CN106240814A - A kind of power-controlled tail sitting posture mixed layout vertically taking off and landing flyer - Google Patents

A kind of power-controlled tail sitting posture mixed layout vertically taking off and landing flyer Download PDF

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Publication number
CN106240814A
CN106240814A CN201610652870.6A CN201610652870A CN106240814A CN 106240814 A CN106240814 A CN 106240814A CN 201610652870 A CN201610652870 A CN 201610652870A CN 106240814 A CN106240814 A CN 106240814A
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China
Prior art keywords
wing
propeller
groups
motor
dynamical system
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Pending
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CN201610652870.6A
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Chinese (zh)
Inventor
唐伟
宋笔锋
杨文青
付鹏
薛栋
钟京洋
年鹏
梁少然
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Northwestern Polytechnical University
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Northwestern Polytechnical University
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Priority to CN201610652870.6A priority Critical patent/CN106240814A/en
Publication of CN106240814A publication Critical patent/CN106240814A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C27/00Rotorcraft; Rotors peculiar thereto
    • B64C27/22Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
    • B64C27/26Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft characterised by provision of fixed wings
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C29/00Aircraft capable of landing or taking-off vertically

Abstract

The invention discloses a kind of power-controlled tail sitting posture mixed layout vertically taking off and landing flyer, be made up of fuselage, wing, motor, propeller, take-off and landing device, fuselage axis overlaps with body axle system OX axle, and the projection in body axle system XOY plane is X-type distribution;Every wing on fuselage is divided into several sections, and every section has different angles of sweep and a upper counterangle, and uses positive curved wing and recurvation aerofoil profile to reach superior pneumatic and maneuvering performance;One group of propeller motor power system is installed in the position that on four wings, distance body axle system OX axle is identical;Four groups of power set take off with X-type four rotor mode during VTOL, and are operated into cruising condition by the difference of motor pulling force or with the conversion that coordinated of control surface, whole during changed required manipulation by the pulling force of motor.Aircraft power device is simple, and control mode is reliable, and can effectively utilize propellerslip, is suitable as the flying platform of tail sitting posture VUAV.

