CN107640318A - Oil electric mixed dynamic fixed-wing unmanned plane - Google Patents
Oil electric mixed dynamic fixed-wing unmanned plane Download PDFInfo
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- CN107640318A CN107640318A CN201710956102.4A CN201710956102A CN107640318A CN 107640318 A CN107640318 A CN 107640318A CN 201710956102 A CN201710956102 A CN 201710956102A CN 107640318 A CN107640318 A CN 107640318A
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- unmanned plane
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Abstract
A kind of oil electric mixed dynamic fixed-wing unmanned plane, it includes frame, the frame both sides are respectively arranged with a flank, the front and back of frame sets leading edge and rear wing respectively, and engine, gear mechanism and generator are provided with frame, and the engine is connected by gear mechanism with generator, the generator includes stator and rotor, characterized in that, the stator includes hollow making toroidal coil frame, the first-class apart windings of making toroidal coil frame have N number of coil；It is provided with rotor in cavity in making toroidal coil frame, rotor comprises at least permanent magnet and the gear of annular, formed with making a part for the ring gear be exposed to the window portion of main duct on the making toroidal coil frame between adjacent windings；Engine is engaged so that cavity internal rotation of the rotor in making toroidal coil frame by gear mechanism through window portion with the gear of annular.The present invention only by engine with regard to electric energy can be produced, so as to add the flight duration of unmanned plane and flexibility.
Description
Technical field
The present invention relates to a kind of oil electric mixed dynamic fixed-wing unmanned plane, more particularly to one kind only can just be produced by engine
Raw electric energy, and the flexibility of the flight of unmanned plane can be added.
Background technology
SUAV due to cost it is low, easy to use the features such as, consumption and industrial circle obtain it is more and more extensive
Use.Unmanned plane mainly has three classes both at home and abroad at present, and the first kind is rotor wing unmanned aerial vehicle, the second class be traditional type nobody go straight up to it is winged
Machine, the 3rd class are electronic multiaxis unmanned plane.The rotor wing unmanned aerial vehicle flight efficiency of the first kind it is high but can not VTOL, using area
It is limited；Traditional depopulated helicopter of second class can VTOL, but machinery and power transmission arrangment are complicated, and cost is high, security
Low and operation difficulty is big；The electronic multiaxis unmanned plane of 3rd class is simple to operate, but due to using driven by power cause the flight time by
Limit, generally or so half an hour.
The content of the invention
To overcome shortcoming present in prior art, goal of the invention of the invention is to provide a kind of hydraulic-electro hybrid power and fixed
Wing unmanned plane, its by engine with regard to electric energy can be produced, so as to add the flight time of unmanned plane and flexibility.
To realize the goal of the invention, the present invention carries a kind of oil electric mixed dynamic fixed-wing unmanned plane, and it includes frame, institute
State frame both sides and be respectively arranged with a flank, the front and back of frame sets leading edge and rear wing, set in frame respectively
There are engine, gear mechanism and generator, the engine is connected by gear mechanism with generator, and the generator includes fixed
Son and rotor, it is characterised in that the stator includes hollow making toroidal coil frame, and the first-class apart windings of making toroidal coil frame have
N number of coil；Rotor is provided with cavity in making toroidal coil frame, rotor comprises at least permanent magnet and the gear of annular,
Formed with making a part for the ring gear be exposed to the window portion of main duct on making toroidal coil frame between adjacent windings；Hair
Motivation is engaged so that cavity inward turning of the rotor in making toroidal coil frame by gear mechanism through window portion with the gear of annular
Turn.
Preferably, the rotor includes the magnet ring concentric with making toroidal coil frame, and the magnet ring includes：The magnetic of ring-type
Can, polylith permanent magnet, ring gear and multiple pulleys, the magnetic box of ring-type are used to store polylith magnet, adjacent two blocks of magnetic
Iron polarity is identical, and the magnetic box of the ring gear and ring-type is concentric and is arranged on the magnetic box of ring-type；The plurality of pulley with
The mode that cavity inner wall contacts in the making toroidal coil frame is uniformly configured on the magnetic box of the ring-type.
Preferably, when magnet ring rotates, the coil wound on making toroidal coil frame exports electric energy.
Preferably, can be to chargeable electricity after the rectified filtering of electric energy electricity of the coil output wound on making toroidal coil frame
Charge in pond.
Preferably, the rear wing of frame is provided with duct, motor rack is provided with duct；In front of the flank of frame respectively
Be provided with motor rack, be respectively arranged with motor on motor rack, the output shaft of motor is respectively arranged with blade, motor by
Rechargeable battery is powered.
Preferably, the motor includes stator and rotor, includes the first stator coil, the second stator coil on the stator
With the 3rd stator coil, each phase of first stator coil is mutually distinguished close coupling with each of the second stator coil and set,
Each phase of first stator coil and each phase of the 3rd alignment circle are staggered respectively, and the rotor includes N polarity and S is extremely excellent
Selection of land, the unmanned plane are controlled by control system.
Preferably, the control system comprises at least communication subsystem, and the communication subsystem comprises at least frequency synthesis
Device, the PN codes as caused by PN sequence generators of frequency caused by the frequency synthesizer are controlled.
Preferably, the communication subsystem includes encryption equipment and decipher, and the encryption equipment is used for sent information
It is encrypted, the decipher is used to the ciphertext data of reception be decrypted.
Preferably, the encryption equipment and decipher carry out encryption and decryption using binary pseudo-random sequence.
Compared with prior art, oil electric mixed dynamic fixed-wing unmanned plane provided by the invention is as a result of above-mentioned knot
Structure, only by engine with regard to electric energy can be produced, so as to add the flight time of unmanned plane and add the flexibility of flight.
