CN107215462A - A kind of VTOL fixed-wing unmanned plane landing method and landing-gear - Google Patents
A kind of VTOL fixed-wing unmanned plane landing method and landing-gear Download PDFInfo
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- CN107215462A CN107215462A CN201710529159.6A CN201710529159A CN107215462A CN 107215462 A CN107215462 A CN 107215462A CN 201710529159 A CN201710529159 A CN 201710529159A CN 107215462 A CN107215462 A CN 107215462A
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000007704 transition Effects 0.000 claims description 4
- 230000001154 acute effect Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000005381 potential energy Methods 0.000 description 2
- 241000272517 Anseriformes Species 0.000 description 1
- 210000001015 abdomen Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000002073 mitogenetic effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
- B64C29/02—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis vertical when grounded
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/12—Canard-type aircraft
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Abstract
The present invention relates to unmanned air vehicle technique field, a kind of VTOL fixed-wing unmanned plane landing method, including following technical step：Aircraft horizontal flight, changes into lift mode；Under lift mode, make ventral to wind, while control aircraft is accurate to up to above level point under winged pattern of hanging down；Control aircraft is converted to horizontal flight by vertical flight, and windward, fuselage keeps level to head；Close engine free landing；It drop to after setting height, adjustment fuselage posture to plumbness；Aircraft slowly lands.The present invention solve aircraft from high-altitude vertical landing Process Energy loss it is big the problem of, greatly reduce energy loss, the endurance of aircraft improved indirectly, during fuselage unstability is fallen down, the position of propeller is maked somebody a mere figurehead.
Description
Technical field
This technology is related to unmanned air vehicle technique field, and in particular to a kind of method of VTOL fixed-wing unmanned plane landing and
Device.
Background technology
VTOL fixed-wing unmanned plane is provided simultaneously with the ability of VTOL and high-performance cruise, overcomes traditional fixed-wing
The drawbacks of unmanned plane need to be by compared with long runway landing, this advantage ensures that it in the complicated landform such as mountain area, hills, jungle and can build
Build the smooth operation of thing close quarters, be greatly enlarged fixed-wing unmanned plane in land resources mapping, police fire inspection, answer first aid
The application in field such as help.With the extensive use of VTOL fixed-wing unmanned air vehicle technique, it is during vertical landing
The problem of kinetic energy consumption is big is also exposed, and how to reduce energy expenditure of the aircraft in descent, is the weight for needing to solve
Big problem, while it is the significant problem for needing to solve to reduce aircraft damage when fuselage is overturned, protection propeller as far as possible.
After the completion of work high above the ground, the fixed-wing unmanned plane of prior art is reached near level point generally using orbit drop
Low clearance, and spiraling to drop high mode and limited by mountain area or city spatial domain condition can not often implement.The VTOL of prior art
Fixed-wing unmanned plane is using whole vertical landing in descent, and this vertical landing mode needs engine is whole to transport at a high speed
Turn, loss of energy is larger.
Prior art（Publication number CN105905295）The VTOL fixed-wing unmanned vehicle researched and developed for applicant, be
Hardware foundation has been established in the proposition of the application.
The content of the invention
The application is in order to solve the above technical problems, there is provided a kind of energy energy-conservation, the method for the stable landing of rapid vertical.
1. a kind of VTOL fixed-wing unmanned plane landing method, including following technical step：
1）Aircraft horizontal flight, it is flat to fly to up to above level point, it is flat to fly to change into lift mode；
2）Under lift mode, aircraft adjusts posture along ventral, makes ventral to wind, while control aircraft essence under winged pattern of hanging down
Really reach above level point；
3）Control aircraft is converted to horizontal flight by vertical flight, and now windward, fuselage keeps level to head；
4）Close engine, fuselage done under non-power state it is unpowered freely land, aileron pull up offer Pitching Stability, the wing
The small wing dihedral angle of point provides roll stability；
5）Aircraft is drop to after setting height, engine start, adjustment fuselage posture to plumbness；
6）Engine speed is adjusted, rotating speed is smoothly reduced, aircraft slowly lands；
7）Support meanss contact ground, if wind-force is smaller, holding perpendicular attitude of contacting to earth；If wind-force is larger, because ventral is actively right
Wind, aircraft leans forward, and support meanss bottom support surface support landing, support meanss bottom support surface first lands, and fuselage continues to lean forward, until
Head also contacts to earth, and bottom support surface leading edge and head tangent line are less than propeller blade tip, and effectively protection propeller will not be due to contacting to earth
Damage.
