CN105151292A - Distributive vectored thrust system - Google Patents

Distributive vectored thrust system Download PDF

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Publication number
CN105151292A
CN105151292A CN201510639695.2A CN201510639695A CN105151292A CN 105151292 A CN105151292 A CN 105151292A CN 201510639695 A CN201510639695 A CN 201510639695A CN 105151292 A CN105151292 A CN 105151292A
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China
Prior art keywords
signal
frame
steering wheel
axis
control
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CN201510639695.2A
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Chinese (zh)
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CN105151292B (en
Inventor
郝思阳
杨帆
姜肖
黎天宇
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郝思阳
杨帆
姜肖
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Priority to CN2015102724144 priority
Application filed by 郝思阳, 杨帆, 姜肖 filed Critical 郝思阳
Priority to CN201510639695.2A priority patent/CN105151292B/en
Publication of CN105151292A publication Critical patent/CN105151292A/en
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Publication of CN105151292B publication Critical patent/CN105151292B/en

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Abstract

The invention belongs to the field of aerotechnics and the electromechanical control technology, and particularly relates to a distributive vectored thrust system capable of achieving taking off, landing and hovering with any posture. The distributive vectored thrust system comprises free thrust units and a flight controller. Each free thrust unit comprises a first servo mechanism rack provided with a first steering engine, wherein a first steering engine shaft is connected with a second servo mechanism rack; the second servo mechanism rack is provided with a second steering engine, and a second steering engine shaft is connected with a power duct frame and is perpendicular to the first steering engine shaft. The flight controller controls the input of the rotating angle of the first steering engines and the rotating angle of the second steering engines and the rotating speed of power ducts.

Description

Distributed vector propulsion system
Technical field
The invention belongs to aeronautical technology and technical field of electromechanical control, particularly relate to a kind of distributed vector propulsion system.
Background technology
Existing Fixed Wing AirVehicle does not have vertical takeoff and landing ability, compares dependence to landing site.Although tilting rotor mechanism has had vertical takeoff and landing peace concurrently and flown, similar also higher to Handling Quality Requirements with fixed-wing, the maneuvering flight under complex environment can not be met.Recently popular multi-rotor aerocraft, although have good vertical takeoff and landing and hover performance, because mechanism's restriction cannot carry out efficient cruising flight, causes that voyage is shorter cannot long distance execute the task.And flight path is still coupled with attitude, cannot make the full attitude flight of the full degree of freedom in space, manoevreability also can improve.
Thrust Vectoring Technology can allow a part for engine thrust become actuating force, replaces or partly replaces controlsurface, thus greatly reducing radar area; No matter how low the angle of attack is much with flying speed, and aircraft all can utilize this part actuating force to handle, and this adds increased the manipulative capability of aircraft.Owing to directly producing actuating force, and value and direction mutability, also just add the agility of aircraft, thus can suitably reduce or remove vertical fin, also can substitute some other controlsurface; This is favourable to the detectability of reduction aircraft, and the resistance of aircraft also can be made to reduce.
Summary of the invention
The present invention is exactly for the problems referred to above, provides a kind of distributed vector propulsion system that can realize any attitude and take off, land and hover.
For achieving the above object, the present invention adopts following technical scheme, the present invention includes free thrust unit and flight controller, free thrust unit comprises the first servomechanism frame, first servomechanism frame is provided with the first steering wheel, and the first steering wheel axle is connected with the second servomechanism frame, and the second servomechanism frame is provided with the second steering wheel, second steering wheel axle is connected with power duct frame, and described second steering wheel axle is vertical with the first steering wheel axle; Described flight controller controls the anglec of rotation input of the first steering wheel and the second steering wheel, and the rotating speed of power duct.
As a kind of preferred version, the control method of flight controller of the present invention is.
With the center of gravity of free thrust unit place carrier aircraft for initial point sets up Descartes's rectangular coordinate system, r is the distance of center of gravity to duct, l is the length of corresponding point when steady, corresponding point refer to: " be " with carrier aircraft place parallel plane on another on corresponding 3 of plane by the point of three in the plane at carrier aircraft place, the line of corresponding point is perpendicular to this two plane, and line is " chain ", and " chain " is linear elasticity, meet Zheng Xuan-Hook's law, elasticity modulus is μ; τ is the drift angle number of degrees of carrier aircraft.