Brief description of the drawings
Fig. 1 is the top view of fixed-wing unmanned plane provided by the invention；
Fig. 2 is the composition frame chart of the control system of unmanned plane provided by the invention；
Fig. 3 is the composition schematic diagram of the generator of fixed-wing unmanned plane provided by the invention；
Fig. 4 is to represent the schematic cross-section along the generator A-B directions in Fig. 3；
Fig. 5 is the schematic diagram of the power set for the fixed-wing unmanned plane that invention provides；
Fig. 6 is the composition schematic diagram of motor provided by the invention；
Fig. 7 is the composition schematic diagram of control terminal in ground provided by the invention；
Fig. 8 is the composition frame chart that the present invention provides UAV Communication subsystem radio frequency part；
Fig. 9 is the composition frame chart of frequency source provided by the invention；
Figure 10 is the composition frame chart of voltage controlled oscillator provided by the invention；
Figure 11 is the circuit diagram of power amplifier provided by the invention；
Figure 12 is the schematic diagram of encryption equipment ciphering process provided by the invention；
Figure 13 is the schematic diagram of decryptor decryption process provided by the invention.
Embodiment
Hereinafter, the embodiment that present invention will be described in detail with reference to the accompanying.In addition, the part in figure identically or comparably is assigned
Same-sign is given, no longer carries out explanation repeatedly.
In this specification, term " horizontal plane " refers to the face intersected with gravity direction, is not to be defined in and gravity direction
Strictly with the face of 90 ° of angular cross.Wherein, the housing of unmanned plane is placed in and connect as far as possible with gravity direction angulation
Nearly 90 ° of face, it is preferable from the aspects of the action of energy conversion device 100.In addition, above-below direction looks like in this specification
It is gravity direction (vertical direction).
Fig. 1 is the top view of fixed-wing unmanned plane provided by the invention.As shown in figure 1, fixed-wing unmanned plane includes frame
800, the both sides of frame 800 are respectively arranged with a flank, and the front and back of frame 800 sets leading edge and rear wing respectively.
Duct is provided with (perpendicular to the direction of horizontal plane) along Z-direction on the rear wing of frame 800, support, support are provided with the duct
On be provided with motor 200A, be provided with blade on motor 200A output shaft.The frame both sides are respectively arranged with flank,
Support is provided with front of each flank, motor 200C is provided with the support on the left of unmanned plane, motor 200C's
Blade is provided with output shaft, motor 200B, motor 200B output shaft are provided with the support on the right side of unmanned plane
On be provided with blade.Generator (generator) 100 is additionally provided with unmanned plane frame 800, the generator 100 sends out fuel oil
The kinetic energy of motivation be converted into electric energy with to motor 200A, motor 200B, motor 200C and it is inorganic in other electricity consumptions set
It is standby that electric energy is provided.The output shaft of the fuel engines sends kinetic energy to generator 100 by gear 400.After unmanned plane
Empennage is set on the wing, and empennage is V-shaped, to increase flight stability.Anti-twisted power flow deflector is provided below in blade, to flat
Weigh rotating torque caused by blade rotation.Thrust flow deflector is provided below in blade simultaneously, produces the thrust that moves ahead.
Frame, leading edge, rear wing and empennage use aluminum alloy framework, outer paving carbon fibre composite, in the same of proof strength
When mitigate fuselage weight.
Fig. 2 is the composition frame chart of the control system of unmanned plane provided by the invention, as shown in Fig. 2 real according to the present invention one
Apply example, the control system of unmanned plane includes flying control device 406, the servo according to the order-driven unmanned plane during flying of flight processor
Structure, communication subsystem, photograph subsystem and processor 405, wherein, fly control device 406 according to the instruction of processor 405 to servo
Structure provides control signal, so that servo control mechanism controls the instruction of terminal to be flown according to preset path or ground, also by nothing
Data during man-machine flight send processor 405 to, and servo control mechanism exemplarily includes three electric machine controllers and three motors,
Electric machine controller such as electric machine controller CON1, electric machine controller CON2 and electric machine controller CON3；Motor such as motor M1, motor M2
With motor M3, three electric machine controllers control three motors respectively.Unmanned plane also includes photograph subsystem, and it includes camera
412 and camera controller 413, the camera 412 be connected to camera controller 413, it is used to carry out monitored region
To take photo by plane, and send the image information taken photo by plane to camera controller 413, camera controller 413 is connected to processor 405, its
Processor 405 is then sent to for being handled the image information of input.Communication subsystem includes digital baseband unit
410th, radio frequency unit 411 and communication card 414, communication card 414 is connected to digital baseband unit 410 by slot, when transmitting, institute
State digital baseband unit 410 and be used for the information the to be transmitted progress source coding and channel coding by processor, then send to and penetrate
Frequency unit 411, the radio frequency unit 411 include transmitter, and the transmitter is used for the information for carrying out digital baseband unit transmission
Be encrypted and be modulated to frequency with PN caused by PN random sequence generators with and change carrier signal on then carry out work(
Put, space is transmitted into finally by antenna；Radio frequency unit 411 also includes receiver, and receiver is used for the signal for receiving antenna
It is demodulated and decrypts, then send the data to digital baseband unit 410, digital baseband unit 410 is used for digital baseband
Signal carries out channel decoding, source coding, takes out data or instruction that control terminal is sent.
In the present invention, camera is fixed on unmanned aerial vehicle platform by universal joint, makes the photography axle o of camerapzpWith nobody
The OZ of the body axis system of machine is overlapped, and makes the o of the image plane of camerapxpAxle is parallel with the OX of the body axis system of unmanned plane, shines
The o of the image plane of camerapypAxle is parallel with the OY of the body axis system of unmanned plane, so installation, can be by measuring unmanned plane
Attitude angle and extrapolate photography axle attitude angle.
According to a first embodiment of the present invention, the control system of unmanned plane also includes altimeter 415, and it is used to obtain unmanned plane
With the elevation information on ground.According to one embodiment of the invention, the control system of unmanned plane also includes memory 408, and it is used to deposit
Chu Fei controls program and the acquired data of unmanned plane servo control mechanism.The servo control mechanism includes motor and controller.
The control system of unmanned plane also includes navigator fix receiver 403, and it receives navigation positioning satellite by antenna A1
The positional information and temporal information on unmanned plane, and transfer data to processor 405.Navigator fix receiver 403
It is such as gps receiver, Big Dipper positioning time service receiver.According to one embodiment of the invention, by the reception antenna of navigator fix device
The light shaft coaxle of axle and camera is set, and the positional information of unmanned plane of device determination can be so connect according to navigator fix according to coordinate
The principle of conversion determines the coordinate of the central point of image captured by camera.
