CN107640324A - Oil electric mixed dynamic rotor wing unmanned aerial vehicle - Google Patents
Oil electric mixed dynamic rotor wing unmanned aerial vehicle Download PDFInfo
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- CN107640324A CN107640324A CN201710956101.XA CN201710956101A CN107640324A CN 107640324 A CN107640324 A CN 107640324A CN 201710956101 A CN201710956101 A CN 201710956101A CN 107640324 A CN107640324 A CN 107640324A
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Abstract
A kind of oil electric mixed dynamic rotor wing unmanned aerial vehicle, it includes annular frame and the multiple blades being arranged on around frame, and the center of frame is provided with the main duct of cylinder, it is characterised in that is provided with engine and gear mechanism in main duct；In frame annular recess is provided with around main duct, generator is provided with the groove, the generator includes stator and rotor, and the stator includes the hollow making toroidal coil frame concentric with annular recess, and 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 and in frame；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.
Description
Technical field
The present invention relates to a kind of oil electric mixed dynamic rotor wing unmanned aerial vehicle, more particularly to one kind only can just be produced by engine
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 rotor
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 rotor wing unmanned aerial vehicle, and it includes annular machine
Frame and the multiple blades being arranged on around frame, the center of frame are provided with the main duct of cylinder, it is characterised in that in main duct
It is provided with engine and gear mechanism；Annular recess is provided with frame around main duct, generating is provided with the groove
Machine, the generator include stator and rotor, and the stator includes the hollow making toroidal coil frame concentric with annular recess, circle
The first-class apart windings of toroid coil have N number of coil；Rotor is provided with cavity in making toroidal coil frame, rotor comprises at least
The gear of permanent magnet and annular, formed with making the annular tooth on the making toroidal coil frame between adjacent windings and in frame
A part for wheel is exposed to the window portion of main duct；Engine engaged by gear mechanism through window portion with annular gear so that
Cavity internal rotation of the rotor in making toroidal coil frame.
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, gear mechanism comprises at least a master gear and at least one Transmission gear, Transmission gear by with master
Gear and the mode of ring gear engagement, pass to ring gear, the master gear is fixed on engine by the kinetic energy of master gear
Output shaft on, the output shaft of engine is connected with main blade.
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, blade provides power by motor, and motor can provide the energy by rechargeable battery.
Preferably, motor is arranged near magnet ring, and it includes casing and the coil being arranged in casing, the coil
Motor driver is connected to by electric current slip ring, when magnet ring ring rotates, the coil in motor is rotated so as to drive blade to revolve
Turn.
Preferably, the motor is close to frame, when magnet ring rotates, coil rotation that can be in motor, so as to
Drive the blade rotation being connected on its axle.
Compared with prior art, oil electric mixed dynamic rotor wing unmanned aerial vehicle provided by the invention is as a result of said structure,
So that only by engine with regard to electric energy can be produced, so as to add the flexibility of the flight of unmanned plane.
Brief description of the drawings
Fig. 1 is the composition frame chart of the control system of oil electric mixed dynamic rotor wing unmanned aerial vehicle provided by the invention；
Fig. 2 is the schematic diagram for the generator that invention provides；
Fig. 3 is the schematic diagram provided by the invention for setting the tooth rest in main duct；
Fig. 4 is to represent the schematic cross-section along the generator in Fig. 2 along A-B directions；
Fig. 5 is the composition frame chart of the electric energy distribution of generator provided by the invention；
Fig. 6 is the composition frame chart of drive device provided by the invention；
Fig. 7 is the composition frame chart of radio frequency unit provided by the invention；
Fig. 8 is the composition frame chart of frequency provided by the invention；
Fig. 9 is that VCO provided by the invention ripples the composition frame chart of device；
Figure 10 is the composition frame chart of power amplifier provided by the invention；
Figure 11 is the schematic diagram that the present invention provides ciphering process；
Figure 12 is the schematic diagram that the present invention provides decrypting process.
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 100 of unmanned plane is placed in and to the greatest extent may be used with gravity direction angulation
Can be preferable from the aspects of the action of energy conversion device 100 close to 90 ° of face.In addition, above-below direction in this specification
Mean gravity direction (vertical direction).
