CN105775118A - Unmanned aerial vehicle resistant to interference in hovering and control method - Google Patents
Unmanned aerial vehicle resistant to interference in hovering and control method Download PDFInfo
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- CN105775118A CN105775118A CN201610283022.2A CN201610283022A CN105775118A CN 105775118 A CN105775118 A CN 105775118A CN 201610283022 A CN201610283022 A CN 201610283022A CN 105775118 A CN105775118 A CN 105775118A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/26—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft characterised by provision of fixed wings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/10—Wings
- B64U30/12—Variable or detachable wings, e.g. wings with adjustable sweep
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Abstract
The invention relates to the field of unmanned aerial vehicles and provides an unmanned aerial vehicle resistant to interference in hovering and a control method. The unmanned aerial vehicle resistant to interference in hovering comprises a body and a master control unit in the body, auxiliary propellers and a wing gliding device are arranged around the body, the auxiliary propellers are controlled by the master control unit, and rotation planes of the auxiliary propellers are perpendicular to the horizontal plane and adjustable in direction. The wing gliding device is mounted on a driving device, the driving device operates to drive the wing gliding device to be in an expanding or folding state, and a sensing device is further mounted on the body. By addition of the auxiliary device to the unmanned aerial vehicle, strenuous vibration of the unmanned aerial vehicle in hovering is avoided, so that the unmanned aerial vehicle can be in a stable state. Therefore, the problem that the unmanned aerial vehicle is prone to vibration under influences of external environments is solved, and reliability of the unmanned aerial vehicle in hovering is improved.
Description
Technical field
The present invention relates to unmanned plane field, jamproof unmanned plane device and control method when hovering particularly to one.
Background technology
Unmanned plane is also called UAV, Remote or from cruiser, is the portability load aircraft that a kind of cost is low, loss is little, mobility is high, has been widely used in military affairs, scientific research, the multiple fields such as civilian.In military field, unmanned plane can be applicable to enemy's situation investigation, communication relaying, early warning, target drone training etc., even can directly form unmanned plane formation and carry out enemy is fought；At scientific research field, can be used for the sampling under the feasibility Simulation is assessed of the checking of flight test, new equipment and new departure, the acquisition of Aerial Images, adverse circumstances and condition monitoring etc.；At civil area, unmanned plane can be used for agricultural Soil Moisture Monitoring, agricultural fertilizer, the condition of a disaster analysis, project supervision, power network line tour etc..In some practical applications, unmanned air vehicle technique has been achieved for goodish achievement, and people recognize its great potential and effect gradually.
Four rotor wing unmanned aerial vehicles are as the one of unmanned plane, by being arranged on the main screw on four tops of cross rack construction, produce aerodynamic force, control the flare maneuver of four rotor wing unmanned aerial vehicles, VTOL can be realized, freely hover, advance, fall back, the multiple aerial statue such as super low altitude flight.As shown in Figure 1, four main screws are in sustained height plane, first main screw 1 and the 3rd main screw 3 rotate counterclockwise, second main screw 2 and the 4th main screw 4 turn clockwise, by changing the rotating speed of different main screw, the control to four rotor wing unmanned aerial vehicle flight attitudes can be realized.Four rotor wing unmanned aerial vehicles are with the profile of its novelty and compact structure, it is believed that be one the most simply, stability contorting form the most intuitively.
In the process of actually used unmanned plane, except the takeoff and landing stage, most operation process of unmanned plane are at airflight or floating state.In operation process, unmanned plane generally requires operation of hovering for a long time, such as monitors scanning, obtains Aerial Images, area monitoring location etc. clearly, and these hovering operations need unmanned plane held stationary state could complete task preferably.But when practical application, feature due to unmanned plane self structure, unmanned plane is made to be highly prone to the interference (such as wind speed) of external environment, in hovering process, often produce strenuous vibration, make the problems such as monitoring is inaccurate, image forming is unintelligible, zone location inaccuracy often occur, the hovering operation of unmanned plane is produced worse impact.
Summary of the invention
The problem very easily occurring to shake when it is an object of the invention to overcome unmanned plane existing in prior art aloft to hover and cause affecting unmanned plane operation quality, jamproof unmanned plane device and control method when providing one to hover, by increasing auxiliary device on unmanned plane, overcome the problem being highly prone to external environment impact and vibrations occur, unmanned plane is made to avoid strenuous vibration when hovering, and it is in relative plateau, improve unmanned plane hovering operation quality.
