CN108128442A - For the pneumatic rudder ducted fan of vector and control method of vertical take-off and landing drone - Google Patents
For the pneumatic rudder ducted fan of vector and control method of vertical take-off and landing drone Download PDFInfo
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- CN108128442A CN108128442A CN201711406002.0A CN201711406002A CN108128442A CN 108128442 A CN108128442 A CN 108128442A CN 201711406002 A CN201711406002 A CN 201711406002A CN 108128442 A CN108128442 A CN 108128442A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
- B64C29/02—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis vertical when grounded
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C9/00—Adjustable control surfaces or members, e.g. rudders
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Structures Of Non-Positive Displacement Pumps (AREA)
Abstract
The invention discloses the pneumatic rudder ducted fan of vector and control method for vertical take-off and landing drone, its main feature is that：Including cylindric duct wall, on cylindric duct wall and positioned at the pneumatic rudder ducted fan of vector in duct wall axial direction centre position, the pneumatic rudder inner ring of vector being fixed together close to tubular duct wall lower end with duct wall, surround the pneumatic rudder outer shroud of vector of the pneumatic rudder inner ring of vector and certain distance with interval, between the pneumatic rudder inner ring of vector and the pneumatic rudder outer shroud of vector and connection inner ring and outer rings annular bearing, the outer shroud servo motor being meshed with the pneumatic rudder outer shroud of vector by gear, on the pneumatic rudder outer shroud of vector and positioned at the deflectable leaf coral of the pneumatic rudder of vector of the pneumatic rudder bottom air outlet of vector.The present invention effectively increases the efficiency of ducted fan using ducted fan pipe design technology；The yaw caused by lateral force resistance survey wind is also generated by the pneumatic rudder of vector, maintains course and air route.
Description
Technical field
The present invention relates to unmanned air vehicle technique fields more particularly to a kind of pneumatic rudder of vector for vertical take-off and landing drone to contain
Road fan and control method.
Background technology
Fixed-wing unmanned plane has big height, big flying speed range, long endurance, big voyage, larger load etc. and is permitted
Various advantages.But fixed-wing unmanned plane needs the takeoff ground of certain length, width and surface quality to be used as
Fly landing place.With the increase of unmanned plane weight, the requirement of site requirements and spatial domain for take-off and landing increased.
This requirement to place and spatial domain is a significant obstacle in the application of fixed-wing unmanned plane.
In order to overcome and reduce this pressure to landing site, catapult-assisted take-off, parachuting landing have become more than solution
A difficult important breakthrough.This landing mode or similar landing mode should say to be successful, and aircraft is applicable in
Property, reliability are also acceptable.But catapult-assisted take-off, parachuting recycling certain ground and spatial domain using also also suffer from compared with
Big limitation.Especially in mountain area, the water surface, sea, forest area.Due to wind direction, prominent wind, spatial domain, landforms and damage or lose winged
The possibility of machine is very big.
Therefore, the phenomenon that unmanned plane becomes a kind of current public development using VTOL mode.Since 2013 to
The present provides the lifting force of VTOL in Chinese popular installation " carrying pole type " lift free spiral rotation paddle on wing or on fuselage, adopts
It is emerged in an endless stream with the VTOL scheme of thrust free spiral rotation paddle, it is very strange, fill Chinese unmanned plane market.
This " carrying pole type " formula, based on air free spiral rotation starch（Do not justified around the paddle of air free spiral rotation slurry
The duct of tubular surrounds, and the rotative power of engine is converted into propulsive force or lift by blade directly exposed rotate in air
Device）Vertical take-off and landing drone due to it is intrinsic in principle and structure design the shortcomings that so that such unmanned plane is only capable of applying
In small-sized, low-speed unmanned aerial vehicle, practicability is poor.It was verified which kind of air free spiral rotation paddle no matter used as vertical lifting force
With simultaneously undertake thrust, and the vertical take-off and landing drone without enough feather modes all suffers from dynamical system efficiency
Problem.
Based on one of " carrying pole type " formula air free spiral rotation slurry dynamical system efficiency：The rising of VTOL low speed can not
Meet level speed requirement.By present most small and medium size unmanned aerial vehicles using piston type fuel oil, gas engine as dynamical system,
Or using total arrangement of the motor as system, the rate of climb of VTOL is both less than 8 meter per seconds or only 3-4 meter per seconds.
