CN106314773A - Multi-rotor new structure and control method based on turbofan engine - Google Patents
Multi-rotor new structure and control method based on turbofan engine Download PDFInfo
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- CN106314773A CN106314773A CN201610710962.5A CN201610710962A CN106314773A CN 106314773 A CN106314773 A CN 106314773A CN 201610710962 A CN201610710962 A CN 201610710962A CN 106314773 A CN106314773 A CN 106314773A
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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
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/16—Aircraft characterised by the type or position of power plants of jet type
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses multi-rotor new structure and control method based on turbofan engine . The invention shunts low-temperature gas generated from turbofan engine by airway device to drive each rotor (ducted fan) to rotate and realize 'one-blow-one' multi-rotor aircraft structure. Besides, flake is mounted in the airway as valve, by which, flow of each airway is controlled to reach effects of control of rotor rev so as to realize control of flight attitude. The innovation point in the invention is its transformation of energy-driven mode and control system in existing multi-rotor aircraft, greatly enhancing flight duration and load of aircraft, changing mode of control of flight attitude of aircraft, and resulting in great significance in flight duration and load of unmanned aerial vehicles in China.
Description
Technical field
The invention belongs to the energy and control technical field, being specifically related to a kind of many novel knots of rotor based on fanjet
Structure and control method.
Background technology
At present, the multi-rotor aerocraft control mode being primarily present is broadly divided into three classes: utilize radio to be remotely controlled
Multi-rotor aerocraft, the middle-size and small-size multi-rotor aerocraft of Autonomous Control, the Miniature multi-rotor aircraft of Autonomous Control.
Currently, it is concentrated mainly on following two aspect for what multi-rotor aerocraft controlled technology: be on the one hand based on used
Property navigation Autonomous Control, on the other hand be the autonomous flight control of view-based access control model, the University of Pennsylvania is for research structure
Method for designing and autonomous control algorithm develop a kind of small-sized quadrotor, it is achieved that aircraft is at indoor and outdoors all
The purpose that can fly, the greatest length of OS4 is 0.73m, and quality is 0.235kg.Rotor is identical with Draganflyer III
, motor employing Faulhaber1724, totally four.Miniature inertial navigation system uses the MT9-B of Xsense, and flight is surveyed
Examination platform is to be fixed up by universal joint to carry out test flight, and universal joint can make aircraft have 3 rotational freedoms, flight
The outside of device carries current for energy resource supply, and data process and motor drives, and also flight control modules is all provided by outside.Flight
The control algolithm of device is following several: FID, PID, LQR, BackStepping and SlidingMode, algorithm above all realizes
The control of many rotor flyings attitude.
Growing along with science and technology, develop the technical threshold of Miniature multi-rotor aircraft and hardware cost by
Gradually reducing, increasing colleges and universities and scientific research institutions aircraft the most among the people fan has put in succession to rotor craft
Among development.
External many to the research of multi-rotor aerocraft, as a example by four rotors: rake Hai De university of Canada
Tayebi and Meoilvray demonstrates the flight stability of four rotor structures；Mckerrow pair of University of Wollongong of Australia
Draganflye quadrotor has carried out Accurate Model；The 0S4 quadrotor of Swiss Federal Institute of Technology makes respectively
The gesture stability to aircraft is achieved with PID, LQR, BackStepping and SlidingMode algorithm；MIT's
G.Gowtham proposes one group of control method efficiently guiding four rotor row device formation flights；MIT have also been developed view-based access control model
The indoor four-rotor aircraft control system of navigation, it is possible to be accurately performed the maneuvering flight of various complexity.
Domestic grind to make internal disorder or usurp to multi-rotor aerocraft start late, but also achieve certain achievement in research, with four rotor flyings
As a example by device: the independently developed four rotor flying controllers based on DSPF2812 of Nanjing Aero-Space University, in terms of disturbance rejection
It is made outstanding；Nanjing Aero-Space University also proposed DI/QFT controller answering in quadrotor flight controls
With；The automatic disturbance rejection controller that the National University of Defense technology proposes can realize attitude augmentation control to quadrotor.
In addition with much by many rotor flyings control system of increasing income of aircraft fan among the people exploitation, wherein in the world
In the range of widely used mainly have Germany MikroKopter flight controller France MultiWii flight controller and U.S.
The ArduCopter flight controller etc. of state.Although these flight controller simple in construction, with low cost, but can preferably realize
Pose stabilization control to multi-rotor aerocraft.
