CN107264769A - A kind of rigid multi-rotor aerocraft combination system - Google Patents
A kind of rigid multi-rotor aerocraft combination system Download PDFInfo
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- CN107264769A CN107264769A CN201710478299.5A CN201710478299A CN107264769A CN 107264769 A CN107264769 A CN 107264769A CN 201710478299 A CN201710478299 A CN 201710478299A CN 107264769 A CN107264769 A CN 107264769A
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- slave
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- merging
- main frame
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/061—Frames
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C19/00—Aircraft control not otherwise provided for
-
- 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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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of rigid multi-rotor aerocraft combination system, is linked together multiple rotor crafts using parts such as rigid support, connecting rods, larger Flight Vehicle Structure is formed, with bigger flight stress ability.The independent flight of individual aircraft is set by merging module or merges offline mode, master slave mode is set, carries out slave signal interaction.Master controller completes the detection of flight attitude and the control signal of power unit is calculated, and master controller, which merges, controls the power unit of itself, and slave power signal is passed into slave.Slave completes the control of self power unit according to the power signal of main frame, and flight attitude control is completed together with main frame power unit.
Description
Technical field
Multiple multi-rotor aerocrafts are merged to form the mechano-electronic control system of larger aircraft the present invention relates to a kind of.
Background technology
Multi-rotor aerocraft is a kind of high reliability, aircraft simple in construction, with low cost, in military, agricultural, life
There is substantial amounts of application in field.Main function components organic frame, electronic control system, the power list of general single multi-rotor aerocraft
Member.Power unit is motor-driven rotor (propeller), generally 3 to 8, distribution in a center of symmetry.
Aircraft typically has its specified load capacity.Generally heavy weight load needs larger flight system, weight
Less load uses less flight system.Multi-rotor aerocraft is simple in construction, and reliability is high, if can fly multiple rotors
Row device is merged into a big aircraft, and its payload can be increased exponentially.In the relatively more flexible application of load-carrying requirement
Occasion, this method can obtain heavy weight flight load demand by the combination of bug, can also split independent answer
To small weight flight stress demand, the investment of big aircraft is saved, operation cost is dropped significantly.The present invention provides one kind and multiple will flown
There is provided most crucial Implementation Technology for the mechanical-electronic system that row device merges.
The content of the invention
Fig. 1 is rigid multi-rotor aerocraft combination system mechanical construction drawing.Part 2 is the frame that is rigidly connected in Fig. 1, with portion
The connecting rod of part 3 is fixed together.Part 1 is single multi-rotor aerocraft in Fig. 1, there is connecting seat (part in Fig. 2 on its body
4), with merging module (part 5 in Fig. 2).Connection frame is connected by the connecting seat of connecting rod and multi-rotor aerocraft, and one
As connection frame rotor craft is fixedly connected according to centrosymmetric principle, four seen in Fig. 1 multi-rotor aerocraft
Fixing means.The fixed system completed, is merged into aircraft framework one big.If each aircraft pay(useful) load is g, greatly
The payload of aircraft be approximately Ng, larger flight stress can be carried.
Each independent many rotors possess a merging module (part 5 in Fig. 2) and complete following function：1) determine it only
Vertical flight or the pattern for merging flight.2) determine that its set controller will be used as the main control unit or subordinate for merging aircraft
Control unit.3) control information is transmitted.
The control system of each independent multi-rotor aerocraft, should possess independent offline mode and merging is circled in the air pattern, and
It can be recognized by the setting of combining unit.Under independent offline mode, each flight control individually controls it many
Individual power unit, the drive signal of each power unit is different, to maintain its flight attitude.In the case where merging offline mode,
Multiple power units in each gyroplane are synchronously driven using control signal all the way, and multiple power units merge into single power
Unit, the similar bigger multi-rotor aerocraft of structure of combination system.Wherein one flight control of setting is made
For main control unit, other flight controls are used as slave unit.Because combination system in structure turn into a rigidity it is whole
Body, the attitude information that main control unit is detected by the use of sensors such as the gyroscope of itself, accelerometer, GPS, magnetometers can be as
The attitude information of combination system, by algorithm by the real-time control signal of flight course by merging module (part 5 in Fig. 2),
Subordinate aircraft is passed to, subordinate aircraft is driven the power unit of itself by the size of control signal, it is common to complete to merge winged
The various gesture stability tasks of row device.