And such unmanned plane pushes away to maintain an equal level and flies required minimum stalling speed generally in 15-40 meter per seconds, it is clear that such unmanned plane hangs down
The straight rate of climb can not meet unmanned plane and maintain flat winged required minimum speed.In order to keep dynamical system efficiency, improve and hang down
The rate of climb of straight landing, unmanned plane propeller just necessarily varying pitch paddle, but displacement paddle brings construction weight to increase, reliably
Property decline, for the mechanism technology level of current unmanned plane, rotating speed be up to thousand turns of small-sized pitch-changing mechanism construction weight and
Reliability is unsatisfactory.
Two based on " carrying pole type " formula air free spiral rotation slurry dynamical system efficiency：Large diameter air free spiral rotation paddle
Almost without the possibility of implementation.For vertical take-off and landing drone of the minor diameter free spiral rotation paddle as the low speed rate of climb, move
Force system inefficiency.Therefore, when the take-off weight of unmanned plane increases, this minor diameter paddle can hardly be received, and be
This will replace free spiral rotation paddle using larger diameter rotor.But in this way major diameter rotor there are few may with it is thousands of, to up to ten thousand
The motor synchronous working of rev/min rotating speed, therefore necessarily with retarder, and gearbox and corresponding variable-speed motor more than 25 horsepowers
The problem of structure design, mechanism design and dynamic Control that structure is brought is a kind of disaster for small and medium size unmanned aerial vehicles.
Three based on " carrying pole type " formula air free spiral rotation slurry dynamical system efficiency：Lateral wind causes when wind speed is larger
Unmanned plane yaws.Due to the layout of " shoulder pole " type, when use larger diameter propeller or rotor and local wind speed is larger
When, due to the influence of lateral wind, if the balance system of unmanned plane does not have enough automatic dampings for inhibiting oscillation, then cause
Unmanned plane yaws, and the flight brought therefrom is unsafe.
In addition to this, all vertical take-off and landing drone all bands are useful for VTOL device, corresponding holding equipment and control
System, these weight majorities are redundancy weight during unmanned plane job task.And thus bring many influence flights
The adverse effect of the aerodynamic configuration shape of energy.Therefore for comparing sliding race landing unmanned plane, due to the above problems, causing
All vertical take-off and landing drone all properties indexs are all low, therefore, are reduced to the greatest extent due to equipment, control, weight, pneumatic
The unfavorable factor that power loss is brought is the most prominent task of vertical take-off and landing drone.
To sum up, vertical take-off and landing drone will solve small-sized, low speed, yaw, redundancy weight issue.
Invention content
In view of the deficiencies of the prior art, the present invention proposes a kind of pneumatic rudder duct wind of vector for vertical take-off and landing drone
Fan and control method, the air free style propeller to solve the prior art can be only applied to small-sized, low-speed unmanned aerial vehicle, work as wind
Crosswind energy force difference is resisted when speed is very high, leads to unmanned plane yaw, unsafe problems.
The present invention solves its technical problem and following technical scheme is taken to realize：
A kind of pneumatic rudder ducted fan of vector for vertical take-off and landing drone includes cylindric duct wall, peace from top to bottom
The pneumatic rudder ducted fan of vector, close tubular duct wall on cylindric duct wall and positioned at duct wall axial direction centre position
The pneumatic rudder inner ring of vector, the encirclement pneumatic rudder inner ring of vector and the certain distance with interval that lower end is fixed together with duct wall
The pneumatic rudder outer shroud of vector, between the pneumatic rudder inner ring of vector and the pneumatic rudder outer shroud of vector and connection inner ring and outer rings annular shaft
The outer shroud servo motor that hold, is meshed by outer ring gear and outer shroud servo motor gear with the pneumatic rudder outer shroud of vector is mounted on
On the pneumatic rudder outer shroud of vector and positioned at the deflectable leaf coral of the pneumatic rudder of vector of the pneumatic rudder bottom air outlet of vector；
The gap of the pneumatic rudder ducted fan blade tips of the vector and duct wall is sufficiently small, small to be connect to fan with duct wall
Tactile minimum clearance, generally 0.5mm, the gap is to keep the high pressure draught below blade plane not flow back, blade end
Portion's vortex drag is reduced to almost 0, so as to generate very big axial force with smaller duct diameter.
In connection and annular bearing inner ring and the pneumatic rudder of vector of the annular bearing outer ring with the pneumatic rudder outer shroud of vector
The connection of ring is respectively interference connection；The outer shroud servo motor is engaged by gear drives outer shroud to rotate, and outer shroud passes through annular
Bearing drives inner ring rotation, and inner ring drives duct rotation and ducted fan to rotate by clamp device.
The rotation of the duct for changing leaf grating direction, the deflection of the leaf grating for changing duct air-flow side
To both angles can change, and the synthesis of the two functions is hereinafter referred to as the pneumatic rudder of vector.
