CN106956773A - Tilting rotor formula VUAV and its control method - Google Patents

Tilting rotor formula VUAV and its control method Download PDF

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Publication number
CN106956773A
CN106956773A CN201710225018.5A CN201710225018A CN106956773A CN 106956773 A CN106956773 A CN 106956773A CN 201710225018 A CN201710225018 A CN 201710225018A CN 106956773 A CN106956773 A CN 106956773A
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CN
China
Prior art keywords
fuselage
propeller assembly
vuav
rotor formula
tilting rotor
Prior art date
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.)
Pending
Application number
CN201710225018.5A
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Chinese (zh)
Inventor
申晓东
李猛
闫兆武
蒋阳
官梓怡
王睿
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Nanchang Hangkong University
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Nanchang Hangkong University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Nanchang Hangkong University filed Critical Nanchang Hangkong University
Priority to CN201710225018.5A priority Critical patent/CN106956773A/en
Publication of CN106956773A publication Critical patent/CN106956773A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • B64C27/00Rotorcraft; Rotors peculiar thereto
    • B64C27/22Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
    • B64C27/28Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft with forward-propulsion propellers pivotable to act as lifting rotors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C29/00Aircraft capable of landing or taking-off vertically
    • B64C29/0008Aircraft capable of landing or taking-off vertically having its flight directional axis horizontal when grounded
    • B64C29/0016Aircraft capable of landing or taking-off vertically having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers
    • B64C29/0033Aircraft capable of landing or taking-off vertically having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers the propellers being tiltable relative to the fuselage
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C2201/00Unmanned aerial vehicles; Equipment therefor
    • B64C2201/02Unmanned aerial vehicles; Equipment therefor characterized by type of aircraft
    • B64C2201/021Airplanes, i.e. having wings and tail planes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C2201/00Unmanned aerial vehicles; Equipment therefor
    • B64C2201/02Unmanned aerial vehicles; Equipment therefor characterized by type of aircraft
    • B64C2201/024Helicopters, or autogiros
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C2201/00Unmanned aerial vehicles; Equipment therefor
    • B64C2201/10Unmanned aerial vehicles; Equipment therefor characterised by the lift producing means
    • B64C2201/108Unmanned aerial vehicles; Equipment therefor characterised by the lift producing means using rotors, or propellers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C2201/00Unmanned aerial vehicles; Equipment therefor
    • B64C2201/16Unmanned aerial vehicles; Equipment therefor characterised by type of propulsion unit
    • B64C2201/162Unmanned aerial vehicles; Equipment therefor characterised by type of propulsion unit using ducted fans or propellers

Abstract

A kind of tilting rotor formula VUAV control method, including:Unmanned aerial vehicle body is transformed;Control the driving pulling force of rear-mounted propeller assembly to be more than the driving pulling force of preposition screw propeller assembly, change setting state of the screw propeller assembly on fuselage;Control tilting rotor formula VUAV smooth flight.A kind of tilting rotor formula VUAV, includes fuselage, preposition screw propeller assembly, rear-mounted propeller assembly and steering gear system, and preposition screw propeller assembly and rear-mounted propeller assembly is connected with connecting rod;Steering wheel brushless electric machine/or power assembly operation are controlled by steering gear system.In the method, using it is active vert enable to propeller vert process it is more stable, safety.The present invention not only has the function of vertical lift, while also having had the long battery life of fixed wing aircraft, the advantage of high manipulation accuracy concurrently.Above all:Verting for power assembly of the present invention is verted to be active, can dramatically improve the stability of unmanned plane during flying.