According to above-mentioned principle, rigid multi-rotor aerocraft combination system system features are as follows：
1. a kind of rigid multi-rotor aerocraft combination system, by rigid support, connecting rod, connecting seat by multiple small flights
Device is fixed as one, and is formed and merges aircraft framework.
2. the bug individual as described in 1 carries merging module, setting of the independent flight with merging flight is completed, it is complete
Into the setting of master controller and slave controller, the transmission of principal and subordinate's machine control signal is completed.
3. there is identification merging module to set the function of pattern, remove for the bug individual as described in 1, its control system
Possess common independent offline mode program, also need possess the program for merging offline mode；In the case where merging offline mode, program can
To distinguish main frame and slave mode of operation, main frame wants the outside work of posture, positional information, reception of combining data detection aircraft to refer to
Order, and amount of power control is calculated, merge and control the power unit of itself, while being passed the control information of slave by merging module
Slave is defeated by, the flight control of aircraft is completed；The main control information transmitted according to main frame of slave merge control its from motor-driven
Power unit.
Brief description of the drawings
Fig. 1 rigidity multi-rotor aerocraft combination system overall schematics
The connection diagram of Fig. 2 small individual aircraft and rigid support
Embodiment
Specific embodiment 1
Merged using 4 aircraft, it is circle to rigidly fix frame, and Central Symmetry installs four connecting rods, with four
Individual many gyroplanes are attached.Merging module is made up of 22 bit switches and multiply (at least 5 lines) signal wire, wherein 12
Switch is connected with controller switches amount interface, sets independence/merging offline mode；Another 2 bit switch and controller switches amount
Interface is connected, and sets main frame/slave mode.The posture of main frame energy combining data detection aircraft, positional information, the outside work of reception refer to
Order, and power unit controlled quentity controlled variable is calculated by algorithm according to instruction.Each motor is output information to using High-Accuracy PWM signal
Drive module.On the one hand merge and control the power unit of itself, the control information of another aspect slave passes through many of merging module
Stock wire transmission gives other three slaves, completes the flight control of aircraft；The control information that slave is mainly transmitted according to main frame
Its slave power unit is controlled, flight attitude control is completed together with main frame power unit, such a mode is most succinct.
Specific embodiment 2
Merging module in specific embodiment 1 is made up of 22 bit switches, wireless transport modules, switching function is with specific
Signal interaction between embodiment 1, slave uses wireless transport module.Main frame needs to pass signaling protocol by wireless module
Slave is defeated by, slave needs corresponding software processing wireless signal.Line is not present between main frame and slave, installs more convenient,
And other useful informations are transmitted between slave.
Specific embodiment 3
Merging module in specific embodiment 1 is made up of 22 bit switches and high-speed communication line, and the signal between slave is handed over
Mutually use high-speed digital signal amount.Main frame is needed signaling protocol being transferred to slave by HW High Way, and slave is needed
Corresponding software processing high speed protocol data signal.General high-speed digital signal line is 2 to 3 copper conductors, than specific implementation
Signal wire quantity used is few in example 1, and transmits between slave other useful informations.
Claims (3)
1. a kind of rigid multi-rotor aerocraft combination system, is consolidated multiple bugs by rigid support, connecting rod, connecting seat
It is set to one, is formed and merge aircraft framework.
2. the bug individual as described in 1 carries merging module, setting of the independent flight with merging flight is completed, master is completed
The setting of controller and slave controller, completes the transmission of principal and subordinate's machine control signal.