If the pneumatic rudder blade grid of the vector are by dry plate in the same plane with the cascade blade group of same angular turn
Into the pneumatic rudder blade grid of the vector further include the push-and-pull motor of the recess on the inside of the pneumatic rudder outer shroud of vector, the push-and-pull motor
For pulling leaf grating pull rod that cascade blade is made to do the movement of 0-180 degree, which generates the cross force and axis of the pneumatic rudder of vector
Xiang Li.
A kind of control method of the pneumatic rudder ducted fan of vector for vertical take-off and landing drone, it is characterised in that：Including
Following steps：
Step 1：Flight control system receives atmospheric environment sensor information, the leaf grating deflection for manipulating the pneumatic rudder of vector；
Step 2：Pass through the six-freedom degree of the leaf grating deflection control unmanned plane during flying of the pneumatic rudder of vector.
The leaf grating angular deflection includes superposition deflection of the leaf grating towards both deflections of deflection and leaf grating angular deflection,
For the leaf grating towards the 360 degree rotation being deflected to along duct central shaft, the leaf grating angular deflection is with cascade blade width
The deflection of 0-180 degree for radius.
The detailed process of the step 1 is as follows：
The six-freedom degree of the leaf grating deflection control unmanned plane during flying by the pneumatic rudder of vector of the step 2, this six
Degree of freedom includes X, Y, Building Z is marked, the horizontal side of α, β, γ, course and fore-and-aft tilt angle, six freedom of the control unmanned plane during flying
Degree, specific requirement is keeps Longitudinal Flight angle of attack ± 0.5 ° and lateral inclination angle beta ± 0.5 ° and course angle γ ± 1 °.
Advantages of the present invention and effect：
1st, the present invention effectively increases the efficiency of ducted fan using ducted fan pipe design technology：Due to fan blade end
With the gap very little of duct wall, only 0.5mm, therefore the point effect of blade have a two big effects, one be to maintain blade plane with
Under high pressure draught do not flow back, simultaneously because blade tip vortex drag reduce be almost 0, so as to greatly improve the efficiency, one
The ducted fan of diameter about 400-800mm diameters can generate about 30-150 kilograms of axis in 8000-12000 revs/min of low speed
Xiang Li is realized and is generated very big axial force with smaller duct diameter, this be free spiral rotation paddle it is incomparable, so as to solve
Determined free spiral rotation paddle if using weight is loaded if high-power, efficiency is low if using minor diameter the problem of.
2nd, the present invention changes the direction of ducted fan by the rotation of duct, changes the side of air-flow by the rotation of leaf coral
To by the pneumatic rudder of vector of above double angular deflections, several injection aerodynamic force flexibly used being produced, when encountering in air
When inconsistent lateral wind causes the lateral force for unmanned plane with aircraft flight direction, generated by the pneumatic rudder of vector lateral
Power resists the yaw surveyed caused by wind, so as to maintain relatively effective horizontal flight posture, keeps dynamic efficiency, also maintains
Course and air route, so as to solve damping of the prior art unmanned plane balance system due to not enough automatic inhibition oscillations,
The unsafe problem of flight that unmanned plane is caused to yaw and bring therefrom.
3rd, the present invention is inclined by the pneumatic rudder ducted fan pipe design technology of vector, the pneumatic rudder duct rotation of vector and leaf grating
The synthetic technology turned realizes the VTOL device for being replaced with the pneumatic rudder of vector and partly replacing the prior art, accordingly supports
The function of equipment and control system so that VTOL device, corresponding holding equipment and control system " shared " as much as possible or
The function of the pneumatic rudder of " partial common " vector so as to alleviate the mechanism and construction weight for VTOL as possible, subtracts as possible
The unfavorable factor brought due to vertical machine drop equipment, control, weight, aerodynamic force loss is lacked.