In order to realize foregoing invention purpose, the invention provides techniques below scheme:
Jamproof unmanned plane device during a kind of hovering, including body and the main control unit being arranged in body, auxiliary propeller and wing glider system it is also equipped with around described body, auxiliary propeller is controlled by main control unit, the Plane of rotation of described auxiliary propeller is perpendicular to horizontal plane, and the direction of the Plane of rotation of auxiliary propeller is adjustable, described wing glider system is installed on driving device, and expansion or rounding state it is in by driving device work strip motivation wing glider system, described body is also equipped with for measuring unmanned plane in level, speed in vertical both direction and the perception device of acceleration.
Unmanned plane is when hovering, the Plane of rotation of main screw is parallel to and horizontal plane, produce pulling force upwards in order to overcome the gravity of unmanned plane self, and the unmanned plane recorded according to perception device speed in vertical direction, acceleration change amount, the rotating speed of main screw is regulated by main control unit, thus eliminating the unmanned plane speed in vertical direction, acceleration change amount when unsettled, the vibrations in vertical direction when minimizing unmanned plane is unsettled.Auxiliary propeller it is additionally provided with around body, the Plane of rotation of auxiliary propeller is perpendicular to horizontal plane, the force direction of its offer is horizontal direction, when unmanned plane is unsettled, the unmanned plane recorded according to perception device speed in the horizontal direction, acceleration change amount, the rotating speed of auxiliary propeller is regulated by main control unit, thus eliminating the unmanned plane speed in horizontal direction, acceleration change amount when unsettled, the vibrations in horizontal direction when minimizing unmanned plane is unsettled.Simultaneously, unmanned plane speed in vertical all directions and component of acceleration is made to be minimized by main screw, auxiliary propeller makes unmanned plane speed in horizontal all directions and component of acceleration also be down to minimum simultaneously, by the control of main control unit, driving device work is made to be launched by wing glider system, owing to wing glider system area of section in the horizontal direction is bigger, the unmanned plane air drag suffered when vertical direction moves is bigger, therefore the speed of in the vertical direction unmanned plane and acceleration will not produce abrupt change, this just weaken unmanned plane unsettled time in the vertical direction vibrations, now, the vibrations of unmanned plane are finely tuned by main screw in the vertical direction, in the horizontal direction, by auxiliary propeller, each speed and component of acceleration are adjusted.Unmanned plane is taking off or landing phases, for the resistance being subject to when reducing unmanned plane takeoff and landing and interference, controls driving device by active cell, is drawn in by wing glider system.
Preferably, described auxiliary propeller is 4, is symmetrically arranged on 4 directions in cross frame, and is arranged in Frame end.4 auxiliary propellers are set, make 4 auxiliary propellers can be symmetrically arranged on 4 ends in cross frame, need not additionally increase mounting bracket, auxiliary propeller is identical with the number of main screw simultaneously, it is easy to control the active force on 4 directions, in order to adjust unmanned plane speed in the horizontal direction and acceleration.
Preferably, while the Plane of rotation of described auxiliary propeller is perpendicular to horizontal plane, it also is normal to the axis of institute's installation frame.The Plane of rotation of auxiliary propeller is adjusted to being perpendicular to frame axis, make two the auxiliary propeller Plane of rotations being installed on same frame axis direction parallel, the active force provided reaches to maximize, realize the maximization of auxiliary propeller work efficiency, it is simple to regulate unmanned plane active force in the horizontal direction.
Preferably, described auxiliary propeller is additionally provided with adjustable base, and for adjusting the Plane of rotation direction of auxiliary propeller, described auxiliary propeller is installed in frame by adjustable base.Being provided with adjustable base in frame, adjustable base in order to change the direction of auxiliary propeller, can make unmanned plane function in a variety of contexts obtain optimization.Under Stationary Random Environments, the Plane of rotation direction of auxiliary propeller is adjusted for being parallel to horizontal plane by adjustable base, auxiliary propeller is made to produce the active force in vertical direction, pulling force upwards is provided for unmanned plane together with main screw, now, have only to the speed in vertical direction of the unmanned plane measured by perception device, acceleration change amount, carry out the adjustment in vertical direction by main control unit and can realize steady hovering, reach to reduce the purpose of vibrations；nullUnder wind speed mal-condition such as bigger grade，The Plane of rotation direction being adjusted auxiliary propeller by adjustable base is perpendicular to horizontal plane，Auxiliary propeller is made to produce the active force in horizontal direction，Now，Main screw provides pulling force upwards in order to overcome the gravity of unmanned plane self，And the speed that the unmanned plane recorded according to perception device is in vertical direction、Acceleration change amount，By regulating the mode of main rotor system RPMs，Eliminate unmanned plane change of velocity and acceleration in vertical direction when unsettled，Reduce unmanned plane vibrations in vertical direction，The Plane of rotation of auxiliary propeller is perpendicular to horizontal plane simultaneously，The force direction of its offer is horizontal direction，The unmanned plane recorded according to perception device speed in the horizontal direction、Acceleration change amount，The rotating speed of auxiliary propeller is regulated by main control unit，Thus eliminating unmanned plane speed in horizontal direction when unsettled、Acceleration change amount，Vibrations in horizontal direction when minimizing unmanned plane is unsettled.
