in sustained height, aircraft restores to be in aerial stationary state.
As a same reason, the power for reducing two, the right side, two, quadrant electronic rotor associated motors in 4 quadrants, will lead to winged
Row device flies to positive east direction.... also, because the mechanism of this change of flight device flight can be superimposed, so as to reality
Existing aircraft can fly to any direction.The technology of control flight state reference may also be made to utilize existing technology.
From the winding centre tap of the motor but electricity directly can not certainly be taken from the both ends of the machine winding
Related multifunction module is supplied, and the mode of 1 state of flight of change of flight device recited above is still set up.
When external power supply 5 is unable to normal power supply, power transmission line 6 is extracted by automatic connector and opens each parachute 46,
Aircraft 1 is declined under the action of parachute 46 with speed slow enough；Each power transmission line 6 also under the action of parachute 46 with compared with
Slow speed declines so as to the normal take-up of automatic wire winding device 7.
The beneficial effect of embodiment 4 includes: to utilize to load on carry-on about 1520 volts controllable three-phase alternating-current supplies drives
The AC induction motor for the electronic rotor that dynamic 4 operating voltages are 380 volts, due to supply voltage height, the electric current of power transmission line is corresponding
Reduce, thermal losses in square substantially reduces with electric current, facilitates using thinner lighter power transmission line；By to external controllable
The supply voltage of three-phase alternating-current supply, which is adjusted, realizes that flight power control is very convenient including adjusting using adjustable transformer.
Even if three multifunction modules are all in full power and charged state, because the input of external power supply can be increased,
Aircraft still can be with normal flight.
Although being increased using AC power source risk, than four unsteady flows using the motor power supply to 4 electronic rotors
Module is more reasonable.Although high voltage power supply increases to the insulating requirements of motor, electric current is decreased to a quarter, it is believed that value
?.
When using other motors, the associated winding string of this motor grouping to electronic rotor, each motor can also be used
Connect the design to use high voltage.
There are two dotted line frame in Fig. 5, the circuit of right side dotted line frame is to be connected in series with the circuit on the left side, but can also will be right
The circuit of face dotted line frame and the circuit in parallel on the left side connect.
Fig. 8 provides embodiment 5.
Embodiment 5, sprinkling unit include two frame Multi-axis aircrafts spray aircraft 68, assisting in flying device 69 and tracking trolley
72, tracking trolley 72 is mounted with automatic wire winding device 7, the automatic retraction device of water delivery pipe 74, external power supply 5, landing platform
70 and pesticide container 71.The power load on external power supply 5 and aircraft unit is connected with power transmission line 6, is contained on sprinkling aircraft
The delivery pipe 74 spraying port 73, being connected to respectively with sprinkling port 73 and pesticide container 71 using a both ends.Pesticide container 71 configures
There is medical fluid to promote facility, including booster pump.Tracking trolley 72 automatically tracks assisting in flying device 69.Sprinkling port 73 is a cross
Set, one side is provided with the tube of round, the related content such as sprinkling port 73 can refer to the prior art.
The brief introduction of work principle of embodiment 5 are as follows: system boot self-test includes that assisting in flying device 69 and spray aircraft 68 are first
Rise hovering from landing platform 70 afterwards to stop；Then tracking trolley 72 follows sprinkling unit to reach scene, and pesticide container 71 starts medical fluid
It promotes facility and implements spray drug operation.And using resupply vehicle in due course to pesticide container dosing.In operation process, 7 He of automatic wire winding device
The automatic retraction device automatic deploying and retracting power transmission line 6 and water delivery pipe 74 of water delivery pipe 74.Operation is completed, and enables medical fluid promote facility anti-
To sucking back medical fluid to pesticide container 71.Then two frame aircraft drop on landing platform 70 and recall storehouse.
Due to that can work continuously for a long time, the present invention is than existing several minutes of the spray aircraft working efficiency of can only working
High 3 times, the employee without configuring replacement battery.Again since spray drug operation is not interrupted, neither drain spray is also seldom sprayed.It is high-efficient to go back
Mean to kill locust within a few hours without allowing it to escape.The wind of gyroplane facilitates the back that medicament reaches plant leaf
Face, this is original advantage.
Assisting in flying device 69 has shared the weight of water delivery pipe 74 and power transmission line 6, realizes spray aircraft 68 from its fuselage
Connection power transmission line 6 increases the freedom degree of spray above；The support of assisting in flying device 69 can also increase spray aircraft 68 and make
The distance and area of industry.
Fig. 9 provides embodiment 6.