Although, in the control method of multi-rotor aerocraft, achieve prominent achievement both at home and abroad, but multi-rotor aerocraft
In aircraft load-carrying with have the biggest denouncing on the flight time, the flight time is short, load-carrying quantity is little is current many rotor flyings
The main feature of device.In order to solve the problems referred to above, battery driving change the power resources of multi-rotor aerocraft into turbofan and start
Machine drives a good method of can yet be regarded as.The power resources of the multi-rotor aerocraft that the present invention is targeted are fanjet.
For fanjet, the present invention devises a kind of novel multi-rotor aerocraft structure and control mode, solves
Problem that the multi-rotor aerocraft flight time is short also achieves the convenient control of multi-rotor aerocraft.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art: the existing multi-rotor aerocraft flight time is short, load-carrying
Little problem, the multi-rotor aerocraft using fanjet as power resources that the present invention uses, it is provided that one is applicable to
The novel multi-rotor aerocraft flying method of fanjet and control mode.The present invention changes existing multi-rotor aerocraft
Structure and working method, use fanjet as main energy sources.Meanwhile, the gas distribution that electromotor is produced by conduit is used
On each rotor, form the structure of " blows ", and realize multi-rotor aerocraft by installing thin slice additional on each conduit
Control.The present invention, while improving energy utilization rate, also extends the flight time of multi-rotor aerocraft, increases many rotors and fly
The load-carrying of row device.
Technical scheme: for achieving the above object, the technical solution used in the present invention is:
One be the targeted electromotor of the present invention be turbofan jet engine, produced by fanjet, a large amount of gases are
The power source of the present invention, the present invention is directed to this power source and achieves novel control mode.
High speed wake flow is passed to each rotor (ducted fan) from mozzle by two to be formed with conduit as main media " one
Blow one " novel multi-rotor aerocraft structure.
Three is to change the control mode to multi-rotor aerocraft.Control by installing thin slice additional on each airway
The flight attitude of multi-rotor aerocraft, forms novel multi-rotor aerocraft control structure.
The specific scheme is that
Including fanjet and some rotors of being attached thereto by airway, described rotor is with described fanjet
Centered by circumferentially uniform array arrange；Described airway connects one to one with described rotor, forms the control of " one blows one "
Structure；Install on described airway and control thin slice, as the duct control system of aircraft, control the air inflow of described airway.
Further, described airway and rotor are connected by welding manner.
Further, described rotor is ducted fan；Centered by described fanjet, described rotor circumferentially array
Uniformly arrangement.
Further, described control thin slice is arranged at airway outlet 1/3rd；Described control thin slice is by fixing
Axial symmetry axle is fixed on inside described airway, and described fixing axle is positioned at airway central interior, is perpendicular to airway axis side
To radially secure；Described control thin slice is around described solid System of Rotating about Fixed Axis.Control thin slice to be screwed on fixing axle, can be around solid
System of Rotating about Fixed Axis controls air inlet size.
Further, described airway nominal diameter 10mm, use Q345R (GB-150) as raw material.
The control method of a kind of many rotors new structure based on fanjet, comprises the following steps:
(1) fanjet produces low temperature, the gas of high flow capacity；
(2) by the control structure of " blows " by the air inlet of the gas distribution of generation to each rotor；
(3) mode using duct control system to control controls flight attitude and the stationarity of aircraft, each by controlling
The duct control system that individual rotor is corresponding controls the rotating speed of rotor and then controls the flight attitude of whole aircraft.
Further, in described step (1), air enters described fanjet, and partial air is directly by therein
Main duct enters combustor and produces high temperature, gases at high pressure, another part air by-pass air duct from which directly with described high temperature, height
Body of calming the anger is mixed to form cryogenic gas.
Further, described flight attitude include declining, hover, raise, suitable/driftage counterclockwise, without driftage, pitching/turn over
Roll and lean to one side/tilt.
