CN106542093A - Efficient multi-rotor aerocraft - Google Patents
Efficient multi-rotor aerocraft Download PDFInfo
- Publication number
- CN106542093A CN106542093A CN201710016976.1A CN201710016976A CN106542093A CN 106542093 A CN106542093 A CN 106542093A CN 201710016976 A CN201710016976 A CN 201710016976A CN 106542093 A CN106542093 A CN 106542093A
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- Prior art keywords
- rotor
- power
- attitude
- signal
- rotor motor
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
- B64C27/14—Direct drive between power plant and rotor hub
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention proposes a kind of efficient multi-rotor aerocraft, and the rotor of control power and control attitude is individually arranged.Power rotor is only responsible for flight altitude control, is slowly run acquisition higher efficiency using large scale rotor.Attitude rotor is responsible for comprehensive gesture stability, using the more flexible power saving of the quick speed change of small size rotor.Beneficial effects of the present invention are：Above measure can be kept for longer cruising time with less electricity, realize the efficient flight of multi-rotor aerocraft.
Description
Technical field
The present invention relates to multi-rotor aerocraft technical field, more particularly to a kind of efficient multi-rotor aerocraft.
Background technology
The aircraft that multi-rotor aerocraft is a kind of simple structure, manipulation is flexible, flight attitude is stable.Typically common are
The variety classeses such as four axles, six axles, eight axles.Have benefited from the development of micro electronmechanical in recent years, sensor technology, multi-rotor aerocraft is wide
It is general to be applied to the fields such as model plane, aerial photographing platform.
By taking most common X-type layout four-axle aircraft as an example, multi-rotor aerocraft control method is generally：Winged control sends height
Control signal, all rotors synchronously increase and decrease rotating speed, and winged control sends Heading control signal, increases in cornerwise two groups of rotors respectively
Turn reducing speed, winged control send pitching, control of sideward roll signal, and two adjacent groups rotor increases and decreases rotating speed respectively.
Multi-rotor aerocraft provides power by battery.Wherein, sensor, processor, motor etc. are required for battery to power,
The motor power consumption for being especially to provide power is maximum.Current battery state-of-art is confined to, the use of battery is many of power
Rotor craft universal cruising time is short, load capacity is little, which greatly limits performance and the application of multi-rotor aerocraft
Field.To solve multi-rotor aerocraft cruising time short shortcoming, people consider thousand and one way to improve multi-rotor aerocraft
Cruising time, for example：Using engine fuel as power, balloon as auxiliary power, using fuel cell etc..But these sides
Case suffers from such-and-such shortcoming.For example, fuel engines scheme has one in terms of vibrations, noise, response speed, security
Determine defect.Fuel cell technology is still immature, and balloon auxiliary power build is huge, larger by wind effect.
In general rotor size is big and higher with flight efficiency during relatively low rotation speed operation, but the quick rotating speed that changes relatively is stranded
Difficulty, flexibility are defective.Otherwise rotor size is little and flight efficiency is relatively low when being run with higher rotation speed, but flexibility is higher.Mesh
Front battery power multi-rotor aerocraft, rotor typically adopt onesize size, it is impossible to take into account the efficient of large scale rotor with
The advantage of small size rotor flexibility.
Multi-rotor aerocraft is to keep the various flight attitudes of aircraft by constantly quickly adjusting each rotor rotating speed, is frequently become
Speed can increase electric quantity consumption reduces cruising time, if rotor can be rotated with constant speed or as far as possible be reduced the frequency of speed change and
Amplitude can effective reducing energy consumption, extend cruising time.
The content of the invention
A kind of efficient multi-rotor aerocraft, including rotor mechanism, undercarriage, cabin, are provided with cabin and fly control case, battery
Group, load cabin, it is characterised in that：
The rotor mechanism include power rotor, power rotor motor, power rotor support, attitude rotor, attitude rotor motor,
Attitude rotor support,
Power rotor is driven or slowed down by power rotor motor direct connection linkage, and quantity is two or more even numbers, per two
It is individual to be one group to be symmetrically vertically arranged to power rotor support two ends and each two relative to aircraft vertical axis be a component
Not Cai Yong same size positive oar and anti-oar；
Attitude rotor is driven by attitude rotor motor direct connection, and quantity is four or more even number, and each two is one group of phase
It is symmetrical for aircraft vertical axis and same using the positive oar of same size or with using the anti-oar of same size, all attitudes
The positive oar quantity of rotor and anti-oar quantity are equal, and multigroup intersects and be not on same straight line；
Power rotor area is more than attitude rotor with the product of lift coefficient, and power rotor motor peak power is more than attitude rotor
Motor peak power；
Power rotor motor adjusts signal be connected with electricity, and electricity tune is connected with remote controller receiver signal, remote controller receiver and remote control
Device wireless signal connects, and remote control only transmits height control signal or power rotor motor to power rotor motor and adjusts signal with electricity
Connection, electricity are adjusted and are connected with winged control case signal, are flown control case and are only transmitted height control signal to power rotor motor；
Attitude rotor motor adjusts signal to be connected with electricity, and electricity is adjusted and is connected with winged control case signal, is flown control case and is transmitted to attitude rotor motor
Highly, course, roll, pitch control signal.