Situation 1: under the disturbance in the external world, carrier aircraft around x-axis generation angular transposition is exhausting needs to occur angular transposition, meanwhile, the required power increased of duct is:
Situation 2: under the disturbance in the external world, carrier aircraft is δ around y-axis generation angular transposition λ, exhausting needs generation-δ λangular transposition, meanwhile, the required power increased of duct is: F=μ rsin τ * sin (δ λ).
Situation 3: under the disturbance in the external world, carrier aircraft, around z-axis, less angular transposition occurs is δ θ, that makes needed for exhausting is adjusted to.
Around x-axis generation angular displacement alpha
α = a r c t a n 2 r s i n δ θ 2 * c o s τ 2 l
Around y-axis generation angular displacement beta
β = a r c t a n 2 r s i n σ θ 2 * s i n τ 2 l
Meanwhile, the required power increased of duct is
Side direction is hovered: arrange and described upper plane is rotated κ around y-axis, keeps carrier aircraft and upper plane parallel, and three ducts rotate around y-axis simultaneously simultaneously.
Arrange and described upper plane is rotated ζ around x-axis, keep carrier aircraft and upper plane parallel, three ducts rotate around x-axis simultaneously simultaneously.
As another kind of preferred version, free thrust unit of the present invention is three; One of them free thrust unit be positioned at center of gravity after on fuselage axis of symmetry, be L3 with centroidal distance; Before two other is distributed in center of gravity symmetrically, the distance to center of gravity is respectively L1, L2; The control effort of three free thrust units is respectively F1, F2, F3, regulates lift focus to overlap with center of gravity by free thrust, and conjunction control effort is F=F1+F2+F3, closes control torque M=F1 × L1+F2 × L2+F3 × L3.
As another kind of preferred version, flight controller of the present invention controls the rotating speed of power duct by electronic governor.
As another kind of preferred version, flight controller of the present invention comprises integrated sensor and flies to control plate, described integrated sensor comprises Inertial Measurement Unit, GPS navigation module and three axle magnetometer modules, and Inertial Measurement Unit comprises three axis angular rate measure portion and 3-axis acceleration measure portion; Three axis angular rates measured by described flight controller, 3-axis acceleration, coordinate bearing data to correct, record the flight attitude angle of carrier aircraft, use cosine-algorithm to draw the attitude data of aircraft flight.
As another kind of preferred version, the control plate that flies of the present invention adopts Atmega1280/2560 chip.
As another kind of preferred version, the control plate that flies of the present invention comprises the first receiver, the second receiver, APM1 chip, APM2 chip, Arithmetic unit, MWC1 plate, MWC2 plate and MWC3 plate, the signal input port of Arithmetic unit is connected with the signal output port of the second receiver, the signal output port of APM2 chip respectively, and the signal output port of the first receiver is connected with the signal input port of APM1 chip; The signal output port of Arithmetic unit is connected with the signal input port of APM1 chip, the signal input port of MWC1 plate, the signal input port of MWC2 plate, the signal input port of MWC3 plate respectively; The signal output port of MWC1 plate respectively the first servos control signal input port of thrust unit free with one of them, the second servos control signal input port is connected, the signal output port of MWC2 plate respectively the first servos control signal input port of thrust unit free with another, the second servos control signal input port is connected, and the signal output port of MWC2 plate is connected with the first servos control signal input port of the 3rd free thrust unit, the second servos control signal input port respectively; The signal input port of described APM2 chip is connected with the signal output port of light stream sensor, the signal output port of GPS sensor respectively; The signal output port of APM1 chip is connected with the power duct speed controling signal input port of three free thrust units respectively.