Further, the implementation of described flight attitude is:
1) decline: the air-flow leading to all duct control systems all reduces, or the blow vent of all duct control systems all reduces, logical
Reducing therewith to the air-flow of rotor, rotating speed reduces, if total life is less than aircraft self gravitation, now aircraft declines；
2) hovering: all duct control systems all open formed objects and each passage gas flow velocity is equal, and all rotors are by phase
With the gas shock of size, if total life keeps floating state equal to aircraft self gravitation, aircraft；
3) raise: all duct control systems are all opened and each passage gas flow velocity is equal, and all rotor rotating speeds increase, always jointly
Lift is more than aircraft self gravitation, and aircraft raises；
4) suitable/driftage counterclockwise: aircraft course to be deflected, the reaction torque needing all rotors to produce is uneven, revolves more
The driftage of rotor aircraft is determined by multiple rotors, and the rotor wing rotation of side is in opposite direction, and the rotor of balance other side produces
Reaction torque；
When dextrorotation switch rotor rotating speed reduces, and rotary wing rotating speed counterclockwise increases, and when total life keeps constant, fly
Row device is gone off course clockwise；
When rotary wing rotating speed counterclockwise reduces, and dextrorotation switch rotor rotating speed increases, and when total life keeps constant, fly
Row device is gone off course counterclockwise；
5) without driftage: the gas flow rate flowed into when remaining each valve in addition to the duct control system except institute's direction of advance the most equal and
Simultaneously, rotor balances each other Open valve sizes etc. mutually, and aircraft continues to advance before specific direction and without driftage；
6) pitching, rolling: the rotor duct control system of side is opened greatly, the rotor rotating speed of this side increases, and the lift of generation increases,
And the rotor rotating speed of opposite side reduces, the lift of generation reduces, and the attitude of aircraft produces, and aircraft reduces towards attitude
Side moves horizontally；
The duct control system change of both sides front and back, rotating speed jointly changes and occurs in front and back both sides, and aircraft produces attitude and occurs
Pitching, and produce seesaw；
The duct control system change of the left and right sides, rotating speed jointly changes and occurs in the left and right sides, and aircraft produces attitude and occurs
Rolling, and produce side-to-side movement；
7) lean to one side, tilt: by changing the state of any one duct control system, make aircraft produce except above-mentioned flight attitude
The most sextuple attitude in addition.
Beneficial effect: a kind of based on fanjet many rotors new structure of present invention offer and control method, changes
Become existing multi-rotor aerocraft control mode and build efficient, energy-conservation, flight time length, physical burden height, flight appearance of new generation
State is abundant, the multi-rotor aerocraft of good stability, promotes the development of unmanned plane and front by the development of multi-rotor aerocraft simultaneously
Enter, and then promote the development of China's military power.Following benefit can be realized by multi-rotor aerocraft structure of the present invention:
1. flight duration promotes: by structure and the working method of change of flight device, substantially increases original energy profit
By rate, make the energy as much can fly under the scheme of the present invention more mileage number, make full use of prior art and existing
There is energy condition to extend the multi-rotor aerocraft flight time.
2. the change of control structure: by the new structure of " blows ", changes the existing energy and uses structure, pass through
Total energy is shunted and realizes bigger energy income, be greatly improved the utilization rate of the energy, meet energy-conserving and environment-protective instantly
Theme.
3. multi-rotor aerocraft attitude multiformity and stability improve: by carrying of new structure and driven by energy mode
Go out, change the single present situation of original multi-rotor aerocraft flight attitude, thin to installing additional in multi-rotor aerocraft conduit after improving
Sheet is as valve, thus realizes the control of multi-rotor aerocraft state of flight, improves the flight stability of aircraft and controls just
Victory.
Accompanying drawing explanation
Fig. 1 is novel multi-rotor aerocraft structure chart；
Fig. 2 is novel multi-rotor aerocraft structure chart (side view)；
Fig. 3 is novel multi-rotor aerocraft structure chart (top view)；
Fig. 4 provides power schematic diagram for air-flow；
Fig. 5 is to blow one and Valve controlling simulation drawing；
Fig. 6 is rolling attitude schematic diagram about six rotors；
Fig. 7 is six rotor pitch attitude schematic diagrams；
Fig. 8 is six rotor lift in height attitude schematic diagrams；
Fig. 9 is that six rotors rotate in place attitude schematic diagram；
Figure 10 is for controlling thin slice scheme of installation；
Figure 11 is for controlling flake structure schematic diagram；
Figure 12 is for controlling thin slice side view.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is further described.
