CN105857595A - Small-size aircraft system based on cradle head - Google Patents
Small-size aircraft system based on cradle head Download PDFInfo
- Publication number
- CN105857595A CN105857595A CN201610258513.1A CN201610258513A CN105857595A CN 105857595 A CN105857595 A CN 105857595A CN 201610258513 A CN201610258513 A CN 201610258513A CN 105857595 A CN105857595 A CN 105857595A
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- Prior art keywords
- cloud terrace
- control
- propeller
- motor
- fuselage
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Classifications
-
- 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
- B64C27/10—Helicopters with two or more rotors arranged coaxially
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Toys (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a small-size aircraft system based on a cradle head, comprising a rack, a sensor box, a cradle head rolling rudder, a cradle head pitching rudder, a cradle head outer framework, a cradle head inner framework, an upper airscrew, a lower airscrew, an upper airscrew drive motor, a lower airscrew drive motor, a control unit, a telescopic rod and a pod. The aircraft system can realize complete control on the pose of an aircraft by pose adjustment on the cradle head and control on the revolving speed of the airscrews; the yaw angle of an aircraft body is controlled by reaction torque which is generated by the differential rotation of the upper and lower airscrews; the pitching angle and the rolling angle of the airscrews are realized by the rudders driving the cradle head to rotate; control on a spatial position is realized by the airscrew drive motors and pose adjustment on the cradle head. The small-size aircraft system is simple and reliable in design, and clear and explicit in structure; while expanding the existing rotor-type flight structure and control schemes, the small-size aircraft system is also a superior space carrier vehicle, and has considerable practical value.
Description
Technical field
The present invention proposes a kind of small aircraft system based on The Cloud Terrace, it is proposed that one
Plant the physical arrangement of novel rotor class aircraft, and give corresponding control program, belong to
In rotor class aircraft field.
Background technology
Along with the development of control theory, unmanned vehicle is also closed by various countries' researcher
Note, creates aircraft miscellaneous in the world, occupation of land simple for wherein frame for movement
Volume little rotor class aircraft is the most noticeable.But it is that the attitude to fuselage is controlled mostly
System, changes the direction of propeller lift, thus realizes the control to aircraft space position.
But the controllable part that this method and structure just requires fuselage attitude is the most, it is right just to complete
The adjustment of posture.Housing construction and control algolithm is thus made to become complexity.Pin
Problem to above-mentioned existence, the present invention proposes a kind of small aircraft system based on The Cloud Terrace
System, this aerocraft system has six direction degree of freedom, it is often more important that physically,
The tradition gesture stability to fuselage is instead of by the gesture stability of The Cloud Terrace, the most simple and convenient.
Summary of the invention
It is an object of the invention to provide a kind of small aircraft system based on The Cloud Terrace, expand
Open up existing rotor class flight structure and control program, be also a superior space fortune simultaneously
Load instrument, has suitable practical value.
For achieving the above object, the present invention adopts the following technical scheme that, with reference to Fig. 1: include machine
Frame (1), sensor box (2), The Cloud Terrace roll control motor (3), The Cloud Terrace pitch-control motor (4),
The Cloud Terrace outside framework (5), The Cloud Terrace inner frame (6), upper propeller (7), lower propeller (8),
Upper propeller drive motor (9), lower propeller drive motor (10), control unit (11),
Expansion link (12), gondola (13)；The Cloud Terrace inner frame (6) is as the bearing of motor solid
Surely going up propeller drives motor (9), lower propeller to drive motor (10), and upper propeller drives
Galvanic electricity machine (9), lower propeller drive motor (10) centered by propeller rotating shaft and left and right
Symmetrical；The rotating shaft of lower propeller (8) is hollow structure so that upper propeller (7)
Rotating shaft can be through the rotating shaft of lower propeller (8), it is achieved upper propeller, lower propeller are coaxial
The independence of line rotates, and upper propeller drives motor (9) to drive upper spiral shell by gear drive
Rotation oar (7) rotates, and lower propeller drives motor (10) by gear drive band
Dynamic propeller (8) rotates；The Cloud Terrace roll control motor (3) is fixed in frame (1),
The Cloud Terrace pitch-control motor (4) is fixed on The Cloud Terrace outside framework (5)；The Cloud Terrace outside framework (5)
Rotating shaft is connected through frame (1) with The Cloud Terrace roll control motor (3), makes The Cloud Terrace roll control motor (3)
The Cloud Terrace outside framework (5) can be driven to carry out rolling movement；The rotating shaft of The Cloud Terrace inner frame (6) passes
The Cloud Terrace outside framework (5) is connected with The Cloud Terrace pitch-control motor (4), makes The Cloud Terrace pitch-control motor (4)
The Cloud Terrace inner frame (6) can be driven to carry out elevating movement；Sensor box (2) is fixed in The Cloud Terrace
The lower section of framework (6), sensor box (2) is in order to detect the attitude of The Cloud Terrace inner frame (6)
Information；Frame (1) and gondola (13) are fixedly linked by expansion link (12), and can adjust
Whole gondola (13) and the distance of frame (1), thus complete the adjustment to system gravity；Control
Unit processed (11) is fixed in gondola (13), and control unit (11) is in order to send control letter
Number control in device to each.