The control system of unmanned plane also includes MEMS402, when installing MEMS402 on unmanned plane, its measurement is surveyed
Amount camera takes the photograph the attitude angle of phase axle.According to one embodiment of the invention, the present invention provides unmanned plane from power module 100 to each
Components with power, it can be turned off by switch and be controlled with connecting, and power module 100 comprises at least generator.
According to one embodiment, the control system of unmanned plane also includes range unit 418, and it is used to measure unmanned plane and mesh
The distance of mark etc., the distance measuring equipment 418 are, for example, laser range finder.The control system of unmanned plane also includes direction-finding device
418, it is used for the direction for measuring monitored target and unmanned plane.The number that processor is provided according to range unit and direction-finding device
According to position and speed for determining monitored target etc..The control system of unmanned plane also includes memory 401, and it is used to store application
Program and the data obtained, application program include such as monitored position of target, the calculation procedure of speed, image procossing journey
Sequence etc..
Fig. 3 is the composition schematic diagram of the generator of fixed-wing unmanned plane provided by the invention；Fig. 4 is represented along in Fig. 3
Generator A-B directions schematic cross-section, as shown in Figure 3-4, engine, gear mechanism and generating are provided with frame
Machine, the engine are connected by gear mechanism with generator, and the generator includes stator and rotor, during the stator includes
Empty making toroidal coil frame 102, the first-class apart windings of making toroidal coil frame have N coil 101；In making toroidal coil frame 102
Rotor is provided with cavity, rotor comprises at least permanent magnet and the gear 105 of annular, the annular line between adjacent windings
Formed with making a part for the ring gear be exposed to the window portion 108 of making toroidal coil frame in coil；Engine 600 passes through tooth
Wheel mechanism 400 is engaged so that cavity internal rotation of the rotor in making toroidal coil frame through window portion with the gear of annular.It is preferred that
Ground, the rotor include the magnet ring concentric with making toroidal coil frame 102, and the magnet ring includes：The magnetic box 106 of ring-type,
Polylith permanent magnet, ring gear 105 and multiple pulleys 104, the magnetic box 106 of ring-type are used to store polylith magnet, block magnet
To arrange that is, adjacent two pieces of magnet polarities are identical, the ring gear 105 and ring-type in N polarity, S polarity, S polarity, N polarity ...
Magnetic box with one heart and be arranged on the magnetic box of ring-type；The plurality of pulley 104 with cavity in the making toroidal coil frame 102
The mode of inwall contact is uniformly configured on the magnetic box of the ring-type.In the present invention, the annular between adjacent windings 101
Formed with making a part for the ring gear be exposed to the window portion 108 of bobbin on bobbin 102, so that the portion of gear 400
Tooth is divided to be engaged through window portion 108 with the tooth of ring gear 105.As long as the tooth of gear 105 can be with the part tooth of gear 400
Engage, then the unlimited position for being shaped as window portion 108.In addition, window portion 108, which does not limit, forms 1 position of bobbin, can also
Formed at multiple positions.Permanent magnet 107, which is accommodated in, to be formed in the magnetic box of magnetic box 106.10 are expressed as in Fig. 3 forever
Magnet is accommodated in magnetic box 106.But this composition is only one, as long as being accommodated in the number of the permanent magnet 1 of magnetic box 106
It is at least one.
Permanent magnet 107 preferably uses rare earth element magnet.In general, compared with the ferrite magnet of formed objects, it is dilute
Great soil group magnet has stronger magnetic force (coercivity).Such as samarium cobalt magnet or neodium magnet can be used as rare earth element magnet.
Particularly preferred neodium magnet in embodiments of the present invention.
Neodium magnet is in general, compared with samarium cobalt magnet, with stronger magnetic force (coercivity) during formed objects.Therefore,
For example small-sized permanent magnet can be used.Or compared with using the situation of the samarium cobalt magnet of phase size, by using neodymium magnetic
Iron can improve the output (can take out larger energy) of energy conversion device.But embodiments of the present invention are not arranged
Permanent magnet in addition to rare earth element magnet.Permanent magnet 107 is certainly possible using ferrite magnet.
Magnetic box 106 is formed as ring-type, and its middle and upper part is provided with opening.Therefore, permanent magnet 107 is from the upper of magnetic box 106
Side is inserted into magnetic box., can also be in segment magnet box by the way that permanent magnet 107 is inserted into magnetic box to form annular
Insert permanent magnet.
Magnetic box 106 is made by nonmagnetic substance.As long as nonmagnetic substance, then the material of magnetic box 106 is not special
Limit.In one embodiment, magnetic box 106 is formed by nonmagnetic metal (such as aluminium).If the temperature of permanent magnet 107
Too high, then permanent magnet 107 is possible to subtract magnetic.That is, the magnetic force of permanent magnet 107 is possible to die down.By using non magnetic gold
Belong to form magnetic box 106, heat caused by permanent magnet 107 can efficiently be discharged to outside, therefore, it is possible to reduce
Produce the possibility of the problem of such.In another embodiment, magnetic box 106 is formed by resin material.By by resinous wood
Material forms magnetic box 106, can mitigate the weight of magnetic box 106.
Gear 105 be mechanically fixed to on magnetic box 106.Gear 105 is formed as ring-type, and magnetic box 106 is concentric matches somebody with somebody
Put.Screw is used for stationary annular gear 105.Screw runs through gear, and is fixed on magnetic box 106.
The upper surface of ring gear 105 is processed to：So that the head of screw does not highlight from the upper surface of gear 105.
Ring gear 105 is formed with teeth to be meshed with the little gear 400 in main duct.Ring gear 105 is relative to magnetic box
The central shaft rotation of 106 main duct.
The width of ring gear 105 is wider than the width of magnetic box 106.Ring gear 105 is being installed on magnetic box 106
When, ring gear 105 extends from magnetic box 106 to the internal diameter direction of magnetic box 106.
Hollow toroidal cavity is formed in making toroidal coil frame 102, for storing magnet ring, i.e., stores and is accommodated with forever
The magnetic box 106 and gear 105 of long magnet.Making toroidal coil frame 102 be formed as with magnetic box 106, gear 105 have it is public in
The ring-type of the heart, the convenience center are the axis of main duct.