Description of the drawings
Fig. 1 is the pneumatic rudder stereogram of vector that the present invention is used for vertical take-off and landing drone；
Fig. 2 is the pneumatic rudder bottom view of vector that the present invention is used for vertical take-off and landing drone；
Fig. 3 is the pneumatic rudder sectional view of vector of the present invention；
Fig. 4 is the rotatable duct schematic diagram of the present invention；
Fig. 5 is the deflectable leaf grating schematic diagram of the present invention；
Fig. 6 is the pneumatic rudder pipe design schematic diagram of vector of the present invention；
Fig. 7 is the pneumatic rudder blade grid push-pull mechanism schematic diagram of vector of the present invention；
Fig. 8 calculates schematic diagram for the pneumatic rudder kick power of vector of the present invention；
Fig. 9 controls 6 degree of freedom schematic diagrames of unmanned plane for the pneumatic rudder of vector of the present invention；
Figure 10 is applied to disk nobody accurate machine hovering schematic diagram for the pneumatic rudder of vector of the present invention;
Figure 11 is voltage-rotating speed of the present invention-vertical lifting force relation table；
Wherein：1：Duct wall；2：The pneumatic rudder ducted fan of vector；2-1：Ducted fan paddle；2-2：Ducted fan clamp device；
2-3：Fan electromotor；3：The pneumatic rudder inner ring of vector；3-1：Inner ring clamp device；4th, the pneumatic rudder outer shroud of vector；4-1：Outer ring gear；
5：Annular bearing；5-1：Annular bearing outer ring；5-2：Annular bearing ball；5-3：Annular bearing inner ring；6：Leaf grating；6-1：Leaf grating
Blade；6-2：Leaf grating pull rod；6-3：Push and pull motor；7：Outer shroud servo motor；7-1：Outer shroud servo motor gear；8th, unmanned plane flies
6 capable degree of freedom；9：Disk unmanned plane of the present invention；
Specific embodiment
Below in conjunction with attached drawing, the present invention is further elaborated.
The design principle of the present invention：
1st, the reason of air free spiral rotation slurry pneumatic power system efficiency is low is air free spiral rotation slurry in design principle and design knot
On structure there is it is natural the shortcomings that：Free spiral rotation paddle directly rotates in air, around surrounds, compares without cylindric duct
The ducted fan of similary diameter is since fan cannot be included in duct, and the climbing power generated weakens, and climbing power weakens inevitable
Reduce unmanned plane total weight；Climbing power decrease also results in the state that unmanned plane can only maintain low speed to rise；Due also to existing skill
The axial force direction that art air free spiral rotation paddle generates is always single direction vertically downward, it is impossible to the variation spirit of wind direction
Life birth, which is given birth to, resists the injection aerodynamic force of different wind directions, therefore bad weather caused by also cannot resisting strong wind is to the danger of unmanned plane
Evil.
2nd, the principle of very big axial force is generated using smaller duct diameter：Due to fan blade end and duct wall
Gap is sufficiently small, and the sufficiently small gap is only 0.5mm, therefore the point effect one of blade is to maintain below blade plane
High pressure draught does not flow back, second is that being almost 0 since blade tip vortex drag is reduced, so as to greatly improve the efficiency, this is freely
Propeller is incomparable, due to the pneumatic rudder of vector of the present invention can generate compared to existing low speed, small drone it is very big
Axial force, therefore, unmanned plane VTOL lift increase, since vertical lift increases, the total landing weight of unmanned plane can increase,
The rate of climb increases.
3rd, the double angle complex functionality design principles of the pneumatic rudder of vector of the present invention：Although leaf coral blade makees 0-180 degree, deflection can
To change the direction of air-flow, but if duct can not be allowed to rotate, leaf coral blade can only change the air-flow side of the current direction of leaf grating
To, and the airflow direction of all directions cannot be changed, this is because leaf coral is changeless edge relative to the position of duct wall
By.Since the wind direction in air is not fixed, wind direction can come from any one angle in 360 degree of planes, to resist
The influence of any wind direction just must allow duct to be rotated together with wind direction so that be fixed on the direction of the leaf coral on duct also with
It and changes together, the direction of only leaf grating is moved with the wind, could effectively be resisted the crosswind of different directions and be influenced.
4th, the present invention reduces the principle of unmanned plane redundancy weight using the pneumatic rudder of vector：Due to the pneumatic rudder replacement of vector and portion
Divide the function instead of the VTOL device of the prior art, corresponding holding equipment and control system so that VTOL device, phase
Holding equipment and control system " shared " as much as possible or the function of the pneumatic rudder of " partial common " vector are answered, so as to alleviate as possible
For the mechanism and construction weight of VTOL, reduce to the greatest extent due to vertical machine drop equipment, control, weight, aerodynamic force loss
The unfavorable factor brought.
Based on principles above, the present invention devises a kind of pneumatic rudder of the vector for vertical take-off and landing drone, such as Fig. 1 institutes
Show：Include cylindric duct wall 1 from top to bottom, on cylindric duct wall and positioned at duct wall axial direction centre position
The pneumatic rudder ducted fan 2 of vector, the pneumatic rudder inner ring 3 of vector being fixed together close to tubular duct wall lower end with duct wall, packet
The pneumatic rudder outer shroud 4 of vector of the pneumatic rudder inner ring of vector and certain distance with interval is enclosed, positioned at the pneumatic rudder inner ring of vector and vector
Between pneumatic rudder outer shroud and the annular bearing 5 of connection inner ring and outer rings, with the pneumatic rudder outer shroud 4 of vector by outer ring gear 4-1 and
Outer shroud servo motor 7 that outer shroud servo motor gear 7-1 is meshed, on the pneumatic rudder outer shroud 4 of vector and positioned at vector gas
The deflectable leaf coral 6 of the pneumatic rudder of vector of dynamic rudder bottom air outlet.
