CN105173092A - Hybrid power multi-shaft rotor wing unmanned aerial vehicle - Google Patents
Hybrid power multi-shaft rotor wing unmanned aerial vehicle Download PDFInfo
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- CN105173092A CN105173092A CN201510413398.6A CN201510413398A CN105173092A CN 105173092 A CN105173092 A CN 105173092A CN 201510413398 A CN201510413398 A CN 201510413398A CN 105173092 A CN105173092 A CN 105173092A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention relates to the technical field of unmanned aerial vehicles, in particular to a hybrid power multi-shaft rotor wing unmanned aerial vehicle. The hybrid power multi-shaft rotor wing unmanned aerial vehicle comprises an unmanned aerial vehicle body. The unmanned aerial vehicle body comprises a flight control system and a multi-shaft drive system arranged inside a vehicle shell. The hybrid power multi-shaft rotor wing unmanned aerial vehicle is characterized by further comprising an oil-electricity hybrid power system, a servo module and a measurement and control module; the oil-electricity hybrid power system is composed of an oil-fired piston engine, an oil tank, an electricity generation module, a rectifier module and a lithium battery; one end of the oil-fired piston engine is connected with the oil tank through an oil pipe; the other end of the oil-fired piston engine is connected with the servo module; an output shaft of the oil-fired piston engine is connected with the electricity generation module; the electricity generation module is connected with one end of the rectifier module; the other end of the rectifier module is connected with the lithium battery in parallel and then is connected with the multi-shaft drive system; the multi-shaft drive system is composed of a plurality of single-shaft drivers. The hybrid power multi-shaft rotor wing unmanned aerial vehicle has the advantages of being long in endurance, large in load, easy to control, good in safety and the like.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, particularly a kind of hybrid power multiaxis rotor wing unmanned aerial vehicle.
Background technology
Along with the development of science and technology, unmanned plane is in military and civilian field also widespread use.Existing multiaxis rotor wing unmanned aerial vehicle has three kinds of power modes:
A) adopt multiple lithium cell+electrical motor+electronic governor+screw propeller series component in parallel as multiaxis electric propulsion system, this is the power mode that current most multiaxis rotor wing unmanned aerial vehicle adopts, flight control response is fast, power density is large, but because lithium cell energy density is low, no matter fuselage how loss of weight, the electronic multiaxis rotor wing unmanned aerial vehicle flight time scarcely exceedes dozens of minutes.
B) adopt multiple fuel engines+mechanical bending moment speed-changing mechanism+screw propeller series component in parallel as multiaxis oil power system.Fuel engines energy density is large, but bending moment speed-changing mechanism uses the mechanical transmission component such as gear, belt, complex structure, and fault rate is high, and Flight Control Algorithm is single, and any 1 axle goes wrong, and will cause that whole aircraft is out of control to fall.
C) adopt 1 fuel engines+mechanical bending moment speed-changing mechanism+screw propeller series component and multiple lithium cell+electrical motor+electronic governor+screw propeller series component parallel connection as multiaxis oil electric mixed dynamic system, fuel engines is used to provide main lift, electrical motor provides the gesture stability such as pitching, rolling power and auxiliary lifting, but fuel power appearance control degree of freedom is limited, cannot independently fly, oil Electronmotive Force can not backup each other, and needing artificial stay cord startup oil machine to take off, dependable with function has much room for improvement.
Summary of the invention
The object of the invention is to the defect for prior art and deficiency, provide a kind of duration that navigates, a kind of hybrid power multiaxis rotor wing unmanned aerial vehicle reasonable in design, easy to use, it has boat duration, and load is large, safety high reliability.
For achieving the above object, the technical solution used in the present invention is:
A kind of hybrid power multiaxis rotor wing unmanned aerial vehicle of the present invention, it comprises unmanned plane body, described unmanned plane body comprises and is arranged on flight control system in casing and multi-axis driving system, it is characterized in that: it also comprises oil electric mixed dynamic system, servo module and control module; Described oil electric mixed dynamic system is made up of fuel piston driving engine, fuel tank, electricity generation module, rectification module and lithium cell; This fuel piston driving engine one end is connected by oil pipe with fuel tank, this fuel piston driving engine other end is connected with servo module, this fuel piston engine output shaft is connected with electricity generation module, this electricity generation module is connected with rectification module one end, this rectification module other end is connected with multi-axis driving system with after lithium cell parallel connection, this multi-axis driving system is made up of several single shaft actuators, and this single shaft actuator is composed in series by brushless motor, electronic governor and screw propeller.