Preferably, described adjustable base uses steering wheel.Helm control circuit plate receives the control signal from main control unit, control electric machine rotation, driven by motor series of gears group, drives to output steering wheel after deceleration, the output shaft of steering wheel and what position feedback potentiometer was connected to, while steering wheel rotates, driving position feedback potentiometer, potentiometer will export a voltage signal to control circuit plate, feed back, then control circuit buttress determines rotation direction and the speed of motor according to position, stops thus reaching target.Use steering wheel as adjustable base, it is possible to adjust the direction of the Plane of rotation of auxiliary propeller preferably according to the control signal of main control unit, in order to realize effective control of auxiliary propeller force direction.
Preferably, described wing glider system includes rotating shaft and wing, and the side of described wing is fixed in frame, opposite side is connected with rotating shaft, described rotating shaft level is fixed on driving device, rotating shaft drive wing rotate in the horizontal direction, and wing launch after formed face and plane-parallel.Rotating shaft level is fixed on driving device, driving wing to rotate in the horizontal direction during axis of rotation, make the face after wing expansion and plane-parallel, the resistance making unmanned plane in the vertical direction is bigger, the sudden change of speed and acceleration will not occur, and when making unmanned plane hover, capacity of resisting disturbance is stronger.
Preferably, described unmanned plane device is provided with 4 identical wings and 4 corresponding rotating shafts, is evenly spaced in 4 quadrant areas of cross frame, drives 4 wings to launch simultaneously or 4 rotating shafts drawing in are connected on same driving device.Wing and corresponding rotating shaft is all arranged in four quadrant areas of cross frame, by simultaneously, synchronous expansion, the active force that unmanned plane in the vertical direction is subject to can be made more balanced, it is prevented that the moment that unmanned plane launches at wing glider system or draws in, comparatively violent vibrations occur.
Preferably, described unmanned plane device is also configured with pulse-width modulator.Use pulse-width modulator that the main screw of unmanned plane all directions and the rotating speed of auxiliary propeller are accurately adjusted, by adjusting the rotating speed of each main screw, control speed and the acceleration of fuselage in the vertical direction, the speed and the acceleration that make body in the vertical direction are zero, simultaneously by adjusting the rotating speed of each auxiliary propeller, control fuselage speed in the horizontal direction and acceleration, making body speed in the horizontal direction and acceleration is zero, guarantee that unmanned plane speed in all directions and acceleration are zero, unmanned plane device is made to avoid the occurrence of vibrations when hovering, it is in plateau.
Correspondingly, present invention also offers the control method of jamproof unmanned plane device during a kind of hovering, the method comprises the following steps:
A, unmanned plane are when standby for takeoff, close wing glider system, and main screw and auxiliary propeller is opened by main control unit, main screw provides pulling force upwards for unmanned plane, in order to overcome unmanned plane self and to carry the gravity of load, auxiliary propeller provides the active force in horizontal direction for unmanned plane, and in order to the active force overcoming unmanned plane to be subject in the horizontal direction, unmanned plane rises under the effect of main screw and auxiliary propeller；
B, when unmanned plane rise to specified altitude assignment carry out hovering operation time, unmanned plane velocity variable in vertical direction, acceleration change amount is recorded by perception device, adjusted the rotating speed of main screw by main control unit, making unmanned plane speed in vertical direction and acceleration is zero；
C, being recorded unmanned plane velocity variable in the horizontal direction and acceleration change amount by perception device, main control unit adjust the rotating speed of auxiliary propeller, making unmanned plane speed in the horizontal direction and acceleration is zero；
D, being controlled driving device by main control unit and rotate, the drive shaft turns of driving device drives the axis of rotation of wing glider system, so that wing launches, makes unmanned plane hover in certain altitude position operation；
When e, unmanned plane are performed continuously over hovering operation, by main control unit, the rotating speed of main screw and auxiliary propeller is finely tuned, make unmanned plane speed in the vertical direction and the horizontal direction, acceleration be zero；
F, unmanned plane fulfil assignment after preparation landing, logical main control unit controls driving device and rotates, and drives axle to drive the axis of rotation of wing glider system, makes wing draw in, control main screw and the auxiliary propeller of unmanned plane again through main control unit, make unmanned plane safety and steady land.