Described first receiver accepts the attitude data that ground controller sends carrier aircraft, attitude signal is inputted in APM1 chip and resolve, APM1 chip also accepts the throttle signal after arithmetic and logic unit process, exports the rotating speed size that three road binders gate signals control three power ducts respectively; Second receiver accepts the flight tracking control signal that ground controller sends carrier aircraft, by flight tracking control signal input ARITHMETIC unit; APM2 chip gathers the signal data of light stream sensor and GPS sensor, to ARITHMETIC unit input four road control signals 1,2,3, Y (1); Arithmetic and logic unit will be converted to seven roads output signal P1 (OUT), P2 (OUT), P3 (OUT), R1 (OUT), R2 (OUT), R3 (OUT), T as the incoming signal of three blocks of MWC plates after signal transacting, three pieces of MWC control desks control verting of six steering wheels respectively.
P signal replication obtains P1, P2, P3 tri-signals for three times.
R signal copies and obtains R1, R2, R3 tri-signals for three times.
Reduce after 3 signals and 2 Signal averaging signal strength be original two/deduct 1 signal again and again to obtain PG signal.
3 signals and 2 signal cancellations must the signals of falling RG.
P1 (OUT) is for following Y and Y (1) signal cancellation again after P1 signal and PG Signal averaging.
P2 (OUT) is P2, Y, Y (1), PG tetra-groups of signals obtain after mutually superposing.
P3 (OUT) obtains for P3 signal and PG signal superpose mutually.
R1 (OUT) superposes acquisition mutually for R1 signal and RG signal.
R2 (OUT) superposes acquisition mutually for R2 signal and RG signal.
R3 (OUT) superposes acquisition mutually for R3 signal and RG signal.
Described P-Pitch signal, R-rolling signal, T-throttle signal, Y-off course signal, 1,2,3-computing signal, (out)-output signal.
Secondly, flight tracking control signal of the present invention comprises all around, target pointing, throttle signal, and described attitude data comprises pitching, rolling data.
In addition, first servomechanism frame of the present invention comprises horizontal frame, horizontal frame front end is provided with the bending front arc frame of forward upper end, horizontal frame rear portion is provided with the rear arc frame of upper bend backward corresponding to front arc frame, the rear end of horizontal frame is provided with described first steering wheel, and the first steering wheel axle is parallel to described horizontal frame and passes described rear arc frame upper through-hole; Described second servomechanism frame is most circular edge banding frames, and the profile of the second servomechanism frame is corresponding with the profile that described horizontal frame and front arc frame, rear arc frame surround; Described second steering wheel is arranged on the second servomechanism frame upper end, and the second steering wheel axle is connected with power duct frame vertically downward; The horizontal one end of described second servomechanism central rack is connected with described first steering wheel axle, and the horizontal other end of the second servomechanism central rack is connected with front arc frame top by transverse axis.
Beneficial effect of the present invention.
The free thrust unit of the present invention can free adjustment thrust size and Orientation.
Flight controller of the present invention controls the angle input of first, second steering wheel of free thrust unit respectively, and the rotating speed of power duct, to obtain complete free thrust.
The distributed multivariate vector propulsion system of the present invention is taken off and is not relied on site condition, any attitude can be realized take off, land and hover, be particularly suitable for the complicated narrow and small landform in city and particular surroundings landing, and exploration, supervision and investigation tasks can be performed to hold position.When executing the task, distributed multivariate vector propulsion system can realize any flight attitude smooth flight, pose adjustment fast and flexible, and can realize starting fast and stopping, therefore its can in city narrow and small street even interior of building efficiently fly, also can efficiently finish the work for environment such as jungle, cities and towns and ruins simultaneously.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention will be further described.Scope is not only confined to the statement of following content.
Fig. 1 is structural representation of the present invention.
Fig. 2 is the free thrust unit front elevation of the present invention.
Fig. 3 is the free thrust unit block diagram of the present invention.
Fig. 4 is schematic circuit diagram of the present invention.
Fig. 5 is load spectrogram of the present invention.(gray-scale map cannot represent clear)
Fig. 6 is control method establishment of coordinate system figure of the present invention.
Fig. 7 is control method situation 1 schematic diagram of the present invention.
Fig. 8 is control method situation 2 schematic diagram of the present invention.
