CN105644782B - A kind of unmanned plane stablizes the method and layout of VTOL - Google Patents
A kind of unmanned plane stablizes the method and layout of VTOL Download PDFInfo
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- CN105644782B CN105644782B CN201410649162.8A CN201410649162A CN105644782B CN 105644782 B CN105644782 B CN 105644782B CN 201410649162 A CN201410649162 A CN 201410649162A CN 105644782 B CN105644782 B CN 105644782B
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Abstract
The present invention provides the method and layout of a kind of stable VTOL of unmanned plane, and compared with existing VTOL technology, the control of present invention center misorientation engine pulling force/thrust solves the control of pitching and roll posture, to realize stable VTOL；Inverted diherdral configuration increases the raised portion gravity arm of force, to generate reversed trimming moment, has roll and pitching automatic recovery ability；Engine 1 and or engine 2 from it is vertical horizontal direction to it is horizontal vertical direction turn to, be conducive to from it is vertical horizontality course line to it is horizontal vertical course line conversion.
Description
Technical field
The invention belongs to technical field of aerospace, are related to the method and layout of a kind of stable VTOL of unmanned plane.
Background technique
Currently, the VTOL technology of the aircraft of most of unmanned plane VTOL technology application both at home and abroad, in VTOL
In the process, due to the influence of air-flow, it is easy to produce unbalanced rolling moment.Unmanned plane in the prior art will mostly be used to hover
Device be arranged in wing two sides, landing process is easy to generate air-flow from top to bottom in wing tip, causes the cross during landing
It is larger to roll torque, it is difficult to control, stability is poor；Part all uses the unmanned plane that the device for being used to hover is arranged in fuselage center
A single engine, the ability for controlling rolling moment is poor, causes to be easy during unmanned plane is in VTOL by air-flow shadow
It rings, often rolls, accident occurs.Further, since suspension and propulsion mostly use different device, cause vertical/horizontal state
The conversion in course line to horizontal/vertical course line is difficult.
Summary of the invention
The object of the present invention is to provide a kind of methods that unmanned plane stablizes VTOL
Technical solution of the present invention provides a kind of method of stable VTOL of unmanned plane, including engine 1 and engine 2,
The engine 1 and engine 2 are located at by the diagonal position of the rectangle on horizontal plane centered on drone center of unmanned aerial vehicle 3, tool
Body the following steps are included:
A, engine 1 and 2 collective effect of engine make unmanned plane take off；
B adjusts the engine 1 and engine 2 generates when generating uneven roll in the unmanned plane take-off process
The balance rolling moment contrary with the uneven roll balances actual uneven roll, realizes the vertical of unmanned plane
It takes off；
C adjusts the engine 1 and engine 2 generates when generating uneven pitching in the unmanned plane take-off process
The balance pitching moment opposite with the uneven pitch orientation balances actual uneven pitching, realizes the vertical of unmanned plane
It takes off；
D, engine 1 and 2 collective effect of engine make unmanned plane land；
E adjusts the engine 1 and engine 2 generates when generating uneven roll in the unmanned plane descent
The balance rolling moment contrary with the uneven roll balances actual uneven roll, realizes the vertical of unmanned plane
Landing；
F adjusts the engine 1 and engine 2 generates when generating uneven pitching in the unmanned plane descent
The balance pitching moment opposite with the uneven pitch orientation balances actual uneven pitching, realizes the vertical of unmanned plane
Landing.
Technical solution of the present invention also provides a kind of layout of stable VTOL of unmanned plane, including engine 1 and engine
2, the engine 1 and engine 2 are located at by the diagonal position of the rectangle on horizontal plane centered on drone center of unmanned aerial vehicle 3.
Preferably, the wing 4 of the unmanned plane is inverted diherdral configuration, and the fuselage 5 of the unmanned plane is also inverted diherdral configuration.
Preferably, engine 1 and 2 dead axle of engine are connected to 5 on fuselage, can be appointed between vertically and horizontally around axis
Meaning angular turn.
Compared with existing VTOL technology, the control of present invention center misorientation engine pulling force/thrust solves pitching
With the control of roll posture, to realize stable VTOL；Inverted diherdral configuration increases the raised portion gravity arm of force, to produce
Raw reversed trimming moment, has roll and pitching automatic recovery ability；Engine 1 and or engine 2 by vertical/horizontal direction
It is turned to horizontal, is conducive to the conversion from vertical/horizontal state course line to horizontal/vertical course line.
Detailed description of the invention
Attached drawing of the present invention is described below:
Fig. 1 illustrates front and back and the left and right misorientation of engine 1 and engine 2；
Fig. 2 illustrates the misorientation up and down of engine 1 and engine 2；
Fig. 3 illustrates engine 1 and the installation site of engine 2 is same as above；
Fig. 4 illustrates the installation site of engine 1 and engine 2 under；
Fig. 5 illustrates the control of engine 1 and engine 2 to unmanned plane roll posture；
Fig. 6 illustrates the control of engine 1 and engine 2 to unmanned plane pitch attitude；
Fig. 7 illustrates the roll automatic recovery ability of anti-configuration under wing；
Fig. 8 is flow chart of first embodiment；
Fig. 9 is 3rd embodiment flow chart.
