CN105151292B - Distributive vectored thrust system - Google Patents

Distributive vectored thrust system Download PDF

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Publication number
CN105151292B
CN105151292B CN201510639695.2A CN201510639695A CN105151292B CN 105151292 B CN105151292 B CN 105151292B CN 201510639695 A CN201510639695 A CN 201510639695A CN 105151292 B CN105151292 B CN 105151292B
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China
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signal
signals
frame
control
steering wheel
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CN201510639695.2A
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Chinese (zh)
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CN105151292A (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, more particularly to a kind of distributed vector propulsion system.
Background technology
Existing Fixed Wing AirVehicle does not have VTOL ability, compares landing site dependence.Though tilting rotor mechanism So have VTOL peace concurrently to fly, but it is similar also higher to Handling Quality Requirements with fixed-wing, it is impossible to meet complex environment Under maneuvering flight.Recently popular multi-rotor aerocraft, although have preferable VTOL and hovering performance, but due to machine Structure is limited and cannot carry out efficient cruising flight, causes that voyage is shorter cannot over long distances to perform task.And flight path is with attitude still So coupling, it is impossible to make the full attitude flight of the full degree of freedom in space, mobility can also be improved.
Thrust Vectoring Technology can allow a part for motor power to become steering force, replace or part replaces control surface, from And greatly reduce radar area;No matter the angle of attack is much and how low flight speed is, aircraft can all utilize this part steering force Manipulated, this adds increased the navigability of aircraft.Due to directly producing steering force, and value and direction are variable, also The agility of aircraft is increased, thus can suitably reduce or remove vertical fin, can also substitute some other control surface;This is to reducing The detectivity of aircraft is favourable, and the resistance that can also make aircraft reduces.
The content of the invention
The present invention is aiming at the problems referred to above, there is provided a kind of to realize the distribution that any attitude takes off, lands and hovers Formula vector propulsion system.
For achieving the above object, the present invention adopts the following technical scheme that the present invention includes free thrust unit and flight control Device processed, free thrust unit includes the first servo control mechanism frame, and the first steering wheel, the first rudder are provided with the first servo control mechanism frame Arbor is connected with the second servo control mechanism frame, and the second steering wheel, the second steering wheel axle and power are provided with the second servo control mechanism frame Duct frame is connected, and the second steering wheel axle is vertical with the first steering wheel axle;The flight controller controls the first steering wheel and the second rudder The anglec of rotation input of machine, and the rotating speed of power duct.
Used as a kind of preferred version, the control method of flight controller of the present invention is.
Descartes's rectangular coordinate system is set up by origin of the center of gravity of free thrust unit place carrier aircraft, r is center of gravity to duct Distance, l is length of corresponding point when steady, and corresponding point refer to:By carrier aircraft be located plane on three points " being " with On the parallel another upper plane of plane that carrier aircraft is located is corresponding 3 points, perpendicular to this two plane, line is the line of corresponding point " chain ", " chain " is linear elasticity, meets Zheng Xuan-Hooke's law, and coefficient of elasticity is μ;τ is the drift angle number of degrees of carrier aircraft.
Situation 1:Under extraneous disturbance, there is angular displacement and be in carrier aircraft around x-axisExhausting needs generationAngle position Move, meanwhile, the power increased needed for duct is:
Situation 2:Under extraneous disturbance, it is δ that carrier aircraft occurs angular displacement around y-axisλ, exhausting needs generation-δλAngular displacement, Meanwhile, the power increased needed for duct is:F=μ rsin τ * sin (δλ)。
Situation 3:Under extraneous disturbance, it is δ that carrier aircraft occurs less angular displacement around z-axisθ, the adjustment made needed for exhausting For.
There is angular displacement alpha around x-axis
There is angular displacement beta around y-axis
Meanwhile, the power increased needed for duct is
Lateral hovering:Arrange and the upper plane is rotated into κ around y-axis, keep carrier aircraft parallel with upper plane, while three ducts Rotate around y-axis simultaneously.