System can be by the The Cloud Terrace outside framework (5) of a double frame construction, The Cloud Terrace inner frame (6)
And upper propeller (7), lower propeller (8) realize aircraft space position and attitude
Control, replace the conventional aircraft gesture stability to fuselage with the gesture stability of The Cloud Terrace.Cause
This system can abandon the control to body pitching and rolling, next real by naturally adjusting of fuselage
The balance of existing fuselage；By the gesture stability of The Cloud Terrace being controlled the side of propeller driving force
To, thus realize the control to aerocraft system pose, it is flying of a more convenient control
Row device system.
Described control unit (11) is singlechip chip, dsp chip or ARM chip,
Or be microcomputer.
Described sensor box (2) include accelerometer, barometer, GPS, gyroscope,
Ultrasonic sensor, obtains attitude and the positional information of system.
It is anti-twisted that the differential rotation of the most upper and lower two rotors of control of fuselage yaw angle produces
Square realizes；The control of The Cloud Terrace roll angle and the angle of pitch is mainly revolved by steering wheel traction The Cloud Terrace
Transfer realization.
The present invention can obtain following beneficial effect: owing to native system is by a double frame construction
The Cloud Terrace and two propellers realize the control to aircraft pose, with the gesture stability of The Cloud Terrace
Replace the conventional aircraft gesture stability to fuselage.Backspin is mainly gone up in the control of yaw direction
The reaction torque that the rotational speed difference of the wing produces realizes；The control of rolling and pitch orientation mainly by
Steering wheel traction The Cloud Terrace carries out rotating realizing, and this makes the control of system the most simple and convenient.
Due to the design of expansion link in native system, the distance of gondola and frame can be adjusted, from
And complete the adjustment to system gravity.Such that it is able to when external disturbance is bigger by adjusting
Body center of gravity moves down, and adds anti-interference and the stability of system.
Due to the design of gondola in native system, the more mounting space of the system that gives, such as
Lift-launch photographic head realizes, and lift-launch mechanical hand of taking photo by plane realizes flight and captures, and carries material and realizes flying
Row delivery etc. so that system has bigger extending space and practical value.
Owing to this kind of small aircraft system based on The Cloud Terrace uses cylindricality DCB Specimen structure,
Therefore vehicle mass and volume can be made very small, and so make aerocraft system the lightest
Skilful flexible.
Accompanying drawing explanation
The structural representation of a kind of small aircraft system based on The Cloud Terrace of Fig. 1；
The control system of a kind of small aircraft system based on The Cloud Terrace of Fig. 2 connects and shows
It is intended to；
The yaw direction of a kind of small aircraft system based on The Cloud Terrace of Fig. 3 controls to show
It is intended to；
A kind of small aircraft System Computer figure state self-regulation based on The Cloud Terrace of Fig. 4 is shown
It is intended to；
The rolling of a kind of small aircraft system based on The Cloud Terrace of Fig. 5 and rolling direction
Control schematic diagram.
In figure: 1, frame, 2, sensor box, 3, The Cloud Terrace roll control motor, 4, The Cloud Terrace bows
Face upward steering wheel, 5, The Cloud Terrace outside framework, 6, The Cloud Terrace inner frame, 7, upper propeller, 8, lower spiral shell
Rotation oar, 9, upper propeller drive motor, 10, lower propeller drive motor, 11, control
Unit, 12, expansion link, 13, gondola.
Detailed description of the invention
With detailed description of the invention, the present invention is further described below in conjunction with the accompanying drawings.