Further, throttle steering wheel in servo module, air door steering wheel mouth are connected with fuel piston driving engine by connecting rod, level sensor in steering wheel input end, fuel tank is connected with the observing and controlling microprocessor in control module, founding mathematical models controls the work of fuel piston engine stabilizer, and writes microprocessor in the form of software.
Further, the electrical motor in electricity generation module is mounted with the Hall element that can detect motor rotor rotating speed and fuel piston engine piston position, electrical motor uses key or coupler to be connected with the arbor of fuel piston driving engine.
Further, flight control system ensures flight stability and the road-holding property of unmanned plane, can according to unmanned plane LOAD FOR consumed power, automatically or according to surface instruction control fuel piston engine power and switch at fuel oil and lithium cell powerplant workshop, ensureing that unmanned plane obtains the maximum flight time with minimum energy ezpenditure.Flight control system above-mentioned functions writes its microprocessor in a software form.
After adopting said structure, beneficial effect of the present invention is: a kind of hybrid power multiaxis rotor wing unmanned aerial vehicle of the present invention, after its adopts fuel piston driving engine to connect electricity generation module generating and when lithium cell parallel connection collaborative work improves the boat of hybrid power multiaxis rotor wing unmanned aerial vehicle and load-carrying ability; Adopting fuel piston driving engine and use rectification module, servo module and large power high efficiency electricity generation module, is that power realizes the self-starting of hybrid power multiaxis rotor wing unmanned aerial vehicle with lithium cell; Oil, Electronmotive Force independently can control flight attitude, and backup each other, improve the complete machine safety of hybrid power multiaxis rotor wing unmanned aerial vehicle, it has boat duration, and load-carrying is large, easy to control, the advantages such as safety is good.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of servo module and fuel piston driving engine and control module in the present invention;
Fig. 3 is the structural representation in the present invention, electrical motor being installed Hall element;
Fig. 4 is the structural representation of flight control system of the present invention and fuel piston driving engine.
Description of reference numerals:
1, oil electric mixed dynamic system; 11, fuel piston driving engine; 12, rectification module; 13, lithium battery; 14, electricity generation module; 15, fuel tank; 151, level sensor; 2, flight control system; 3, single shaft actuator; 31, brushless motor; 32, electronic governor; 33, screw propeller; 4, control module; 41, observing and controlling microprocessor; 5, servo module; 51, throttle steering wheel; 52, air door steering wheel; 6, Hall element; 7, coupler.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further illustrated.
As shown in Figure 1, a kind of hybrid power multiaxis rotor wing unmanned aerial vehicle of the present invention, it comprises unmanned plane body, and described unmanned plane body comprises and is arranged on flight control system 2 in casing and multi-axis driving system, and it also comprises oil electric mixed dynamic system 1, servo module 5 and control module 4; Described oil electric mixed dynamic system 1 is made up of fuel piston driving engine 11, fuel tank 15, electricity generation module 14, rectification module 12 and lithium cell 13; This fuel piston driving engine 11 one end is connected by oil pipe with fuel tank 15, this fuel piston driving engine 11 other end is connected with servo module 4, this fuel piston driving engine 11 output shaft is connected with electricity generation module 14, this electricity generation module 14 is connected with rectification module 12 one end, be connected with multi-axis driving system after this rectification module 12 other end is in parallel with lithium cell 13, this multi-axis driving system is made up of several single shaft actuators 3, and this single shaft actuator 3 is composed in series by brushless motor 31, electronic governor 32 and screw propeller 33.
As shown in Figure 2, throttle steering wheel 51 in servo module 5, air door steering wheel 52 mouth are connected with fuel piston driving engine 11 by connecting rod, level sensor 151 in steering wheel input end, fuel tank 15 is connected with the observing and controlling microprocessor 41 in control module 4, founding mathematical models controls the work of fuel piston engine stabilizer, and writes microprocessor in the form of software.
As shown in Figure 3, electrical motor 31 in electricity generation module 14 is mounted with the Hall element 6 that can detect electrical motor 31 rotor speed and fuel piston driving engine 11 piston position, electrical motor 31 and the arbor of fuel piston driving engine (11) use key or coupler 7 to be connected.