Arrange and the upper plane is rotated into ζ around x-axis, keep carrier aircraft parallel with upper plane, while three ducts are simultaneously around x-axis Rotation.
Used as another kind of preferred version, free thrust unit of the present invention is three;One of free thrust unit It is L3 with centroidal distance on fuselage axis of symmetry after center of gravity;Two other is symmetrically dispersed in before center of gravity, arrives center of gravity Distance respectively L1, L2;The controling power of three free thrust units is respectively F1, F2, F3, and by free thrust lift focus is adjusted Overlap with center of gravity, conjunction controling power is F=F1+F2+F3, closes control moment M=F1 × L1+F2 × L2+F3 × L3.
Used as another kind of preferred version, flight controller of the present invention controls turning for power duct by electron speed regulator Speed.
Used as another kind of preferred version, flight controller of the present invention includes integrated sensor and flies control plate, the collection Include Inertial Measurement Unit, GPS navigation module and three axle magnetometer module into sensor, Inertial Measurement Unit includes three shaft angles speed Degree measurement part and 3-axis acceleration measure part;The flight controller measures three axis angular rates, 3-axis acceleration, cooperation side It is corrected to data, measures the flight attitude angle of carrier aircraft, with cosine-algorithm the attitude data of aircraft flight is drawn.
Used as another kind of preferred version, winged control plate of the present invention adopts Atmega1280/2560 chips.
Used as another kind of preferred version, winged control plate of the present invention includes the first receiver, the second receiver, APM1 cores Piece, APM2 chips, Arithmetic units, MWC1 plates, MWC2 plates and MWC3 plates, the signal input port of Arithmetic units Signal output port respectively with the second receiver, the signal output port of APM2 chips are connected, and the signal of the first receiver is defeated Exit port is connected with the signal input port of APM1 chips;The signal output port of Arithmetic units respectively with APM1 chips Signal input port, the signal input port of MWC1 plates, the signal input port of MWC2 plates, the signal input port of MWC3 plates It is connected;The signal output port of MWC1 plates respectively with the first servos control signal input part of one of free thrust unit Mouthful, the second servos control signal input port be connected, the signal output port of MWC2 plates respectively with another free thrust unit First servos control signal input port, the second servos control signal input port are connected, the signal output port point of MWC2 plates The first servos control signal input port, the second servos control signal input port not with the 3rd free thrust unit is connected; The signal input port of APM2 chips signal output port, the signal output of GPS sensor respectively with light flow sensor Port is connected;The signal output port of APM1 chips is defeated with the power duct speed controling signal of three free thrust units respectively Inbound port is connected.
First receiver receives the attitude data that ground controller sends to carrier aircraft, and attitude signal is input into into APM1 cores Resolved in piece, APM1 chips also receive the throttle signal after processing arithmetical unit, three road binders gate signals of output are controlled respectively The rotating speed size of three power ducts of system;Second receiver receives the flight tracking control signal that ground controller sends to carrier aircraft, will Flight tracking control signal input ARITHMETIC unit;APM2 chips gather the signal data of light flow sensor and GPS sensor, Four tunnel control signals 1,2,3, Y (1) are input into ARITHMETIC units;Seven tunnels output letter will be converted to arithmetical unit after signal processing Number P1 (OUT), P2 (OUT), P3 (OUT), R1 (OUT), R2 (OUT), R3 (OUT), T as three blocks of MWC plates input signal, three Block MWC panels control respectively verting for six steering wheels.
P signal is replicated three times and obtains tri- signals of P1, P2, P3.
R signal is replicated three times and obtains tri- signals of R1, R2, R3.
Reduce after 3 signals and 2 Signal averagings signal intensity be original two/deduct 1 signal again and again and obtain PG signals.
3 signals and 2 signal cancellations obtain the signal of falling RG.
P1 (OUT) is again with Y and Y (1) signal cancellation after P1 signals and PG Signal averagings.