Description

A kind of power-controlled tail sitting posture mixed layout vertically taking off and landing flyer
Technical field
The present invention relates to a kind of vertically taking off and landing flyer, specifically, relate to a kind of power-controlled tail sitting posture mixing cloth Office's vertically taking off and landing flyer.
Background technology
Cruising speed flight envelope is the design object that nowadays Fixed Wing AirVehicle is paid attention to especially and chased, and therefore has vertical Straight landing ability and spot hover ability, and the aircraft with quick cruising ability is the target of current era, especially exists Military spacecraft and SUAV become apparent from, the osprey V-22, F35 of such as U.S.'s tilting rotor and small aircraft In the slightly worse smart series rotor etc. of the cruising speed of big boundary.They depend on VTOL ability and the hovering energy of uniqueness Power has broken away from the restriction of landing site, has attracted the concern of masses.Tail sitting posture vertically taking off and landing flyer is vertically taking off and landing flyer In unique family, it can be stood by tail sitting posture and take off, and is taken off by powered and control surface deflection realization, is cruised To the process of landing, and cruise floating state conversion, abundant has annotated its VTOL ability and the energy of high-performance cruise Power.
In existing aircraft, the many manipulations realizing aircraft with control surface of aircraft, and with the pneumatic effect of Flying-wing Rate is higher.For the aircraft of tail sitting posture VTOL, such as, patent of invention CN103979104A, in the process of VTOL Serious and aircraft the flight speed of middle ground effect is higher, and rudder face is the most invalid, and only can rely under propellerslip is micro- Weak steerage, therefore using movable control surface as maneuverability pattern for VTOL process poor effect.Additionally, control surface deflection realizes The trim resistance of aircraft is too increased, relatively low flight efficiency while manipulation.
But for the low Reynolds number flows mechanism body residing for small aircraft, such as, patent CN102133926B, it is generally required to Using recurvation aerofoil profile to carry out trimmed flight device, to reduce cruise drag, but the employing of this recurvation aerofoil profile is but to Flying-wing Pneumatic efficiency is had a greatly reduced quality.In addition in order to ensure the horizontal shipping-direction stability of aircraft, need to increase vertical tail, add flight In weight and resistance.
Summary of the invention
The deficiency existed in order to avoid prior art, it is vertical that the present invention proposes a kind of power-controlled tail sitting posture mixed layout Landing aircraft, this aircraft has four groups of dynamical systems, is separately mounted to the correspondence position of X-type wing, carries in dynamical system For, while power, completing the rolling required for aerial mission, pitching and yaw control by the coupling of power difference, the most not Need the participation of control surface, handle simple and reliable, improve pneumatic efficiency and the maneuverability of aircraft in flight course;As standby By steerable system, control surface can be increased and improve the viability of aircraft;Take different respectively by top and the bottom wing simultaneously Aerofoil profile and internal and external section wing take the different upper counterangles and angle of sweep respectively, and X-type wing mates the method taking two kinds of aerofoil profiles Simply, aerodynamic characteristic and the handling characteristic of aircraft are improved.
The technical solution adopted for the present invention to solve the technical problems is: includes fuselage, wing, motor, propeller, rise and fall Device, described fuselage is the streamlined elongated nacelle along body axle system X-axis, is internally provided with electron speed regulator, automatic pilot, number According to chain Airborne Terminal, mission payload and electrokinetic cell;Described wing is divided into four parts, right about body axle system XOZ plane left and right Claiming, in body axle system, XOY plane inner projection is X-type, anti-on upper part root wing, anti-under lower part root wing, is respectively mounted On fuselage, top and the bottom root wing angle is 10~90 degree;Described motor is arranged on the leading edge of every part wing, with body axle Be OX wheelbase from identical, described propeller is arranged on the pivot of motor, and wing, motor, propeller are four, motor connect Electron speed regulator, the holding wire of electron speed regulator is connected with automatic pilot, and automatic pilot is two-way with Data-Link Airborne Terminal Connect, battery-powered;It is characterized in that every part wing be along exhibition to stagewise wing, hop count is the integer more than 1, right Should the wing of part symmetrical about body axle system XOZ plane, every section of every part wing has different angles of sweep and the upper counterangle; Two parts up and down on body axle system OX direction use positive curved wing or recurvation aerofoil profile simultaneously, or two parts are respectively adopted up and down Positive curved wing and recurvation aerofoil profile;Described motor is four groups with the dynamical system of described propeller composition, the correspondence of every part wing One group of dynamical system is installed in position, and four groups of dynamical systems become X-type to be distributed, and motor spiral shell provides power with rotation oar dynamical system, simultaneously For providing the manipulation required for aircraft, complete the manipulation during thru-flight by variation in tension.
Two groups of motors and propeller dynamical system on XOY plane upper part wing increase rotating speed simultaneously, and pulling force increases, or Two groups of motors and propeller dynamical system on XOY plane lower part wing reduce simultaneously, and pulling force reduces, and complete the pitching behaviour that bows Vertical;Two groups of motors and propeller dynamical system on XOY plane upper part wing reduce rotating speed simultaneously, and pulling force reduces, or XOY puts down Two groups of motors and propeller dynamical system on the basifacial extension set wing increase rotating speed simultaneously, and pulling force increases, and complete new line pitching behaviour Vertical;Increasing rotating speed by two groups of motors on wing on the left of XOZ and propeller dynamical system, pulling force increases, or XOZ plane simultaneously Two groups of motors and propeller dynamical system on the wing of right side reduce rotating speed simultaneously, and pulling force reduces, and completes yaw control to the right;Logical The two groups of motors crossed on the left of XOZ on wing and propeller dynamical system reduce rotating speed simultaneously, and pulling force reduces, or on the right side of XOZ plane Two groups of motors and propeller dynamical system on wing increase rotating speed simultaneously, and pulling force increases, and completes yaw control to the left;By right Two groups of motors and propeller dynamical system on linea angulata are increased or decreased rotating speed simultaneously, and moment of torsion is increased or decreased, or on diagonal Two groups of motors and propeller dynamical system rotating speed is reduced or increased simultaneously, moment of torsion is reduced or increased, and completes and increase rotating speed The rightabout roll guidance of propeller turning direction.