According to one embodiment of the invention, oil electric mixed dynamic rotor wing unmanned aerial vehicle includes frame and is arranged on around frame
Multiple rotors, the center of frame are provided with the main duct of cylinder, are provided with annular recess in frame around main duct, in groove
Generator is set, engine and gear mechanism are provided with main duct；.Frame uses aluminum alloy framework, and outer paving carbon fiber is compound
Material, mitigate fuselage weight while proof strength.The support being arranged in main duct fires for carbon fiber bar for support
Oil turbine, as the active force of duct unmanned aerial vehicle, the fuel tank of engine is placed in the housing under main body duct.Blade is adopted multiple
Condensation material is made.
Fig. 1 is the composition frame chart of the control system of unmanned plane provided by the invention, as shown in figure 1, 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 four electric machine controllers and four motors,
Electric machine controller such as electric machine controller CON1, electric machine controller CON2, electric machine controller CON3 and electric machine controller CON4；Motor
As motor M1, motor M2, motor M3 and motor M4, four electric machine controllers control four motors respectively.Unmanned plane also includes shining
Phase subsystem, it includes camera 412 and camera controller 413, and the camera 412 is connected to camera controller 413, and it is used
Taken photo by plane in monitored region, and send the image information taken photo by plane to camera controller 413, camera controller
413 are connected to processor 405, and it, which is used to handle the image information of input, then sends processor 405 to.Communicate subsystem
System includes digital baseband unit 410, modulating unit 411 and communication card 414, and communication card 414 is connected to digital baseband by slot
Unit 410, when transmitting, the digital baseband unit 410 is used for the information to be transmitted by processor and carries out message sink coding and channel
Coding, then send modulating unit 411 to, the modulating unit 411 includes transmitter, and the transmitter is used for digital baseband
Unit transmission come information be encrypted and be modulated to frequency with PN caused by PN random sequence generators with and change carrier wave believe
Power amplifier is then carried out on number, space is transmitted into finally by antenna；Modulating unit 411 also includes receiver, and receiver is used for will
The signal that antenna receives is demodulated and decrypted, and then sends the data to digital baseband unit 410, digital baseband unit 410
For digital baseband signal to be carried out into channel decoding, source coding, data or instruction that control terminal is sent are taken out.
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 provide based on unmanned plane from power module 100 to
All parts provide the energy, and it can be turned off by switch and be controlled with connecting.
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..
According to the electrical equipment of one embodiment, including driving blade electric energy is provided as the generator described in Fig. 2-4.
Fig. 2 is the schematic diagram for the generator that invention provides；Fig. 3 is the tooth rest provided by the invention set in main duct
Schematic diagram；Fig. 4 is to represent the schematic cross-section along the generator in Fig. 2 along A-B directions；As in Figure 2-4, the generator
Including stator and rotor, the stator includes the hollow making toroidal coil frame concentric with the annular recess of the frame of unmanned plane
102, the first-class apart windings of making toroidal coil frame have N number of coil 101；Rotor is provided with cavity in making toroidal coil frame, is turned
Son comprises at least permanent magnet and the gear 105 of annular, on the making toroidal coil frame 102 between adjacent windings 101 formed with
A part for the ring gear is set to be exposed to the window portion 108 of main duct, corresponding to the window of the circular coil 102 that bursts at the seams in frame
Portion position is also equipped with window portion 31 so that the part tooth of gear mechanism can pass through window portion 31 and window portion 108 and ring gear 105
Tooth engagement；Engine 600 is engaged so that rotor is in making toroidal coil by gear mechanism through window portion with ring gear 105
Cavity internal rotation in frame.The rotor includes the magnet ring concentric with making toroidal coil frame, and the magnet ring includes：Ring-type
Magnetic box 106, polylith permanent magnet 107, ring gear 105 and multiple pulleys 104, the magnetic box 106 of ring-type are more for storing
Block magnet, polylith magnet are set with N poles and S alternating polarities, and the magnetic box of the ring gear 105 and ring-type is concentric and is arranged at
On the magnetic box of ring-type；The plurality of pulley 104 is uniformly matched somebody with somebody in a manner of being contacted with cavity inner wall in the making toroidal coil frame 102
It is placed on the magnetic box 106 of the ring-type.According to one embodiment, polylith magnet is in N polarity, S polarity, S polarity, N poles
Property ... arrangement, i.e., the polarity of adjacent two blocks of magnet is identical, and is provided with magnetic flux slot segmentation between adjacent two blocks of magnet.Adjacent
Formed with making a part for the ring gear be exposed to the window portion of main duct on making toroidal coil frame 102 between coil 101
108, window portion 31 is also equipped with so that the part of little gear 400 corresponding to the window portion position of the circular coil 102 that bursts at the seams in frame
Tooth can pass through window portion 31 and window portion 108 to be engaged with the tooth of ring gear 105.As long as the tooth of gear 105 can be with little gear 400
Part tooth engages, 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,
It can be formed at multiple positions, be such as uniformly arranged on the wall of main duct.