Further, ventral is controlled by fuselage interior angular transducer the posture of wind, and control roll angle, which reduces, to level off to
Zero, the angle of pitch is changed into negative value.
Wherein step 7）In used landing-gear, be fixed with support frame, support frame immediately below aircraft propeller
Rear support face and wing end face, the bottom support surface of support frame is to extend after straight line, the bottom support surface and fuselage of support frame
Line acute angle is set, bottom support surface and rear support face arc transition, and the front support face of support is circular arc.
The present invention is beneficial in that,
1）Solve aircraft from high-altitude vertical landing Process Energy loss it is big the problem of, freely fall by the way that standard of fuselage is unpowered
The landing of body formula is effectively utilized air drag, greatly speeds up the high-altitude landing time, greatly reduces energy loss, improve indirectly
The endurance of aircraft.
2）During fuselage unstability is fallen down, impetus position can constantly be adjusted upward along bottom support surface, will be flown all the time
Machine center of gravity and the distance of aircraft bottom support surface keep within the specific limits, slowing down the potential energy that aircraft is toppled over, and reach protection fuselage
Effect.And when aircraft is toppled over completely, head lands with the top edge supported, the position of propeller is maked somebody a mere figurehead, will not be with ground
Collision is produced, so as to reach the effect of protection propeller.
Brief description of the drawings
Fig. 1 descent schematic diagrames；
Fig. 2, which is tilted, supports process schematic；
Fig. 3 support device structure schematic diagrames.
Embodiment
The present invention is further elaborated below in conjunction with the accompanying drawings.
There is provided a kind of VTOL fixed-wing unmanned plane drop in order to realize unmanned plane VTOL and stable support by the present invention
Fall support meanss, fuselage rear is provided with delta shaped wing, and the end of wing is flushed with tail cone, forms wing end support knot
Structure.The propeller that motor drive is respectively equipped with the middle part of canard, wing is provided with front of fuselage.Support is fixed with immediately below propeller
Frame, rear support face and the wing end face of support frame, the bottom support surface of support frame is straight line, and support frame is formed with wing end
Stable support structure during VTOL.
The bottom support surface of support frame is rectilinear form, and extended line acute angle is set after the bottom support surface and fuselage of support frame
Put, this support frame there are following two supporting forms.First, supported vertically using rear support face so that aircraft is realized vertical
Contact to earth landing.Second, when plane nose is because external force run-off the straight, handpiece support, now head and support frame line and ground
Tangent, head, which leans forward, contacts ground, the form with forming supported at three point at the anterior arc transition of support frame.
Circular arc transitional structure causes fuselage during unstability is fallen down, and impetus position can connect along bottom support surface
Continue upward transition, keep the center of gravity of airplane and the distance of aircraft bottom support surface within the specific limits, to slow down what aircraft was toppled over all the time
Potential energy, reaches the effect of protection fuselage.
VTOL fixed-wing unmanned plane landing method, including following technical step：
1）Aircraft horizontal flight, flat to fly to up to above level point, both sides propeller coordinated signals pulling force, both sides aileron linkage is carried
For pitch control, head lifting, both sides propeller control rotating speed so that aircraft is flown to change into lift mode by flat.
2）Under lift mode, change because posture is defined, it is differential to carry while the propeller coordinated signals pulling force of both sides
For control of sideward roll, aircraft adjusts posture along ventral, makes ventral to wind, the position control section of control algolithm is mitogenetic into reference instruction
Posture is to part of attitude control so that roll angle is decreased up to close to zero, and the angle of pitch is changed into negative value i.e. ventral to wind, flies while hanging down
Aircraft is controlled to be accurate to up to above level point under pattern.
3）Control aircraft is converted to horizontal flight, both sides propeller coordinated signals pulling force, while both sides pair by vertical flight
Wing linkage provides pitch control, makes aircraft fly to be converted into horizontal flight by hanging down, and now windward, fuselage keeps level to head.