Description

Tilting rotor formula VUAV and its control method
Technical field
The present invention relates to unmanned air vehicle technique field, more specifically, more particularly to a kind of tilting rotor formula VTOL without Man-machine and a kind of tilting rotor formula VUAV control method.
Background technology
Unmanned plane is the not manned aircraft manipulated using radio robot and the presetting apparatus provided for oneself, from technology Angle definition can be divided into:Unmanned fixed-wing aircraft and unmanned VTOL machine.At civilian aspect, unmanned plane can be used for taking photo by plane, agriculture Industry, plant protection, miniature auto heterodyne, express transportation etc. field.
Current unmanned plane is needed due to market, it is desirable to which unmanned plane can be independent of place, it becomes possible to complete VTOL with And the action such as flight forward, meanwhile, also require unmanned plane meet its it is handling on the premise of, in addition it is also necessary to possess longer continuation of the journey Ability.In the prior art, rotor wing unmanned aerial vehicle can reach VTOL and the requirement of flight forward, but be due to that it passes through spiral shell Revolve action edge and steering power before oar is produced, therefore it is present that flight efficiency is low, flying speed is slow, handling poor etc. ask Topic.And although fixed-wing unmanned plane flight efficiency is higher, flying speed is fast, it can not realize VTOL, thus also without Method meets the market demand.
In order that unmanned plane be provided simultaneously with can VTOL, flying speed it is fast, it is handling good the advantages of, then in the market Occur in that a kind of VTOL fixed-wing unmanned plane, i.e. combined type VTOL fixed-wing unmanned plane.Vertically risen for combined type Drop for fixed-wing unmanned plane, unmanned plane has landing and preceding winged two sets of propeller power, landing propeller direction is upward, preceding to fly Propeller direction is facing forward.It is main during landing to control aircraft by landing propeller works, put down main by the spiral shell that moves ahead during flying Revolve oar job control aircraft.The problem of this combined type VTOL fixed-wing unmanned plane is present be:Because aircraft carries two sets Power set, aircraft overall weight increase, load-carrying ability declines, operating efficiency reduction.
The content of the invention
(1) technical problem
In summary, the total quality that how to solve the presence of combined type VTOL fixed-wing unmanned plane is big, flying quality Poor the problem of, become those skilled in the art's urgent problem to be solved.
(2) technical scheme
The invention provides a kind of tilting rotor formula VUAV control method, this method is specifically included:
Step 1: the fuselage interior in tilting rotor formula VUAV sets steering gear system, and by tilting rotor The preposition screw propeller assembly and rear-mounted propeller assembly that homonymy is set on formula VUAV are fixedly connected by connecting rod, The connecting rod that tilting rotor formula VUAV both sides are set is connected by universal driving shaft realization, above-mentioned steering gear system With universal driving shaft power connector;
Step 2: the driving pulling force of control rear-mounted propeller assembly is more than the driving pulling force of preposition screw propeller assembly so that Connecting rod produces a rotate counterclockwise active force towards tilting rotor formula VUAV heading on fuselage, leads to Above-mentioned rotate counterclockwise active force is crossed vertically to play preposition screw propeller assembly and rear-mounted propeller assembly in tilting rotor formula Relative verticality is changed into from relative level state on drop unmanned aerial vehicle body;
Step 3: being carried out by setting angular transducer to the fuselage of tilting rotor formula VUAV in landing Angle monitor, and provide above-mentioned universal driving shaft driving force to ensure that tilting rotor formula is hung down by steering gear system according to Monitoring Data Straight landing unmanned plane smooth flight.
Present invention also offers a kind of tilting rotor formula VUAV, the structure of the unmanned plane is:
Include fuselage, preposition screw propeller assembly, rear-mounted propeller assembly and steering gear system, the fuselage is provided with solid Determine the wing, the preposition screw propeller assembly is arranged on the fixed-wing and close to the head of fuselage by tiliting axis, described rearmounted Screw propeller assembly is arranged on the fixed-wing and the head away from fuselage by tiliting axis, positioned at the fuselage homonymy, described Preposition screw propeller assembly and the rear-mounted propeller assembly are connected by connecting rod and are formed with a set of power assembly, described preposition Screw propeller assembly is connected with the connecting rod, and the rear-mounted propeller assembly is connected with the connecting rod;
The power assembly is provided with two sets, and two sets of power assemblies are divided into the both sides of the fuselage;
In the power assembly for being divided into the fuselage both sides, two connecting rods realize that linkage connects by universal driving shaft Connect, the steering gear system includes controller, gyroscope and the steering wheel brushless electric machine of built-in control program, the brushless electricity of steering wheel Machine and the universal driving shaft power connector, the gyroscope are used to the angle of inclination of fuselage is carried out to monitor and generate monitoring in real time Signal, the gyroscope is connected with the controller signals, the controller and the steering wheel brushless electric machine and power assembly Signal is connected, and monitoring signals are controlled the steering wheel brushless electric machine/or power assembly to run by the controller according to described.