As shown in Figure 4, flight control system 2 ensures flight stability and the road-holding property of unmanned plane, can according to unmanned plane LOAD FOR consumed power, automatically or according to surface instruction control fuel piston driving engine 11 power and switch at fuel oil and lithium cell 13 powerplant workshop, ensureing that unmanned plane obtains the maximum flight time with minimum energy ezpenditure.Flight control system above-mentioned functions writes its microprocessor in a software form.
Wherein:
(1) electricity generation module is used for generating and starts fuel piston driving engine;
(2) rectification module has rectification and drives two states, is respectively used to alternating current is converted to direct current and output pwm signal driving brushless motor;
(3) be composed in series single shaft actuator by brushless motor+electronic governor+screw propeller, multiple actuator parallel connection forms multi-axis driving system;
(4) control module uses the state parameter such as rotating speed, position of each parts of sensor measurement fuselage, servo module uses steering wheel adjustment fuel piston engine throttle and air door size to change engine behavior, flight control system is the brain of unmanned plane, is responsible for controlling flight attitude, processing instruction, calculating realtime power etc.
Principle of work of the present invention is as follows:
During unmanned plane start, flight control system calculates fuel piston engine starting power, piston engine throttle amount is put and air quantity is initiation value by servo module, putting rectification module is driving condition, and drive singal dutycycle is progressively increased to initiation value, electricity generation module drives piston engine machine rotor acceleration rotation to reach ignition operation state, and piston engine is in idling slew mode subsequently.
When taking off, flight control system calculates take-off power and piston engine rotating speed according to take-off weight, continue to increase piston engine rotating speed by servo module, by control module detect engine speed reach take off value time, putting rectification module is rectification state, piston engine drives electricity generation module rotor high-speed to rotate and produces alternating current, and be converted to vdc needed for brushless motor work and current value by rectification module, unmanned plane enters state of flight.
In flight course, accelerating, slow down, climb, in the fly event such as flow perturbation, the each parameters of operating part state of flight control system Real-time Collection, calculate power demand and optimum speed, generally flight control system produces the DC voltage and current of same power by servo module control plunger driving engine and electricity generation module rotor speed through rectification module, makes unmanned plane with minimum energy resource consumption stabilized flight.Transfinite in unmanned plane load, when meeting with the situations such as high wind, flight control system can control lithium battery and piston engine electricity generation module is powered, and meets unmanned plane excessive power demands simultaneously.
When piston engine fuel oil exhausts or occur exception, flight control system can switch to lithium cell separately for drive system is powered; When electric quantity of lithium battery exhausts or occur exception, flight control system can switch to piston engine separately for drive system is powered, and can to improve generating voltage be lithium cell charging.Piston engine and lithium cell can backup each other, and fully ensure that unmanned plane power system normally works, drastically increase the safety and reliability of unmanned plane.
Tool of the present invention has the following advantages:
(1) after adopting fuel piston driving engine to connect electricity generation module generating and the lithium cell energy density that improve hybrid power multiaxis rotor wing unmanned aerial vehicle in parallel, and then when increasing boat and load-carrying;
(2) fuel piston driving engine and rectification module, servo module and large power high efficiency electricity generation module, collaborative work under lithium cell drives, can realize the self-starting of hybrid power multiaxis rotor wing unmanned aerial vehicle;
(3) all rotor adopts electronic speed regulation, can complete independently pitching, rolling, yaw attitude control, oil, Electronmotive Force can be worked independently and backup each other, drastically increase complete machine safe reliability.
The above is only better embodiment of the present invention, therefore all equivalences done according to structure, feature and the principle described in patent claim of the present invention change or modify, and are included in patent claim of the present invention.
Claims (4)
1. a hybrid power multiaxis rotor wing unmanned aerial vehicle, it comprises unmanned plane body, described unmanned plane body comprises and is arranged on flight control system (2) in casing and multi-axis driving system, it is characterized in that: it also comprises oil electric mixed dynamic system (1), servo module (5) and control module (4), described oil electric mixed dynamic system (1) is made up of fuel piston driving engine (11), fuel tank (15), electricity generation module (14), rectification module (12) and lithium cell (13), this fuel piston driving engine (11) one end is connected by oil pipe with fuel tank (15), this fuel piston driving engine (11) other end is connected with servo module (4), this fuel piston driving engine (11) output shaft is connected with electricity generation module (14), this electricity generation module (14) is connected with rectification module (12) one end, be connected with multi-axis driving system after this rectification module (12) other end is in parallel with lithium cell (13), this multi-axis driving system is made up of several single shaft actuators (3), this single shaft actuator (3) is by brushless motor (31), electronic governor (32) and screw propeller series connection (33) composition.