Further, power rotor is included by train of reduction gears or deceleration by the mode of power rotor motor deceleration linkage
Belt pulley set is slowed down and is linked.
Further, power rotor motor KV value is less than attitude rotor motor KV value.
Further, power rotor is using oar paddle type at a slow speed.
Compared with prior art, efficient multi-rotor aerocraft of the invention has the characteristics that and advantage：
1st, efficient multi-rotor aerocraft of the invention, has functionally distinguished the appearance of the power rotor and adjustment attitude for providing power
State rotor.Bring than the larger free degree to design efficient multi-rotor aerocraft.The each rotor function phase of traditional multi-rotor aerocraft
Together, power function had not only been undertaken but also had undertaken attitude function, be limited when from rotor size and rotor motor power more.The present invention
Realize power with adjustment attitude function by what power function and attitude functional areas separately more can optimize.Power rotor motor because
Constant speed drive is only involved in height control and is not involved in course, pitching, roll pose adjustment, and its rotation speed change frequency and amplitude are big
It is big to decline, the method for the big oar of low speed can be adopted to obtain more high-tensile strength effect, saved electricity and extended cruising time.In the same manner, adjust attitude
Attitude rotor then can by miniaturization, realize the effect of more flexible more power saving.
2nd, efficient multi-rotor aerocraft of the invention, power rotor motor KV value is relatively low to be conducive to obtaining more preferable moment of torsion
Larger-size rotor can be driven, higher power effect is obtained.Attitude rotor motor KV value is higher, and speed change is quick, is conducive to obtaining
Preferably flexibility.
3rd, efficient multi-rotor aerocraft of the invention, power rotor is using oar paddle type at a slow speed.Oar is at the low rotational speed at a slow speed
Larger pulling force is capable of achieving, greater efficiency can have been given play to.This kind of screw outside area is larger also more abundant, and blade root is thinner.Using
Oar is conducive to obtaining more high-tensile strength effect at the low rotational speed at a slow speed, saves power consumption, extends cruising time.
After the specific embodiment of the present invention is read in conjunction with the accompanying, the features and advantages of the invention will become clearer from.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are the present invention
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with basis
These accompanying drawings obtain other accompanying drawings.
Stereograms of the Fig. 1 for a kind of efficient multi-rotor aerocraft of six axle of the embodiment of the present invention 1；
Fig. 2:For a kind of schematic diagram of the efficient multi-rotor aerocraft of eight axle of the embodiment of the present invention 2；
Wherein,
1st, power rotor, 2, power rotor motor, 3, attitude rotor support, 4, attitude rotor, 5, attitude rotor motor, 6, machine
Cabin, 61, fly control case, 62, battery pack, 63, load cabin, 7, undercarriage, 8, power rotor support.
Specific embodiment
With reference to the accompanying drawings and detailed description the present invention is described in detail.
As shown in figure 1, the present embodiment 1 provides a kind of efficient multi-rotor aerocraft, on undercarriage 7, assembly connection has cabin
6.It is provided with inside cabin 6 and flies control case 61, battery pack 62, load cabin 63.Connection dynamic rotor support 8 is installed in cabin 6, is moved
The vertically-mounted dynamic rotor motor 2 in 8 two ends of power rotor support, installs connection power rotation in the rotary shaft of power rotor motor 2
The wing 1.Power rotor quantity is 2 and equivalently-sized positive oar and anti-oar is respectively adopted, there is provided can cancel out each other during pulling force in the same direction
The moment of torsion of fuselage is acted on.Install in cabin 6 and be connected with attitude rotor support 3,3 outer ends of attitude rotor support are vertically-mounted appearance
State rotor motor 5, installs connection attitude rotor 4 in the rotary shaft of attitude rotor motor 5.The quantity of attitude rotor is 4, two-by-two
Relative flight device vertical central axis line is symmetrically distributed in fuselage surrounding, and equivalently-sized positive oar and anti-oar, same diagonal is respectively adopted
Attitude rotor paddle type is consistent.Battery pack 62 is electrically connected with winged control 61 Jing wires of case.Power rotor motor 2,5 Jing of attitude rotor motor
The electricity for flying to install in control case 61 adjusts electrical connection.Power rotor motor 2,5 Jing of attitude rotor motor electricity are adjusted and the winged control in winged control case
Signal connects.