Preferably, present invention additionally comprises there is a connection four-way, the connection four-way include the first axial aperture channel and with institute The second axial aperture channel that the first axial aperture channel is vertical and communicates is stated, the universal driving shaft is set through first axial aperture channel, institute State connecting rod to set through second axial aperture channel, in the two ends of first axial aperture channel and positioned at the connection four-way Outside is provided with bearing, and the connection four-way is rotatablely arranged in the fuselage by the bearing.
Preferably, the steering gear system is arranged on the position of centre of gravity of the fuselage.
Preferably, the steering wheel brushless electric machine passes through belt drive system, gear train assembly or pull bar transmission system With the universal driving shaft power connector.
Preferably, the universal driving shaft is metallic universal driving shaft or rigid plastics universal driving shaft;The universal driving shaft is hollow shaft.
Preferably, the connecting rod includes two structure identical linkage units, and two linkage units are plugged respectively It is fixedly connected in the two ends of second axial aperture channel and with the connection four-way.
Preferably, the connection four-way is that alloy in lightweight connects four-way or foamed plastics connection four-way;The connection four-way For integral type structure.
(3) beneficial effect
In the tilting rotor formula VUAV control method that the present invention is provided, screw propeller assembly is in the process of verting Middle propeller forms rotating force by front and rear differential two-by-two, reaches that screw propeller assembly verts purpose, using the active energy that verts Enough so that propeller verts, process is more stable, safe.While propeller actively verts, steering gear control system can maintain machine Body balance so that fuselage will not be unstable because of verting for propeller, add stable type of the fuselage during verting with Security.
In the tilting rotor formula VUAV that provides of the present invention, it passes through to rear-mounted propeller assembly and preceding Put screw propeller assembly to be controlled respectively, the active force that actively verts can be produced by rear-mounted propeller assembly, by this Active force actively vert so that power assembly active is verted, so the present invention not only has the function of vertical lift, while also simultaneous Have long battery life, the advantage of high manipulation accuracy of fixed wing aircraft.Above all:Power assembly of the present invention verts Verted to be active, can dramatically improve the stability of unmanned plane during flying.
Brief description of the drawings
Fig. 1 is the overlooking the structure diagram of tilting rotor formula VUAV in the embodiment of the present invention;
Fig. 2 is the main structure diagram of tilting rotor formula VUAV in the embodiment of the present invention;
Fig. 3 is the structural representation of connection four-way in the embodiment of the present invention;
In Fig. 1 into Fig. 3, the corresponding relation of component names and accompanying drawing number is:
Fuselage 1, preposition screw propeller assembly 2, rear-mounted propeller assembly 3, fixed-wing 4,
Connect four-way 5, the first axial aperture channel 6, the second axial aperture channel 7.
Embodiment
Embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples.Following examples are used for Illustrate the present invention, but can not be used for limiting the scope of the present invention.
In the description of the invention, unless otherwise indicated, " multiple " are meant that two or more;Term " on ", " under ", "left", "right", " interior ", " outer ", " front end ", " rear end ", " head ", the orientation of the instruction such as " afterbody " or position relationship be Based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than indicate or dark Specific orientation must be had, with specific azimuth configuration and operation by showing the device or element of meaning, therefore it is not intended that right The limitation of the present invention.In addition, term " first ", " second ", " the 3rd " etc. be only used for describe purpose, and it is not intended that indicate or Imply relative importance.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " connected ", " company Connect " it should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or it is integrally connected;It can be machine Tool is connected or electrically connected;Can be joined directly together, can also be indirectly connected to by intermediary.For this area For those of ordinary skill, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
The invention provides a kind of tilting rotor formula VUAV control method, in the method, its specific bag Include following steps:
Step S1, tilting rotor formula VUAV (for the ease of description, hereinafter referred to as unmanned plane) carried out The transformation of airframe structure.
Steering gear system is set in the fuselage interior of tilting rotor formula VUAV, steering gear system includes controller And gyroscope.Gyroscope can carry out angle monitor, and controller is built-in with control program.It is provided with the fuselage of unmanned plane Four screw propeller assemblies, respectively two preposition screw propeller assemblies and two rear-mounted propeller assemblies.Wherein, a preposition spiral shell Oar assembly and a rear-mounted propeller assembly is revolved to set in the same side of fuselage, and front and rear setting.Preposition screw propeller assembly with Rear-mounted propeller assembly achieves a fixed connection to form a set of power assembly by a connecting rod, and so the present invention just possesses two Cover power assembly.In same power assembly, connecting rod realizes the fixation of preposition screw propeller assembly and rear-mounted propeller assembly Connection, preposition screw propeller assembly and rear-mounted propeller assembly is installed in rotation on fixed-wing by tiliting axis.