The present invention adopts the following technical scheme that, with reference to Fig. 1, including frame (1), sensor box (2),
The Cloud Terrace roll control motor (3), The Cloud Terrace pitch-control motor (4), The Cloud Terrace outside framework (5), The Cloud Terrace
Inner frame (6), upper propeller (7), lower propeller (8), upper propeller drives motor
(9), lower propeller drive motor (10), control unit (11), expansion link (12),
Gondola (13)；The Cloud Terrace inner frame (6) drives as bearing the fixing upper propeller of motor
Motor (9), lower propeller drive motor (10), upper propeller drive motor (9), under
Propeller drives motor (10) centered by propeller rotating shaft and symmetrical distribution；Lower spiral
The rotating shaft of oar (8) is hollow structure so that the rotating shaft of upper propeller (7) can pass lower spiral shell
The rotating shaft of rotation oar (8), it is achieved upper propeller, the independence of lower propeller coaxial line rotate, on
Propeller drives motor (9) to drive upper propeller (7) to rotate by gear drive,
Lower propeller drives motor (10) to drive propeller (8) to carry out turning by gear drive
Dynamic；The Cloud Terrace roll control motor (3) is fixed in frame (1), and The Cloud Terrace pitch-control motor (4) is solid
It is scheduled on The Cloud Terrace outside framework (5)；The rotating shaft of The Cloud Terrace outside framework (5) through frame (1) with
The Cloud Terrace roll control motor (3) connects, and makes The Cloud Terrace roll control motor (3) can drive The Cloud Terrace outside framework (5)
Carry out rolling movement；The rotating shaft of The Cloud Terrace inner frame (6) passes The Cloud Terrace outside framework (5) and The Cloud Terrace
Pitch-control motor (4) connects, and makes The Cloud Terrace pitch-control motor (4) can drive The Cloud Terrace inner frame (6)
Carry out elevating movement；Sensor box (2) is fixed on the lower section of The Cloud Terrace inner frame (6), sensing
Device box (2) is in order to detect the attitude information of The Cloud Terrace inner frame (6)；Expansion link (12) is by machine
Frame (1) and gondola (13) are fixedly linked, and can adjust gondola (13) and frame (1)
Distance, thus complete the adjustment to system gravity；Control unit (11) is fixed on gondola (13)
In, control unit (11) controls in device in order to send control signals to each.
System can be by the The Cloud Terrace outside framework (5) of a double frame construction, The Cloud Terrace inner frame (6)
And upper propeller (7), lower propeller (8) realize aircraft space position and attitude
Control, replace the conventional aircraft gesture stability to fuselage with the gesture stability of The Cloud Terrace.Cause
This system can abandon the control to body pitching and rolling, next real by naturally adjusting of fuselage
The balance of existing fuselage；By the gesture stability of The Cloud Terrace being controlled the side of propeller driving force
To, thus realize the control to aerocraft system pose, it is flying of a more convenient control
Row device system.
The reaction torque of the rotational speed difference generation that the driftage of fuselage controls main rotor up and down is come real
Existing；The rolling of The Cloud Terrace and pitch control mainly are carried out rotating realizing by steering wheel traction The Cloud Terrace.
System can be adjusted the distance between gondola and frame by expansion link, thus completes system
The adjustment of center of gravity, such that it is able to when external disturbance is bigger by adjust body center of gravity to
Lower movement, ensures the stability of system.
System can be carried other functional devices by gondola, such as carries photographic head and realizes taking photo by plane,
Carry mechanical hand and realize flight crawl, carry material and realize flight delivery etc. so that system
There is bigger extending space and practical value.
Described control unit is singlechip chip, dsp chip or ARM chip, or is micro-
Machine.
Described sensor box includes accelerometer, barometer, GPS, gyroscope, ultrasonic
Wave sensor, obtains attitude and the positional information of system.
Fig. 2 show the control module schematic diagram of native system, mainly by control unit, and sensing
Device, actuator three part is constituted.Sensor is mainly by gyroscope and height baroceptor
Composition, can detect the angular acceleration information that body is current, linear velocity information and height respectively
Degree information, sends these information to control unit.Control unit is by filtering calculation accordingly
Method calculates the current attitude information of The Cloud Terrace and the positional information of body, and by these information
Calculate controlled quentity controlled variable in conjunction with corresponding intelligent algorithm, then be sent to perform list by these controlled quentity controlled variables
Unit.Control steering wheel by performance element two propeller motors and a The Cloud Terrace rolling, come
Complete the control to body.
Fuselage yaw direction control method will be as it is shown on figure 3, gyroscope will detect current machine
Body yaw angle acceleration information gives control unit, control unit according to pid control algorithm or
Other intelligent algorithms control the rotating speed of upper and lower two propellers, by the rotating speed of two propellers
Difference produces reaction torque, so that fuselage starts to rotate.When the rotating speed of upper and lower propeller is different
Time, the reaction torque being supplied to fuselage during due to different rotating speeds varies in size, in opposite direction, just
Can thus drive the rotation of fuselage self.The fuselage rotating angular acceleration information of aircraft by
Gyroscope is measured and gives control unit, control unit provide corresponding after carrying out computing and control
Information sends back propeller motor, to realize the control to yaw angle.