P2 (OUT) is P2, Y, Y (1), tetra- groups of signals of PG are obtained after being overlapped mutually.
P3 (OUT) is that P3 signals are overlapped mutually what is obtained with PG signals.
R1 (OUT) is that R1 signals are overlapped mutually acquisition with RG signals.
R2 (OUT) is that R2 signals are overlapped mutually acquisition with RG signals.
R3 (OUT) is that R3 signals are overlapped mutually acquisition with RG signals.
P-the Pitch signal, R-rolling signal, T-throttle signal, Y-off-course signal, 1,2,3-computing are believed Number, (out)-output signal.
Secondly, around flight tracking control signal of the present invention includes, head point to, throttle signal, the attitude number According to including pitching, rolling data.
In addition, the first servo control mechanism frame of the present invention includes horizontal frame, horizontal frame front end is provided with forward upper end bending Front arc frame, horizontal frame rear portion is provided with the rear arc frame of upper bend backward, the rear end of horizontal frame corresponding to front arc frame First steering wheel is provided with, the first steering wheel axle is parallel to the horizontal frame and through the rear arc frame upper through-hole;It is described Second servo control mechanism frame is many semicircle edge banding frames, the profile of the second servo control mechanism frame and the horizontal frame and front arc The profile that frame, rear arc frame are surrounded is corresponding;Second steering wheel is arranged on the second servo control mechanism frame upper end, the second rudder Arbor is connected vertically downward with power duct frame;The horizontal one end of the second servo control mechanism central rack and the first steering wheel axle It is connected, the horizontal other end of the second servo control mechanism central rack is connected by transverse axis with front arc frame top.
Beneficial effect of the present invention.
The freely adjustable thrust size and Orientation of the free thrust unit of the present invention.
Flight controller of the present invention controls respectively the angle input of first, second steering wheel of free thrust unit, and power is contained The rotating speed in road, to obtain complete free thrust.
The distributed multivariate vector propulsion system of the present invention is taken off and is independent of site condition, it is possible to achieve any attitude takes off, Landing and hovering, are particularly suitable for the complicated narrow and small landform in city and special environment landing, it is possible to exploration, prison are performed to hold position Depending on and investigation tasks.During execution task, distributed multivariate vector propulsion system can realize any flight attitude smooth flight, appearance State adjusts fast and flexible, it is possible to realizes quick startup and stops, therefore it can be in the narrow and small street in city even building Portion is efficiently flown, and simultaneously for environment such as jungle, cities and towns and ruins task also can be efficiently completed.
Description of the drawings
With reference to the accompanying drawings and detailed description the present invention will be further described.The scope of the present invention not only limits to In the statement of herein below.
Fig. 1 is schematic structural view of the invention.
Fig. 2 is the free thrust unit front view of the present invention.
Fig. 3 is the free thrust unit axonometric chart of the present invention.
Fig. 4 is circuit theory diagrams of the present invention.
Fig. 5 is the load spectrogram of the present invention.(gray-scale maps cannot represent clear)
Fig. 6 is control method establishment of coordinate system figure of the present invention.
Fig. 7 is the schematic diagram of control method situation 1 of the present invention.
Fig. 8 is the schematic diagram of control method situation 2 of the present invention.
Fig. 9 is the schematic diagram of control method situation 3 of the present invention.
In figure, 1 is the first steering wheel, 2 is the second steering wheel, 3 is the first servo control mechanism frame, 4 is the second servo control mechanism frame, 5 is the first steering wheel axle, 6 is the second steering wheel axle, 7 is power duct, 8 is free thrust unit, 9 is carrier aircraft, 10 is rear arc side Frame, 11 be horizontal frame, 12 be front arc frame, 13 be transverse axis.