Fig. 9 is control method situation 3 schematic diagram of the present invention.
In figure, 1 be the first steering wheel, 2 be the second steering wheel, 3 be the first servomechanism frame, 4 be the second servomechanism frame, 5 be the first steering wheel axle, 6 be the second steering wheel axle, 7 be power duct, 8 be free thrust unit, 9 be carrier aircraft, 10 be rear arc frame, 11 be horizontal frame, 12 be front arc frame, 13 be transverse axis.
Detailed description of the invention
As shown in the figure, the present invention includes free thrust unit 8 and flight controller, free thrust unit 8 comprises the first servomechanism frame 3, first servomechanism frame 3 is provided with the first steering wheel 1, first steering wheel axle 5 is connected with the second servomechanism frame 4, second servomechanism frame 4 is provided with the second steering wheel 2, second steering wheel axle 6 to be connected with power duct 7 frame, described second steering wheel axle 6 is vertical with the first steering wheel axle 5; Described flight controller controls the anglec of rotation input of the first steering wheel 1 and the second steering wheel 2, and the rotating speed of power duct 7.
The optional electric power of the power system energy, with obtain faster speed of response and make thrust regulate more accurate.
The control method of described flight controller is.
With the center of gravity of free thrust unit 8 place carrier aircraft 9 for initial point sets up Descartes's rectangular coordinate system, as shown in Figure 8, r is the distance of center of gravity to duct, l is the length of corresponding point when steady, and corresponding point refer to: " be " with carrier aircraft 9 place parallel plane on another on corresponding 3 of plane by the point of three in the plane at carrier aircraft 9 place, the line of corresponding point is perpendicular to this two plane, line is " chain ", " chain " is linear elasticity, meets Zheng Xuan-Hook's law, and elasticity modulus is μ; τ is the drift angle number of degrees of carrier aircraft 9.
Situation 1: under the disturbance in the external world, carrier aircraft 9 around x-axis generation angular transposition is exhausting needs to occur angular transposition, meanwhile, the required power increased of duct is:
Situation 2: under the disturbance in the external world, carrier aircraft 9 is δ around y-axis generation angular transposition λ, exhausting needs generation-δ λangular transposition, meanwhile, the required power increased of duct is: F=μ rsin τ * sin (δ λ).
Situation 3: under the disturbance in the external world, carrier aircraft 9, around z-axis, less angular transposition occurs is δ θ, that makes needed for exhausting is adjusted to.
Around x-axis generation angular displacement alpha
α = a r c t a n 2 r s i n δ θ 2 * c o s τ 2 l
Around y-axis generation angular displacement beta
β = a r c t a n 2 r s i n σ θ 2 * s i n τ 2 l
Meanwhile, the required power increased of duct is
Side direction is hovered: arrange and described upper plane is rotated κ around y-axis, keeps carrier aircraft 9 and upper plane parallel, and three ducts rotate around y-axis simultaneously simultaneously.
Arrange and described upper plane is rotated ζ around x-axis, keep carrier aircraft 9 and upper plane parallel, three ducts rotate around x-axis simultaneously simultaneously.
The control method of flight controller of the present invention adopts carries out mathematical modeling to the object suspension tension force of lifting rope and relation of sensing and gestures of object when the top ceiling, use each independently power unit go simulate lifting rope, by the sensing of each root lifting rope of direction vector mobility type analogy of each power unit, with the tension force on the thrust size simulation rope of power unit.
The object hung on the ceiling can tend towards stability under the effect of gravity and resistance, and based on this, we establish mathematics and mechanics model to the lifting rope of hanging object; With the size of rope upper axle power, linear simulation is carried out to power unit direction vector and thrust size with the sensing of lifting rope respectively, and situation when receiving disturbance to institute's hanging object carries out dynamics analysis, and then each power unit can be coordinated complete control to aircraft.
Model comprises two parts: Part I is the kinetics equation group based on kinetic law, and another part is the kinematical equation group drawn by coordinate conversion relation.
Before setting up dummy vehicle, set as follows.
(1) aircraft is absolute rigid body, does not consider the impact of structural elasticity.