Fuselage attitude freely regulates as shown in Figure 4, when body physics barycenter it cannot be guaranteed that
Geometric center or when rotated by external disturbance body, the liter produced due to propeller
Force direction is determined by The Cloud Terrace rather than fuselage attitude determines, the direction of lift still can remain vertical
The most upwards.Even if now body starts to tilt, after reaching certain angle, along with barycenter and
Lift forwards on the position of same power, and turning moment disappears.After exceeding this angle, then
The opposite direction moment allowing rotating speed weaken can be produced.Therefore such housing construction ensure that fuselage exists
Self-stabilization on roll angle, simplifies the complexity of control.
The Cloud Terrace rolling and pitch control method are as it is shown in figure 5, gyroscope is current by detecting
Roll angle information gives control unit, and control unit is according to pid control algorithm or other intelligence
Algorithm controls The Cloud Terrace roll control motor (3) rotates, the rotation traction of The Cloud Terrace roll control motor (3)
The Cloud Terrace outside framework (5) rotates, and completes the rolling to The Cloud Terrace and controls.In like manner, control
Unit controls The Cloud Terrace pitch-control motor (4) according to pid control algorithm or other intelligent algorithms and rotates,
Rotating of The Cloud Terrace pitch-control motor (4) drives the inner frame (6) of The Cloud Terrace to rotate, and completes
Pitch control to The Cloud Terrace.
Claims (8)
1. a small aircraft system based on The Cloud Terrace, it is characterised in that: this system bag
Including rack (1), sensor box (2), The Cloud Terrace roll control motor (3), The Cloud Terrace pitch-control motor (4),
The Cloud Terrace outside framework (5), The Cloud Terrace inner frame (6), upper propeller (7), lower propeller (8),
Upper propeller drive motor (9), lower propeller drive motor (10), control unit (11),
Expansion link (12), gondola (13)；The Cloud Terrace inner frame (6) is as the bearing of motor solid
Surely going up propeller drives motor (9), lower propeller to drive motor (10), and upper propeller drives
Galvanic electricity machine (9), lower propeller drive motor (10) centered by propeller rotating shaft and left and right
Symmetrical；The rotating shaft of lower propeller (8) is hollow structure so that upper propeller (7)
Rotating shaft can be through the rotating shaft of lower propeller (8), it is achieved upper propeller, lower propeller
The independence of coaxial line rotates, and upper propeller drives motor (9) by gear drive band
Dynamic upper propeller (7) rotates, and lower propeller drives motor (10) to be passed by gear
Motivation structure drives propeller (8) to rotate；The Cloud Terrace roll control motor (3) is fixed on frame
(1), on, The Cloud Terrace pitch-control motor (4) is fixed on The Cloud Terrace outside framework (5)；Outside The Cloud Terrace
The rotating shaft of framework (5) is connected through frame (1) with The Cloud Terrace roll control motor (3), makes cloud
Platform roll control motor (3) can drive The Cloud Terrace outside framework (5) to carry out rolling movement；The Cloud Terrace inside casing
The rotating shaft of frame (6) is connected through The Cloud Terrace outside framework (5) with The Cloud Terrace pitch-control motor (4),
Make The Cloud Terrace pitch-control motor (4) that The Cloud Terrace inner frame (6) can be driven to carry out elevating movement；Sensing
Device box (2) is fixed on the lower section of The Cloud Terrace inner frame (6), and sensor box (2) is in order to examine
Survey the attitude information of The Cloud Terrace inner frame (6)；Expansion link (12) is by frame (1) and gondola
(13) it is fixedly linked, and gondola (13) and the distance of frame (1) can be adjusted, from
And complete the adjustment to system gravity；Control unit (11) is fixed in gondola (13),
Control unit (11) controls in device in order to send control signals to each；
System can be by the The Cloud Terrace outside framework (5) of a double frame construction, The Cloud Terrace inner frame (6)
And upper propeller (7), lower propeller (8) realize aircraft space position and attitude
Control, replace the conventional aircraft gesture stability to fuselage with the gesture stability of The Cloud Terrace；Cause
This system can abandon the control to body pitching and rolling, next real by naturally adjusting of fuselage
The balance of existing fuselage；By the gesture stability of The Cloud Terrace being controlled the direction of propeller driving force,
Thus realize the control to aerocraft system pose, it is the aircraft of a more convenient control
System.
A kind of small aircraft system based on The Cloud Terrace the most according to claim 1, its
It is characterised by: described control unit (11) is singlechip chip, dsp chip or ARM
Chip, or be microcomputer.