The connecting rod that tilting rotor formula VUAV both sides are set is realized by universal driving shaft and is connected, and so may be used To ensure that angle of inclination of two power assemblies in flight keeps synchronous.
Intervene in order to the angle of inclination to power assembly, the present invention connects steering gear system and universal driving shaft power Connect.
Step S2, rearmounted spiral controlled based on the controller on the basis of to unmanned plane structure of modification, passing through steering gear system The driving pulling force of oar assembly is more than the driving pulling force of preposition screw propeller assembly, and one is produced on fuselage this makes it possible to cause connecting rod The individual rotate counterclockwise active force towards tilting rotor formula VUAV heading, passes through above-mentioned rotate counterclockwise Active force changes preposition screw propeller assembly and rear-mounted propeller assembly is set on tilting rotor formula VUAV fuselage The locus put so that rear-mounted propeller assembly is located on the upside of fuselage, preposition screw propeller assembly is located on the downside of fuselage, final Under state, rear-mounted propeller assembly and preposition screw propeller assembly are perpendicular.
Step S3, the flight to unmanned plane carry out stability contorting.Its is specific as follows:By setting angular transducer to verting The fuselage of rotary wind type VUAV carries out angle monitor in landing, and according to Monitoring Data by steering gear system to upper The universal driving shaft stated provides driving force to ensure tilting rotor formula VUAV smooth flight.
At present, conventional tilting rotor formula VUAV, its control method is:During propeller verts, spiral shell Rotation oar controls its passive rotation by steering gear control system, because external force (steering wheel) interferes the normal operating conditions of propeller, therefore meeting Cause propeller works unstable.Being additionally, since external force (steering wheel) need to give propeller one larger power, be determined by physics the 3rd Rule, propeller can also give one larger reaction force of aircraft, can so cause aircraft force unbalance, cause unmanned plane during flying Unstable the problem of.
It is an object of the invention to:
1st, aircraft excess power device is reduced, aircraft power system weight is reduced, increases aircraft flight efficiency;
2nd, the problem of aircraft flight that solution propeller passive rotation is present is unstable, by control mode and aircraft The improvement of airframe structure, reaches the purpose of increase airframe stable type and security during verting.
By the improvement of above-mentioned control method, in the present invention, screw propeller assembly during verting propeller by front and rear Differential formation rotating force, reaches that screw propeller assembly verts purpose, enables to propeller to incline using active vert two-by-two Turn over journey more stable, safe.Meanwhile, while propeller actively verts, steering gear control system can maintain fuselage to balance so that Fuselage will not be unstable because of verting for propeller, adds stable type and security of the fuselage during verting.
Fig. 1 be refer to Fig. 3, wherein, Fig. 1 is the vertical view of tilting rotor formula VUAV in the embodiment of the present invention Structural representation;Fig. 2 is the main structure diagram of tilting rotor formula VUAV in the embodiment of the present invention;Fig. 3 is The structural representation of four-way is connected in the embodiment of the present invention.
Present invention also offers a kind of tilting rotor formula VUAV, include fuselage 1, preposition screw propeller assembly 2nd, rear-mounted propeller assembly 3 and steering gear system, fuselage 1 are provided with fixed-wing 4, and preposition screw propeller assembly 2 is set by tiliting axis It is placed on fixed-wing 4 and close to the head of fuselage 1, rear-mounted propeller assembly 3 is arranged on fixed-wing 4 and remote by tiliting axis Disembark the head of body 1, connected simultaneously by connecting rod positioned at the homonymy of fuselage 1, preposition screw propeller assembly 2 and rear-mounted propeller assembly 3 A set of power assembly is formed with, preposition screw propeller assembly 2 is connected with connecting rod, and rear-mounted propeller assembly 3 is connected with connecting rod.Preposition spiral shell Rotation oar assembly 2 and rear-mounted propeller assembly 3 are rotatably arranged on fixed-wing 4 by tiliting axis.
Based on said structure design, in the present invention, power assembly is provided with two sets, and two sets of power assemblies are divided into fuselage 1 both sides;In the power assembly for being divided into the both sides of fuselage 1, two connecting rods are realized by universal driving shaft and are connected, steering gear system Include the controller for being built-in with control program, gyroscope and steering wheel brushless electric machine, steering wheel brushless electric machine and universal driving shaft power Connection, gyroscope is used to the angle of inclination of fuselage 1 is carried out to monitor and generate monitoring signals in real time, and gyroscope is believed with controller Number connection, controller is connected with steering wheel brushless electric machine and power assembly signal, and controller controls steering wheel according to by monitoring signals Brushless electric machine/or power assembly operation.
When aircraft is verted, in two propellers set before and after fuselage 1, rear-mounted propeller, which is produced, is more than preposition spiral shell Revolve the pulling force of oar, connecting rod center produces a moment of torsion counterclockwise (on the left of from aircraft) so that two sets of propellers start around Connecting rod center is rotated counterclockwise (on the left of from aircraft), and changes rotation speed by the pulling force difference of the front and rear propeller of adjustment Rate and rotation direction.