Specific embodiment
The present invention is described in further details below.
First embodiment of the invention provides a kind of method that unmanned plane stablizes VTOL, including engine 1 and starts
Machine 2, the engine 1 and engine 2 are located at by the diagonal bits of the rectangle on horizontal plane centered on drone center of unmanned aerial vehicle 3
It sets, specifically includes the following steps:
A, engine 1 and 2 collective effect of engine make unmanned plane take off；
B, when generating uneven roll in the unmanned plane take-off process, (as shown in Figure 5) passes through the tune to engine
Section (increases pulling force/thrust F1 of the unmanned plane reduction generation of partial engine 1 or reduces unmanned plane raised portion engine 2 and generate
Push/pull F2) generate opposite balance rolling moment M=(F1-F2) L2, balance actual uneven roll, realize nothing
Man-machine takes off vertically；
C, when generating uneven pitching in the unmanned plane take-off process, unmanned plane generates not during taking off vertically
When balancing pitching (as shown in Figure 6), by adjusting to engine (reduce the pulling force of the generation of unmanned plane raised portion engine 1/
Thrust F3 increases the push/pull F4 that unmanned plane reduction partial engine 2 generates) generate opposite pitching trimming moment M=
(F4-F3) L1 balances actual uneven pitching, realizes taking off vertically for unmanned plane.
D, engine 1 and 2 collective effect of engine make unmanned plane land；
E, when generating uneven roll in the unmanned plane descent, (as shown in Figure 5) passes through the tune to engine
Section (increases pulling force/thrust F1 of the unmanned plane reduction generation of partial engine 1 or reduces unmanned plane raised portion engine 2 and generate
Push/pull F2) generate opposite balance rolling moment M=(F1-F2) L2, balance actual uneven roll, realize nothing
Man-machine vertical landing；
F, when generating uneven pitching in the unmanned plane descent, unmanned plane generates not during taking off vertically
When balancing pitching (as shown in Figure 6), by adjusting to engine (reduce the pulling force of the generation of unmanned plane raised portion engine 1/
Thrust F3 increases the push/pull F4 that unmanned plane reduction partial engine 2 generates) generate opposite pitching trimming moment M=
(F4-F3) L1 balances actual uneven pitching, realizes the vertical landing of unmanned plane.
Preferably, on the basis of first embodiment of the invention, second embodiment of the invention uses wing inverted diherdral configuration
(as shown in fig. 7, dotted line is the home position of wing, solid line is the position of wing after roll), after unmanned plane imbalance roll, machine
The arm of force of wing raised portion is increased to the increment that L4 generates Δ L1 by original L3, to form opposite trimming momentThe arm of force that wing reduces part is reduced to the decrement that L5 generates Δ L2 by original L3, to be formed on the contrary
Trimming momentSo entire wing forms opposite trimming moment M=M1+M2, it is uneven to balance actual roll
Weigh torque, solves the control of roll posture, similarly the lower anti-configuration of fuselage, solves the control of pitch attitude, to realize
The VTOL of unmanned plane；
Preferably, on the basis of second embodiment of the invention, third embodiment of the invention further includes engine 1 and hair
2 dead axle of motivation is connected on fuselage 5, can any angle rotation between vertically and horizontally around axis.
It is further comprising the steps of between the step C and step D:
C1, the engine 1 and or engine 2 turned to from vertical direction to horizontal direction, the unmanned plane is from vertical configuration
It is converted to horizontal course line in state course line；
D1, the engine 1 and or engine 2 turned to from horizontal direction to vertical direction, the unmanned plane is from horizontal
It is converted to vertical course line in state course line.
Claims (8)
1. a kind of method that unmanned plane stablizes VTOL, which is characterized in that including the first engine (1) and the second engine
(2), first engine (1) and the second engine (2) be located at by horizontal plane centered on drone center of unmanned aerial vehicle (3)
The diagonal position of rectangle, specifically includes the following steps:
A, the first engine (1) and the second engine (2) collective effect make unmanned plane take off；
B adjusts first engine (1) and second and starts when generating uneven roll in the unmanned plane take-off process
Machine (2) generates the balance rolling moment contrary with the uneven roll, balances actual uneven roll, realizes nobody
Machine takes off vertically；
C adjusts first engine (1) and second and starts when generating uneven pitching in the unmanned plane take-off process
Machine (2) generates the balance pitching moment opposite with the uneven pitch orientation, balances actual uneven pitching, realizes nobody
Machine takes off vertically；
D, the first engine (1) and the second engine (2) collective effect make unmanned plane land；
E adjusts first engine (1) and second and starts when generating uneven roll in the unmanned plane descent
Machine (2) generates the balance rolling moment contrary with the uneven roll, balances actual uneven roll, realizes nobody
The vertical landing of machine；
F adjusts first engine (1) and second and starts when generating uneven pitching in the unmanned plane descent
Machine (2) generates the balance pitching moment opposite with the uneven pitch orientation, balances actual uneven pitching, realizes nobody
The vertical landing of machine；
The wing (4) of the unmanned plane is inverted diherdral configuration, after unmanned plane imbalance roll, the power of wing (4) raised portion
Arm increases, and the arm of force for reducing part reduces, and entire wing (4) forms opposite trimming moment；
The fuselage (5) of the unmanned plane is inverted diherdral configuration, after unmanned plane imbalance pitching, the power of fuselage (5) raised portion
Arm increases, and the arm of force for reducing part reduces, and entire fuselage (5) forms opposite trimming moment.