4）Close engine, fuselage done under non-power state it is unpowered freely land, aileron pull-up offer pitching is stable
Property, because winglet has the upper counterangle there is provided roll stability, aileron pull-up provides Pitching Stability, head against the wind, aircraft energy
Stable free-falling that holding level is unpowered.
5）Aircraft is drop to after setting height, engine start, adjustment fuselage posture to plumbness, fuselage adjustment
The process of posture is with step 1）Middle pose adjustment process；
6）Engine speed is adjusted, rotating speed is smoothly reduced, aircraft slowly lands；
7）Support meanss rear support face contacts ground, if wind-force is smaller, the contact ground vertical landing of support meanss rear support face；If
Wind-force is larger, and aircraft actively makes belly lean forward wind, and support meanss bottom support surface first contacts to earth, and fuselage continues to lean forward, until head
Also contact to earth.
Claims (3)
1. a kind of VTOL fixed-wing unmanned plane landing method, it is characterised in that including following technical step：
1）Aircraft horizontal flight, it is flat to fly to up to above level point, it is flat to fly to change into lift mode；
2）Under lift mode, aircraft adjusts posture along ventral, makes ventral to wind, while control aircraft essence under winged pattern of hanging down
Really reach above level point；
3）Control aircraft is converted to horizontal flight by vertical flight, and now windward, fuselage keeps level to head；
4）Close engine, fuselage done under non-power state it is unpowered freely land, aileron pull up offer Pitching Stability, the wing
The small wing dihedral angle of point provides roll stability；
5）Aircraft is drop to after setting height, engine start, adjustment fuselage posture to plumbness；
6）Engine speed is adjusted, rotating speed is smoothly reduced, aircraft slowly lands；
7）Support meanss contact ground, if wind-force is smaller, holding perpendicular attitude of contacting to earth；If wind-force is larger, because ventral is actively right
Wind, aircraft leans forward, and support meanss bottom support surface support landing, support meanss bottom support surface first lands, and fuselage continues to lean forward, until
Head also contacts to earth, and bottom support surface leading edge and head tangent line are less than propeller blade tip, and effectively protection propeller will not be due to contacting to earth
Damage.
2. landing method according to claim 1, it is characterised in that ventral is to the posture of wind by fuselage interior angle sensor
Device is controlled, and control roll angle, which reduces, levels off to zero, and the angle of pitch is changed into negative value.
3. step 7 in landing method according to claim 1）In used landing-gear, it is characterised in that aircraft
Support frame, rear support face and the wing end face of support frame are fixed with immediately below propeller, the bottom support surface of support frame is
Extended line acute angle is set after straight line, the bottom support surface and fuselage of support frame, bottom support surface and rear support face arc transition, support
The front support face of frame is circular arc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710529159.6A CN107215462B (en) | 2017-07-01 | 2017-07-01 | Landing method and landing device for vertical take-off and landing fixed wing unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710529159.6A CN107215462B (en) | 2017-07-01 | 2017-07-01 | Landing method and landing device for vertical take-off and landing fixed wing unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107215462A true CN107215462A (en) | 2017-09-29 |
| CN107215462B CN107215462B (en) | 2021-08-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710529159.6A Active CN107215462B (en) | 2017-07-01 | 2017-07-01 | Landing method and landing device for vertical take-off and landing fixed wing unmanned aerial vehicle |
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Cited By (2)
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| CN107943086A (en) * | 2017-12-21 | 2018-04-20 | 合肥灵猫传媒有限公司 | A kind of unmanned plane cluster makes a return voyage control system |
| CN110174906A (en) * | 2019-06-17 | 2019-08-27 | 沈阳无距科技有限公司 | Unmanned plane landing control method, device, storage medium and electronic equipment |
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| CN110174906A (en) * | 2019-06-17 | 2019-08-27 | 沈阳无距科技有限公司 | Unmanned plane landing control method, device, storage medium and electronic equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107215462B (en) | 2021-08-31 |
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Inventor after: Mao Youbin Inventor after: Wu Xiuyuan Inventor before: Mao Youbin |