As shown in Fig. 2, the state that the pneumatic rudder blade grid 6 of vector on outer shroud 4 are closed.If the leaf grating is by dry plate
The blade composition of rotational angle in the same plane, can be from 0 angular turn to 180 ° of movements, in order to which rational deflection efficiency is led to
Often from+30 °~-30 ° angular movements, can be switched when not in use by controlling angle driving motor to 0 ° and 180 °.Fig. 2 is closes duct
The situation of fan.
As shown in figure 3, the pneumatic rudder ducted fan 2 of the vector includes the ducted fan stent 2- being packed on duct wall
2nd, several fan blades 2-1 on road blower tray and the fan electromotor 2-3 of carriage center is packed in, the fan electromotor
2-3 generates the axial force of the pneumatic rudder of vector.
As shown in figure 3, the annular bearing outer ring 5-1 and the connection of the pneumatic rudder outer shroud 4 of vector and annular bearing inner ring
The connection of 5-3 and the pneumatic rudder inner ring 3 of vector is respectively interference connection；The outer shroud servo motor 7 is engaged by gear（7-1,4-
1）Outer shroud 4 is driven to rotate, outer shroud 4 drives inner ring 3 to rotate by annular bearing 5, and inner ring 3 drives duct by clamp device 3-1
Rotation 1 and ducted fan 2 rotate.
As shown in figure 4, the rotation of the duct for changing leaf grating towards schematic diagram：The rotation of the duct be both along
The 360 degree rotation of duct central shaft, the leaf grating direction is exactly the direction vertical with current vane length direction.Specially vector
Pneumatic rudder outer shroud 4 drives ducted fan 6 to turn to axis 2X from axis 1X, and at axis 1X positions, 6 length direction of duct cascade blade is
Axis 1X is parallel to, the direction of leaf grating and axis 1X are perpendicular at this time；In the position of Fig. 4 axis 2X, 6 length direction of duct cascade blade
An angle α is formed with axis 1X, the direction of leaf grating and axis 2X are perpendicular at this time.
As shown in figure 5, direction schematic diagram of the deflection of the leaf grating for changing duct air-flow：
The upper figures of Fig. 5 are the states of 90 degree of leaf grating opening, and figure below dotted line deflects later state for leaf grating, below double-head arrow circular arc say
Bright leaf grating can be deflected, can also be deflected to the right to the left, and when deflection to the left, greatest limit angle is 180 degree, is deflected when to the right
When greatest limit angle be 0 degree.It is still side vertically downward when leaf grating is 90 degree opening state airflow directions there is no change
To only airflow direction could be changed when the leftward or rightward deflection angle of leaf grating.
Both above angles can change at any time, and the synthesis of the two functions is hereinafter referred to as the pneumatic rudder of vector.
As shown in fig. 6, ducted fan is made of several fan blades, is driven by driving motor and generate axial force, duct
The technology of the pipe design of fan can increase the efficiency of ducted fan：Since the gap of fan blade end and duct wall is compared
Small, the small minimum clearance that cannot be contacted to fan with duct wall, gap is smaller, precision is higher.Usually at thousands of, up to ten thousand revs/min
In the case of, gap only 0.5mm.Due to the gap of very little, the point effect of blade has two big effects, and one is to maintain blade
High pressure draught below plane does not flow back, simultaneously because it is almost 0 that blade tip vortex drag, which is reduced, so as to substantially increase effect
Rate, this be free spiral rotation paddle it is incomparable, smaller duct diameter can be used to generate very big axial force.One diameter is about
The ducted fan of 400-800mm diameters can generate about 30-150 kilograms of axial force in 8000-12000 revs/min of low speed.Such as
Fruit improves rotating speed, appropriately designed blade shape, and efficiency can increase substantially, such as the forefan power of U.S. F-35 reaches 3600 public affairs
Jin/square metre.
If as shown in fig. 7, the pneumatic rudder blade grid of the vector by dry plate in the same plane with same angular turn
Cascade blade 6-1 is formed, and the pneumatic rudder blade grid of the vector further include the push-and-pull electricity of the recess on the inside of the pneumatic rudder outer shroud of vector
Machine 6-3, for pulling leaf grating pull rod 6-2 that cascade blade 6-1 is made to do the movement of 0-180 degree, push-and-pull motor 6-3 is produced the push-and-pull motor
The cross force and axial force of the pneumatic rudder of raw vector.