A kind of small aircraft system based on The Cloud Terrace the most according to claim 1, its
It is characterised by: described sensor box (2) includes accelerometer, barometer, GPS, top
Spiral shell instrument, ultrasonic sensor, obtain attitude and the positional information of system.
A kind of small aircraft system based on The Cloud Terrace the most according to claim 1, its
It is characterised by: the differential rotation of the most upper and lower two rotors of control of fuselage yaw angle produces
Reaction torque realizes；The control of The Cloud Terrace roll angle and the angle of pitch is mainly entered by steering wheel traction The Cloud Terrace
Row rotation realizes.
A kind of small aircraft system based on The Cloud Terrace the most according to claim 1, its
It is characterised by: the control module of native system is mainly by control unit, sensor, actuator
Three parts are constituted；Sensor is mainly made up of gyroscope and height baroceptor, respectively can
The angular acceleration information current body to be detected, linear velocity information and elevation information, by this
A little information send control unit to；Control unit calculates The Cloud Terrace by corresponding filtering algorithm
Current attitude information and the positional information of body, and combine corresponding intelligence by these information
Controlled quentity controlled variable can be calculated by algorithm, then these controlled quentity controlled variables are sent to performance element；By performing
In unit, two propeller motors and a The Cloud Terrace rolling control steering wheel, complete body
Control.
A kind of small aircraft system based on The Cloud Terrace the most according to claim 1, its
Being characterised by: in fuselage yaw direction control method, gyroscope will detect current fuselage
Yaw angle acceleration information gives control unit, control unit according to pid control algorithm or its
His intelligent algorithm controls the rotating speed of upper and lower two propellers, by the speed discrepancy of two propellers
Produce reaction torque, so that fuselage starts to rotate；When the rotating speed difference of upper and lower propeller,
The reaction torque being supplied to fuselage during due to different rotating speeds varies in size, in opposite direction, the most permissible
Thus drive the rotation of fuselage self；The fuselage rotating angular acceleration information of aircraft is by gyro
Instrument is measured and gives control unit, control unit provide corresponding control information after carrying out computing
Send back propeller motor, to realize the control to yaw angle.
A kind of small aircraft system based on The Cloud Terrace the most according to claim 1, its
It is characterised by: during fuselage attitude freely regulates, when the physics barycenter of body is it cannot be guaranteed that several
What center or when is rotated by external disturbance body, due to the lift of propeller generation
Direction is determined by The Cloud Terrace rather than fuselage attitude determines, the direction of lift still can remain vertically
Upwards；Even if now body starts to tilt, after reaching certain angle, along with barycenter and liter
Power forwards on the position of same power, and turning moment disappears；After exceeding this angle, then can
Produce the opposite direction moment allowing rotating speed weaken；Therefore such housing construction ensure that fuselage is in rolling
Self-stabilization on gyration, simplifies the complexity of control.
A kind of small aircraft system based on The Cloud Terrace the most according to claim 1, its
Being characterised by: in The Cloud Terrace rolling and pitch control method, gyroscope will detect current rolling
Corner information gives control unit, and control unit is calculated according to pid control algorithm or other intelligence
Method controls The Cloud Terrace roll control motor (3) and rotates, the rotation traction cloud of The Cloud Terrace roll control motor (3)
Platform outside framework (5) rotates, and completes the rolling to The Cloud Terrace and controls；In like manner, list is controlled
Unit controls The Cloud Terrace pitch-control motor (4) according to pid control algorithm or other intelligent algorithms and rotates,
Rotating of The Cloud Terrace pitch-control motor (4) drives the inner frame (6) of The Cloud Terrace to rotate, and completes
Pitch control to The Cloud Terrace.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610258513.1A CN105857595A (en) | 2016-04-23 | 2016-04-23 | Small-size aircraft system based on cradle head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610258513.1A CN105857595A (en) | 2016-04-23 | 2016-04-23 | Small-size aircraft system based on cradle head |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105857595A true CN105857595A (en) | 2016-08-17 |
Family
ID=56634040
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610258513.1A Pending CN105857595A (en) | 2016-04-23 | 2016-04-23 | Small-size aircraft system based on cradle head |
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| CN106941215A (en) * | 2017-04-17 | 2017-07-11 | 中州大学 | A kind of field communication base station |
| CN107074348A (en) * | 2016-12-30 | 2017-08-18 | 深圳市大疆创新科技有限公司 | Control method, device, equipment and unmanned vehicle |
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| CN107074348B (en) * | 2016-12-30 | 2021-06-15 | 深圳市大疆创新科技有限公司 | Control method, device and equipment and unmanned aerial vehicle |
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