Specific embodiment
As illustrated, the present invention includes free thrust unit 8 and flight controller, free thrust unit 8 is watched including first Mechanism's frame 3 is taken, the first steering wheel 1, the first steering wheel axle 5 and the second servo control mechanism frame 4 are provided with the first servo control mechanism frame 3 It is connected, the second steering wheel 2 is provided with the second servo control mechanism frame 4, the second steering wheel axle 6 is connected with the frame of power duct 7, described second Steering wheel axle 6 is vertical with the first steering wheel axle 5;The flight controller controls the first steering wheel 1 and the anglec of rotation of the second steering wheel 2 is defeated Enter, and the rotating speed of power duct 7.
The dynamical system energy can select electric power, to obtain faster response speed and adjust thrust more accurate.
The control method of the flight controller is.
Descartes's rectangular coordinate system is set up as origin with the center of gravity of the place carrier aircraft 9 of free thrust unit 8, as shown in figure 8, r For the distance of center of gravity to duct, l is length of corresponding point when steady, and corresponding point are referred to:In plane three that carrier aircraft 9 is located Individual point " being " it is parallel with the plane that carrier aircraft 9 is located it is another on plane it is corresponding 3 points on, the line of corresponding point is perpendicular to this Two planes, line is " chain ", and " chain " is linear elasticity, meets Zheng Xuan-Hooke's law, and coefficient of elasticity is μ;τ is carrier aircraft 9 The drift angle number of degrees.
Situation 1:Under extraneous disturbance, there is angular displacement and be in carrier aircraft 9 around x-axisExhausting needs generationAngle position Move, meanwhile, the power increased needed for duct is:
Situation 2:Under extraneous disturbance, it is δ that carrier aircraft 9 occurs angular displacement around y-axisλ, exhausting needs generation-δλAngular displacement, Meanwhile, the power increased needed for duct is:F=μ rsin τ * sin (δλ)。
Situation 3:Under extraneous disturbance, it is δ that carrier aircraft 9 occurs less angular displacement around z-axisθ, the adjustment made needed for exhausting For.
There is angular displacement alpha around x-axis
There is angular displacement beta around y-axis
Meanwhile, the power increased needed for duct is
Lateral hovering:Arrange and the upper plane is rotated into κ around y-axis, keep carrier aircraft 9 parallel with upper plane, while three culverts Road rotates around y-axis simultaneously.
Arrange and the upper plane is rotated into ζ around x-axis, keep carrier aircraft 9 parallel with upper plane, while three ducts are simultaneously around x Axle rotates.
The control method of flight controller of the present invention using to object suspension when the ceiling tension force of lifting rope with point to The relation of gestures of object carries out mathematical modeling, goes to simulate lifting rope using each independent power unit, by each power list The sensing of each lifting rope of direction vector dynamic analog of unit, with the tension force on the thrust size simulation rope of power unit.
The object for hanging on the ceiling can tend towards stability in the presence of gravity and resistance, and based on this, we are to outstanding The lifting rope for hanging object establishes mathematics and mechanical model;Respectively power unit is sweared with the sensing and the size of the upper axle power of rope of lifting rope Amount direction carries out linear simulation with thrust size, and situation when receiving disturbance to institute's hanging object carries out dynamic analyses, enters And each power unit can be coordinated and complete the control to aircraft.
Model includes 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 dummy vehicle is set up, set as follows.
(1) aircraft is absolute rigid body, does not consider the impact of structural elasticity.
(2) quality and rotary inertia of aircraft is constant.
(3) interference in air flow of three ducted fans is ignored.
(4) structure of same parts and identical in quality.
(5) it is symmetrical centered on structure.
Due to external disturbance, the balance of aircraft can be produced and to a certain degree affected, by the angle for changing exhausting, while plus High thrust size realizes that the carrier aircraft 9 of multivariate vector propulsion system is recovered to hold position.Acceleration transducer is used on aircraft, can To obtain angular acceleration 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, retreat and move left and right, and enter The capable control only need to control plane and be moved horizontally, due to the effect of " chain ", the carrier aircraft 9 of multivariate vector propulsion system Power forward can be subject to, the carrier aircraft 9 that be achieved in multivariate vector propulsion system is moved horizontally.