Wheel 104 is spherical, and it is fixed on magnet retainer by wheel carrier.The plurality of wheel is uniformly arranged on magnet guarantor
To hold on frame, multiple wheels contact with the inwall of bobbin inner chamber, when ring gear 105 is rotating in the presence of little gear, magnetic
The rotation of can 106, wheel 104 are rotated.With the rotation of wheel 104,106 smooth rotation of magnetic box can be made.
In order to disperse total weight of the weight of magnet ring, i.e., scattered magnetic box 106 and gear 105, of wheel 104
Number is The more the better.Therefore, the number of wheel 104 is preferably more than 3.By 3 points of regulations, 1 plane.If the number of wheel 104
For 3, then by each wheel 104 and bobbin lumen contact, up-down vibration in the rotary course of magnetic box 105 can be prevented.
Wheel 104 is also required to the intensity with the weight for supporting magnetic box 106 and gear 105.Moreover, in magnetic box 105
When rotating at a high speed, wheel 104 also rotates at a high speed.It is therefore preferable that the light weight as much as possible of wheel 104, so as to rotate at a high speed.Cause
This, wheel 104 is formed by such as metal (such as aluminium).
During unmanned plane during flying, in order that middle stable rotation of the magnet shape in bobbin 102, is preferably protected in magnet
Hold below frame 105, the left side and the right side are uniformly arranged multiple wheels 104 respectively, are also uniformly arranged above ring gear more
Individual wheel 104.
N number of line coil 101 is uniformly wound on bobbin 102 at equal intervals.The wire rod of coil 101, the number of turn do not limit especially
It is fixed.In addition, bobbin 102 plays following effect：As the shape ring groove for being arranged at energy conversion device in frame 32
In, so that during unmanned plane during flying, the kinetic energy that motor exports is converted into electric energy.
The rectangular cross-section of magnetic box 105 or circle.And the section of the annular groove of frame is also rectangle or circle
Shape.Because the section of bobbin 102 is also rectangle or circle, therefore can shorten magnetic box 105 and coil as much as possible
The distance between 101.Thereby, it is possible to the reduction of the magnetic coupling force between suppression coil 101 and permanent magnet 107.
5 coils 101 are shown in Fig. 3.But as long as minimum 1 of the number of coil 101, is not limited especially
It is fixed.When the number of coil 101 is multiple, preferably these multiple coils equiangularly configure as defined in bobbin on circumference.
In Fig. 3 to Fig. 4, when being rotated by the drive gear 400 of engine 600, gear 400 is through the window portion on bobbin 102
Engaged with ring gear 105 and drive ring gear to rotate, ring gear is maintained at the cavity rotation in bobbin 102 with moving magnet
Turn, because the magnet set by the present invention is to be arranged in N polarity, S polarity, S polarity, N polarity ..., so in magnet in coil
During middle rotation, the rotary magnetic place of alternation is generated in each of the coils, so as to generate electric energy in coil.With reference to attached
The power set of Fig. 5-6 description present invention.
Fig. 5 is the schematic diagram of the power set for the fixed-wing unmanned plane that invention provides, as shown in figure 5, according to the present invention one
Individual embodiment, the rectified device 300 of electric energy caused by the generator 100 of fixed-wing unmanned plane is rectified into direct current, then charged
Device 500 is filled into battery E1, and three motors are given using electric power storage E1, such as motor 200A, motor 200B and motor 200C and
Other electrical equipments provide electric energy.According to one embodiment of the invention, to prevent battery from holding power supply energy to charger, filling
A diode D1 is provided between the positive electricity source output terminal of electrical equipment and the positive terminal of battery, diode D1 positive pole is connected to
The positive electricity source output terminal of charger 500, negative pole are connected to battery E1 positive pole.The common port of charger 500 is connected to poultry electricity
The negative pole end in pond.In battery E1 electric energy is provided by diode D1 to motor.According to one embodiment of the invention, unmanned plane
Blade is driven by three motors, and the rotating speed of each motor is controlled by circuit for controlling motor according to instruction.
According to one embodiment of the invention, motor includes shell, the stator and rotor being placed in shell, is set on the stator
Be equipped with first stator winding coil U1, V1 and W1, second stator winding coil U2, V2 and W2 and the 3rd stator winding coil U3,
V3 and W3, first stator winding coil U1, V1 and W1 and second stator winding coil U2, V2 and W2 are motor winding coil,
Their each single item is set with groove respectively, first stator winding coil U1, V1 and W1 and the 3rd stator winding coil U3, V3 and W3
It is staggered respectively, as shown in Figure 6.Motor also includes the speed encoder VS1 rotated together with the axle of rotor and rectification encodes
Device CD1, circuit for controlling motor include motor driver DR1, in addition to Polarity Control unit PC1, speed control unit VC1 and
Pulse width modulation controlled unit PWM1, motor driver DR1 in response to control signal carry out switch control semiconductor device,
With by power transmission to the first stator winding.Herein, because electric-motor drive unit DR1 is arranged to the stator winding confession to stator
Direct current is answered, therefore its structure can change according to the type (number of phases of stator winding) of motor..
Polarity Control unit PC1 receives the photosensor signal of the rectification encoder CD1 from motor, and is driven to motor
Cells D R1 sends the control signal for realizing electric rectification device, so as to realize electric rectification device.Speed control unit VC1, which is received, to be come
From the encoder VS1 signals of the speed encoder of motor, and to pulse width modulation controlled unit PWM1 transmission speed control signals.Electricity
Machine control circuit also includes DC rectifier H1, and the DC rectifier is to the 3rd stator winding (generator coil) production from motor
Raw alternating current carries out rectification and produces Rectified alternating current, and the filtered device C1 filtering of direct current produces direct current.Motor control
Circuit processed also includes Polarity Control unit PC2, speed control unit VC2 and pulse width modulation controlled unit PWM2, Polarity Control
Unit PC2 receives the photosensor signal of the rectification encoder CD1 from motor, and sends and be used for electric-motor drive unit DR2
The control signal of electric rectification device is realized, so as to realize electric rectification.Speed control unit VC2 receives the speed encoder from motor
Encoder VS2 signals, and to pulse width modulation controlled unit PWM2 transmission speed control signals.The flight controller root of unmanned plane
The control signal of rotating speed is sent to pulse width modulation controlled unit PWM1 and pulse width modulation controlled unit PWM2 according to the instruction of transmission.