The present invention is that fanjet is produced by a kind of many rotors new structure based on fanjet with control method
Cryogenic gas advance main power source as aircraft, and shunted by pipe guide for this gas, and then drive
Each rotor (ducted fan) rotates, it is achieved the multi-rotor aerocraft structure of " blows ".Finally, airway installs thin slice additional
As valve, control the flow of each conduit by thin slice and reach to control the effect of rotor rotating speed, thus realize flight appearance
The control of state.The innovative point of the present invention is to change the driven by energy mode of existing multi-rotor aerocraft and control system, greatly
Improve greatly the flight duration of aircraft, flight load-carrying, the control mode of change of flight device flight attitude, for China's unmanned plane
On flight duration and load-carrying, progress is significant.
The gas that the present invention produces with fanjet is as power, and uses the mode of airway guide valve flow control to realize
Control to multi-rotor aerocraft.Gas in fanjet is directly derived, and uses the control structure of " blows ", by gas
Being dispersed into multiply air-flow, per share air-flow forms " one blows one " pattern to rotor (ducted fan) effect.By high speed wake flow
Pass to each rotor (ducted fan) from mozzle and form novel many rotor flyings of " blows " with conduit as main media
Device structure.
As shown in Figure 10, control thin slice 2 is installed at the outlet 1/3rd of airway 1, using thin slice as aircraft control
Valve processed, controls the conduit air inflow of multi-rotor aerocraft by controlling thin slice, adjusts rotor rotating speed, thus controls many rotors and fly
The flight attitude of row device, forms novel multi-rotor aerocraft control structure, makes aircraft more stable.Thin slice is as airway
Valve is mainly used in being controlled the attitude of aircraft, thin slice will be installed sensing controler, by sensing controler control
The angle signal of telecommunication of control centre (sensor accept) that thin slice rotates, and according to the Angle ambiguity attitude of flight vehicle of thin slice.
Embodiment
Transform for existing multi-rotor aerocraft structure, it is achieved multi-rotor aerocraft structure and the root of control method
Originally sexually revise.As shown in Figure 1, 2, 3, first, fanjet produces the gas of low temperature high flow capacity, secondly, and the gas that will produce
Branch to the air inlet of each ducted fan, meanwhile, by installing thin slice in conduit additional as control valve, control many rotors and fly
The state of flight of row device, it is achieved the multi-pose flight of multi-rotor aerocraft and convenient control.
In aircraft running, when using fanjet: air enters electromotor, and partial air directly passes through intension
Road enters combustor and produces a large amount of high temperature, gases at high pressure, and the gas that portion gas directly generates with electromotor from by-pass air duct mixes
Form the gas that temperature is lower slightly.
In order to make full use of a large amount of gases that fanjet produces, the present invention devises many rotor flyings of " blows "
Device structure, as shown in Figure 4,5.In the multi-rotor aerocraft structure of " blows ", the low temperature that will produce through fanjet
The gas distribution of high flow capacity is in multiple airways.Owing to we used the ducted fan rotor as aircraft, thus often
Gas in individual conduit first passes to foreign steamer, drives internal fan by outer impeller blade, according to bernoulli principle, square on ducted fan
Become negative pressure, malleation formed below, ultimately form upper and lower pressure difference and then produce lift.Meanwhile, these are made up of ducted fan
Rotor is the main lift system of whole aircraft.
In this structure, the present invention needs substantial amounts of airway, the present invention from the nominal diameter of airway, pressure rating,
The design of air flue from the standpoint of material etc..The airway nominal diameter 10mm that we are designed, uses Q345R (GB-150) conduct
Raw material makes airway.
Q345R be yield strength be the pressure vessel personality board of 340MPa level, it have good comprehensive mechanical property and
Processing performance.Phosphorus, sulfur content are slightly below low-alloy high-strength steel plate Q345 (16Mn) steel, except tensile strength, elongation percentage require ratio
Outside Q345 (16Mn) steel increases, also require to ensure impact flexibility.It is the pressure that current China purposes is the widest, consumption is maximum
Container steel plate special, performance is more excellent.By airway to the set of gas and shunting, the gas energy that fanjet is produced
Realize maximized utilization.
In terms of control mode, the present invention installs a thin slice additional as valving on each airway, as Figure 11,
Shown in 12, controlled the air-flow size of each rotor by the Guan Bi degree of valve, thus control the rotation of each rotor
Speed, and the flight attitude of multi-rotor aerocraft is controlled by its rotating speed.Meanwhile, aircraft is kept by the control of valve
Steady.