Embodiment 6, sowing unit include two frame Multi-axis aircrafts sowing aircraft 75, assisting in flying device 69 and tracking trolley
72, it is flat that tracking trolley 72 is mounted with automatic wire winding device 7, external power supply 5, the automatic retraction device of seed transport tube 78, landing
Platform 70 and seed cabin 76.The power load on external power supply 5 and aircraft unit is connected with power transmission line 6, is sowed on aircraft 75
Contain the seed transport tube 78 sowing module 77, being connected to respectively with sowing module 77 and seed cabin 76 using a both ends.Seed
Storehouse 76 promotes the automatic retraction device of facility and seed transport tube 78 configured with seed, including air-flow conveying facility, specifically can be with
With reference to related art.Tracking trolley 72 automatically tracks assisting in flying device 69.Module 77 is sowed to be designed according to different seeds,
Related content can refer to the prior art.
The brief introduction of work principle of embodiment 6 are as follows: system boot self-test includes that assisting in flying device 69 and sowing aircraft 75 are first
Rise hovering from landing platform 70 afterwards to stop；Then tracking trolley 72 follows sowing unit to reach scene, and seed cabin 76 starts seed
It promotes facility and implements seeding operation.And seed cabin 76 is fed in due course using resupply vehicle.In operation process, automatic winding dress
Set the automatic retraction device automatic deploying and retracting power transmission line 6 and seed transport tube 78 of 7 and seed transport tube 78.Operation is completed, and seed is enabled
It promotes facility and reversely sucks back seed to seed cabin 76.Then storehouse is recalled.
Due to that can work continuously for a long time, the present invention sows flight unit, and work efficiency is high.
Assisting in flying device 69 has shared the weight of seed transport tube 78 and power transmission line 6, and the support of assisting in flying device 69 may be used also
To increase the operation distance and area of sowing aircraft 75.
In embodiment 5 in the automatic retraction device of water delivery pipe 74 and embodiment 6 seed transport tube 78 automatic deploying and retracting dress
It is equipped with automatic wire winding device 7 and the prior art held please join in embodiment 1 inside the Pass.
AC power source of the invention can be obtained by other means including to battery and the acquisition of other DC inverters.
Claims (6)
1. Multi-axis aircraft asynchronous machine parallel connection speed regulation method: it is characterized by comprising the multiaxis flights of an AC power source power supply
Device, including fuselage, multiple electronic rotors, aircraft load, state of flight computer control system, remote controler and AC power source,
State of flight computer control system includes satellite positioning-terminal and gyroscope, and AC power source includes being drawn using power transmission line from outside
The AC power source entered and the AC power source generated in aircraft by inversion DC power supply, the DC power supply include using
The self-contained DC power supply of the DC power supply and aircraft that power transmission line is introduced from outside into；To ac three-phase asynchronous motor, by institute
There is each AC induction motor for driving electronic rotor to be divided into more than one motor group according to Space Axisymmetric, enables every
The three-phase windings of the motor of a motor group are connected in series to form three branches, and all branches formed to each motor group take string
Connection or the mode of parallel connection；
One multifunction module of an at least phase winding or part winding symmetric parallel and every branch to every motor are extremely
Contain a multifunction module less；
Multifunction module includes that flight control circuit, controlled rectification or chopper circuit, rechargeable battery, power load and vacation are negative
It carries；Controlled rectification or chopper circuit adjust its power output by changing the service time of rectifying device；Power load packet
Include filter circuit of pressure-stabilizing, state of flight computer control system, flight control circuit, for detect each multifunction module electric current and
The detection device and radio reception transmit circuit of voltage；Fictitious load includes variable resistance, also include fixed resistance device and with
It is concatenated silicon-controlled；Flight control circuit electricity can be taken without from controlled rectification from rechargeable battery completely when working normally or
Chopper circuit takes electricity；The a part and the control of state of flight computer of flight control circuit as state of flight computer control system
System host signal processed, which is connected and connect, to be controlled by it；
Change the state for controlling each motor by changing the state of multifunction module, comprising: as needed, work as aircraft
State control require to fly to some direction, enable and consuming the multifunction module in parallel with the rotor motor in some direction more
Electric current specifically includes and enables the silicon-controlled service time of the fictitious load branch of related multifunction module longer；Or it enables variable
The resistance value of resistance becomes smaller, therefore because the by-pass current of motor increases itself input power, reduction lift also reduces the rotor
Cause the run-off the straight of aircraft axial line to push to which the lift of aircraft generates one to the horizontal component in the direction to fly
Device is mobile to the direction；The silicon-controlled execution unit as flight control circuit concatenated with fictitious load, it is ensured that flight
Power control of the control circuit to each multifunction module；Lead to aircraft lift using electric energy when the multifunction module increases
When insufficient, increase the voltage of power supply.