While propeller rotational, the attitudes vibration of fuselage 1 and wing can be perceived simultaneously by being placed on the sensor of fuselage 1 Steering gear system is reached, control program adjustment aspect of the steering gear system according to built in it reaches the normal water of fuselage 1 and wing Flat flight.
In the present invention, the drive mechanism of unmanned plane is specific as follows:Using battery as power, battery is put in fuselage 1 Portion, preposition screw propeller assembly 2 and the structure of rear-mounted propeller assembly 3 are identical, be provided with electricity adjust and brushless electric machine, electricity adjust with Brushless electric machine is arranged at propeller bottom (i.e. the end of tiliting axis), and propeller is connected with brushless electric machine, brushless electric machine rotational band Dynamic propeller rotation.Under unmanned plane landing state, the electricity of rear-mounted propeller assembly 3, which is adjusted, receives identical signal, changes rearmounted spiral shell The rotating speed of the brushless electric machine of oar assembly 3 is revolved, rotating speed becomes big (or diminishing), and pulling force becomes big (or diminishing);Preposition screw propeller assembly 2 Electricity, which is adjusted, receives identical signal, changes the rotating speed of the preposition brushless electric machine of screw propeller assembly 2, and rotating speed becomes big (or diminishing), and pulling force becomes big (or diminishing).The pulling force that propeller in preposition and rear-mounted propeller assembly 3 is produced is different, so that it is poor to produce pulling force.
Specifically, present invention also offers connection four-way 5, connection four-way 5 includes the first axial aperture channel 6 and with first Axial aperture channel 6 is vertical and the second axial aperture channel 7 for communicating, and universal driving shaft is set through the first axial aperture channel 6, and connecting rod is through the second axle Hole path 7 is set, and is provided with bearing in the two ends of the first axial aperture channel 6 and positioned at the outside of connection four-way 5, connection four-way 5 leads to Bearing is crossed to be rotatablely arranged in fuselage 1.
It is connected on unmanned plane between two connecting rods by a universal driving shaft (hollow shaft), reaches both rotational angle identical mesh 's.Universal driving shaft runs through wing, is connected with connecting rod intersection with four-way with connecting rod.Inside fuselage 1, universal driving shaft and steering wheel rocking arm It is connected by belt, gear or pull bar.Steering wheel is fixed in fuselage 1, and when tiliting axis is rotated, fuselage 1 is unstable along hollow shaft Rotate, so that the angle of attack of aircraft produces unstable change, influence flight.What steering wheel can be transmitted according to the sensor of fuselage 1 Data rotation steering wheel rocking arm, makes up the excessive rotation produced when verting.
In the present invention, connection four-way 5 can be integrally formed using alloy in lightweight, it would however also be possible to employ rigid plastics, for example PMI foams or PVC foams are made.
In order to further improve the stability of unmanned plane during flying, steering gear system is arranged on the position of centre of gravity of fuselage 1.And And, battery is also disposed on the position of centre of gravity of fuselage 1.
Steering wheel brushless electric machine includes rocking arm, and steering wheel brushless electric machine (rocking arm) passes through belt drive system, pinion unit System or pull bar transmission system and universal driving shaft power connector.
Limit herein:Universal driving shaft is metallic universal driving shaft or rigid plastics universal driving shaft;Universal driving shaft is hollow shaft.
In the present invention, connecting rod includes two structure identical linkage units, and two linkage units are inserted in respectively The two ends of two axial aperture channels 7 are simultaneously fixedly connected with being connected four-way 5.
The present invention is provided using rotating shaft two ends screw propeller assembly by the way of power difference, rotating shaft is integrally produced an active Vert power, while by sensor senses system and the angle of horizontal plane, driving servomechanism makes up angle, reaches system water all the time Flat purpose.
By said structure design, in the tilting rotor formula VUAV that the present invention is provided, it passes through to rear Put screw propeller assembly 3 and preposition screw propeller assembly 2 is controlled respectively, it can produce one by rear-mounted propeller assembly 3 The individual active force that actively verts, the active force that actively verted by this is so that power assembly actively verts, and so the present invention not only has The function of vertical lift, while also having had the long battery life of the aircraft of fixed-wing 4, the advantage of high manipulation accuracy concurrently.It is most important Be:Verting for power assembly of the present invention is verted to be active, can dramatically improve the stability of unmanned plane during flying.
Embodiments of the invention are provided for the sake of example and description, and are not exhaustively or by this to send out It is bright to be limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Choosing Select and describe embodiment and be more preferably to illustrate the principle and practical application of the present invention, and make one of ordinary skill in the art It will be appreciated that the present invention is so as to design the various embodiments with various modifications suitable for special-purpose.