Control method of the present invention effectively solves how to control aircraft with vector units when multiple degrees of freedom is exported Problem.Closed-cycle correction can be carried out to attitude of flight vehicle by three axis accelerometer and three-axis gyroscope, coordinate many so as to reach The purpose of individual degree of freedom airborne aircraft flight.
The free thrust unit 8 is three;One of free thrust unit 8 is located at fuselage axis of symmetry after center of gravity On, it is L3 with centroidal distance;Two other is symmetrically dispersed in before center of gravity, and the distance to center of gravity is respectively L1, L2;Three freely The controling power of thrust unit 8 is respectively F1, F2, F3, adjusts lift focus by free thrust and overlaps with center of gravity, closes controling power and is F=F1+F2+F3, conjunction control moment M=F1 × L1+F2 × L2+F3 × L3 (being vector calculus).By being distributed on fuselage The linkage of power unit multiple thrust vectorings are synthesized into a controling power and a couple, reach to attitude of flight vehicle and and The independent control in course, so as to obtain integrating the aerial platform of good cruising ability, spot hover and mobility function.
The flight controller controls the rotating speed of power duct 7 by electron speed regulator.
The flight controller include integrated sensor and fly control plate, the integrated sensor include Inertial Measurement Unit, GPS navigation module and three axle magnetometer module, Inertial Measurement Unit includes that three axis angular rates measurement part and 3-axis acceleration are surveyed Amount part;The flight controller measures three axis angular rates, and 3-axis acceleration coordinates bearing data to be corrected, measures carrier aircraft 9 Flight attitude angle, draw the attitude data of aircraft flight with cosine-algorithm.The measurable aircraft of GPS navigation module is current The information such as longitude and latitude, height, flight path direction (track), ground velocity.The current course of the measurable aircraft of three axle magnetometer module (heading).Flight controller can also arrange pitot meter, pneumatics meter, A/D chip.
The winged control plate adopts Atmega1280/2560 chips.Atmega1280/2560 chips have PPM decoding chips, The pwm signal of charge of overseeing mode passageway, to switch between manual mode and other patterns.
It is described it is winged control plate include the first receiver, the second receiver, APM1 chips, APM2 chips, Arithmetic units, MWC1 plates, MWC2 plates and MWC3 plates, the signal input port of Arithmetic units respectively with the signal output of the second receiver Port, the signal output port of APM2 chips are connected, the signal output port of the first receiver and the signal input of APM1 chips Port is connected;The signal output port of Arithmetic units signal input port, the letter of MWC1 plates respectively with APM1 chips Number input port, the signal input port of MWC2 plates, the signal input port of MWC3 plates are connected;The signal output port of MWC1 plates The control signal input mouth of the first steering wheel 1 respectively with one of free thrust unit 8, the input of the control signal of the second steering wheel 2 Port is connected, the signal output port of MWC2 plates respectively with the control signal input of the first steering wheel 1 of another free thrust unit 8 Mouthful, the control signal input mouth of the second steering wheel 2 be connected, the signal output port of MWC2 plates respectively with the 3rd free thrust unit 8 The control signal input mouth of the first steering wheel 1, the control signal input mouth of the second steering wheel 2 be connected;The signal of the APM2 chips Input port signal output port respectively with light flow sensor, the signal output port of GPS sensor are connected;APM1 chips Signal output port is connected respectively with the speed controling signal input port of power duct 7 of three free thrust units 8.
First receiver receives the attitude data that ground controller sends to carrier aircraft 9, and attitude signal is input into into APM1 Resolved in chip, APM1 chips also receive the throttle signal after processing arithmetical unit, output three road binders gate signals difference The rotating speed size of three power ducts 7 of control;Second receiver receives the flight tracking control letter that ground controller sends to carrier aircraft 9 Number, by flight tracking control signal input Arithmetic unit;APM2 chips gather the signal of light flow sensor and GPS sensor Data, to Arithmetic units four tunnel control signals 1,2,3, Y (1) are input into;Arithmetical unit will be converted to seven tunnels after signal processing The input of output signal P1 (out), P2 (out), P3 (out), R1 (out), R2 (out), R3 (out), T as three blocks of MWC plates Signal, three pieces of MWC panels control respectively verting for six steering wheels.