Permanent magnet 107, which is accommodated in, to be formed in magnetic box.10 permanent magnets are expressed as in Fig. 2 and are accommodated in magnetic box
106.But this composition is only one, as long as it is accommodated in number at least one of the permanent magnet of magnetic box.
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 top is provided with opening.Therefore, permanent magnet 107 is from the top of magnetic box 106
It is inserted into., can also be in the insertion permanent magnetic in segment magnet box by the way that permanent magnet 107 is inserted into magnetic box to form annular
Iron.
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
Du Taigao, then permanent magnet 107 be possible to subtract magnetic.I.e., the magnetic force of permanent magnet 107 is possible to die down.By using non magnetic
Metal forms magnetic box 106, can efficiently discharge heat caused by permanent magnet 107 to outside, therefore, it is possible to drop
The possibility for the problem of low yield life is such.In another embodiment, magnetic box 106 is formed by resin material.By by resin
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., is accommodated with forever
The magnetic box 106 and gear 105 of magnet.Making toroidal coil frame 102 is formed as having convenience center with magnetic box 106, gear 105
Ring-type, the convenience center be main duct axis.
Pulley 104 is spherical, and it is fixed on magnet retainer by wheel carrier.The plurality of pulley is uniformly arranged on magnet guarantor
To hold on frame, multiple pulleys 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, pulley 104 are rotated.With the rotation of pulley 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, the number of pulley 104
It is The more the better.Therefore, the number of pulley 104 is preferably more than 3.By 3 points of regulations, 1 plane.If the number of pulley 104 is
3, then by each pulley 104 and bobbin lumen contact, up-down vibration in the rotary course of magnetic box 105 can be prevented.
Pulley 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, pulley 104 also rotates at a high speed.It is therefore preferable that the light weight as much as possible of pulley 104, so as to rotate at a high speed.
Therefore, pulley 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 pulleys 104 respectively, are also uniformly arranged above ring gear more
Individual pulley 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 101 as much as possible
The distance between.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. 2.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.
Tooth rest as shown in Figure 3 is provided with main duct, the tooth rest is more including being radially extended along main duct
Individual radial struts, such as 301A, 301B, 301C, 301D and 301F, radial struts are penetrated centered on the central axis of main duct in auxiliary
Shape, multiple axially extending gear shafts along main duct are arranged in each radial struts, as 302A, 302B, 302C,
302D and 302F, engine are arranged on the center of tooth rest, and the output shaft 500A of engine 600 is connected to gear wheel 50 and connected
In main paddle.Although the present invention is carried out by gear 500 by five little gears 400 exemplified by kinetic energy is passed into ring gear
Explanation, still, gear wheel can also be by a little gear 400 so that kinetic energy is passed into ring gear 105, if using one
During individual gear drive energy, balancing weight can be set in other supports except the radial struts for setting little gear so that unmanned plane is put down
Weighing apparatus.