Pulse width modulation controlled unit PWM1 and pulse width modulation controlled unit PWM2 is respectively to motor driver DR1 and motor driver DR2
Send the pwm signal for being controlled according to control signal to the rotating speed of motor.
According to one embodiment of the invention, the stator of motor also includes multiple annular silicon chips stacked on top of each other, some
Energy regenerating slot for winding, multiple motor slot for windings, multiple magnetic flux slot segmentations, multiple offset eliminate groove, are wrapped in appropriate section
Some energy regeneratings winding around energy regenerating slot for winding and it is wrapped in multiple around phase induction motor slot for winding
Motor winding.
Motor winding is used as making the motor of rotor rotation by receiving come the electric power of motor circuit.Portion of energy is returned
Winding is received to be used as producing electric power using by the electric current that rotor rotary inductive goes out.In this embodiment, slot for winding and winding is total
Number is 6, is in 3 regions.U1/U2, U3, V1/V2, V3, W1/W2, W3 are arranged as follows along stator is circumferential.The
One stator winding is connected to motor driver DR1, and the second stator winding is connected to motor driver DR2.Second stator around
Group is connected to corresponding DC rectifier CH1.When the winding parallel winding of each phase, these windings pass through phase and polarity
It is distributed and is wound and be connected on corresponding wire, each other without any connection.
Further, since it is provided with width equalization relative narrower between motor slot for winding and portion of energy recovery slot for winding
Magnetic flux slot segmentation, therefore magnetic flux is divided, so as to blocked can the magnetic flux of electric motor winding flow to portion of energy recovery winding
Path so that the magnetic flux of motor winding only flows to the magnetic field of stator, so that electronic function more effectively drives.This
Outside, magnetic flux slot segmentation makes the excitation width around motor slot for winding keep constant, so that motor slot for winding can drive
Dynamic period does not influence adjacent winding slots or not operated with being influenceed by adjacent winding slots.
Reclaim that width is provided between slot for winding and adjacent part energy regenerating slot for winding is impartial and relatively in portion of energy
Narrow counteracting eliminates groove, is offseted with eliminating magnetic flux, so as to improve generating efficiency.
Rotor includes multiple silicon chips stacked on top of each other and multiple flat permanent magnets, these permanent magnets are radially embedded in
In stacked silicon chip.Thus, permanent magnet is designed to have strong magnetic force, so that relatively wide magnetic field table can be formed
Face, therefore magnetic flux can be made to be gathered on the magnetic field surface, increase the magnetic flux density on magnetic field surface.The number of poles of rotor is according to stator
Depending on number of poles.
Rotor is described in detail below, three permanent magnets are spaced equally from each other by be opened and be embedded in stacked circular silicon chip
In, and polarity is in N polarity and S poles interlaced arrangement.Non- magnetic core is provided with the center of stacked circular silicon chip, to support permanent magnetism
Body and silicon chip, and it is provided with axle through the center of non-magnetic core.Permanent magnet is formed as even shape, and is formed between permanent magnet
There is idle space.
It is designed to have using the motor of permanent magnet and is mutually tied with the active energy of stator by energy by rotor
The revolving force for closing and being formed.In order to realize the super efficiency in motor, strengthen rotor is very important by energy.Cause
This, uses " neodymium (neodymium, iron, boron) " magnet in the present embodiment.These magnets increase magnetic field surface and magnetic flux is gathered
On the magnetic field of rotor, so as to increase the magnetic flux density in magnetic field.
At the same time, rectification encoder and speed encoder is set to carry out the rotation of controlled motor.Rectification encoder CD1 and
Speed encoder VS1 is installed in the outer recess of motor body shell, is rotated together with the rotary shaft with rotor.
The power section of the unmanned plane provided in the present invention, the kinetic energy that diesel engine exports is converted into electric energy to provide
To in the motor of unmanned plane, in the motor due to being provided with the 3rd stator winding on stator, in unmanned plane during flying process
In have collected portion of energy, the energy of the collection is applied to the second stator winding, with change put in the first stator winding
Electric power, so as to save energy, it can so make the flight time of extension unmanned plane.
Unmanned plane is communicated with ground-based server, is described in detail with reference to Fig. 7.
Fig. 7 is the composition frame chart of ground-based server, as shown in fig. 7, ground-based server provided by the invention includes processor
20th, input/output interface, network adapter 23, communication module 23, dual-mode antenna 24 and memory 25, wherein, dual-mode antenna
24 are used to spatial electromagnetic ripple signal being converted to electric signal, and are supplied to communication module 23, and communication module 23 includes digital baseband
Unit, radio frequency unit and communication card, communication card are connected to digital baseband unit by slot, when transmitting, the digital baseband list
Member is used for the information to be transmitted by processor and carries out source coding and channel coding, then sends radio frequency unit, the radio frequency to
Unit includes transmitter, and the transmitter is used to the information that digital baseband unit transmission comes is encrypted and is modulated to by PN sequences
Power amplifier is then carried out in the carrier signal that PN codes caused by row generator control, space is transmitted into finally by antenna；Radio frequency
Unit also includes receiver, and receiver is used to the signal that antenna receives is demodulated and decrypted, and then sends the data to number
Word Base Band Unit, digital baseband unit are used to digital baseband signal carrying out channel decoding, source coding, take out control terminal hair
The data sent or instruction.The data frame that processor 20 is sent to UAV system control system is unpacked and by defeated
Enter/output interface 21 shown over the display, processor to acquired that data are handled, judges according to user instruction
The position of ground target, unmanned plane during flying instruction is made according to the position of ground target, then unmanned plane during flying is instructed and packed
Into flight directive frame, UAV system flight control system is sent to by communication module 14 and antenna 18.Ground-based server is by institute
Receive nobody printed with the image that borne control system is sent by printer, can also store in memory 25, also
It is sent to by network adapter in other users or server memory and at least also stored for ground receiver end and comprise at least
It is stored with decryption program and gray-scale map.Input/output interface 21 can also connect keyboard and mouse, keyboard be used for input instruction or
Some operations are performed, mouse is used to perform some operations.