Take aforesaid way, making unmanned plane speed in the vertical direction and the horizontal direction, acceleration is zero, reduce unmanned plane unsettled time vibrations in the vertical direction and the horizontal direction, simultaneously, control driving device by main control unit to rotate, wing glider system is made to open, unmanned plane area of section in the horizontal direction is bigger, its suffered air drag is also bigger, therefore the speed of in the vertical direction unmanned plane and acceleration will not produce abrupt change, this just weaken unmanned plane unsettled time in the vertical direction vibrations.
Preferably, described auxiliary propeller is provided with the adjustable base for adjusting auxiliary propeller Plane of rotation direction, auxiliary propeller is installed in frame by adjustable base, in step a, by adjustable base, auxiliary propeller adjusted and horizontal plane parallel to its Plane of rotation, auxiliary propeller is made to provide pulling force upwards together with main screw, in order to overcome unmanned plane deadweight and to carry the gravity of load.
Take aforesaid way, the auxiliary propeller of unmanned plane plays a role under several work environment, when the external environments such as wind speed is bigger are severe, adjust auxiliary propeller, make its Plane of rotation be perpendicular to horizontal plane, active force is provided in the horizontal direction, make unmanned plane capacity of resisting disturbance when taking off strong, when hovering, reduce vibrations；When the external environment such as calm is steady, adjust auxiliary propeller so that it is Plane of rotation is parallel to horizontal plane, there is provided the active force in vertical direction for unmanned plane together with main screw, make unmanned plane quickly take off, it is to avoid to be interfered, unmanned plane is when hovering, it is only necessary to be adjusted in the vertical direction.
Compared with prior art, beneficial effects of the present invention:
1, it is arranged around auxiliary propeller at unmanned plane body, the Plane of rotation of auxiliary propeller is perpendicular to horizontal plane, it is also equipped with for measuring unmanned plane vertically on body simultaneously, speed in horizontal both direction and the perception device of acceleration, the unmanned plane recorded according to perception device is vertically, speed in horizontal both direction and acceleration change amount, the rotating speed of main screw and auxiliary propeller is regulated respectively by main control unit, thus it is vertical when unsettled to eliminate unmanned plane, speed in horizontal both direction and acceleration change amount, vibrations when minimizing unmanned plane is unsettled；
2, auxiliary propeller is installed on the adjustable base for adjusting and change auxiliary propeller Plane of rotation direction, and adjustable base is in order to change the direction of auxiliary propeller, and when making unmanned plane hovering in a variety of contexts, capacity of resisting disturbance is improved.Under Stationary Random Environments, the Plane of rotation direction of auxiliary propeller is adjusted to and is parallel to horizontal plane, auxiliary propeller is made to provide pulling force upwards for unmanned plane together with main screw, have only to the speed in vertical direction of the unmanned plane measured by perception device, acceleration change amount, carry out the adjustment in vertical direction by main control unit and can realize steady hovering, reach to reduce the purpose of vibrations；Under wind speed mal-condition such as bigger grade, the Plane of rotation direction of auxiliary propeller is adjusted to and is perpendicular to horizontal plane, the unmanned plane recorded according to perception device speed in the horizontal direction, acceleration change amount, the rotating speed of auxiliary propeller is regulated by main control unit, eliminate the unmanned plane speed in horizontal direction, acceleration change amount when unsettled, vibrations in horizontal direction when minimizing unmanned plane is unsettled, rely on the rotating speed adjusting main screw to reduce the vibrations of unmanned plane in vertical direction；
3, on unmanned plane, wing glider system it is provided with; make unmanned plane in hovering or flight course; wing glider system is in deployed condition; it launches, and plane is parallel and horizontal plane; now owing to the air drag that unmanned plane is suffered when vertical direction moves is bigger; therefore the speed of in the vertical direction unmanned plane and acceleration will not produce abrupt change, this just weaken unmanned plane unsettled time in the vertical direction vibrations；
4, in four quadrant areas of unmanned plane cross frame, it is uniformly arranged 4 rotating shafts of 4 identical wings and correspondence, make the active force that unmanned plane in the vertical direction is subject to more balanced, the moment preventing unmanned plane from launching at wing glider system or drawing in, there are comparatively violent vibrations.
Accompanying drawing illustrates:
Fig. 1 is existing four rotor wing unmanned aerial vehicle structure principle charts.
Fig. 2 when being the hovering of the present invention jamproof unmanned plane device launch time structure principle chart.
Structure principle chart when jamproof unmanned plane device draws in when Fig. 3 is hovering in Fig. 2.