A kind of control method of the pneumatic rudder of vector for vertical take-off and landing drone, includes the following steps：
Step 1：Flight control system receives atmospheric environment sensor information, the leaf grating deflection for manipulating the pneumatic rudder of vector；
The leaf grating angular deflection includes superposition deflection of the leaf grating towards both deflections of deflection and leaf grating angular deflection, described
For leaf grating towards the 360 degree rotation being deflected to along duct central shaft, the leaf grating angular deflection is using cascade blade width as half
The deflection of the 0-180 degree of diameter.
The detailed process of the step 1 is as follows：
Supplementary explanation：When flight control system measures the Cross Wind Force inconsistent with heading, wind speed and air viscosity are direct
The calculating of the pneumatic rudder lateral force of impact vector, air viscosity is bigger, wind speed is bigger, the lateral force generated required for the pneumatic rudder of vector
It is bigger.
The first step, the pneumatic rudder of vector manipulate duct rotation and realize thrust deflexion, are illustrated in figure 4 the pneumatic rudder thrust deflexion a of vector
Angle schematic diagram.Its axis 1X, axis 2X are the axis parallel with cascade blade length direction, and axis 1Y, axis 2Y are and cascade blade length
The vertical axis in direction, axis 1Y, axis 2Y are the current deflection direction of leaf grating.In the first step, duct rotation only changes duct
Direction a angles, are at this time opened vertically downward since cascade blade is 90 degree, there are no the deflection for carrying out blade, although containing
Road has rotated a angles, but the direction of air-flow is still downward, since air-flow does not change, so, in the first step, the pneumatic rudder of vector
There are no form lateral force.
Second step, the pneumatic rudder of vector manipulate leaf grating deflection and realize air-flow deflection, be illustrated in figure 5 as the pneumatic rudder air-flow of vector
Deflect β angles schematic diagram.Axis 2X is gone to since duct is rotated from the axis 1X of Fig. 4, so the cascade blade deflection direction of Fig. 5 at this time
It is along the axial into horizontal deflection of axis 2Y, that is to say, that when duct goes to current axis nY from axis 1X, cascade blade deflection
Direction will along the axial into horizontal deflection of current axis nY, in other words cascade blade always along with when frontal lobe coral length of blade side
It is deflected to vertical direction.
From the point of view of Fig. 4, Fig. 5, if wanting cascade blade is allowed to first have to carry out step 1, turn along the axial into horizontal deflection of axis 2
Dynamic duct turns to axis 2X from axis 1X, and cascade blade is then manipulated on the position of axis 2X and carries out 0-180 along the axial of axis 2Y
Degree deflection.
Third walks, and the pneumatic rudder kick power of vector is calculated, as shown in figure 8, calculation formula is as follows：
Ⅰ=Ⅱ·cosβ；Ⅲ=Ⅱ·sinβ
It can thus be appreciated that the power variation relation that vertical force and cross force and fan generate is sine curve, it is not linear relationship.
4th step：Establish voltage-rotating speed-vertical lifting force relation table（As shown in figure 11）
The power that fan generates is driven fan by motor and is changed.The size of the generation power of fan is the fan with electric drive
Rotation speed relation, be not linear relationship, be a complicated function, actual relationship and theory relation and misfit well because
Used motor can convert.But can be replaced with the relation table of experiment actual measurement, typically rack is as a result, II=f
（Rotating speed）.
Since power of motor control is controlled by input voltage, it is possible to which rotating speed control law is pressed voltage/rotating speed pass
System, such II=f (voltage).
It does so and may be easy to program simplification, as long as measuring the reality of the total ducted fan power of voltage-rotating speed-II by rack
Table is surveyed, a challenge can be solved by establishing curved line relation or tabular relationship.
Step 2：Pass through the six-freedom degree of the leaf grating deflection control unmanned plane during flying of the pneumatic rudder of vector.
The six-freedom degree of the leaf grating deflection control unmanned plane during flying by the pneumatic rudder of vector of the step 2, this six
Degree of freedom includes X, Y, Building Z is marked, the horizontal side of α, β, γ, course and fore-and-aft tilt angle；Six of the control control unmanned plane during flying
Degree of freedom, specially requirement keep Longitudinal Flight angle of attack ± 0.5 ° and lateral inclination angle beta ± 0.5 ° and course angle γ ± 1 °.