It is respectively arranged movable control surface on every part wing, as the backup steerable system of motor power system, movably grasps Vertical face is about symmetrical each two of body axle system XOZ plane, by the movable control surface in XOZ plane both sides respectively to body axle system Z axis Different directions deflection produce around the rolling moment of OX axle;By the movable control surface in XOZ plane both sides simultaneously to body axle system Z axis Equidirectional deflection produces the pitching moment around OY axle;Movably handled towards body axle system Z axis by the two panels of XOZ plane side Different directions deflection, the movable control surface of two panels of XOZ plane opposite side do not deflects and produces around the yawing of OZ axle.
Beneficial effect
The one power-controlled tail sitting posture mixed layout vertically taking off and landing flyer that the present invention proposes, compared with prior art Its feature is:
The present invention uses four groups of dynamical systems, can form the dynamical system arrangement like four rotors so that aircraft vertical Landing and hovering stability and high efficiency;Four groups of dynamical systems mate the wing of X-type Flying-wing, improve the cruising speed of aircraft, Add the task radius of flight;Four groups of dynamical systems not only provide power, and are the steerable systems of aircraft so that dynamic Power utilizes more abundant, the most efficiently, improves what the conventional aircraft pneumatic efficiency that control surface deflection is brought when trim reduced Problem, the basic inefficiency of rudder face brought for ground effect during VTOL plays conclusive improved effect.
The wing configurations form of X-type of the present invention, adds the wing area of aircraft under length effectively, and uses Four groups of dynamical systems, the wing area in slip-stream is more, is effectively improved the pneumatic efficiency of aircraft.
Every wing of four wings of the present invention be along exhibition to stagewise wing, according to design object segmentation, section Number is the integer more than 1, and every section has different angles of sweep and the upper counterangle, to form the airfoil of similar Larus ridibundus formula layout Formula, improves the exhibition of aerofoil surface to flowing, improves the aerodynamic characteristic of aircraft and the stability in horizontal course and maneuverability, saves Weight and pneumatic efficiency cost that vertical tail brings are gone.
The top and the bottom wing of the present invention can be respectively adopted positive curved wing and recurvation aerofoil profile, solves Flying-wing's flight The problem of pneumatic efficiency sacrificed by device in order to take into account stability, and X-type wing coupling takes the method for two kinds of aerofoil profiles simply, effectively Solve the insoluble aerodynamics problem of single-blade aircraft, design without complicated wing twist, additionally, different airfoil profiles Application is so that pitching moment characteristic design during Flight Vehicle Design is the most controlled.
The technology of the present invention power set are simple, and dynamical system provides to be handled the most efficiently, uses the similar X-type of different airfoil profiles Stagewise wing aerodynamic efficiency good, be suitable as the aircraft platforms of the UAS of multitask.
Accompanying drawing explanation
Power-controlled tail sitting posture mixed layout VTOL a kind of to the present invention with embodiment flies below in conjunction with the accompanying drawings Row device is described in further detail.
Fig. 1 is the present invention power-controlled tail sitting posture mixed layout vertically taking off and landing flyer schematic diagram.
Fig. 2 provides propeller turning direction schematic diagram during power for vertically taking off and landing flyer of the present invention.
Fig. 3 a provides pitch control schematic diagram when handling for propeller.
Fig. 3 b provides yaw control schematic diagram when handling for propeller.
Fig. 3 c provides roll guidance schematic diagram when handling for propeller.
Fig. 4 a is that the exhibition of the A-A section parallel with XOZ plane is to erect-position schematic diagram.
Fig. 4 b is upper and lower wing section schematic diagram of A-A section when being respectively adopted positive curved wing and recurvation aerofoil profile.
Fig. 5 a is that control surface completes pitch control schematic diagram as control surface during backup steerable system.
Fig. 5 b is that control surface completes roll guidance schematic diagram as control surface during backup steerable system.
Fig. 5 c is that control surface completes the schematic diagram of yaw control as control surface during backup steerable system.
Fig. 6 is the schematic diagram that internal and external section wing of the present invention uses the different upper counterangles.
In figure
1. wing 2. fuselage 3. motor 4. propeller 5. take-off and landing device
Detailed description of the invention
The present embodiment is a kind of power-controlled tail sitting posture mixed layout vertically taking off and landing flyer, and aircraft has four groups and moves Force system, is separately mounted to the correspondence position of X-type wing, provides while power in dynamical system, by power difference Join the rolling required for aerial mission, pitching and yaw control, completely without there being the participation of control surface, improve flight During the pneumatic efficiency of aircraft and maneuverability;As standby steerable system, control surface can be increased and improve the viability of aircraft; Simultaneously by top and the bottom wing take respectively different aerofoil profiles and internal and external section wing take respectively the different upper counterangles and after Sweep angle, X-type wing coupling is taked the method for two kinds of aerofoil profiles simply, without complicated wing twist design, is improved flight The aerodynamic characteristic of device and handling characteristic.