In the present invention, the composition of the communication module in communication subsystem and ground-based server in UAV system control system
Identical, included transmitter and receiver composition are also identical, and this detailed description is described with reference to Fig. 8-12.
Fig. 8 is the composition frame chart that the present invention provides UAV Communication subsystem radio frequency part, as shown in figure 8, unmanned plane leads to
Letter subsystem radio frequency commands troops point to include transmitter, receiver, frequency synthesizer 801, frequency source 829 and PN codes generator 828,
The transmitter includes radio-frequency modulator (modulator) 805, and it is used to ciphertext data to be sent being modulated to by frequency synthesis
Caused by device 801 on first frequency signal, the frequency synthesizer 801 PN codes according to caused by the PN codes generator 828 will
The different frequency of frequency synthesis caused by frequency source, the receiver include frequency mixer 808, and the frequency mixer 808 is used to connect
The signal of receipts is mixed close transmitted by transmitting terminal so as to demodulate with second frequency signal caused by frequency synthesizer 801
Literary data.Transmitter also comprises at least the system sequence generator 801 of encryption equipment 803 and two, and the length of two system sequences is
One byte, data bit from high to low are designated as K [n] in order, and clear data to be sent is divided into M word by encryption equipment 803
Section, any bit of any byte are designated as D [m, k], then any bit S [m, k] of M byte of ciphertext data calculates according to following formula
Arrive：
Wherein, k and n is determined by the password set.
Receiver also includes decipher 809, and institute's receiver includes decipher 809 and binary pseudo-random sequence produces
The ciphertext data of reception are divided into M byte by device, decipher 809, and ciphertext data deciphering is obtained into clear data according to following formula：
Wherein, k and n is determined by the password set.
Radio frequency part also includes duplexer 806 and antenna 804, and the power amplifier 807 and frequency mixer 808 are connected by duplexer
It is connected to antenna 804.
According to one embodiment, frequency synthesizer 801 includes frequency multiplier 825, frequency multiplier 827, frequency multiplier 820, first and moved
Phase device 824, phase shifter 823, phase shifter 830, multiplier 821, multiplier 822 and adder 826, wherein, frequency multiplier 825 is used for
Frequency multiplication is carried out to the signal that frequency source provides and obtains the first signal；Phase shifter 824 be used for the first signal carry out phase shift obtain with
The mutually orthogonal secondary signal of first signal；The signal progress frequency multiplication that frequency multiplier 827 is used to provide frequency source obtains the 3rd letter
Number；Phase shifter 823 is used to obtain fourth signal mutually orthogonal with the 3rd signal to the progress phase shift of the 3rd signal；Multiplier is used
821 to secondary signal with the 4th signal in being multiplied, and is supplied to adder；Multiplier 822 is used for the first signal and the
Three signals are multiplied, and are supplied to adder；The signal that adder 826 is provided multiplier 821 and multiplier 822 adds
Method computing, frequency multiplier 820 is then supplied to so as to obtain first frequency signal, the output signal of the adder 826 is shifted
Second frequency signal is obtained after the phase shift of device 830.
Fig. 9 is the composition frame chart of frequency source provided by the invention, as shown in figure 9, frequency source provided by the invention 829 wraps
Include：Crystal oscillator, respectively than for K frequency divider, phase discriminator, low pass filter, voltage controlled oscillator VCO and respectively than for N's
Frequency divider, wherein, crystal oscillator is used to produce fixed frequency signal and be supplied to frequency divider, and frequency divider enters to crystal oscillator
Row divides and is supplied to phase discriminator；VCO produces VCO signal according to the voltage provided with reference to Vf and low pass filter, and passes through
The phase discriminator that frequency divider frequency dividing then provides, phase discriminator compare the phase for the signal that frequency divider and frequency divider provide and through low pass filtereds
Ripple device LPF filters out high frequency so as to produce voltage signal, and the voltage signal is superimposed with Vf further to control frequency caused by VCO to believe
Number.
Figure 10 is voltage controlled oscillator provided by the invention (VCO) circuit diagram, as shown in Figure 10, provided by the invention voltage-controlled
Oscillator (VCO) voltage controlled oscillator includes film body acoustic wave oscillator BAWF1, film body acoustic wave oscillator BAWF2, FET
T3, FET T4, FET T7, FET T5, FET T6, FET T8 and constant-current source, wherein, field-effect
Pipe T3 source electrode is connected to FET T4 drain electrode, and FET T3 drain and gate is connected to power supply EC；FET
T7 grid is connected to MOS field effect transistor T3 source electrode, and drain electrode is connected to power supply EC, and source electrode is connected to constant-current source；FET T5 source
Pole is connected to effect pipe T6 drain electrode, and FET T5 drain and gate is connected to power supply EC；MOS field effect transistor T8 drain electrode connection
In power supply EC, grid is connected to MOS field effect transistor T5 source electrode, and source electrode is connected to permanent power supply；The grid T4 and FET T5 of FET
Grid be connected, and be signal input part, FET T4 source electrode and FET T6 source electrode are signal output part.Field effect
Should pipe T4 drain electrode be connected to film bulk acoustic resonator BAWF1 first end；FET T6 drain electrode is connected to thin-film body sound
Wave resonator BAWF2 first end；FBAR BAWF1 the second end and FBAR BAWF2's
Second end is connected, and is voltage controling end.Control voltage Vf is connected to control terminal by resistance R10.
Voltage controlled oscillator (VCO) also includes FET T9, FET T10, FET T11 and constant-current source CS, permanent
Stream source CS one end is connected to power supply EC, and the other end is connected to FET T11 drain electrode, FET T11 source ground,
Grid is connected to its drain electrode, and is connected to FET T9 grid and FET T10 grid, FET T9 source electrode
Ground connection, drain electrode are connected to FET T7 source electrode to provide constant current to it；FET T10 source ground, drain electrode
FET T8 source electrode is connected to provide constant current to it.