(2) quality of aircraft and rotor inertia are constant.
(3) interference in air flow of three ducted fans is ignored.
(4) structure of same parts and identical in quality.
(5) symmetrical centered by structure.
Due to external disturbance, the balance of aircraft can produce and to a certain degree affect, and by changing the angle of exhausting, adding the carrier aircraft 9 that high thrust size realizes multivariate vector propulsion system simultaneously and recovering to hold position.Aircraft uses acceleration pick-up, angular acceleration can be obtained from equipment, and then obtain offset angle.
Control method of the present invention can control the advance of the carrier aircraft 9 of multivariate vector propulsion system, retrogressing and sway, only need control plane carries out parallel motion to carry out this control, due to the effect of " chain ", the carrier aircraft 9 of multivariate vector propulsion system can be subject to power forward, realizes the parallel motion of the carrier aircraft 9 of multivariate vector propulsion system thus.
Control method actv. of the present invention solves the problem how using vector units control aircraft when multiple degree of freedom exports.By triaxial accelerometer and three-axis gyroscope, Closed-cycle correction is carried out to attitude of flight vehicle, thus arrive the object coordinating the flight of multiple degree of freedom airborne aircraft.
Described free thrust unit 8 is three; One of them free thrust unit 8 be positioned at center of gravity after on fuselage axis of symmetry, be L3 with centroidal distance; Before two other is distributed in center of gravity symmetrically, the distance to center of gravity is respectively L1, L2; The control effort of three free thrust units 8 is respectively F1, F2, F3, regulates lift focus to overlap with center of gravity by free thrust, and conjunction control effort is F=F1+F2+F3, closes control torque M=F1 × L1+F2 × L2+F3 × L3 (being vector calculus).By the interlock being distributed in the power unit on fuselage, multiple thrust vectoring is synthesized a control effort and a couple, reach to attitude of flight vehicle and and the independence in course control, thus obtain the aerial platform integrating good cruising ability, spot hover and maneuvering performance function.
Described flight controller controls the rotating speed of power duct 7 by electronic governor.
Described flight controller comprises integrated sensor and flies to control plate, and described integrated sensor comprises Inertial Measurement Unit, GPS navigation module and three axle magnetometer modules, and Inertial Measurement Unit comprises three axis angular rate measure portion and 3-axis acceleration measure portion; Three axis angular rates measured by described flight controller, 3-axis acceleration, coordinate bearing data to correct, record the flight attitude angle of carrier aircraft 9, use cosine-algorithm to draw the attitude data of aircraft flight.GPS navigation module can the current longitude and latitude of instrumentation airplane, highly, flight path direction (track), the information such as ground velocity.Three axle magnetometer modules can the current course (heading) of instrumentation airplane.Flight controller can also arrange Pitot meter, pneumatics meter, A/D chip.
The described control plate that flies adopts Atmega1280/2560 chip.Atmega1280/2560 chip has PPM decoding chip, the pwm signal of charge of overseeing mode passageway, to switch between manual mode and other patterns.
The described control plate that flies comprises the first receiver, the second receiver, APM1 chip, APM2 chip, Arithmetic unit, MWC1 plate, MWC2 plate and MWC3 plate, the signal input port of Arithmetic unit is connected with the signal output port of the second receiver, the signal output port of APM2 chip respectively, and the signal output port of the first receiver is connected with the signal input port of APM1 chip; The signal output port of Arithmetic unit is connected with the signal input port of APM1 chip, the signal input port of MWC1 plate, the signal input port of MWC2 plate, the signal input port of MWC3 plate respectively; The signal output port of MWC1 plate respectively the first steering wheel 1 control signal input port of thrust unit 8 free with one of them, the second steering wheel 2 control signal input port is connected, the signal output port of MWC2 plate respectively the first steering wheel 1 control signal input port of thrust unit 8 free with another, the second steering wheel 2 control signal input port is connected, and the signal output port of MWC2 plate respectively the first steering wheel 1 control signal input port of thrust unit 8 free with the 3rd, the second steering wheel 2 control signal input port is connected; The signal input port of described APM2 chip is connected with the signal output port of light stream sensor, the signal output port of GPS sensor respectively; The power duct 7 speed controling signal input port of the signal output port of APM1 chip thrust unit 8 free with three is respectively connected.