Refering to Fig. 1~Fig. 6, the present embodiment power-controlled tail sitting posture mixed layout vertically taking off and landing flyer, including fuselage 2, wing 1, motor 3, propeller 4, take-off and landing device 5, fuselage 2 is the streamlined elongated nacelle along body axle system X-axis, is internally provided with Electron speed regulator, automatic pilot, Data-Link Airborne Terminal, mission payload and electrokinetic cell.Wing 1 is divided into four parts, closes In body axle system, XOZ plane is symmetrical, and in body axle system, XOY plane inner projection is X-type, is divided into upper and lower two parts, upper part root , anti-under lower part root wing on wing instead, it is separately mounted on fuselage 2.Motor 3 is arranged at the leading edge of every part wing 2, with Body axle system OX wheelbase is from identical;Propeller 4 is arranged on the pivot of motor 3, and wing 1, motor 3, propeller 4 are four.Electricity Machine 3 connects electron speed regulator, and the holding wire of electron speed regulator is connected with automatic pilot, automatic pilot and Data-Link airborne end End bi-directional data connects;Motor 3, electron speed regulator, automatic pilot, Data-Link Airborne Terminal and digital image sensor all have Battery is powered.
In the present embodiment, every part wing of wing is stagewise wing, and the wing of corresponding part is about body axle system XOZ Plane is symmetrical, and every section of every part wing has different angles of sweep and the upper counterangle, and angle of sweep can be chosen at 0~30 degree, The root wing upper counterangle is chosen between 0~45 degree, the upper counterangle of other section of wing outside portion's wing that dig up the roots can be chosen at-45~ Between 45 degree, form the distribution form like Larus ridibundus formula wing.The upper counterangle θ that wing internal and external section is different1And θ2True according to design object Fixed, the root wing upper counterangle is 20 degree, and the outer section of upper counterangle is 1 degree.Two parts up and down on body axle system OX direction use simultaneously Positive curved wing or recurvation aerofoil profile, or two parts are respectively adopted positive curved wing and recurvation aerofoil profile up and down, and the latter can bring more Good aerodynamic characteristic and pitch control effect.Lower part wing uses positive curved wing SD7062, and upper part wing uses the recurvation wing Type S5010;Any control surface is not arranged on wing.
Motor 3 and the dynamical system altogether four groups of propeller 4 composition, the correspondence position of every part wing installs one group of dynamical system System, four groups of dynamical system composition X-type distributions, motor helical oar dynamical system not only provides power, needed for providing aircraft simultaneously The manipulation wanted, completes the manipulation during thru-flight by variation in tension;Additionally due to wing area increases in slipstream, change It is apt to the aerodynamic characteristic of aircraft.
Dynamical system provides identical, the adjacent dynamical system spiral shell of the dynamical system propeller turning direction that mode is diagonal angle of power Rotation oar turns on the contrary.
In conjunction with schematic diagram, illustrate handling control mode containing control surface as control surface during backup steerable system. In Fig. 3, arrow upwards represents that revolution speed of propeller increases or pulling force increases, and arrow represents that downwards revolution speed of propeller reduces or pulling force subtracts Little, the aircraft propeller change when dynamical system is handled is as follows:
Two groups of motors and propeller dynamical system on XOY plane upper part wing increase rotating speed simultaneously, and pulling force increases, or Two groups of motors and propeller dynamical system on XOY plane lower part wing reduce rotating speed simultaneously, and pulling force reduces, and completes around OX axle Bow pitch control;
Reducing rotating speed by two groups of motors on wing on the left of XOZ and propeller dynamical system, pulling force reduces simultaneously, or On the right side of XOZ plane, two groups of motors on wing and propeller dynamical system increase rotating speed simultaneously, and pulling force increases, and completes around OZ axle Yaw control to the left, otherwise, complete around the axial right yaw control of OZ;
Rotating speed being increased or decreased by two groups of motors on diagonal and propeller dynamical system, moment of torsion increasing adds deduct simultaneously Little, or two groups of motors and the propeller dynamical system on diagonal be reduced or increased rotating speed simultaneously, and moment of torsion is reduced or increased, and completes With the rightabout roll guidance of propeller turning direction increasing rotating speed;
In conjunction with schematic diagram, dynamical system is illustrated as manipulation control mode during steerable system.Every part in Fig. 5 The movable control surface of each layout on wing, as the backup steerable system of motor power system, improves reliability and the life of aircraft Deposit power.
Simultaneously bowing around OY axle is produced to the equidirectional deflection of body axle system Z axis by the movable control surface in XOZ plane both sides Face upward moment;
Movable control surface, about symmetrical each two of body axle system XOZ plane, is divided by the movable control surface in XOZ plane both sides The not different directions deflection to body axle system Z axis produces the rolling moment around OX axle;
By the two panels of XOZ plane side movably handle the different directions towards body axle system Z axis deflect, XOZ plane another The movable control surface of two panels of side does not deflect and produces the yawing around OZ axle.
The typical mission of aircraft is as follows: take off vertically, after arriving preplanned mission height, in the manipulation of automatic pilot Under, by adjusting the variation in tension of four groups of dynamical systems, it is achieved pitch control, proceed to average flight state from hovering flight.Appoint After business terminates, then being gone into hover state by cruise, slow falling head completes vertical landing.Carried by four groups of dynamical systems simultaneously Handle for power and attitude, X-type wing configurations are taked the wing that internal and external section difference angle of sweep and the upper counterangle, top and the bottom are different Type, has reached to improve flight pneumatic efficiency and stability, the maneuverability of aircraft, simple and reliable, and compact conformation saves weight.