P signal is replicated three times and obtains tri- signals of P1, P2, P3.
R signal is replicated three times and obtains tri- signals of R1, R2, R3.
Reduce after 3 signals and 2 Signal averagings signal intensity be original two/deduct 1 signal again and again and obtain Pg signals.
3 signals and 2 signal cancellations obtain the signal of falling Rg.
P1 (out) is again with Y and Y (1) signal cancellation after P1 signals and Pg Signal averagings.
P2 (out) is P2, Y, Y (1), tetra- groups of signals of Pg are obtained after being overlapped mutually.
P3 (out) is that P3 signals are overlapped mutually what is obtained with Pg signals.
R1 (out) is that R1 signals are overlapped mutually acquisition with Rg signals.
R2 (out) is that R2 signals are overlapped mutually acquisition with Rg signals.
R3 (out) is that R3 signals are overlapped mutually acquisition with Rg signals.
P-the Pitch signal, R-rolling signal, T-throttle signal, Y-off-course signal, 1,2,3-computing are believed Number, (out)-output signal.
Around the flight tracking control signal includes, head point to, throttle signal, the attitude data include pitching, Rolling data.
The first servo control mechanism frame 3 includes horizontal frame 11, and the front end of horizontal frame 11 is provided with the front arc of forward upper end bending Frame 12, the rear portion of horizontal frame 11 is provided with the rear arc frame 10 of upper bend backward corresponding to front arc frame 12, horizontal frame 11 Rear end is provided with first steering wheel 1, and the first steering wheel axle 5 is parallel to the horizontal frame 11 and through the top of rear arc frame 10 Through hole;The second servo control mechanism frame 4 is many semicircle edge banding frames, the profile of the second servo control mechanism frame 4 with it is described The profile that horizontal frame 11 is surrounded with front arc frame 12, rear arc frame 10 is corresponding;Second steering wheel 2 is arranged on the second servo The upper end of mechanism's frame 4, the second steering wheel axle 6 is connected vertically downward with the frame of power duct 7;The middle part of the second servo control mechanism frame 4 Laterally one end is connected with the first steering wheel axle 5, and laterally the other end passes through transverse axis 13 and frontal arc to the middle part of the second servo control mechanism frame 4 The top of shape frame 12 is connected.Multiple thrust vectorings are synthesized one by the present invention by the linkage of the power unit being distributed on fuselage Individual controling power and a couple, so as to reach to attitude of flight vehicle and and course independent control.It is multiple double that the system possesses Axle omnirange vector propulsion unit provides guarantee to realize aircraft full vector mobility, by using flying for completely newly building Control platform and brand-new two, space of flight control method control are mutually perpendicular to the rotating speed of the corner and motor of steering wheel, precise control Each vector power unit and power signal real-time, interactive, can accurately adjust aircraft athletic posture and track.It is distributed The control mode that distributed power arrangement feature improves aircraft is combined in multivariate vector system, gyroplane is overcome and is owed The problems such as driven nature and understable property, realize the high maneuverability action of the aerial multi-pose hovering of aircraft.Following table is the present invention The preferred table of dynamical system hardware parameter.
Following table is circuit hardware parameter list of the present invention.
It is understood that above with respect to the specific descriptions of the present invention, being merely to illustrate the present invention and being not limited to this Technical scheme described by inventive embodiments, it will be understood by those within the art that, still the present invention can be carried out Modification or equivalent, to reach identical technique effect;As long as meet use needs, all protection scope of the present invention it It is interior.

