CN108128448A - The coaxial tilting rotor wing unmanned aerial vehicle of double shoe formulas and its control method - Google Patents
The coaxial tilting rotor wing unmanned aerial vehicle of double shoe formulas and its control method Download PDFInfo
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- CN108128448A CN108128448A CN201810016234.3A CN201810016234A CN108128448A CN 108128448 A CN108128448 A CN 108128448A CN 201810016234 A CN201810016234 A CN 201810016234A CN 108128448 A CN108128448 A CN 108128448A
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- 230000007613 environmental effect Effects 0.000 abstract description 2
- 150000001875 compounds Chemical class 0.000 description 5
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
- B64C27/10—Helicopters with two or more rotors arranged coaxially
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/26—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft characterised by provision of fixed wings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
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Abstract
The invention discloses a kind of double coaxial tilting rotor wing unmanned aerial vehicles of shoe formula, belong to aircraft field.The unmanned plane includes rotor, propeller hub, wing, fuselage, shoe, empennage and rotor shaft, and the propeller hub is mounted on the head of fuselage by rotor shaft, and the rotor is installed on propeller hub；Rotor is the rotor up and down of close coupled type, if upper and lower rotor has dry plate blade respectively, and upper rotor is opposite with the direction of rotation of lower rotor；Both sides wing is connected firmly with fuselage, there is aileron on wing；Empennage is laid out for H-type, and including vertical fin and horizontal tail, two panels vertical fin is fixed on by shoe on wing girder, and has rotational freedom between shoe and wing girder, makes ranging from 0~90 ° of variable angle between rotor shaft and shoe；Horizontal tail is horizontally installed between two panels vertical fin, and installation direction rudder is used for directional control on vertical fin, and installation elevator is used for pitch control in horizontal tail.The unmanned plane has the characteristics that lightweight construction, at low cost, environmental suitability is strong, high speed performance is good and the cruise time is long.
Description
Technical field
The invention belongs to aircraft field, more particularly to a kind of double coaxial tilting rotor wing unmanned aerial vehicles of shoe formula.
Background technology
Tiltrotor is the compound aircraft of a kind of compound helicopter and fixed wing aircraft, it has both helicopter and consolidates
The advantages of determining wing aircraft, in recent years by more and more extensive concern.Helicopter has the function of hovering and VTOL, to machine
The dependence of field and requirement are very low, and flexibility is higher, have at two aspect of the army and the people and are extremely widely applied value, but helicopter exists
The problem of shock stall of rotor advancing blade and retreating blade air-flow detach, which limits carrying for helicopter maximum forward flight speed
It is high；And fixed wing aircraft can reach transonic speed even supersonic speed, but aircraft is stronger to the dependence on airport, the construction on airport and
Maintenance cost is higher, therefore the compound aircraft of compound helicopter and Fixed Wing AirVehicle becomes a big hot spot of research.Its
In most typical compound aircraft be tiltrotor, the rotation when propeller of tiltrotor can be as helicopter mode
The wing generates lift, and can generate thrust as wind stick to improve flying speed.
There is tiltrotor helicopter to take off vertically and hover performance, while the high speed for being also equipped with Fixed Wing AirVehicle is patrolled
Boat performance.The tiltrotor of first item maturation is osprey (V-22) in the world, and V-22 is the tilting rotor of a cross-arranging type, but
The tiltrotor front face area of cross-arranging type is larger, and the resistance power that gives up is larger；Secondly the lateral dimension of V-22 is larger, need to occupy compared with
Big space；Again, rotor generates stronger aerodynamic interference with wing in helicopter mode, influences the pneumatic of whole frame aircraft
Performance；The construction weight of the complete machine of V-22 is too heavy, serious to limit its flying quality；Finally, the complete machine cost of V-22 is too high,
Flexibility is restricted with adaptability.