In Fig. 2 to Fig. 4, while driving main blade rotation by engine 600, also drive gear wheel 500 rotates, gear wheel
500 drive multiple little gears to place, and little gear is through the window portion in frame when going and window portion and ring on corresponding bobbin 102
Shape gear 105 engages and drives ring gear to rotate, and ring gear is maintained at the cavity rotation in bobbin 102 with moving magnet,
Because the magnet set by the present invention is to be arranged in N polarity, S polarity, N polarity, S polarity ..., so revolved in magnet in coil
When turning, the rotary magnetic place of alternation is generated in each of the coils, so as to generate electric energy in coil.Below in conjunction with the accompanying drawings 5
The distribution of electric energy is described.
Fig. 5 is the composition frame chart of the electric energy distribution of generator provided by the invention.As shown in figure 5, according to of the invention one
Embodiment, the left D200 of the rectified device of electric energy is rectified into direct current caused by the generator 100 of oil electric mixed dynamic unmanned plane, then
Charged device CH1 is filled into battery E1, is given using electric power storage E1 and is arranged at four motors in small duct, as motor 200A,
Motor 200B, motor 200C and motor 200D.According to one embodiment of the invention, to prevent battery from providing electricity to charger
Can, a diode D2 is provided between the positive electricity source output terminal of charger and the positive terminal of battery, diode D2 is just
Pole is connected to charger CH1 positive electricity source output terminal, and negative pole is connected to battery E1 positive pole.Charger CH1 common port connects
It is connected to the negative pole end of battery.In battery E1 electric energy is provided by diode D1 to motor.
According to one embodiment of the invention, the small blade for being arranged at four small ducts is driven by four motors, each motor
Rotating speed controlled by circuit for controlling motor according to instruction, illustrate with reference to Fig. 6.
Fig. 6 is the composition frame chart of drive device provided by the invention, as shown in fig. 6, according to one embodiment of the invention, is driven
Dynamic device includes motor 200, its stator and rotor for including shell, being placed in shell, in addition to is rotated together with the axle of rotor
Speed encoder VS200 and rectification encoder CD200, circuit for controlling motor includes motor driver DR200, in addition to pole
Property control unit P200, speed control unit VC200 and pulse width modulation controlled unit PWM200, motor driver DR200 are
Carry out switching the semiconductor device of control in response to control signal, electric power Vcc is transferred to the winding of stator.Herein,
Because electric-motor drive unit DR200 is arranged to supply direct current to the stator winding of stator, therefore its structure can be according to electronic
The type (number of phases of stator winding) of machine and change..
Polarity Control unit P200 receives the photosensor signal of the rectification encoder CD200 from motor, and to motor
Driver element DR200 sends the control signal for realizing electric rectification device, so as to realize electric rectification device.Speed control unit
VC200 receives the encoder VS200 signals of the speed encoder from motor, and is sent out to pulse width modulation controlled unit PWM200
Send speed control signal.The flight controller of unmanned plane is sent according to the instruction of transmission to pulse width modulation controlled unit PWM200 to be turned
The control signal contr of speed.Pulse width modulation controlled unit PWM200 is sent for according to control signal to motor driver DR200
The pwm signal being controlled to the rotating speed of motor 200.
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. 7-12.
Fig. 7 is the composition frame chart that the present invention provides UAV Communication subsystem radio frequency unit, and as shown in Fig. 8, unmanned plane leads to
Letter subsystem, which penetrates frequency cells, includes transmitter, receiver, frequency synthesizer 801, frequency source 829 and PN codes generator 828, institute
Stating transmitter includes radio-frequency modulator (modulator) 805, and it is used to ciphertext data to be sent being modulated to by frequency synthesizer
Caused by 801 on first frequency signal, the frequency synthesizer 801 PN codes according to caused by the PN codes generator 828 will frequency
The different frequency of frequency synthesis caused by rate source, the receiver include frequency mixer 808, and the frequency mixer 808 is used to receive
Signal and frequency synthesizer 801 caused by second frequency signal be mixed so as to demodulate the ciphertext transmitted by transmitting terminal
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
Individual byte, data bit from high to low are designated as K [n] in order, and clear data to be sent is divided into M byte by encryption equipment 803,
Any bit of any byte is designated as D [m, k], then any bit S [m, k] of M byte of ciphertext data is calculated according to following formula：
M ∈ { 121 ..., M }, wherein, k and n are 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：
M ∈ { 121 ..., M }, wherein, k and n are determined by the password set.