Claims (8)

1. distributed vector propulsion system, including free thrust unit and flight controller, it is characterised in that free thrust unit Including the first servo control mechanism frame, the first steering wheel, the first steering wheel axle and the second servo are provided with the first servo control mechanism frame Structure frame is connected, and the second steering wheel is provided with the second servo control mechanism frame, and the second steering wheel axle is connected with power duct frame, and described the Two steering wheel axles are vertical with the first steering wheel axle;The 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;
The control method of the flight controller is:
Set up Descartes's rectangular coordinate system by origin of the center of gravity of free thrust unit place carrier aircraft, r be center of gravity to duct away from It is the distance of a pair of corresponding point when steady from, l, corresponding point are referred to:By carrier aircraft be located plane on three points " being " with On the parallel upper plane of plane that carrier aircraft is located is corresponding 3 points, perpendicular to this two plane, line is for " even for the line of corresponding point Lock ", " chain " is linear elasticity, meets Zheng Xuan-Hooke's law, and coefficient of elasticity is μ;τ is the drift angle number of degrees of carrier aircraft;
Situation 1:Under extraneous disturbance, there is angular displacement and be in carrier aircraft around x-axisExhausting needs generationAngular displacement, together When, the power increased needed for duct is:
Situation 2:Under extraneous disturbance, it is δ that carrier aircraft occurs angular displacement around y-axisλ, exhausting needs generation-δλAngular displacement, meanwhile, The power of increase is needed for duct:F=μ rsin τ * sin (δλ);
Situation 3:Under extraneous disturbance, it is δ that carrier aircraft occurs less angular displacement around z-axisθ, that what is made needed for exhausting is adjusted to:
There is angular displacement alpha around x-axis
α = a r c t a n 2 r s i n δ θ 2 * c o s τ 2 l
There is angular displacement beta around y-axis
β = a r c t a n 2 r s i n σ θ 2 * s i n τ 2 l
Meanwhile, the power increased needed for duct is
Lateral hovering:Arrange and the upper plane is rotated into κ around y-axis, keep carrier aircraft parallel with upper plane, while three ducts are simultaneously Rotate around y-axis;
Arrange and the upper plane is rotated into ζ around x-axis, keep carrier aircraft parallel with upper plane, while three ducts are simultaneously around x-axis rotation Turn.
2. distributed vector propulsion system according to claim 1, it is characterised in that the free thrust unit is three;Its In free thrust unit be located at after center of gravity on fuselage axis of symmetry, be L3 with centroidal distance;Two other is symmetrically distributed Before center of gravity, the distance to center of gravity is respectively L1, L2;The controling power of three free thrust units is respectively F1, F2, F3, passes through Free thrust adjusts lift focus and overlaps with center of gravity, conjunction controling power be F=F1+F2+F3, conjunction control moment M=F1 × L1+F2 × L2+F3×L3。
3. distributed vector propulsion system according to claim 1, it is characterised in that the flight controller is adjusted by electronics Fast device controls the rotating speed of power duct.
4. distributed vector propulsion system according to claim 2, it is characterised in that the flight controller includes integrated biography Sensor and winged control plate, the integrated sensor includes Inertial Measurement Unit, GPS navigation module and three axle magnetometer module, inertia Measuring unit includes that three axis angular rates measurement part and 3-axis acceleration measure part;The flight controller measures three shaft angles speed Degree, 3-axis acceleration coordinates bearing data to be corrected, and measures the flight attitude angle of carrier aircraft, and with cosine-algorithm load is drawn The attitude data of machine flight.
5. distributed vector propulsion system according to claim 4, it is characterised in that the winged control plate adopts Atmega1280/ 2560 chips.