Labelling in figure: 1-the first main screw, 2-the second main screw, 3-the 3rd main screw, 4-the 4th main screw, 5-the first auxiliary propeller, 6-the second auxiliary propeller, 7-the 3rd auxiliary propeller, 8-the 4th auxiliary propeller, 9-the first adjustable base, 10-the second adjustable base, 11-the 3rd adjustable base, 12-the 4th adjustable base, 13-the first wing, 14-the second wing, 15-the 3rd wing, 16-the 4th wing, 17-the first rotating shaft, 18-the second rotating shaft, 19-the 3rd rotating shaft, 20-the 4th rotating shaft, 21-driving device.
Detailed description of the invention
Below in conjunction with test example and detailed description of the invention, the present invention is described in further detail.But this should not being interpreted as, the scope of the above-mentioned theme of the present invention is only limitted to below example, and all technology realized based on present invention belong to the scope of the present invention.
Embodiment
Situation when the present embodiment aloft hovers for unmanned plane.
As shown in Figure 2, jamproof unmanned plane device during hovering, including body and the main control unit being arranged in body, auxiliary propeller and wing glider system it is also equipped with around described body, auxiliary propeller is controlled by main control unit, the Plane of rotation of described auxiliary propeller is perpendicular to horizontal plane, and the Plane of rotation direction of auxiliary propeller is adjustable, described wing glider system is installed on driving device, and expansion or rounding state it is in by driving device 21 work strip motivation wing glider system, described body is also equipped with for measuring unmanned plane in level, speed in vertical both direction and the perception device of acceleration.
Unmanned plane is when hovering, the Plane of rotation of main screw is parallel to and horizontal plane, produce pulling force upwards in order to overcome the gravity of unmanned plane self, and the unmanned plane recorded according to perception device speed in vertical direction, acceleration change amount, the rotating speed of main screw is regulated by main control unit, thus eliminating the unmanned plane speed in vertical direction, acceleration change amount when unsettled, the vibrations in vertical direction when minimizing unmanned plane is unsettled.Auxiliary propeller it is additionally provided with around body, the Plane of rotation of auxiliary propeller is perpendicular to horizontal plane, the force direction of its offer is horizontal direction, when unmanned plane is unsettled, the unmanned plane recorded according to perception device speed in the horizontal direction, acceleration change amount, the rotating speed of auxiliary propeller is regulated by main control unit, thus eliminating the unmanned plane speed in horizontal direction, acceleration change amount when unsettled, the vibrations in horizontal direction when minimizing unmanned plane is unsettled.Simultaneously, unmanned plane speed in vertical all directions and component of acceleration is made to be minimized by main screw, auxiliary propeller makes unmanned plane speed in horizontal all directions and component of acceleration also be down to minimum simultaneously, by the control of main control unit, driving device is made to work, wing glider system is launched by the drive shaft turns of driving device, owing to wing glider system area of section in the horizontal direction is bigger, the unmanned plane air drag suffered when vertical direction moves is bigger, therefore the speed of in the vertical direction unmanned plane and acceleration will not produce abrupt change, this just weaken unmanned plane unsettled time in the vertical direction vibrations, now, the vibrations of unmanned plane are finely tuned by main screw in the vertical direction, in the horizontal direction, by auxiliary propeller, each speed and component of acceleration are adjusted.Unmanned plane is taking off or landing phases, as it is shown on figure 3, for the resistance being subject to when reducing unmanned plane takeoff and landing and interference, control driving device work by active cell, make the drive shaft turns of driving device, drives wing glider system to draw in.
Auxiliary propeller is 4, it is symmetrically arranged on 4 directions in cross frame, and it is arranged in Frame end, while the Plane of rotation of auxiliary propeller is perpendicular to horizontal plane, it also is normal to the axis of institute's installation frame, described auxiliary propeller is additionally provided with adjustable base, and for adjusting the Plane of rotation direction of auxiliary propeller, auxiliary propeller is installed in frame by adjustable base.