Figure 11 is the circuit diagram of transmitter medium-high frequency power amplifier (power amplifier) provided by the invention, as shown in Figure 11, this
The high-frequency power amplifying circuit that invention provides includes high-frequency signal input IN, input matching network, amplifier, output matching net
Network, high-frequency signal output end OUT and biasing circuit, amplifier are made up of high power tube T44, and high-frequency signal input IN is through defeated
Enter matching network 300 and carry out impedance matching, and input a signal into high power tube T44 base stage, high power tube T44 colelctor electrode
The signal of output carries out impedance matching through output matching network and antenna loop and then inputs a signal into antenna loop, biased electrical
Transistor T43 and resistance R47 compositions are route, transistor T43 base stages are connected to control voltage Vcon, transistor T43 through resistance R41
Colelctor electrode be connected to power Vcc 1, emitter stage provides electric current through resistance R47 to high power tube T44 base stage.
Preferably, high-frequency power amplifying circuit also includes temperature-compensation circuit, temperature-compensation circuit include transistor T41,
Transistor T42, resistance R43, resistance R43 and resistance R44, wherein, transistor T42 base stage is connected to resistance R42 first end,
Resistance R42 the second end is connected to resistance R41 first end, and resistance R41 the second end is connected to control voltage Vcon, resistance
R41 first end is connected to transistor T41 colelctor electrode and transistor T43 base stage simultaneously；Transistor T42 colelctor electrodes are through resistance
R43 is connected to power Vcc 1, and emitter stage is connected to ground through resistance R44, and is connected to transistor T41 base stage；Transistor T41's
Grounded emitter, colelctor electrode are connected to electricity group R41 first end.Temperature-compensating electricity of the present invention as a result of such structure
Road so that the temperature compensation capability of high-frequency power amplifying circuit greatly improves.
According to an embodiment, high-frequency power amplifying circuit also includes steady potential circuit, and the mu balanced circuit includes electric capacity C41
With diode D41, electric capacity C41 one end is connected to transistor T43 base stage, other end ground connection；The plus earth of diode, bear
Pole is connected to transistor T43 base stage.
Figure 12 is the schematic diagram of encryption equipment ciphering process provided by the invention, as shown in figure 12, binary pseudo-random sequence
The length Nbit of two system sequences caused by generator 802, data bit from high to low are designated as K [n], encryption equipment in order
Clear data to be sent is divided into M equal portions, every part of length is Nbit, and any bit of any equal portions is designated as D [m, k], then close
Any bit S [m, k] of M byte of literary data is calculated according to following formula：
Wherein, k ∈ { 0,1 ..., K-1 }, n ∈ { 0,1 ..., N-1 } m ∈ { 121 ..., M }, n and k are determined by the password inputted.
In Fig. 9, the length of two system sequences caused by binary pseudo-random sequence generator 802 is a byte,
Each byte includes 8bit, and data bit from high to low is designated as K [n] in order, and clear data to be sent is divided into M byte,
The length of each byte is 8bit, and any bit of any byte is designated as D [m, k] and clear data will be encrypted according to following formula
To ciphertext data：
Wherein K=N=8, n are determined by the password set.
Alternatively, following preferable mode can also be used to be encrypted：Binary pseudo-random sequence generator 801 produces
The length of two system sequences be a byte, each byte includes 8bit, and data bit from high to low is designated as K in order
[n], clear data to be sent is divided into M byte, the length of each byte is 8bit, any bit of any byte be designated as D [m,
K] clear data will be encrypted according to following formula to obtain ciphertext data
Wherein K=N=8, k are determined by the password inputted
Figure 13 is the schematic diagram of decryptor decryption process provided by the invention, as shown in figure 13, binary pseudo-random sequence produces
The length Nbit of two system sequences caused by device 802, data bit from high to low are designated as K [n] in order, and decipher will connect
The ciphertext data of receipts are divided into M equal portions, and every part of length is Nbit, and any bit of any equal portions is designated as S [m, k], then bright after decrypting
Any bit D [m, k] of M byte of literary data is calculated according to following formula：
In formula, k ∈ { 0,1 ..., K-1 }, n ∈ { 0,1 ..., N-1 } m ∈ { 121 ..., M }, n and k are true by the password inputted
It is fixed.
According to an embodiment, the length that binary pseudo-random sequence produces two system sequences caused by 802 is a word
Section, each byte include 8bit, and data bit from high to low is designated as K [n] in order, and the ciphertext data of reception are divided into M byte,
The length of each byte is 8bit, and any bit of any byte is designated as S [m, k] and ciphertext data will be decrypted according to following formula
To clear data：
Wherein K=N=8, n are determined by the password set.
Alternatively, following preferable mode can also be used to be encrypted：Binary pseudo-random sequence generator 802 produces
The length of two raw system sequences is a byte, and each byte includes 8bit, and data bit from high to low is designated as K in order
[n], the ciphertext data of reception are divided into M byte, the length of each byte is 8bit, and any bit of any byte is designated as S [m, k]
Ciphertext data will be decrypted to obtain clear data according to following formula：
Wherein K=N=8, k are determined by the password set.
According to one embodiment, binary pseudo-random sequence generator can also be replaced by password storage table, from storage
Select which password to be selected by user in table, as long as in unmanned plane before execution task, set password, then perform the task phase
Between, unmanned plane and ground-based server or ground based terminal can so strengthen communication with regard to carrying out encryption and decryption to data using the password
Security.
In system provided by the invention, due to carrying out parallel add using the binary system pseudorandom ordered pair data of a word length
Decryption, therefore cost has been saved, and accelerate encryption/decryption speed.
In addition, encryption solution method provided by the invention can be by the computer program of computer usable program code come real
Existing, computer usable program code is stored in the computer-readable recording medium in data handling system, such as disk, light
In disk, hard disk etc..
General principle, principal character and the advantages of the present invention of the present invention is described above in association with accompanying drawing.The skill of this area
For art personnel it should be appreciated that the present invention is not limited to the above embodiments, described in above-described embodiment and specification is explanation
The principle of the present invention, various changes and modifications of the present invention are possible without departing from the spirit and scope of the present invention, these
Changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and
Its equivalent defines.