Claims (3)

1. a power-controlled tail sitting posture mixed layout vertically taking off and landing flyer, including fuselage, wing, motor, propeller, rises Dropping control device, described fuselage is the streamlined elongated nacelle along body axle system X-axis, be internally provided with electron speed regulator, automatic pilot, Data-Link Airborne Terminal, mission payload and electrokinetic cell;Described wing is divided into four parts, about about body axle system XOZ plane Symmetry, in body axle system, XOY plane inner projection is X-type, anti-on upper part root wing, anti-under lower part root wing, pacifies respectively Being contained on fuselage, top and the bottom root wing angle is 10~90 degree;Described motor is arranged on the leading edge of every part wing, with body Axle system OX wheelbase is from identical, and described propeller is arranged on the pivot of motor, and wing, motor, propeller are four, and motor is even Connecing electron speed regulator, the holding wire of electron speed regulator is connected with automatic pilot, and automatic pilot is double with Data-Link Airborne Terminal To connection, battery-powered;It is characterized in that: every part wing be along exhibition to stagewise wing, hop count is whole more than 1 Number, the wing of corresponding part is symmetrical about body axle system XOZ plane, and every section of every part wing has different angle of sweep and upper Dihedral;Two parts up and down on body axle system OX direction use positive curved wing or recurvation aerofoil profile simultaneously, or two parts divide up and down Do not use positive curved wing and recurvation aerofoil profile;Described motor is four groups with the dynamical system of described propeller composition, every part wing Correspondence position one group of dynamical system is installed, four groups of dynamical systems become X-type to be distributed, and motor spiral shell provides dynamic with rotation oar dynamical system Power, simultaneously for providing the manipulation required for aircraft, completes the manipulation during thru-flight by variation in tension.
Power-controlled tail sitting posture mixed layout vertically taking off and landing flyer the most according to claim 1, it is characterised in that: Two groups of motors and propeller dynamical system on XOY plane upper part wing increase rotating speed simultaneously, and pulling force increases, or XOY plane Two groups of motors and propeller dynamical system on lower part wing reduce simultaneously, and pulling force reduces, and completes pitch control of bowing;XOY Two groups of motors and propeller dynamical system on plane upper part wing reduce rotating speed simultaneously, and pulling force reduces, or XOY plane bottom Two groups of motors and propeller dynamical system on the extension set wing increase rotating speed simultaneously, and pulling force increases, and completes new line pitch control;Pass through On the left of XOZ, two groups of motors on wing and propeller dynamical system increase rotating speed simultaneously, and pulling force increases, or machine on the right side of XOZ plane Two groups of motors and propeller dynamical system on the wing reduce rotating speed simultaneously, and pulling force reduces, and completes yaw control to the right;Pass through XOZ Two groups of motors and propeller dynamical system on the wing of left side reduce rotating speed simultaneously, and pulling force reduces, or on the right side of XOZ plane on wing Two groups of motors and propeller dynamical system increase rotating speed simultaneously, pulling force increases, and completes yaw control to the left;By on diagonal Two groups of motors and propeller dynamical system rotating speed is increased or decreased simultaneously, moment of torsion is increased or decreased, or two groups on diagonal Motor and propeller dynamical system are reduced or increased rotating speed simultaneously, and moment of torsion is reduced or increased, the propeller completing with increasing rotating speed Turn to rightabout roll guidance.
Power-controlled tail sitting posture mixed layout vertically taking off and landing flyer the most according to claim 1, it is characterised in that: every Being respectively arranged movable control surface on part wing, as the backup steerable system of motor power system, movable control surface is about body Symmetrical each two of axle system XOZ plane, by the movable control surface in XOZ plane both sides respectively to the different directions of body axle system Z axis Deflection produces the rolling moment around OX axle;Simultaneously inclined to the equidirectional of body axle system Z axis by the movable control surface in XOZ plane both sides Change the line of production and give birth to the pitching moment around OY axle;The different directions towards body axle system Z axis is movably handled by the two panels of XOZ plane side Deflection, the movable control surface of two panels of XOZ plane opposite side do not deflect and produce the yawing around OZ axle.
CN201610652870.6A 2016-08-10 2016-08-10 A kind of power-controlled tail sitting posture mixed layout vertically taking off and landing flyer Pending CN106240814A (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108284950A (en) * 2017-11-30 2018-07-17 湖北航天飞行器研究所 Four shrouded propeller power modes can VTOL fixed-wing unmanned vehicle
CN108639328A (en) * 2018-05-15 2018-10-12 西北工业大学 A kind of New Tail A seating axial symmetry multiple propeller vertical take-off and landing drone
JP6609760B1 (en) * 2018-09-22 2019-11-27 株式会社エアロネクスト Flying object
CN110758727A (en) * 2019-11-26 2020-02-07 邹雯 Unmanned aerial vehicle with synchronous folding mechanism of multimachine wing
JP2020147286A (en) * 2020-06-18 2020-09-17 株式会社エアロネクスト Flying body
CN112407270A (en) * 2020-12-01 2021-02-26 中航金城无人系统有限公司 Tailstock type vertical take-off and landing aircraft without control surface control