2. a kind of hybrid power multiaxis rotor wing unmanned aerial vehicle according to claim 1, it is characterized in that: the throttle steering wheel (51) in servo module (5), air door steering wheel (52) mouth are connected with fuel piston driving engine (11) by connecting rod, the level sensor (151) in steering wheel input end, fuel tank (15) is connected with the observing and controlling microprocessor (41) in control module (4).
3. a kind of hybrid power multiaxis rotor wing unmanned aerial vehicle according to claim 1, it is characterized in that: the electrical motor (31) in electricity generation module (14) is mounted with the Hall element (6) that can detect electrical motor (31) rotor speed and fuel piston driving engine (11) piston position, electrical motor (31) and the arbor of fuel piston driving engine (11) use key or coupler (7) to be connected.
4. a kind of hybrid power multiaxis rotor wing unmanned aerial vehicle according to claim 1, it is characterized in that: flight control system (2) ensures flight stability and the road-holding property of unmanned plane, can according to unmanned plane LOAD FOR consumed power, automatically or according to surface instruction control fuel piston driving engine (11) power and switch at fuel oil and lithium cell (13) powerplant workshop, ensureing that unmanned plane obtains the maximum flight time with minimum energy ezpenditure.
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| CN201510413398.6A CN105173092A (en) | 2015-07-15 | 2015-07-15 | Hybrid power multi-shaft rotor wing unmanned aerial vehicle |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105711826A (en) * | 2016-03-31 | 2016-06-29 | 陈萌 | Tandem type oil-electric hybrid unmanned aerial vehicle |
| CN105857624A (en) * | 2016-04-08 | 2016-08-17 | 南京航空航天大学 | Distributed type hybrid power system based on aviation piston engine |
| CN105914731A (en) * | 2016-05-30 | 2016-08-31 | 西安交通大学 | Unmanned aerial vehicle power supply system |
| CN106647809A (en) * | 2017-01-06 | 2017-05-10 | 中国航天电子技术研究院 | Energy optimization method for hybrid power system of UAV based on task planning |
| CN107878762A (en) * | 2017-11-28 | 2018-04-06 | 北京正兴弘业科技有限公司 | A kind of long endurance unmanned aircraft oil electric mixed dynamic system and control method |
| CN108128438A (en) * | 2018-01-16 | 2018-06-08 | 沈阳朗峰科技有限公司 | A kind of dynamic trapezoidal VTOL equipment of circle of oil |
| CN108317005A (en) * | 2018-03-23 | 2018-07-24 | 中科灵动航空科技成都有限公司 | For having the electric hybrid power system of the oil of monitoring function in unmanned plane |
| CN108341068A (en) * | 2018-03-23 | 2018-07-31 | 中科灵动航空科技成都有限公司 | The electric mixed power supply system of oil, the electric mixed unmanned plane of oil for unmanned plane |
| CN108443014A (en) * | 2018-03-23 | 2018-08-24 | 中科灵动航空科技成都有限公司 | For the electric hybrid power system of oil, the electric mixed unmanned plane of oil in unmanned plane |
| CN108494167A (en) * | 2018-03-23 | 2018-09-04 | 中科灵动航空科技成都有限公司 | The electric mixed power supply system of oil, method of supplying power to for vertical take-off and landing drone |
| CN109110135A (en) * | 2017-06-23 | 2019-01-01 | 通用电气公司 | Propulsion system for aircraft |
| CN109319119A (en) * | 2018-11-26 | 2019-02-12 | 佛山市开机器人有限公司 | A kind of mixed dynamic plant protection drone system of high efficient oil electricity |
| CN109383783A (en) * | 2018-08-31 | 2019-02-26 | 辽宁同心圆科技有限公司 | Aero-engine energy-saving power-boost system |
| CN110096067A (en) * | 2018-01-29 | 2019-08-06 | 北京京东尚科信息技术有限公司 | Unmanned aerial vehicle (UAV) control method and apparatus |
| CN111003188A (en) * | 2019-12-23 | 2020-04-14 | 珠海上飞航空科技有限公司 | Oil-electricity hybrid and heuristic integrated system and working process thereof |