As shown in Figure 2, first main screw the 1, second main screw the 2, the 3rd main screw the 3, the 4th main screw 4 is arranged in cross rack construction, regard the plane of arrangement of cross frame as rectangular coordinate plane, then the first main screw 1 and the second main screw 3 are arranged in the positive negative direction of X-axis, from overlooking direction, main screw direction of rotation is rotate counterclockwise, and Plane of rotation is parallel to horizontal plane, pulling force upwards is provided, in order to overcome the gravity of unmanned plane self for unmanned plane.Second main screw 2 and the 4th main screw 4 are arranged in the positive negative direction of Y-axis, from overlooking direction, main screw direction of rotation is clockwise, Plane of rotation is parallel to horizontal plane, pulling force upwards is provided for unmanned plane, in order to overcome the gravity of unmanned plane self, first auxiliary propeller 5 is installed in the cross frame in outside of the first main screw 1 by the first adjustable base 9, and the second auxiliary propeller 6 is installed in the cross frame in outside of the second main screw 2 by the second adjustable base 10.3rd auxiliary propeller 7 is installed in the cross frame in outside of the 3rd main screw 3 by the 3rd adjustable base 11,4th auxiliary propeller 8 is installed in the cross frame in outside of the 4th main screw 4 by the 4th adjustable base 12, take this construction features, unmanned plane is made need not additionally to increase mounting bracket when installing auxiliary propeller, auxiliary propeller is identical with the number of main screw simultaneously, it is easy to control the active force on 4 directions, in order to adjust unmanned plane speed in the horizontal direction and acceleration.Auxiliary propeller is operationally, respectively from the positive direction of X-axis, Y-axis, first auxiliary propeller 5 and the 4th auxiliary propeller 8 are for rotating counterclockwise, and the second auxiliary propeller 6 and the 3rd auxiliary propeller 7, for rotating clockwise, provide the active force in horizontal direction for unmanned plane simultaneously.
4 auxiliary propellers are set, make 4 auxiliary propellers can be symmetrically arranged on 4 ends in cross frame, need not additionally increase mounting bracket, auxiliary propeller is identical with the number of main screw simultaneously, it is easy to control the active force on 4 directions, in order to adjust unmanned plane speed in the horizontal direction and acceleration.
The Plane of rotation of auxiliary propeller adjusts to being perpendicular to frame axis, make two the auxiliary propeller Plane of rotations being installed on same frame axis direction parallel, the active force provided reaches to maximize, realize the maximization of auxiliary propeller work efficiency, it is easy to regulate unmanned plane active force in the horizontal direction, being provided with adjustable base in frame, adjustable base in order to change the direction of auxiliary propeller, can make unmanned plane function in a variety of contexts obtain optimization simultaneously.Under Stationary Random Environments, the Plane of rotation direction of auxiliary propeller is adjusted for being parallel to horizontal plane by adjustable base, auxiliary propeller is made to produce the active force in vertical direction, pulling force upwards is provided for unmanned plane together with main screw, now, have only to the speed in vertical direction of the unmanned plane measured by perception device, acceleration change amount, carry out the adjustment in vertical direction by main control unit and can realize steady hovering, reach to reduce the purpose of vibrations；nullUnder wind speed mal-condition such as bigger grade，The Plane of rotation direction being adjusted auxiliary propeller by adjustable base is perpendicular to horizontal plane，Auxiliary propeller is made to produce the active force in horizontal direction，Now，Main screw provides pulling force upwards in order to overcome the gravity of unmanned plane self，And the speed that the unmanned plane recorded according to perception device is in vertical direction、Acceleration change amount，By regulating the mode of main rotor system RPMs，Eliminate unmanned plane change of velocity and acceleration in vertical direction when unsettled，Reduce unmanned plane vibrations in vertical direction，The Plane of rotation of auxiliary propeller is perpendicular to horizontal plane simultaneously，The force direction of its offer is horizontal direction，The unmanned plane recorded according to perception device speed in the horizontal direction、Acceleration change amount，The rotating speed of auxiliary propeller is regulated by main control unit，Thus eliminating unmanned plane speed in horizontal direction when unsettled、Acceleration change amount，Vibrations in horizontal direction when minimizing unmanned plane is unsettled.
Wing glider system includes rotating shaft and wing, the side of wing is fixed in frame, opposite side is connected with rotating shaft, rotating shaft level is fixed on driving device 21, rotating shaft drive wing rotate in the horizontal direction, and wing launch after formed face and plane-parallel, driving device 21 is installed on frame central, worked by driving device 21, drive rotating shaft when body center moves in a circle, wing is launched or draws in.By being rigidly connected of rotating shaft and driving device, quickly wing glider system can be launched or draw in, unmanned plane device is provided with 4 identical wings and 4 corresponding rotating shafts, it is evenly spaced in 4 quadrant areas of cross frame, as shown in Figure 3, first wing 13 and the first rotating shaft 17 are arranged in fourth quadrant region, second wing 14 and the second rotating shaft 18 are arranged in first quartile region, 3rd wing 15 and the 3rd rotating shaft 19 are arranged in the second quadrant area, 4th wing 16 and the 4th rotating shaft 20 are arranged in third quadrant region, all of wing connects with corresponding rotating shaft, each rotating shaft drives corresponding wing to launch or draws in, and 4 rotating shafts are connected on same driving device, worked by driving device 21, 4 wings launch simultaneously or draw in simultaneously.Wing and corresponding rotating shaft is all arranged in four quadrant areas of cross frame, by simultaneously, synchronous expansion, the active force that unmanned plane in the vertical direction is subject to can be made more balanced, it is prevented that the moment that unmanned plane launches at wing glider system or draws in, comparatively violent vibrations occur.