3. the bug individual as described in 1, there is its control system identification merging module to set the function of pattern, except possessing
Common independent offline mode program, also needs possess the program for merging offline mode；In the case where merging offline mode, program can be with area
Divide main frame and slave mode of operation, main frame wants the outside work order of posture, positional information, reception of combining data detection aircraft, and
Amount of power control is calculated, merges and controls the power unit of itself, while being transferred to the control information of slave by merging module
Slave, completes the flight control of aircraft；The main control information transmitted according to main frame of slave, which merges, controls it from mechanomotive force list
Member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710478299.5A CN107264769B (en) | 2017-06-22 | 2017-06-22 | Rigid multi-rotor aircraft merging system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710478299.5A CN107264769B (en) | 2017-06-22 | 2017-06-22 | Rigid multi-rotor aircraft merging system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107264769A true CN107264769A (en) | 2017-10-20 |
| CN107264769B CN107264769B (en) | 2020-05-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710478299.5A Active CN107264769B (en) | 2017-06-22 | 2017-06-22 | Rigid multi-rotor aircraft merging system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112520028A (en) * | 2020-12-01 | 2021-03-19 | 邵阳学院 | Kitchen sanitation environment removes supervisory equipment |
| CN112977793A (en) * | 2021-04-19 | 2021-06-18 | 深圳市科卫泰实业发展有限公司 | Combined multi-rotor unmanned aerial vehicle and control method thereof |
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| WO2015051436A1 (en) * | 2013-10-08 | 2015-04-16 | De Silva Shelton Gamini | Combination of unmanned aerial vehicles and the method and system to engage in multiple applications |
| CN105984581A (en) * | 2015-02-01 | 2016-10-05 | 范磊 | Modularized compound multi-rotor hybrid power aircraft |
| CN205971848U (en) * | 2016-07-05 | 2017-02-22 | 国网浙江省电力公司衢州供电公司 | Novel primary and secondary unmanned aerial vehicle system |
| CN106741897A (en) * | 2016-12-31 | 2017-05-31 | 曹萍 | A kind of matrix aircraft |
| CN106741939A (en) * | 2016-11-28 | 2017-05-31 | 南京信息工程大学 | A kind of multi-rotor unmanned aerial vehicle master/slave system and its control method |
| CN106828896A (en) * | 2016-12-29 | 2017-06-13 | 东莞产权交易中心 | Modularization concatenation formula unmanned aerial vehicle |
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2017
- 2017-06-22 CN CN201710478299.5A patent/CN107264769B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015051436A1 (en) * | 2013-10-08 | 2015-04-16 | De Silva Shelton Gamini | Combination of unmanned aerial vehicles and the method and system to engage in multiple applications |
| CN105984581A (en) * | 2015-02-01 | 2016-10-05 | 范磊 | Modularized compound multi-rotor hybrid power aircraft |
| CN205971848U (en) * | 2016-07-05 | 2017-02-22 | 国网浙江省电力公司衢州供电公司 | Novel primary and secondary unmanned aerial vehicle system |
| CN106741939A (en) * | 2016-11-28 | 2017-05-31 | 南京信息工程大学 | A kind of multi-rotor unmanned aerial vehicle master/slave system and its control method |
| CN106828896A (en) * | 2016-12-29 | 2017-06-13 | 东莞产权交易中心 | Modularization concatenation formula unmanned aerial vehicle |
| CN106741897A (en) * | 2016-12-31 | 2017-05-31 | 曹萍 | A kind of matrix aircraft |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112520028A (en) * | 2020-12-01 | 2021-03-19 | 邵阳学院 | Kitchen sanitation environment removes supervisory equipment |
| CN112977793A (en) * | 2021-04-19 | 2021-06-18 | 深圳市科卫泰实业发展有限公司 | Combined multi-rotor unmanned aerial vehicle and control method thereof |
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| Publication number | Publication date |
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| CN107264769B (en) | 2020-05-08 |
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