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CN105283384A (en) * 2013-05-03 2016-01-27 威罗门飞行公司 Vertical takeoff and landing (VTOL) air vehicle
US20160144957A1 (en) * 2014-11-26 2016-05-26 XCraft Enterprises, LLC High speed multi-rotor vertical takeoff and landing aircraft
CN105620741A (en) * 2016-02-24 2016-06-01 成都方舟智控科技有限公司 Aircraft and control method thereof

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Publication number Priority date Publication date Assignee Title
US20050178879A1 (en) * 2004-01-15 2005-08-18 Youbin Mao VTOL tailsitter flying wing
FR2942455B1 (en) * 2010-04-13 2011-06-03 Joseph Emile Martin SAFETY DEVICE FOR A BIHELICE CONVERTIBLE AIRCRAFT WITH ROTATION OF PLATE
CN105283384A (en) * 2013-05-03 2016-01-27 威罗门飞行公司 Vertical takeoff and landing (VTOL) air vehicle
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CN105620741A (en) * 2016-02-24 2016-06-01 成都方舟智控科技有限公司 Aircraft and control method thereof

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108284950A (en) * 2017-11-30 2018-07-17 湖北航天飞行器研究所 Four shrouded propeller power modes can VTOL fixed-wing unmanned vehicle
CN108639328A (en) * 2018-05-15 2018-10-12 西北工业大学 A kind of New Tail A seating axial symmetry multiple propeller vertical take-off and landing drone
JP6609760B1 (en) * 2018-09-22 2019-11-27 株式会社エアロネクスト Flying object
CN110758727A (en) * 2019-11-26 2020-02-07 邹雯 Unmanned aerial vehicle with synchronous folding mechanism of multimachine wing
JP2020147286A (en) * 2020-06-18 2020-09-17 株式会社エアロネクスト Flying body
CN112407270A (en) * 2020-12-01 2021-02-26 中航金城无人系统有限公司 Tailstock type vertical take-off and landing aircraft without control surface control

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