As shown in figure 9, unmanned plane at least six-freedom degree, axis of the X-axis for direction winged before nobody, Y-axis are left for unmanned plane
The axis of right direction, the axis that Z axis is unmanned plane vertical direction, α angles are inclined for the horizontal survey that unmanned plane turns or turns from right to left from left to right
Angle, β are that longitudinal tilt, the γ that unmanned plane turns or turns from back to front from front to back are that unmanned plane is indulged around what Z axis work rotated horizontally
To inclination angle.More than unmanned plane work during 6 degree of freedom movements, can all encounter influences with the inconsistent crosswind in 6 degree of freedom directions,
Such as movement of taking off vertically is moved for the degree of freedom of Z-direction, when there is no crosswind shadow namely ideally extremely
It is upward to ring unmanned plane lift under the condition of feelings, but when being influenced by crosswind, each Cross Wind Force can be decomposed into perpendicular to
The cross force of lift or with lift direction opposing longitudinal power, both power can undoubtedly influence the efficiency of lift, therefore, can be used
The pneumatic rudder of vector generates the lateral force opposite with cross force, to resist the influence of crosswind.Similarly, the pneumatic rudder of vector can be answered
For the movement of other 5 degree of freedom of unmanned plane, to keep the correct course of unmanned plane.
Embodiment one：Using the accurate hovering of the pneumatic rudder control unmanned plane of vector
As shown in Figure 10, the hovering of unmanned plane long-time, progress long-time ground location and long-time ground are taken photo by plane, this work(
Either following defence science, military science, civilian science, industrial science, agricultural sciences can be suffered from immeasurable
Significant role.Long endurance technical solution in relation to unmanned plane refers to a kind of bright long endurance unmanned aircraft oil electric mixed dynamic system of this law
And control method, this will not be repeated here, and emphasis of the present invention illustrates the control precisely hovered using the pneumatic rudder control unmanned plane of vector
Method processed.
It is difficult to keep pre- when unmanned plane hovers in the air that the problem of puzzlement those skilled in the art, which is exactly, always for a long time
Fixed position, because unmanned plane is often influenced and by wind direction around and wind-force by wind sideslip from original reservation position
（X, Y, Y coordinate）.
It is the embodiment that the present invention is precisely hovered using the pneumatic rudder control unmanned plane of vector as shown in Figure 10.Figure 10 is disk
Shape unmanned plane is provided with above disk and is identified as 1,2,3,4,5,6 pneumatic rudder ducted fans of totally six vectors, as schemed institute
Show, when unmanned plane is by lateral Cross Wind Force from right to left, the first step, by the pneumatic 1 rotation alpha angle of rudder duct of rotating vector,
Again by the pneumatic 4 rotation β angle of rudder duct of vector, second step, respectively along the direction vertical with 1 leaf coral blade of duct and with duct 4
The vertical direction of cascade blade carries out leaf coral blade deflection, so as to obtain the lateral force that two pneumatic rudders of vector resist crosswind, leads to
It crosses the two lateral forces and resists crosswind so that disk unmanned plane keeps the fixed position of three-dimensional coordinate X, Y, Z constant in the air, from
And realize the skyborne accurate hovering of unmanned plane.
This specific embodiment is only explanation of the invention, is not limitation of the present invention, people in the art
Member can as needed make the present embodiment the modification of no creative contribution after this specification is read, but as long as at this
It is all protected in the right of invention by Patent Law.
Claims (9)
1. a kind of pneumatic rudder ducted fan of vector for vertical take-off and landing drone, it is characterised in that：Include cylinder from top to bottom
The duct wall of shape, on cylindric duct wall and positioned at duct wall axial direction centre position the pneumatic rudder ducted fan of vector,
The pneumatic rudder inner ring of vector that is fixed together close to tubular duct wall lower end and duct wall, surround the pneumatic rudder inner ring of vector and and its
The pneumatic rudder outer shroud of vector spaced apart, between the pneumatic rudder inner ring of vector and the pneumatic rudder outer shroud of vector and connection inner ring
Annular bearing with outer shroud is watched with the pneumatic rudder outer shroud of vector by the outer shroud that outer ring gear and outer shroud servo motor gear are meshed
Take motor, on the pneumatic rudder outer shroud of vector and positioned at the deflectable leaf of the pneumatic rudder of vector of the pneumatic rudder bottom air outlet of vector
Coral；
The gap of the pneumatic rudder ducted fan blade tips of the vector and duct wall is sufficiently small, and the gap is keeping blade plane
Following high pressure draught does not flow back, blade tip vortex drag is reduced to almost 0, so as to very big with the generation of smaller duct diameter
Axial force.