In the present embodiment, adjustable base uses steering wheel, helm control circuit plate receives the control signal from main control unit, control electric machine rotation, driven by motor series of gears group, output steering wheel is driven to after deceleration, the output shaft of steering wheel and what position feedback potentiometer was connected to, while steering wheel rotates, driving position feedback potentiometer, potentiometer will export a voltage signal to control circuit plate, feed back, then control circuit buttress determines rotation direction and the speed of motor according to position, stops thus reaching target.Use steering wheel as adjustable base, it is possible to adjust the direction of the Plane of rotation of auxiliary propeller preferably according to the control signal of main control unit, in order to realize effective control of auxiliary propeller force direction.
Described unmanned plane device is also configured with pulse-width modulator.Use pulse-width modulator that the main screw of unmanned plane all directions and the rotating speed of auxiliary propeller are accurately adjusted, by adjusting the rotating speed of each main screw, control speed and the acceleration of fuselage in the vertical direction, the speed and the acceleration that make body in the vertical direction are zero, simultaneously by adjusting the rotating speed of each auxiliary propeller, control fuselage speed in the horizontal direction and acceleration, making body speed in the horizontal direction and acceleration is zero, guarantee that unmanned plane speed in all directions and acceleration are zero, unmanned plane device is made to avoid the occurrence of vibrations when hovering, it is in plateau.
When being practically carrying out this device, implement by step according to following method:
A, unmanned plane are when standby for takeoff, close wing glider system, and main screw and auxiliary propeller is opened by main control unit, main screw provides pulling force upwards for unmanned plane, in order to overcome unmanned plane self and to carry the gravity of load, auxiliary propeller provides the active force in horizontal direction for unmanned plane, and in order to the active force overcoming unmanned plane to be subject in the horizontal direction, unmanned plane rises under the effect of main screw and auxiliary propeller；
B, when unmanned plane rise to specified altitude assignment carry out hovering operation time, unmanned plane velocity variable in vertical direction, acceleration change amount is recorded by perception device, adjusted the rotating speed of main screw by main control unit, making unmanned plane speed in vertical direction and acceleration is zero；
C, being recorded unmanned plane velocity variable in the horizontal direction and acceleration change amount by perception device, main control unit adjust the rotating speed of auxiliary propeller, making unmanned plane speed in the horizontal direction and acceleration is zero；
D, being controlled driving device by main control unit and rotate, the drive shaft turns of driving device drives the axis of rotation of wing glider system, so that wing launches, makes unmanned plane hover in certain altitude position operation；
When e, unmanned plane are performed continuously over hovering operation, by main control unit, the rotating speed of main screw and auxiliary propeller is finely tuned, make unmanned plane speed in the vertical direction and the horizontal direction, acceleration be zero；
F, unmanned plane fulfil assignment after preparation landing, logical main control unit controls driving device and rotates, and drives axle to drive the axis of rotation of wing glider system, makes wing draw in, control main screw and the auxiliary propeller of unmanned plane again through main control unit, make unmanned plane safety and steady land.
Above-mentioned steps is taked to control unmanned plane, making unmanned plane speed in the vertical direction and the horizontal direction, acceleration is zero, reduce unmanned plane unsettled time vibrations in the vertical direction and the horizontal direction, simultaneously, control driving device by main control unit to rotate, wing glider system is made to open, unmanned plane area of section in the horizontal direction is bigger, its suffered air drag is also bigger, therefore the speed of in the vertical direction unmanned plane and acceleration will not produce abrupt change, this just weaken unmanned plane unsettled time in the vertical direction vibrations.
In step a, owing to auxiliary propeller is provided with the adjustable base for adjusting auxiliary propeller Plane of rotation direction, and auxiliary propeller is installed in frame by adjustable base, by adjustable base, auxiliary propeller can be adjusted and horizontal plane parallel to its Plane of rotation, auxiliary propeller is made to provide pulling force upwards together with main screw, in order to overcome unmanned plane deadweight and to carry the gravity of load；When the external environments such as wind speed is bigger are more severe, by adjusting auxiliary propeller so that it is Plane of rotation is perpendicular to horizontal plane, provides active force in the horizontal direction, make unmanned plane capacity of resisting disturbance when taking off strong, when hovering, reduce vibrations.