6. distributed vector propulsion system according to claim 4, it is characterised in that the winged control plate include the first receiver, Second receiver, APM1 chips, APM2 chips, Arithmetic units, MWC1 plates, MWC2 plates and MWC3 plates, Arithmetic The signal input port of unit signal output port respectively with the second receiver, the signal output port of APM2 chips are connected, The signal output port of the first receiver is connected with the signal input port of APM1 chips;The signal output of Arithmetic units Port signal input port respectively with APM1 chips, the signal input port of MWC1 plates, the signal input port of MWC2 plates, The signal input port of MWC3 plates is connected;The signal output port of MWC1 plates is respectively with the first of one of free thrust unit Servos control signal input port, the second servos control signal input port are connected, the signal output port of MWC2 plates respectively with First servos control signal input port of another free thrust unit, the second servos control signal input port are connected, MWC3 The signal output port of plate respectively with the first servos control signal input port, second servos control of the 3rd free thrust unit Signal input port is connected;The signal input port of APM2 chips signal output port, GPS respectively with light flow sensor The signal output port of sensor is connected;The signal output port of APM1 chips is contained respectively with the power of three free thrust units Road speed controling signal input port is connected;
First receiver receives the attitude data that ground controller sends to carrier aircraft, and attitude signal is input in APM1 chips Resolved, APM1 chips also receive the throttle signal after processing arithmetical unit, three road binders gate signals of output control respectively three The rotating speed size of individual power duct;Second receiver receives the flight tracking control signal that ground controller sends to carrier aircraft, by flight path Control signal is input into Arithmetic units;APM2 chips gather the signal data of light flow sensor and GPS sensor, to Arithmetic units are input into four tunnel control signals 1,2,3, Y (1);Arithmetical unit will be converted to seven tunnel output signals after signal processing P1 (out), P2 (out), P3 (out), R1 (out), R2 (out), R3 (out), T as three blocks of MWC plates input signal, three pieces MWC panels control respectively verting for six steering wheels;
P signal is replicated three times and obtains tri- signals of P1, P2, P3;
R signal is replicated three times and obtains tri- signals of R1, R2, R3;
Reduce after 3 signals and 2 Signal averagings signal intensity be original two/deduct 1 signal again and again and obtain Pg signals;
3 signals and 2 signal cancellations obtain the signal of falling Rg;
P1 (out) is again with Y and Y (1) signal cancellation after P1 signals and Pg Signal averagings;
P2 (out) is P2, Y, Y (1), tetra- groups of signals of Pg are obtained after being overlapped mutually;
P3 (out) is that P3 signals are overlapped mutually what is obtained with Pg signals;
R1 (out) is that R1 signals are overlapped mutually acquisition with Rg signals;
R2 (out) is that R2 signals are overlapped mutually acquisition with Rg signals;
R3 (out) is that R3 signals are overlapped mutually acquisition with Rg signals;
P-the Pitch signal, R-rolling signal, T-throttle signal, Y-off-course signal, 1,2,3-computing signal, (out)-output signal, Y (1) is the off-course signal of course transmitter feedback on APM2.
7. distributed vector propulsion system according to claim 6, it is characterised in that before and after the flight tracking control signal includes, Left and right, head are pointed to, throttle signal, and the attitude data includes pitching, rolling data.
8. distributed vector propulsion system according to claim 1, it is characterised in that the first servo control mechanism frame includes Horizontal frame, horizontal frame front end is provided with the front arc frame of forward upper end bending, and horizontal frame rear portion arranges oriented corresponding to front arc frame The rear arc frame of upper back bending, the rear end of horizontal frame is provided with first steering wheel, and the first steering wheel axle is parallel to the horizontal frame And through the rear arc frame upper through-hole;The second servo control mechanism frame is many semicircle edge banding frames, the second servo The profile of structure frame is corresponding with the profile that front arc frame, rear arc frame are surrounded with the horizontal frame;Second rudder Machine is arranged on the second servo control mechanism frame upper end, and the second steering wheel axle is connected vertically downward with power duct frame;Second servo The horizontal one end of mechanism's central rack is connected with the first steering wheel axle, and the horizontal other end of the second servo control mechanism central rack is by horizontal stroke Axle is connected with front arc frame top.
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