Radio frequency part also includes duplexer 806 and antenna 804, and the power amplifier 807 and frequency mixer 808 pass through 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
Frequency multiplication, which is carried out, in the signal provided frequency source 829 obtains the first signal；Phase shifter 824 is used to obtain the progress phase shift of the first signal
To the secondary signal mutually orthogonal with the first signal；The signal progress frequency multiplication that frequency multiplier 827 is used to provide frequency source 829 obtains
3rd signal；Phase shifter 823 is used to obtain fourth signal mutually orthogonal with the 3rd signal to the progress phase shift of the 3rd signal；Multiplication
Device 821 is used to be multiplied to secondary signal with the 4th signal, and is supplied to adder 826；Multiplier 822 is used for first
Signal and the 3rd signal are multiplied, and are supplied to adder 826；The letter that adder is provided multiplier 821 and multiplier 822
Number add operation is carried out, be then supplied to frequency multiplier 820 so as to obtain first frequency signal, the output letter of the adder 826
Second frequency signal is obtained after number shifted phase shift of device 830.
Fig. 8 is the composition frame chart of frequency source provided by the invention, as shown in figure 8, 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.
Fig. 9 is voltage controlled oscillator provided by the invention (VCO) circuit diagram, voltage-controlled is shaken as shown in figure 9, provided by the invention
Swinging device (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 of FET
T5 grid is connected, and is signal input part, and FET T4 source electrode and FET T6 source electrode are signal output part.
Effect pipe T4 drain electrode is connected to film bulk acoustic resonator BAWF1 first end；FET T6 drain electrode is connected to thin-film body
Acoustic resonator BAWF2 first end；FBAR BAWF1 the second end and FBAR BAWF2
The second end be connected, and be 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 10 is the circuit diagram of transmitter medium-high frequency power amplifier (power amplifier) provided by the invention, as shown in Figure 10, 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 input
Matching network 300 carries out impedance matching, and inputs a signal into high power tube T44 base stage, and high power tube T44 colelctor electrode is defeated
The signal gone out carries out impedance matching through output matching network and antenna loop and then inputs a signal into antenna loop, biasing circuit
It is made up of transistor T43 and resistance R47, 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
Grounded emitter, colelctor electrode be 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 11 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] in order, and encryption equipment will
Clear data to be sent is divided into M equal portions, and every part of length is Nbit, and any bit of any equal portions is designated as D [m, k], then ciphertext
Any bit S [m, k] of M byte of 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 12 is the schematic diagram of decryptor decryption process provided by the invention, as shown in figure 12, 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 receive
Ciphertext data be divided into M equal portions, every part of length is Nbit, and any bit of any equal portions is designated as S [m, k], then decrypt after in plain text
Any bit D [m, k] of M byte of 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 system sequences be a byte, 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 is determined by the password inputted.
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, encipher-decipher 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, is such as stored in
In reservoir, CD, 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 (8)
1. a kind of oil electric mixed dynamic rotor wing unmanned aerial vehicle, it includes annular frame and the multiple blades being arranged on around frame,
The center of frame is provided with the main duct of cylinder, it is characterised in that is provided with engine and gear mechanism in main duct；In frame
Annular recess is provided with around main duct, generator is provided with the groove, the generator includes stator and rotor, institute
Stating stator includes the hollow making toroidal coil frame concentric with annular recess, and the first-class apart windings of making toroidal coil frame have N number of line
Circle；Rotor is provided with cavity in making toroidal coil frame, rotor comprises at least permanent magnet and the gear of annular, in adjacent lines
Formed with making a part for the ring gear be exposed to the window portion of main duct on making toroidal coil frame between circle and in frame；
Engine is engaged so that rotor is in the cavity in making toroidal coil frame by gear mechanism through window portion with the gear of annular
Rotation.