Efficiently the major impetus of multi-rotor aerocraft is provided by power rotor 1.1 dimensioned area of power rotor is revolved more than attitude
The wing 4, peak power of 2 peak power of power rotor motor more than attitude rotor 5.The rotor of large-size is rotating compared with low velocity
Be conducive to obtaining higher flight efficiency.When the timing of aircraft load constant, power rotor 1 provides a definite value pulling force and is equal to flight
Device gross weight, overcomes the gravity of aircraft as major impetus, is not involved in aircraft, pitching, roll, course pose adjustment.Fly
Row device height, pitching, roll, course flight attitude are responsible for by four attitude rotors 4.Power rotor is not involved in course, pitching, horizontal stroke
The control of rolling attitude, in flight course, the amplitude and frequency of rotation speed change is substantially reduced, and has saved electric power.4 chi of attitude rotor
Very little area is less, from low-power machine, the flexible power saving of speed change.Four control attitude of flight vehicle of attitude rotor 4 of the present embodiment
Control logic is identical with traditional four-axle aircraft, substantially reduces and flies control development difficulty.
Concrete control method is illustrated below：
First, take off：
Step 1：Remote control wirelessly sends takeoff order to winged control case 61.
Step 2：Fly control case 61 constant speed rotating signal is sent to power rotor motor 2.Power rotor motor 2 produces one and determines
Value lift.This lift is preferably exactly equal to aircraft gravity.
Step 3：Fly control case 61 pose adjustment order, including height, course, pitching, roll are sent to attitude rotor motor 5
Pose adjustment signal.
Step 4：Aircraft takeoff is simultaneously raised to specified altitude assignment.
2nd, hover
Step 1：Remote control sends hovering signal to winged control case 61.
Step 2：Fly control case 61 to remain unchanged to the constant speed rotating signal that power rotor motor 2 sends, fly appearance in control case 61
State sensor senses floating state, and send status signal to processor, signal Jing after flying control processor and process, to attitude rotor
Motor 5 sends height, course, pitching, the holding hovering of roll pose adjustment signal.
3rd, fly
Step 1：Remote control sends flight signal to winged control case 61, and flight signal includes forward-reverse, course rotation, the winged horizontal stroke in side
Move.
Step 2：Fly control case 61 to remain unchanged to the constant speed rotating signal that power rotor motor 2 sends.Fly control case 61 to appearance
State rotor motor 5 sends Pitch signal and realizes forward-reverse；Course signal is sent, course spinfunction is realized in aircraft spin；
Send roll signal aircraft and realize horizontal winged sideward sliding function.
4th, land
Step 1：Remote control sends landing order to winged control case 61.
Step 2:Fly control case 61 reduction altitude signal is sent to power rotor motor 2,2 rotational deceleration of power rotor motor,
The lift of generation is less than aircraft gravity.Fly control case 61 control height, roll, pitching, heading device are sent to attitude rotor motor 5
Number.Aircraft declines low clearance in the control of self gravitation and attitude rotor motor 5 and realizes landing.
Fig. 2：For a kind of schematic diagram of the efficient multi-rotor aerocraft of eight axle of the embodiment of the present invention 2.Wherein four A rotors are
Power rotor 1, specification be APC companies 14*47, power motor model 4008.Four B rotors are attitude rotor 4, and specification is APC
Company 11*47, attitude rotor motor model 4004.
In order to further verify advantages of the present invention and high efficiency, spy carries out cruising time contrast experiment.This Experimental comparison
Two model machines are respectively：Model machine 1 is traditional eight axles multi-rotor aerocraft, and model machine 2 is the efficient multi-rotor aerocraft of eight axle of the invention.
Table 1：Cruising time Data Comparison table
Experimental prototype adopts same specification battery, and take-off weight is identical.12*45 of traditional eight axle aircraft using eight same sizes
The motor of specification screw and same size.The efficient four power rotor dimensioned areas of multi-rotor aerocraft of of the invention eight axles compared with
Greatly, four rotor motor power are larger, are only responsible for control aircraft altitude.Attitude rotor is responsible for flying height.Course, bow
Face upward, roll gesture stability.Can be seen that in same specification battery by 1 data of table, same take-off weight, the efficient many rotors of the present invention
Aircraft effectively extends cruising time 50%, further demonstrates effectiveness of the invention and superiority.