Claims (8)

1. a kind of tilting rotor formula VUAV control method, it is characterised in that including:
Step 1: the fuselage interior in tilting rotor formula VUAV sets steering gear system, and tilting rotor formula is hung down The preposition screw propeller assembly and rear-mounted propeller assembly that homonymy is set on straight landing unmanned plane are fixedly connected by connecting rod, will be inclined The connecting rod that switch rotor formula VUAV both sides are set is connected by universal driving shaft realization, above-mentioned steering gear system and connection Moving axis power connector;
Step 2: the driving pulling force of control rear-mounted propeller assembly is more than the driving pulling force of preposition screw propeller assembly so that connecting rod A rotate counterclockwise active force towards tilting rotor formula VUAV heading is produced on fuselage, by upper The rotate counterclockwise active force stated by preposition screw propeller assembly and rear-mounted propeller assembly the VTOL of tilting rotor formula without Relative verticality is changed into from relative level state on man-machine fuselage;
Step 3: carrying out angle in landing by setting angular transducer to the fuselage of tilting rotor formula VUAV Monitoring, and provide driving force to above-mentioned universal driving shaft to ensure that tilting rotor formula vertically rises by steering gear system according to Monitoring Data Unmanned plane smooth flight is dropped.
2. a kind of tilting rotor formula VUAV, it is characterised in that
Include fuselage (1), preposition screw propeller assembly (2), rear-mounted propeller assembly (3) and steering gear system, the fuselage is set Fixed-wing is equipped with, the preposition screw propeller assembly is arranged on the fixed-wing (4) and close to the machine of fuselage by tiliting axis Head, the rear-mounted propeller assembly is arranged on the fixed-wing and the head away from fuselage by tiliting axis, positioned at the machine Body homonymy, the preposition screw propeller assembly and the rear-mounted propeller assembly are connected by connecting rod and to be formed with a set of power total Into the preposition screw propeller assembly is connected with the connecting rod, and the rear-mounted propeller assembly is connected with the connecting rod;
The power assembly is provided with two sets, and two sets of power assemblies are divided into the both sides of the fuselage;
In the power assembly for being divided into the fuselage both sides, two connecting rods are realized by universal driving shaft and are connected, The steering gear system includes the controller, gyroscope and steering wheel brushless electric machine for being built-in with control program, the brushless electricity of steering wheel Machine and the universal driving shaft power connector, the gyroscope are used to the angle of inclination of fuselage is carried out to monitor and generate monitoring in real time Signal, the gyroscope is connected with the controller signals, the controller and the steering wheel brushless electric machine and power assembly Signal is connected, and the controller is according to the operation shape that monitoring signals control to the steering wheel brushless electric machine/or power assembly State.
3. tilting rotor formula VUAV according to claim 2, it is characterised in that
Also include connection four-way (5), the connection four-way includes the first axial aperture channel (6) and logical with first axis hole Road is vertical and the second axial aperture channel (7) for communicating, and the universal driving shaft is passed through through first axial aperture channel setting, the connecting rod Second axial aperture channel is set, and is provided with the two ends of first axial aperture channel and on the outside of the connection four-way Bearing, the connection four-way is rotatablely arranged in the fuselage by the bearing.
4. tilting rotor formula VUAV according to claim 2, it is characterised in that
The steering gear system is arranged on the position of centre of gravity of the fuselage.
5. tilting rotor formula VUAV according to claim 2, it is characterised in that
The steering wheel brushless electric machine passes through belt drive system, gear train assembly or pull bar transmission system and the universal driving shaft Power connector.
6. the tilting rotor formula VUAV according to any one of claim 2 to 5, it is characterised in that
The universal driving shaft is metallic universal driving shaft or rigid plastics universal driving shaft;
The universal driving shaft is hollow shaft.
7. tilting rotor formula VUAV according to claim 6, it is characterised in that
The connecting rod includes two structure identical linkage units, and two linkage units are inserted in second axle respectively The two ends of hole path are simultaneously fixedly connected with the connection four-way.
8. tilting rotor formula VUAV according to claim 7, it is characterised in that
The connection four-way is that alloy in lightweight connects four-way or foamed plastics connection four-way;
The connection four-way is integral type structure.
CN201710225018.5A 2017-04-07 2017-04-07 Tilting rotor formula VUAV and its control method Pending CN106956773A (en)