2. oil electric mixed dynamic rotor wing unmanned aerial vehicle according to claim 1, it is characterised in that the rotor includes and annulus
The concentric magnet ring of shape bobbin, the magnet ring include：The magnetic box of ring-type, polylith permanent magnet, ring gear and multiple
Pulley, the magnetic box of ring-type are used to store polylith magnet, and adjacent two pieces of magnet polarities are identical, the magnet of the ring gear and ring-type
Box is concentric and is arranged on the magnetic box of ring-type；The plurality of pulley with cavity inner wall contacts in the making toroidal coil frame side
Formula is uniformly configured on the magnetic box of the ring-type.
3. oil electric mixed dynamic rotor wing unmanned aerial vehicle according to claim 2, it is characterised in that gear mechanism comprises at least one
Individual master gear and at least one Transmission gear, Transmission gear with master gear and ring gear by way of engaging, by master gear
Kinetic energy pass to ring gear, the master gear is fixed on the output shaft of engine, and the output shaft of engine is connected with master
Blade.
4. according to the oil electric mixed dynamic rotor wing unmanned aerial vehicle described in claim 3, it is characterised in that：When magnet ring rotates, circle
The coil output electric energy wound in toroid coil.
5. oil electric mixed dynamic rotor wing unmanned aerial vehicle according to claim 4, it is characterised in that wound on making toroidal coil frame
Coil output the rectified filtering of electric energy electricity after can be charged to rechargeable battery.
6. oil electric mixed dynamic rotor wing unmanned aerial vehicle according to claim 6, it is characterised in that blade is provided dynamic by motor
Power, motor can provide the energy by rechargeable battery.
7. oil electric mixed dynamic rotor wing unmanned aerial vehicle according to claim 6, it is characterised in that motor is arranged on magnet ring
Near, it includes casing and the coil being arranged in casing, and the coil is connected to motor driver by electric current slip ring, works as magnetic
When iron hoop ring rotates, the coil in motor is rotated so as to drive blade to rotate.
8. oil electric mixed dynamic rotor wing unmanned aerial vehicle according to claim 7, it is characterised in that the motor close to frame,
When magnet ring rotates, the coil rotation in meeting motor, so as to drive the blade being connected on its axle to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710956101.XA CN107640324A (en) | 2017-10-15 | 2017-10-15 | Oil electric mixed dynamic rotor wing unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710956101.XA CN107640324A (en) | 2017-10-15 | 2017-10-15 | Oil electric mixed dynamic rotor wing unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107640324A true CN107640324A (en) | 2018-01-30 |
Family
ID=61123489
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710956101.XA Withdrawn CN107640324A (en) | 2017-10-15 | 2017-10-15 | Oil electric mixed dynamic rotor wing unmanned aerial vehicle |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004048943A (en) * | 2002-07-12 | 2004-02-12 | Shogo Tsunoda | Magnetic torque induction converter and equipment comprising the same |
| US20100147993A1 (en) * | 2008-12-12 | 2010-06-17 | Honeywell International Inc. | Hybrid power for ducted fan unmanned aerial systems |
| 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 |
| WO2016169176A1 (en) * | 2015-04-22 | 2016-10-27 | 深圳市艾特航空科技股份有限公司 | Multi-rotor aircraft |
| CN207360588U (en) * | 2017-10-15 | 2018-05-15 | 天津飞眼无人机科技有限公司 | Oil electric mixed dynamic rotor wing unmanned aerial vehicle |
-
2017
- 2017-10-15 CN CN201710956101.XA patent/CN107640324A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004048943A (en) * | 2002-07-12 | 2004-02-12 | Shogo Tsunoda | Magnetic torque induction converter and equipment comprising the same |
| US20100147993A1 (en) * | 2008-12-12 | 2010-06-17 | Honeywell International Inc. | Hybrid power for ducted fan unmanned aerial systems |
| CN104584399A (en) * | 2012-07-03 | 2015-04-29 | 上林胜行 | Energy conversion device |
| WO2016169176A1 (en) * | 2015-04-22 | 2016-10-27 | 深圳市艾特航空科技股份有限公司 | Multi-rotor aircraft |
| 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 |
| CN207360588U (en) * | 2017-10-15 | 2018-05-15 | 天津飞眼无人机科技有限公司 | Oil electric mixed dynamic rotor wing unmanned aerial vehicle |
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Application publication date: 20180130 |