Certainly, described above is not limitation of the present invention, and the present invention is also not limited to the example above, this technology neck
Change, remodeling, addition or replacement that the technical staff in domain is made in the essential scope of the present invention, should also belong to the present invention's
Protection domain.
Claims (4)
1. a kind of efficient multi-rotor aerocraft, including rotor mechanism, undercarriage, cabin, are provided with cabin and fly control case, battery
Group, load cabin, it is characterised in that：
The rotor mechanism include power rotor, power rotor motor, power rotor support, attitude rotor, attitude rotor motor,
Attitude rotor support,
Power rotor is driven or slowed down by power rotor motor direct connection linkage, and quantity is two or more even numbers, per two
It is individual to be one group to be symmetrically vertically arranged to power rotor support two ends and each two relative to aircraft vertical axis be a component
Not Cai Yong same size positive oar and anti-oar；
Attitude rotor is driven by attitude rotor motor direct connection, and quantity is four or more even number, and each two is one group of phase
It is symmetrical for aircraft vertical axis and same using the positive oar of same size or with using the anti-oar of same size, all attitudes
The positive oar quantity of rotor and anti-oar quantity are equal, and multigroup intersects and be not on same straight line；
Power rotor area is more than attitude rotor with lift coefficient product, and power rotor motor peak power is more than attitude rotor electricity
Machine peak power；
Power rotor motor adjusts signal be connected with electricity, and electricity tune is connected with remote controller receiver signal, remote controller receiver and remote control
Device wireless signal connects, and remote control only transmits height control signal or power rotor motor to power rotor motor and adjusts signal with electricity
Connection, electricity are adjusted and are connected with winged control case signal, are flown control case and are only transmitted height control signal to power rotor motor；
Attitude rotor motor adjusts signal to be connected with electricity, and electricity is adjusted and is connected with winged control case signal, is flown control case and is transmitted to attitude rotor motor
Highly, course, roll, pitch control signal.
2. efficient multi-rotor aerocraft according to claim 1, it is characterised in that：The power rotor is by power rotor electricity
The mode of machine deceleration linkage is included being slowed down by train of reduction gears or deceleration belt pulley group and is linked.
3. efficient multi-rotor aerocraft according to claim 1, it is characterised in that：Power rotor motor KV value is less than attitude
Rotor motor KV value.
4. efficient multi-rotor aerocraft according to claim 1, it is characterised in that：Power rotor is using oar paddle type at a slow speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710016976.1A CN106542093A (en) | 2017-01-11 | 2017-01-11 | Efficient multi-rotor aerocraft |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710016976.1A CN106542093A (en) | 2017-01-11 | 2017-01-11 | Efficient multi-rotor aerocraft |
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| CN106542093A true CN106542093A (en) | 2017-03-29 |
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| CN201710016976.1A Pending CN106542093A (en) | 2017-01-11 | 2017-01-11 | Efficient multi-rotor aerocraft |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106915469A (en) * | 2017-04-14 | 2017-07-04 | 深圳市轻准科技有限公司 | Mixed dynamic unmanned plane |
| JP6954708B1 (en) * | 2021-08-26 | 2021-10-27 | 株式会社石川エナジーリサーチ | Engine-equipped flight device |
| JP2022113814A (en) * | 2020-09-17 | 2022-08-04 | 株式会社石川エナジーリサーチ | Engine-mounted autonomous flight device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106915469A (en) * | 2017-04-14 | 2017-07-04 | 深圳市轻准科技有限公司 | Mixed dynamic unmanned plane |
| JP2022113814A (en) * | 2020-09-17 | 2022-08-04 | 株式会社石川エナジーリサーチ | Engine-mounted autonomous flight device |
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| JP6954708B1 (en) * | 2021-08-26 | 2021-10-27 | 株式会社石川エナジーリサーチ | Engine-equipped flight device |
| WO2023026797A1 (en) * | 2021-08-26 | 2023-03-02 | 株式会社石川エナジーリサーチ | Engine-carrying flight device |
| JP2023032180A (en) * | 2021-08-26 | 2023-03-09 | 株式会社石川エナジーリサーチ | Engine-mounted flight device |
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Application publication date: 20170329 |