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CN201710225018.5A CN106956773A (en) 2017-04-07 2017-04-07 Tilting rotor formula VUAV and its control method

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Application Number Priority Date Filing Date Title
CN201710225018.5A CN106956773A (en) 2017-04-07 2017-04-07 Tilting rotor formula VUAV and its control method

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Cited By (4)

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CN107554783A (en) * 2017-09-03 2018-01-09 佛山市龙远科技有限公司 A kind of amphibious unmanned plane of VTOL
CN107985583A (en) * 2017-11-17 2018-05-04 沈阳无距科技有限公司 Tilting rotor wing unmanned aerial vehicle
CN108313264A (en) * 2018-01-26 2018-07-24 易瓦特科技股份公司 Adjustable rotor engine body system for fixed-wing unmanned plane
WO2019109622A1 (en) * 2017-12-06 2019-06-13 Guangdong Kang Yun Technologies Limited Optimizing propeller direction in drone design using onboard network of sensors

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107554783A (en) * 2017-09-03 2018-01-09 佛山市龙远科技有限公司 A kind of amphibious unmanned plane of VTOL
CN107985583A (en) * 2017-11-17 2018-05-04 沈阳无距科技有限公司 Tilting rotor wing unmanned aerial vehicle
WO2019109622A1 (en) * 2017-12-06 2019-06-13 Guangdong Kang Yun Technologies Limited Optimizing propeller direction in drone design using onboard network of sensors
CN108313264A (en) * 2018-01-26 2018-07-24 易瓦特科技股份公司 Adjustable rotor engine body system for fixed-wing unmanned plane

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