2. the Multi-axis aircraft of AC power source power supply, is adjusted the speed using Multi-axis aircraft asynchronous machine parallel connection described in claim 1
Method, it is characterized in that including fuselage, multiple electronic rotors, aircraft load, state of flight computer control system, remote controler and friendship
Galvanic electricity source, state of flight computer control system include satellite positioning-terminal, accelerometer, magnetometer, baroceptor, gyroscope
And communication module；
Each AC induction motor of all electronic rotors of driving is distributed two one group according to Space Axisymmetric and is divided into more than one
Motor group, enable the three-phase windings of each motor of each motor group be connected in series to form three branches, each motor group formed
All branches take mode in series or in parallel, connect to power supply；To at least one winding or one of each motor
An a part of multifunction module in parallel and every branch for a winding at least contains a multifunction module；Flight control electricity
Road connect and connects with state of flight computer control system host signal as a part of state of flight computer control system
It is controlled by it；Change the state for controlling each motor by changing the state of multifunction module.
3. the Multi-axis aircraft of AC power source power supply according to claim 2, it is characterized in that in power transmission line and the flight
An automatic connector is concatenated between device, automatic connector includes a connector jack and an electric wire connecting junction plug；Electric wire connecting junction
Plug is connect with power transmission line；And contain a power transmission line automatic locking device part；Connector jack and power transmission line automatic locking device part
It is set on fuselage；Execution unit of the power transmission line automatic locking device part as state of flight computer control system；Power transmission line is certainly
Dynamic locked plug-in unit includes an electronic pressure tongue；Electronic pressure tongue includes electromagnetism pressure tongue；Electronic pressure tongue is normally closed to push down power transmission line；When electronic
Press tongue state from it is normally closed become open when, electric wire connecting junction plug is detached from fuselage under itself and power transmission line gravity and falls, or
Person:
Aircraft contains an automatic wire winding device, for the power transmission line that folding and unfolding is located below, or；
The PLC communication module being connect on board the aircraft and at external power supply containing one with powerline signal, benefit
Wire signal transmission is realized with power transmission line.
4. the Multi-axis aircraft of AC power source power supply described in accordance with the claim 3, it is characterized in that electric wire connecting junction plug and/or fuselage
A parachute is connected, 0.2 second after issuing the instruction for being detached from fuselage to electric wire connecting junction plug, parachute is started to open.
5. the Multi-axis aircraft of AC power source power supply according to claim 2, it is characterized in that containing described in more than two framves
The power load of aircraft, two frame the above aircraft is concatenated into a circuit loop by same group of power transmission line.
6. the Multi-axis aircraft of AC power source power supply according to claim 2, it is characterized in that one sprinkling unit of composition, packet
Two frame Multi-axis aircrafts spray aircraft, assisting in flying device and tracking trolley are included, tracking trolley is mounted with automatic wire winding device, water
Automatic retraction device, external power supply and the medicinal cupping of delivery pipe；The electricity consumption on external power supply and aircraft unit is connected with power transmission line
Containing the delivery pipe spraying port, being connected to respectively with sprinkling port and medicinal cupping using a both ends on load, sprinkling aircraft, or
Person；
A sowing unit, including two frame Multi-axis aircrafts sowing aircraft, assisting in flying device and tracking trolley are formed, is tracked small
Vehicle be mounted with automatic wire winding device, external power supply, seed transport tube automatic retraction device and seed cabin；It is outer with power transmission line connection
Portion's power supply and power load on aircraft unit, on sowing aircraft containing sowing module, using a both ends respectively with broadcast
The seed transport tube that kind module is connected to seed cabin.
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| CN201510595199.1A CN105119552B (en) | 2015-09-18 | 2015-09-18 | Multi-axis aircraft asynchronous machine parallel connection speed regulation method and product |
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| CN201510595199.1A CN105119552B (en) | 2015-09-18 | 2015-09-18 | Multi-axis aircraft asynchronous machine parallel connection speed regulation method and product |
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| US8862285B2 (en) * | 2013-02-15 | 2014-10-14 | Disney Enterprises, Inc. | Aerial display system with floating pixels |
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| CN102424112A (en) * | 2011-11-30 | 2012-04-25 | 东北大学 | Three-layer airborne flight control device for micro four-rotor aerial vehicle |
| US8991743B1 (en) * | 2012-10-11 | 2015-03-31 | Charles Douglas Pope | Helicopter with blade-tip thrusters and annular centrifugal fuel supply tank and concentric cabin and fuselage |
| CN203332391U (en) * | 2013-05-30 | 2013-12-11 | 淮安信息职业技术学院 | Four-rotor model aircraft |
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| CN204250368U (en) * | 2014-11-14 | 2015-04-08 | 北华航天工业学院 | A kind of mini quadrotor of Intelligent aerial photography |
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| CN105119552A (en) | 2015-12-02 |
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