Claims (10)
1. a kind of oil electric mixed dynamic fixed-wing unmanned plane, it includes frame, and the frame both sides are respectively arranged with a side
The wing, the front and back of frame set leading edge and rear wing respectively, and engine, gear mechanism and generator are provided with frame,
The engine is connected by gear mechanism with generator, and the generator includes stator and rotor, it is characterised in that described fixed
Attached bag includes hollow making toroidal coil frame, and the first-class apart windings of making toroidal coil frame have N number of coil；Sky in making toroidal coil frame
Intracavitary is provided with rotor, and rotor comprises at least permanent magnet and the gear of annular, the making toroidal coil frame between adjacent windings
On formed with making a part for the ring gear be exposed to the window portion of main duct；Engine by gear mechanism through window portion with
The gear of annular is engaged so that cavity internal rotation of the rotor in making toroidal coil frame.
2. oil electric mixed dynamic fixed-wing unmanned plane according to claim 1, it is characterised in that the rotor includes and circle
The concentric magnet ring of toroid coil, the magnet ring include：The magnetic box of ring-type, polylith permanent magnet, ring gear and more
Individual pulley, the magnetic box of ring-type are used to store polylith magnet, and adjacent two pieces of magnet polarities are identical, the magnetic of the ring gear and ring-type
Can is concentric and is arranged on the magnetic box of ring-type；The plurality of pulley is to contact with cavity inner wall in the making toroidal coil frame
Mode is uniformly configured on the magnetic box of the ring-type.
3. according to the oil electric mixed dynamic fixed-wing unmanned plane described in claim 2, it is characterised in that：When magnet ring rotates,
The coil output electric energy wound on making toroidal coil frame.
4. oil electric mixed dynamic fixed-wing unmanned plane according to claim 3, it is characterised in that twined on making toroidal coil frame
Around coil output the rectified filtering of electric energy electricity after can be charged to rechargeable battery.
5. oil electric mixed dynamic fixed-wing unmanned plane according to claim 4, it is characterised in that set in the rear wing of frame
There is duct, motor rack is provided with duct；Motor rack has been respectively arranged in front with the flank of frame, has been respectively arranged with motor rack
Motor, the output shaft of motor are respectively arranged with blade, and motor is powered by rechargeable battery.
6. oil electric mixed dynamic fixed-wing unmanned plane according to claim 5, it is characterised in that the motor includes stator
And rotor, include the first stator coil, the second stator coil and the 3rd stator coil, first stator coil on the stator
Each phase and the second stator coil it is each mutually distinguish close coupling set, each phase and the 3rd alignment circle of the first stator coil
Each phase be staggered respectively, the rotor includes the permanent magnet that N polarity and S alternating polarities are set.
7. oil electric mixed dynamic fixed-wing unmanned plane according to claim 6, it is characterised in that the unmanned plane is by controlling
System is controlled.
8. oil electric mixed dynamic fixed-wing unmanned plane according to claim 7, it is characterised in that the control system is at least
Including communication subsystem, the communication subsystem comprises at least frequency synthesizer, frequency caused by the frequency synthesizer by
PN codes are controlled caused by PN sequence generators.
9. oil electric mixed dynamic fixed-wing unmanned plane according to claim 8, it is characterised in that the communication subsystem bag
Encryption equipment and decipher are included, the encryption equipment is used to be encrypted to sent information, and the decipher is used for reception
Ciphertext data are decrypted.
10. oil electric mixed dynamic fixed-wing unmanned plane according to claim 9, it is characterised in that the encryption equipment is conciliate
Close device carries out encryption and decryption using binary pseudo-random sequence.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710956102.4A CN107640318A (en) | 2017-10-15 | 2017-10-15 | Oil electric mixed dynamic fixed-wing unmanned plane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710956102.4A CN107640318A (en) | 2017-10-15 | 2017-10-15 | Oil electric mixed dynamic fixed-wing unmanned plane |
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| Publication Number | Publication Date |
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Family
ID=61123371
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| US20050173168A1 (en) * | 2004-02-09 | 2005-08-11 | John Sheungchun Hsu | Electric machine for hybrid motor vehicle |
| CN102916511A (en) * | 2011-08-03 | 2013-02-06 | 株式会社安川电机 | Rotating electrical machine |
| CN104584399A (en) * | 2012-07-03 | 2015-04-29 | 上林胜行 | Energy conversion device |
| CN105480418A (en) * | 2015-12-17 | 2016-04-13 | 北京猎鹰无人机科技有限公司 | Ducted fixed-wing oil-electric hybrid unmanned aircraft |
| CN107074358A (en) * | 2014-05-07 | 2017-08-18 | Xti飞行器公司 | The aircraft of VTOL |
| CN107176299A (en) * | 2017-07-02 | 2017-09-19 | 天津飞眼无人机科技有限公司 | The control system of fixed-wing magnetomotive unmanned plane |
| CN207257989U (en) * | 2017-10-15 | 2018-04-20 | 天津飞眼无人机科技有限公司 | Oil electric mixed dynamic fixed-wing unmanned plane |
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2017
- 2017-10-15 CN CN201710956102.4A patent/CN107640318A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050173168A1 (en) * | 2004-02-09 | 2005-08-11 | John Sheungchun Hsu | Electric machine for hybrid motor vehicle |
| CN102916511A (en) * | 2011-08-03 | 2013-02-06 | 株式会社安川电机 | Rotating electrical machine |
| CN104584399A (en) * | 2012-07-03 | 2015-04-29 | 上林胜行 | Energy conversion device |
| CN107074358A (en) * | 2014-05-07 | 2017-08-18 | Xti飞行器公司 | The aircraft of VTOL |
| CN105480418A (en) * | 2015-12-17 | 2016-04-13 | 北京猎鹰无人机科技有限公司 | Ducted fixed-wing oil-electric hybrid unmanned aircraft |
| CN107176299A (en) * | 2017-07-02 | 2017-09-19 | 天津飞眼无人机科技有限公司 | The control system of fixed-wing magnetomotive unmanned plane |
| CN207257989U (en) * | 2017-10-15 | 2018-04-20 | 天津飞眼无人机科技有限公司 | Oil electric mixed dynamic fixed-wing unmanned plane |
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