Described first receiver accepts the attitude data that ground controller sends carrier aircraft 9, attitude signal is inputted in APM1 chip and resolve, APM1 chip also accepts the throttle signal after arithmetic and logic unit process, exports the rotating speed size that three road binders gate signals control three power ducts 7 respectively; Second receiver accepts the flight tracking control signal that ground controller sends carrier aircraft 9, by flight tracking control signal input Arithmetic unit; APM2 chip gathers the signal data of light stream sensor and GPS sensor, to Arithmetic unit input four road control signals 1,2,3, Y (1); Arithmetic and logic unit will be converted to seven roads output signal P1 (out), P2 (out), P3 (out), R1 (out), R2 (out), R3 (out), T as the incoming signal of three blocks of MWC plates after signal transacting, three pieces of MWC control desks control verting of six steering wheels respectively.
P signal replication obtains P1, P2, P3 tri-signals for three times.
R signal copies and obtains R1, R2, R3 tri-signals for three times.
Reduce after 3 signals and 2 Signal averaging signal strength be original two/deduct 1 signal again and again to obtain Pg signal.
3 signals and 2 signal cancellations must the signals of falling Rg.
P1 (out) is for following Y and Y (1) signal cancellation again after P1 signal and Pg Signal averaging.
P2 (out) is P2, Y, Y (1), Pg tetra-groups of signals obtain after mutually superposing.
P3 (out) obtains for P3 signal and Pg signal superpose mutually.
R1 (out) superposes acquisition mutually for R1 signal and Rg signal.
R2 (out) superposes acquisition mutually for R2 signal and Rg signal.
R3 (out) superposes acquisition mutually for R3 signal and Rg signal.
Described P-Pitch signal, R-rolling signal, T-throttle signal, Y-off course signal, 1,2,3-computing signal, (out)-output signal.
Described flight tracking control signal comprises all around, target pointing, throttle signal, and described attitude data comprises pitching, rolling data.
Described first servomechanism frame 3 comprises horizontal frame 11, horizontal frame 11 front end is provided with the bending front arc frame 12 of forward upper end, horizontal frame 11 rear portion is provided with the rear arc frame 10 of upper bend backward corresponding to front arc frame 12, the rear end of horizontal frame 11 is provided with described first steering wheel 1, first steering wheel axle 5 and is parallel to described horizontal frame 11 and passes described rear arc frame 10 upper through-hole; Described second servomechanism frame 4 is most circular edge banding frames, and the profile of the second servomechanism frame 4 is corresponding with the profile that front arc frame 12, rear arc frame 10 surround with described horizontal frame 11; Described second steering wheel 2 is arranged on the second servomechanism frame 4 upper end, and the second steering wheel axle 6 is connected with power duct 7 frame vertically downward; In the middle part of described second servomechanism frame 4, horizontal one end is connected with described first steering wheel axle 5, and in the middle part of the second servomechanism frame 4, the horizontal other end is connected with front arc frame 12 top by transverse axis 13.Multiple thrust vectoring is synthesized a control effort and a couple by the interlock being distributed in the power unit on fuselage by the present invention, thus reach to attitude of flight vehicle and and course independence control.Multiple twin shaft omnirange vector propulsion units that native system possesses provide guarantee for realizing aircraft full vector maneuvering performance, platform and brand-new flight control method control two, the space vertical corner of steering wheel and the rotating speed of motor is mutually controlled by adopting flying of completely newly building, each vector power unit of accurate control and power signal real-time, interactive, can accurate adjustment aircraft movements attitude and track.Improve the mode of aircraft in distributed multivariate vector system in conjunction with distributed power arrangement feature, overcome the problem such as autogiro drive lacking and understable property, achieve the high maneuverability action of the aerial multi-pose hovering of aircraft.Following table is that power system hardware parameter of the present invention is preferably shown.
Following table is circuit hardware parameter list of the present invention.