Claims (10)
1. jamproof unmanned plane device during a hovering, including body and the main control unit being arranged in body, it is characterized in that, auxiliary propeller and wing glider system are also installed around described body, auxiliary propeller is controlled by main control unit, the Plane of rotation of described auxiliary propeller is perpendicular to horizontal plane, and the direction of the Plane of rotation of auxiliary propeller is adjustable, described wing glider system is installed on driving device, and expansion or rounding state it is in by driving device work strip motivation wing glider system, described body is also equipped with for measuring unmanned plane in level, speed in vertical both direction and the perception device of acceleration.
2. jamproof unmanned plane device during hovering according to claim 1, it is characterised in that described auxiliary propeller is 4, is symmetrically arranged on 4 directions in cross frame, and is arranged in Frame end.
3. jamproof unmanned plane device during hovering according to claim 2, it is characterised in that while the Plane of rotation of described auxiliary propeller is perpendicular to horizontal plane, also be normal to the axis of institute's installation frame.
4. jamproof unmanned plane device during hovering according to claim 2, it is characterised in that described auxiliary propeller is additionally provided with adjustable base, for adjusting the Plane of rotation direction of auxiliary propeller, described auxiliary propeller is installed in frame by adjustable base.
5. jamproof unmanned plane device during hovering according to claim 4, it is characterised in that described adjustable base uses steering wheel.
6. jamproof unmanned plane device during hovering according to claim 1, it is characterized in that, described wing glider system includes rotating shaft and wing, the side of described wing is fixed in frame, opposite side is connected with rotating shaft, described rotating shaft level is fixed on driving device, rotating shaft drive wing rotate in the horizontal direction, and wing launch after formed face and plane-parallel.
7. jamproof unmanned plane device during hovering according to claim 6, it is characterized in that, unmanned plane device is provided with 4 identical wings and 4 corresponding rotating shafts, it is evenly spaced in 4 quadrant areas of cross frame, drives 4 wings to launch simultaneously or 4 rotating shafts drawing in are connected on same driving device.
8. jamproof unmanned plane device time according to hovering one of claim 3,5 or 7 Suo Shu, it is characterised in that unmanned plane device is also configured with pulse-width modulator.
9. the control method of jamproof unmanned plane device when hovering, it is characterised in that the control method of jamproof unmanned plane device during according to hovering one of claim 1-8 Suo Shu, comprises the following steps:
A, unmanned plane are when standby for takeoff, close wing glider system, and main screw and auxiliary propeller is opened by main control unit, main screw provides pulling force upwards for unmanned plane, in order to overcome unmanned plane self and to carry the gravity of load, auxiliary propeller provides the active force in horizontal direction for unmanned plane, and in order to the active force overcoming unmanned plane to be subject in the horizontal direction, unmanned plane rises under the effect of main screw and auxiliary propeller；
B, when unmanned plane rise to specified altitude assignment carry out hovering operation time, unmanned plane velocity variable in vertical direction, acceleration change amount is recorded by perception device, adjusted the rotating speed of main screw by main control unit, making unmanned plane speed in vertical direction and acceleration is zero；
C, being recorded unmanned plane velocity variable in the horizontal direction and acceleration change amount by perception device, main control unit adjust the rotating speed of auxiliary propeller, making unmanned plane speed in the horizontal direction and acceleration is zero；
D, being controlled driving device by main control unit and rotate, the drive shaft turns of driving device drives the axis of rotation of wing glider system, so that wing launches, makes unmanned plane hover in certain altitude position operation；
When e, unmanned plane are performed continuously over hovering operation, by main control unit, the rotating speed of main screw and auxiliary propeller is finely tuned, make unmanned plane speed in the vertical direction and the horizontal direction, acceleration be zero；
F, unmanned plane fulfil assignment after preparation landing, logical main control unit controls driving device and rotates, and drives axle to drive the axis of rotation of wing glider system, makes wing draw in, control main screw and the auxiliary propeller of unmanned plane again through main control unit, make unmanned plane safety and steady land.
10. the control method of jamproof unmanned plane device during hovering according to claim 9, it is characterized in that, described auxiliary propeller is provided with the adjustable base for adjusting auxiliary propeller Plane of rotation direction, auxiliary propeller is installed in frame by adjustable base, in step a, by adjustable base, auxiliary propeller adjusted and horizontal plane parallel to its Plane of rotation, auxiliary propeller is made to provide pulling force upwards together with main screw, in order to overcome unmanned plane deadweight and to carry the gravity of load.
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