2. the pneumatic rudder ducted fan of a kind of vector for vertical take-off and landing drone according to claim 1, feature exist
In：If the vector pneumatic rudder ducted fan includes being packed in the ducted fan stent on duct wall, on road blower tray
Dry fan blade and the servo drive motor for being packed in carriage center, the servo drive motor generate the pneumatic rudder of vector
Axial force.
3. the pneumatic rudder ducted fan of a kind of vector for vertical take-off and landing drone according to claim 1, feature exist
In：Connection and annular bearing inner ring and the company of vector pneumatic rudder inner ring of the annular bearing outer ring with the pneumatic rudder outer shroud of vector
Connect respectively interference connection；The outer shroud servo motor is engaged by gear drives outer shroud to rotate, and outer shroud passes through annular bearing band
Dynamic inner ring rotation, inner ring drive duct rotation and ducted fan to rotate by clamp device.
4. the pneumatic rudder ducted fan of a kind of vector for vertical take-off and landing drone according to claim 3, feature exist
In：The rotation of the duct is for changing the direction of leaf grating, and the deflection of the leaf grating is for changing the direction of duct air-flow, this two
Kind angle can change, and the synthesis of the two functions is hereinafter referred to as the pneumatic rudder of vector.
5. the pneumatic rudder ducted fan of a kind of vector for vertical take-off and landing drone according to claim 1, feature exist
In：It, should if the pneumatic rudder blade grid of the vector are made of dry plate with the cascade blade of same angular turn in the same plane
The pneumatic rudder blade grid of vector further include the push-and-pull motor of the recess on the inside of the pneumatic rudder outer shroud of vector, which is used to draw
Moving blades pull rod makes cascade blade do the movement of 0-180 degree, which generates the cross force and axial force of the pneumatic rudder of vector.
6. a kind of a kind of pneumatic rudder ducted fan of vector for vertical take-off and landing drone as described in claim 1-5 any one
Control method, it is characterised in that：Include the following steps：
Step 1：Flight control system receives atmospheric environment sensor information, the leaf grating deflection for manipulating the pneumatic rudder of vector；
Step 2：Pass through the six-freedom degree of the leaf grating deflection control unmanned plane during flying of the pneumatic rudder of vector.
7. a kind of controlling party of the pneumatic rudder ducted fan of vector for vertical take-off and landing drone according to claim 7
Method, it is characterised in that：The leaf grating angular deflection folding towards both deflections of deflection and leaf grating angular deflection including leaf grating
Biasing turns, and for the leaf grating towards the 360 degree rotation being deflected to along duct central shaft, the leaf grating angular deflection is with leaf grating leaf
Deflection of the piece width for the 0-180 degree of radius.
8. a kind of controlling party of the pneumatic rudder ducted fan of vector for vertical take-off and landing drone according to claim 7
Method, it is characterised in that：The detailed process of the step 1 is as follows：
Environmental sensor feeds back atmospheric environment information to flight control system；The atmospheric environment information includes wind direction information, wind speed
Information, air viscosity information；
Flight control system is according to caused by lateral wind inconsistent with heading in atmospheric environment information calculating air for nothing
Man-machine lateral force；
Flight control system manipulates the yaw caused by the pneumatic rudder generation lateral force resistance lateral wind of vector；
The pneumatic rudder kick leaf grating of vector generates lateral force, keeps the correct flight attitude of unmanned plane and course and air route.
9. a kind of controlling party of the pneumatic rudder ducted fan of vector for vertical take-off and landing drone according to claim 7
Method, it is characterised in that：The six-freedom degree of the leaf grating deflection control unmanned plane during flying by the pneumatic rudder of vector of the step 2,
The six-freedom degree includes X, Y, Building Z is marked, the horizontal side of α, β, γ, course and fore-and-aft tilt angle, and the six of the control unmanned plane during flying
A degree of freedom, specific requirement is keeps Longitudinal Flight angle of attack ± 0.5 ° and lateral inclination angle beta ± 0.5 ° and course angle γ ± 1 °.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711406002.0A CN108128442A (en) | 2017-12-22 | 2017-12-22 | For the pneumatic rudder ducted fan of vector and control method of vertical take-off and landing drone |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711406002.0A CN108128442A (en) | 2017-12-22 | 2017-12-22 | For the pneumatic rudder ducted fan of vector and control method of vertical take-off and landing drone |
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| CN108128442A true CN108128442A (en) | 2018-06-08 |
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ID=62391555
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711406002.0A Pending CN108128442A (en) | 2017-12-22 | 2017-12-22 | For the pneumatic rudder ducted fan of vector and control method of vertical take-off and landing drone |
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| CN117963144A (en) * | 2024-04-01 | 2024-05-03 | 陕西科技大学 | Propelling transmission device of airplane and application method |
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