Be understandable that, above about specific descriptions of the present invention, the technical scheme described by the embodiment of the present invention is only not limited to for illustration of the present invention, those of ordinary skill in the art is to be understood that, still can modify to the present invention or equivalent replacement, to reach identical technique effect; Needs are used, all within protection scope of the present invention as long as meet.

Claims (9)

1. distributed vector propulsion system, comprise free thrust unit and flight controller, it is characterized in that free thrust unit comprises the first servomechanism frame, first servomechanism frame is provided with the first steering wheel, first steering wheel axle is connected with the second servomechanism frame, second servomechanism frame is provided with the second steering wheel, and the second steering wheel axle is connected with power duct frame, and described second steering wheel axle is vertical with the first steering wheel axle; Described flight controller controls the anglec of rotation input of the first steering wheel and the second steering wheel, and the rotating speed of power duct.
2. distributed vector propulsion system according to claim 1, is characterized in that the control method of described flight controller is:
With the center of gravity of free thrust unit place carrier aircraft for initial point sets up Descartes's rectangular coordinate system, r is the distance of center of gravity to duct, l is the length of corresponding point when steady, corresponding point refer to: " be " with carrier aircraft place parallel plane on another on corresponding 3 of plane by the point of three in the plane at carrier aircraft place, the line of corresponding point is perpendicular to this two plane, and line is " chain ", and " chain " is linear elasticity, meet Zheng Xuan-Hook's law, elasticity modulus is μ; τ is the drift angle number of degrees of carrier aircraft;
Situation 1: under the disturbance in the external world, carrier aircraft around x-axis generation angular transposition is exhausting needs to occur angular transposition, meanwhile, the required power increased of duct is:
Situation 2: under the disturbance in the external world, carrier aircraft is δ around y-axis generation angular transposition λ, exhausting needs generation-δ λangular transposition, meanwhile, the required power increased of duct is: F=μ rsin τ * sin (δ λ);
Situation 3: under the disturbance in the external world, carrier aircraft, around z-axis, less angular transposition occurs is δ θ, that makes needed for exhausting is adjusted to:
Around x-axis generation angular displacement alpha
α = a r c t a n 2 r s i n δ θ 2 * c o s τ 2 l
Around y-axis generation angular displacement beta
β = a r c t a n 2 r s i n σ θ 2 * s i n τ 2 l
Meanwhile, the required power increased of duct is
Side direction is hovered: arrange and described upper plane is rotated κ around y-axis, keeps carrier aircraft and upper plane parallel, and three ducts rotate around y-axis simultaneously simultaneously;
Arrange and described upper plane is rotated around x-axis keep carrier aircraft and upper plane parallel, three ducts rotate around x-axis simultaneously simultaneously.
3. distributed vector propulsion system according to claim 1, is characterized in that described free thrust unit is three; One of them free thrust unit be positioned at center of gravity after on fuselage axis of symmetry, be L3 with centroidal distance; Before two other is distributed in center of gravity symmetrically, the distance to center of gravity is respectively L1, L2; The control effort of three free thrust units is respectively F1, F2, F3, regulates lift focus to overlap with center of gravity by free thrust, and conjunction control effort is F=F1+F2+F3, closes control torque M=F1 × L1+F2 × L2+F3 × L3.
4. distributed vector propulsion system according to claim 1, is characterized in that described flight controller controls the rotating speed of power duct by electronic governor.
5. distributed vector propulsion system according to claim 3, it is characterized in that described flight controller comprises integrated sensor and flies to control plate, described integrated sensor comprises Inertial Measurement Unit, GPS navigation module and three axle magnetometer modules, and Inertial Measurement Unit comprises three axis angular rate measure portion and 3-axis acceleration measure portion; Three axis angular rates measured by described flight controller, 3-axis acceleration, coordinate bearing data to correct, record the flight attitude angle of carrier aircraft, use cosine-algorithm to draw the attitude data of aircraft flight.
6. distributed vector propulsion system according to claim 5, flies control plate and adopts Atmega1280/2560 chip described in it is characterized in that.