For the multi-rotor aerocraft in the present invention, use the mode of Valve controlling control aircraft flight attitude and
Stationarity, controls the rotating speed of rotor by controlling air intake valve corresponding to each rotor and then controls flying of whole aircraft
Row attitude such as Fig. 2, these attitudes specifically include that
1. decline: when the air-flow of the valve leading to multiple rotor all reduces or the blow vent of the valve of multiple air flue all subtracts
Hour, the air-flow leading to rotor reduces the most therewith, and the rotating speed of the most multiple rotor wing rotations is all by reduction, thus produced by rotor
When total life is less than the gravity of aircraft self, now aircraft declines, as shown in Figure 8.
2. hovering: when all duct control systems all open formed objects and each passage gas flow velocity is equal, all rotors are subject to
To the gas shock of formed objects, all rotors equalize the air-flow by equal size.Now, if all rotors produce liter
When power is equal to the gravity of aircraft self, aircraft keeps floating state.The elevating movement of aircraft is produced by all rotors
Lift together decides on, as shown in Figure 9.
3. raise: when the valve of all of air flue is all opened and each passage gas flow velocity is equal, turning of all rotors rotation
Speed is common to be increased, and when the lift that all rotors produce is more than the gravity of aircraft self, aircraft raises.Aircraft boat to be deflected
To, the reaction torque needing all rotors to produce is uneven.The driftage of multi-rotor aerocraft is determined by multiple rotors.The rotor of side
Direction of rotation is contrary, the reaction torque that the rotor of balance other side produces, as shown in Figure 8.
4. go off course along (inverse) hour hands: when dextrorotation switch rotor rotating speed reduces, and rotary wing rotating speed counterclockwise increases, and many
When lift sum produced by individual rotor keeps constant, aircraft is gone off course clockwise.And when rotary wing rotating speed counterclockwise reduces,
Dextrorotation switch rotor rotating speed increases, and when lift sum produced by multiple rotor keeps constant, aircraft is gone off course counterclockwise.
5. without driftage: the gas flow rate flowed into when duct control system is the most equal and Open valve size etc. simultaneously, Duo Gexuan
When the wing balances each other mutually, aircraft is without driftage.
6. pitching, rolling: changing the valve size (becoming big) of the rotor of side, now, the rotor rotating speed of this side increases, and produces
Raw lift increases, and the rotor rotating speed of opposite side reduces, and when the lift of generation reduces, the attitude of aircraft produces, and flies
The side that row device reduces towards attitude moves horizontally.When the duct control system of front and back both sides changes, rotating speed changes generation jointly front
Rear both sides, aircraft produces attitude generation pitching, and generation seesaws, as shown in Figure 7.When the duct control system of the left and right sides becomes
During change, rotating speed jointly changes and occurs in the left and right sides, and aircraft produces attitude and rolls, and produces side-to-side movement, such as Fig. 6 institute
Show.Owing to the direction of rotation of the rotor of any side of aircraft is all contrary.Therefore, homonymy rotor rotating speed jointly increases and drops
Low, the balance of reaction torque will not be caused.
7. lean to one side, tilt: owing to can be controlled the flight attitude of model plane by each valve, therefore, multiple rotors are any
The change of one duct control system can make aircraft produce the most sextuple attitude in addition to above-mentioned flight attitude.
Additionally, the flight of multi-rotor aerocraft many attitude can be produced by the control different to air valve.
The above is only the preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For Yuan, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (10)
1. many rotors new structure based on fanjet, it is characterised in that: include fanjet and pass through inducing QI
Some rotors that pipe is attached thereto, described rotor is circumferentially uniform array setting centered by described fanjet；Described lead
Trachea connects one to one with described rotor, forms the control structure of " blows "；
Install on described airway and control thin slice, as the duct control system of aircraft, control the air inflow of described airway.
Many rotors new structure based on fanjet the most according to claim 1, it is characterised in that: described turbofan is sent out
The afterbody of motivation is connected with described airway；The air-flow that fanjet produces directly is further separated into the airway of each correspondence,
One_to_one corresponding enters corresponding rotor again.
Many rotors new structure based on fanjet the most according to claim 1, it is characterised in that: described airway
Connected by welding manner with rotor.
Many rotors new structure based on fanjet the most according to claim 1, it is characterised in that: described rotor is
Ducted fan；Centered by described fanjet, described rotor circumferentially array is uniformly arranged.
Many rotors new structure based on fanjet the most according to claim 1, it is characterised in that: described control is thin
Sheet is arranged at airway outlet 1/3rd；Described control thin slice is fixed in described airway by fixing axial symmetry axle
Portion, described fixing axle is positioned at airway central interior, is perpendicular to airway axis direction radially secure；Described control thin slice around
Described solid System of Rotating about Fixed Axis.