| CN111099024A (en) * | 2018-10-29 | 2020-05-05 | 中科灵动航空科技成都有限公司 | Ignition restarting method, system and memory for oil-electricity hybrid power rotor unmanned aerial vehicle |
| CN112874776A (en) * | 2021-04-12 | 2021-06-01 | 西华大学 | Unmanned aerial vehicle platform and unmanned aerial vehicle group |
| CN113665824A (en) * | 2021-08-20 | 2021-11-19 | 浙江点辰航空科技有限公司 | Small-size aerocraft hybrid device |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105711826A (en) * | 2016-03-31 | 2016-06-29 | 陈萌 | Tandem type oil-electric hybrid unmanned aerial vehicle |
| CN105857624A (en) * | 2016-04-08 | 2016-08-17 | 南京航空航天大学 | Distributed type hybrid power system based on aviation piston engine |
| CN105914731A (en) * | 2016-05-30 | 2016-08-31 | 西安交通大学 | Unmanned aerial vehicle power supply system |
| CN106647809A (en) * | 2017-01-06 | 2017-05-10 | 中国航天电子技术研究院 | Energy optimization method for hybrid power system of UAV based on task planning |
| CN106647809B (en) * | 2017-01-06 | 2020-02-21 | 中国航天电子技术研究院 | Hybrid power system energy optimization method for unmanned aerial vehicle based on mission planning |
| CN109110135A (en) * | 2017-06-23 | 2019-01-01 | 通用电气公司 | Propulsion system for aircraft |
| CN109110135B (en) * | 2017-06-23 | 2022-07-12 | 通用电气公司 | Propulsion system for an aircraft |
| CN107878762A (en) * | 2017-11-28 | 2018-04-06 | 北京正兴弘业科技有限公司 | A kind of long endurance unmanned aircraft oil electric mixed dynamic system and control method |
| CN107878762B (en) * | 2017-11-28 | 2023-09-12 | 沈观清 | Long-endurance unmanned aerial vehicle oil-electricity hybrid power system and control method |
| CN108128438A (en) * | 2018-01-16 | 2018-06-08 | 沈阳朗峰科技有限公司 | A kind of dynamic trapezoidal VTOL equipment of circle of oil |
| CN110096067A (en) * | 2018-01-29 | 2019-08-06 | 北京京东尚科信息技术有限公司 | Unmanned aerial vehicle (UAV) control method and apparatus |
| CN108494167A (en) * | 2018-03-23 | 2018-09-04 | 中科灵动航空科技成都有限公司 | The electric mixed power supply system of oil, method of supplying power to for vertical take-off and landing drone |
| CN108443014A (en) * | 2018-03-23 | 2018-08-24 | 中科灵动航空科技成都有限公司 | For the electric hybrid power system of oil, the electric mixed unmanned plane of oil in unmanned plane |
| CN108341068A (en) * | 2018-03-23 | 2018-07-31 | 中科灵动航空科技成都有限公司 | The electric mixed power supply system of oil, the electric mixed unmanned plane of oil for unmanned plane |
| CN108317005A (en) * | 2018-03-23 | 2018-07-24 | 中科灵动航空科技成都有限公司 | For having the electric hybrid power system of the oil of monitoring function in unmanned plane |
| CN108443014B (en) * | 2018-03-23 | 2024-05-10 | 中科灵动航空科技成都有限公司 | A hybrid power generation system of oil electricity and hybrid unmanned aerial vehicle for among unmanned aerial vehicle |
| CN109383783A (en) * | 2018-08-31 | 2019-02-26 | 辽宁同心圆科技有限公司 | Aero-engine energy-saving power-boost system |
| CN111099024A (en) * | 2018-10-29 | 2020-05-05 | 中科灵动航空科技成都有限公司 | Ignition restarting method, system and memory for oil-electricity hybrid power rotor unmanned aerial vehicle |
| CN109319119A (en) * | 2018-11-26 | 2019-02-12 | 佛山市开机器人有限公司 | A kind of mixed dynamic plant protection drone system of high efficient oil electricity |
| CN111003188A (en) * | 2019-12-23 | 2020-04-14 | 珠海上飞航空科技有限公司 | Oil-electricity hybrid and heuristic integrated system and working process thereof |
| CN112874776A (en) * | 2021-04-12 | 2021-06-01 | 西华大学 | Unmanned aerial vehicle platform and unmanned aerial vehicle group |
| CN113665824A (en) * | 2021-08-20 | 2021-11-19 | 浙江点辰航空科技有限公司 | Small-size aerocraft hybrid device |
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