7. distributed vector propulsion system according to claim 5, fly control plate described in it is characterized in that and comprise the first receiver, the second receiver, APM1 chip, APM2 chip, Arithmetic unit, MWC1 plate, MWC2 plate and MWC3 plate, the signal input port of Arithmetic unit is connected with the signal output port of the second receiver, the signal output port of APM2 chip respectively, and the signal output port of the first receiver is connected with the signal input port of APM1 chip; The signal output port of Arithmetic unit is connected with the signal input port of APM1 chip, the signal input port of MWC1 plate, the signal input port of MWC2 plate, the signal input port of MWC3 plate respectively; The signal output port of MWC1 plate respectively the first servos control signal input port of thrust unit free with one of them, the second servos control signal input port is connected, the signal output port of MWC2 plate respectively the first servos control signal input port of thrust unit free with another, the second servos control signal input port is connected, and the signal output port of MWC2 plate is connected with the first servos control signal input port of the 3rd free thrust unit, the second servos control signal input port respectively; The signal input port of described APM2 chip is connected with the signal output port of light stream sensor, the signal output port of GPS sensor respectively; The signal output port of APM1 chip is connected with the power duct speed controling signal input port of three free thrust units respectively;
Described first receiver accepts the attitude data that ground controller sends carrier aircraft, attitude signal is inputted in APM1 chip and resolve, APM1 chip also accepts the throttle signal after arithmetic and logic unit process, exports the rotating speed size that three road binders gate signals control three power ducts respectively; Second receiver accepts the flight tracking control signal that ground controller sends carrier aircraft, by flight tracking control signal input Arithmetic unit; APM2 chip gathers the signal data of light stream sensor and GPS sensor, to Arithmetic unit input four road control signals 1,2,3, Y (1); Arithmetic and logic unit will be converted to seven roads output signal P1 (out), P2 (out), P3 (out), R1 (out), R2 (out), R3 (out), T as the incoming signal of three blocks of MWC plates after signal transacting, three pieces of MWC control desks control verting of six steering wheels respectively;
P signal replication obtains P1, P2, P3 tri-signals for three times;
R signal copies and obtains R1, R2, R3 tri-signals for three times;
Reduce after 3 signals and 2 Signal averaging signal strength be original two/deduct 1 signal again and again to obtain Pg signal;
3 signals and 2 signal cancellations must the signals of falling Rg;
P1 (out) is for following Y and Y (1) signal cancellation again after P1 signal and Pg Signal averaging;
P2 (out) is P2, Y, Y (1), Pg tetra-groups of signals obtain after mutually superposing;
P3 (out) obtains for P3 signal and Pg signal superpose mutually;
R1 (out) superposes acquisition mutually for R1 signal and Rg signal;
R2 (out) superposes acquisition mutually for R2 signal and Rg signal;
R3 (out) superposes acquisition mutually for R3 signal and Rg signal;
Described P-Pitch signal, R-rolling signal, T-throttle signal, Y-off course signal, 1,2,3-computing signal, (out)-output signal.
8. distributed vector propulsion system according to claim 7, it is characterized in that described flight tracking control signal comprises all around, target pointing, throttle signal, described attitude data comprises pitching, rolling data.
9. distributed vector propulsion system according to claim 1, it is characterized in that described first servomechanism frame comprises horizontal frame, horizontal frame front end is provided with the bending front arc frame of forward upper end, horizontal frame rear portion is provided with the rear arc frame of upper bend backward corresponding to front arc frame, the rear end of horizontal frame is provided with described first steering wheel, and the first steering wheel axle is parallel to described horizontal frame and passes described rear arc frame upper through-hole; Described second servomechanism frame is most circular edge banding frames, and the profile of the second servomechanism frame is corresponding with the profile that described horizontal frame and front arc frame, rear arc frame surround; Described second steering wheel is arranged on the second servomechanism frame upper end, and the second steering wheel axle is connected with power duct frame vertically downward; The horizontal one end of described second servomechanism central rack is connected with described first steering wheel axle, and the horizontal other end of the second servomechanism central rack is connected with front arc frame top by transverse axis.
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