2. the method according to claim 1, wherein first engine (1) and the second engine (2) all produce
Raw pulling force.
3. the method according to claim 1, wherein first engine (1) and the second engine (2) all produce
Raw thrust.
4. the method according to claim 1, wherein first engine (1) generates thrust, second hair
Motivation (2) generates pulling force.
5. according to claim 1 to method described in 4 any one, which is characterized in that between the step C and step D also
The following steps are included:
C1, first engine (1) and or the second engine (2) from vertical direction to horizontal direction turn to, the unmanned plane
It is converted from plumbness course line to horizontal course line；
D1, first engine (1) and or the second engine (2) from horizontal direction to vertical direction turn to, the unmanned plane
It is converted from horizontality course line to vertical course line.
6. the layout system that a kind of unmanned plane stablizes VTOL, which is characterized in that apply a kind of nothing described in claim 1
The method of man-machine stable VTOL has the first engine (1) and the second engine (2), first engine (1) and the
Engine with two (2) is located at by the diagonal position of the rectangle on horizontal plane centered on drone center of unmanned aerial vehicle (3).
7. the layout system that a kind of unmanned plane according to claim 6 stablizes VTOL, which is characterized in that it is described nobody
The wing (4) of machine is inverted diherdral configuration, and the fuselage (5) of the unmanned plane is also inverted diherdral configuration.
8. the layout system that a kind of unmanned plane according to claim 7 stablizes VTOL, which is characterized in that first starts
Machine (1) and the second engine (2) dead axle are connected on fuselage (5), can around axis between vertically and horizontally any angle
Rotation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410649162.8A CN105644782B (en) | 2014-11-14 | 2014-11-14 | A kind of unmanned plane stablizes the method and layout of VTOL |
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| CN201410649162.8A CN105644782B (en) | 2014-11-14 | 2014-11-14 | A kind of unmanned plane stablizes the method and layout of VTOL |
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| Publication Number | Publication Date |
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| CN105644782A CN105644782A (en) | 2016-06-08 |
| CN105644782B true CN105644782B (en) | 2019-10-18 |
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| CN106927048A (en) * | 2017-03-10 | 2017-07-07 | 佛山市神风航空科技有限公司 | A kind of combined type aerocraft system and its landing mode |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6719244B1 (en) * | 2003-02-03 | 2004-04-13 | Gary Robert Gress | VTOL aircraft control using opposed tilting of its dual propellers or fans |
| KR20130005501A (en) * | 2011-07-06 | 2013-01-16 | 부산대학교 산학협력단 | Unmanned air vehicle |
| CN102951290A (en) * | 2012-10-31 | 2013-03-06 | 西安韦德沃德航空科技有限公司 | Non-co-axial multi-rotor aircraft and attitude control method thereof |
| CN103387051A (en) * | 2013-07-23 | 2013-11-13 | 中国科学院长春光学精密机械与物理研究所 | Four-rotor aircraft |
| CN104085532A (en) * | 2014-07-01 | 2014-10-08 | 北京航空航天大学 | Layout scheme and control method of tilt rotor transport aircraft |
-
2014
- 2014-11-14 CN CN201410649162.8A patent/CN105644782B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6719244B1 (en) * | 2003-02-03 | 2004-04-13 | Gary Robert Gress | VTOL aircraft control using opposed tilting of its dual propellers or fans |
| KR20130005501A (en) * | 2011-07-06 | 2013-01-16 | 부산대학교 산학협력단 | Unmanned air vehicle |
| CN102951290A (en) * | 2012-10-31 | 2013-03-06 | 西安韦德沃德航空科技有限公司 | Non-co-axial multi-rotor aircraft and attitude control method thereof |
| CN103387051A (en) * | 2013-07-23 | 2013-11-13 | 中国科学院长春光学精密机械与物理研究所 | Four-rotor aircraft |
| CN104085532A (en) * | 2014-07-01 | 2014-10-08 | 北京航空航天大学 | Layout scheme and control method of tilt rotor transport aircraft |
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Address after: 723213 Liulin Town, Chenggu County, Hanzhong City, Shaanxi Province Patentee after: Shaanxi Aircraft Industry Co.,Ltd. Address before: Box 34, Hanzhong City, Shaanxi Province, 723213 Patentee before: Shaanxi Aircraft INDUSTRY(GROUP) Co.,Ltd. |