Many rotors new structure based on fanjet the most according to claim 1, it is characterised in that: described airway
Nominal diameter 10mm, uses Q345R (GB-150) as raw material.
7. the control method of many rotors new structure based on fanjet, it is characterised in that: comprise the following steps:
(1) fanjet produces low temperature, the gas of high flow capacity；
(2) by the control structure of " blows " by the air inlet of the gas distribution of generation to each rotor；
(3) mode using duct control system to control controls flight attitude and the stationarity of aircraft, by controlling each rotation
The duct control system that the wing is corresponding controls the rotating speed of rotor and then controls the flight attitude of whole aircraft.
The control method of many rotors new structure based on fanjet the most according to claim 7, it is characterised in that:
In described step (1), air enters described fanjet, and partial air directly enters combustor by main duct therein and produces
Raw high temperature, gases at high pressure, another part air by-pass air duct from which is directly mixed to form low temperature with described high temperature, gases at high pressure
Gas.
The control method of many rotors new structure based on fanjet the most according to claim 7, it is characterised in that:
Described flight attitude includes declining, hovers, raises, suitable/driftage counterclockwise, without driftage, pitching/roll and lean to one side/tilt.
The control method of many rotors new structure based on fanjet the most according to claim 9, its feature exists
In: the implementation of described flight attitude is:
1) decline: the air-flow leading to all duct control systems all reduces, or the blow vent of all duct control systems all reduces, and leads to rotation
The air-flow of the wing reduces therewith, and rotating speed reduces, if total life is less than aircraft self gravitation, now aircraft declines；
2) hovering: all duct control systems all open formed objects and each passage gas flow velocity is equal, all rotors by identical greatly
Little gas shock, if total life keeps floating state equal to aircraft self gravitation, aircraft；
3) raise: all duct control systems are all opened and each passage gas flow velocity is equal, and all rotor rotating speeds increase jointly, total life
More than aircraft self gravitation, aircraft raises；
4) suitable/driftage counterclockwise: aircraft course to be deflected, the reaction torque needing all rotors to produce is uneven, and many rotors fly
The driftage of row device is determined by multiple rotors, and the rotor wing rotation of side is in opposite direction, and it is anti-twisted that the rotor of balance other side produces
Square；
When dextrorotation switch rotor rotating speed reduces, and rotary wing rotating speed counterclockwise increases, and when total life keeps constant, aircraft
Driftage clockwise；
When rotary wing rotating speed counterclockwise reduces, and dextrorotation switch rotor rotating speed increases, and when total life keeps constant, aircraft
Driftage counterclockwise；
5) without driftage: the gas flow rate flowed into when remaining each valve duct control system except institute's direction of advance in addition to is the most equal and unlatching
Simultaneously, rotor balances each other valve size etc. mutually, and aircraft continues to advance before specific direction and without driftage；
6) pitching, rolling: the rotor duct control system of side is opened greatly, the rotor rotating speed of this side increases, and the lift of generation increases, and another
The rotor rotating speed of side reduces, and the lift of generation reduces, and the attitude of aircraft produces, the side that aircraft reduces towards attitude
Move horizontally；
The duct control system change of both sides front and back, rotating speed jointly changes and occurs in front and back both sides, and aircraft produces attitude generation pitching,
And generation seesaws；
The duct control system change of the left and right sides, rotating speed jointly changes and occurs in the left and right sides, and aircraft produces attitude and rolls,
And produce side-to-side movement；
7) lean to one side, tilt: by changing the state of any one duct control system, make aircraft produce in addition to above-mentioned flight attitude
Arbitrarily sextuple attitude.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2019080442A1 (en) * | 2017-10-26 | 2019-05-02 | 深圳光启合众科技有限公司 | Rotorcraft |
| CN113320705A (en) * | 2021-07-05 | 2021-08-31 | 中国兵器装备集团自动化研究所有限公司 | Turbojet type unmanned aerial vehicle, carrying system and carrying method |
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| US20090206208A1 (en) * | 2006-03-22 | 2009-08-20 | The Boeing Company | Reaction drive rotor/wing variable area nozzle |
| CN103523191A (en) * | 2013-11-03 | 2014-01-22 | 李廷刚 | Omnidirectional backswing travel mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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