Invention content
It is an object of the invention to solve the deficiencies in the prior art, with reference to coaxial DCB Specimen and fixed-wing etc. of verting
A kind of technology, it is proposed that double coaxial tilting rotor wing unmanned aerial vehicles of shoe formula.Compared with the coaxial tiltrotor of tradition, the unmanned equipment
There is the characteristics of lightweight construction, at low cost, environmental suitability is strong, high speed performance is good and the cruise time is long.
For achieving the above object, the technical solution adopted by the present invention is as follows：
Double coaxial tilting rotor wing unmanned aerial vehicles of shoe formula, including rotor, propeller hub, wing, fuselage, shoe, empennage and rotor
Axis, the propeller hub are mounted on the head of fuselage by rotor shaft, and the rotor is installed on propeller hub；Rotor is close coupled type
Upper and lower rotor, if upper and lower rotor has dry plate blade respectively, and upper rotor is opposite with the direction of rotation of lower rotor；Both sides wing and machine
Body connects firmly, and has aileron on wing；Empennage is laid out for H-type, and including vertical fin and horizontal tail, two panels vertical fin is fixed on wing master by shoe
Liang Shang, and there is rotational freedom between shoe and wing girder, make variable angle ranging from 0 between rotor shaft and shoe~
90°；Horizontal tail is horizontally installed between two panels vertical fin, and installation direction rudder is used for directional control on vertical fin, and lifting is installed in horizontal tail
Rudder is used for pitch control.
There are two types of operating modes for unmanned plane tool：Helicopter mode and airplane-mode：During helicopter mode, coaxial double-rotary wing
In the top of unmanned plane, lift is generated；During airplane-mode, coaxial double-rotary wing is in the front of complete machine, generation pulling force, at this time wing production
Lift needed for life.Fuselage, rotor and wing can vert around wing girder in the range of 0~90 °, so as to fulfill airplane-mode with
The conversion of helicopter mode.
Preferably, the blade quantity on the rotor up and down is 3.
Preferably, in the rotor, blade uses Clark-Y aerofoil profiles, and tip is compared in the established angle root of blade
It is 4 ° big.
Preferably, the direction of rotation of the rotor up and down is：It being looked back from head, upper rotor rotates counterclockwise, under
Rotor rotates clockwise.
Preferably, the fuselage is designed using fusiformis, it is symmetrical up and down.
Preferably, the wing is tapered wing, leading edge sweep is 15 °, and rear is vertical with fuselage, air-foil
For NACA64A010.
Preferably, radome fairing is equipped with before the shoe.
Further, task device and clump weight are placed in the radome fairing.
Preferably, the vertical fin and the aerofoil profile of horizontal tail are NACA0010 aerofoil profiles.
It is specific as follows another object of the present invention is to provide a kind of control method based on above-mentioned unmanned plane：Nobody
There are two kinds of operating modes of helicopter mode and airplane-mode in machine flight course；Unmanned plane according to aerial mission, by adjusting
The angle between rotor shaft and shoe is controlled, is converted between helicopter mode and airplane-mode；Wherein：
During helicopter mode, control rotor shaft and shoe angle in 90 ° make rotor in the top of unmanned plane, generation lift
Unmanned plane is made to realize VTOL or hovering；And wingpiston is vertical with shoe, reduces the aerodynamic interference between fuselage and rotor,
Improve aeroperformance；
During airplane-mode, rotor shaft and wingpiston is controlled to keep parallel with shoe, rotor in the front of unmanned plane,
Generate the pulling force that aircraft advances, unmanned plane lift as needed for wing generates aircraft in flight course；
When unmanned plane flies to be transferred to vertical movement in the past, control rotor shaft gradually forms 90 ° of angles with shoe by level, makes
Wing gradually unloads, and rotor gradually bears the load of vertical direction；When winged state before unmanned plane is transferred to from vertical movement, control
Rotor shaft is increasingly turned to level with shoe by 90 ° of angles, and wing is made gradually to load, and the pulling force that rotor generates is gradually by Vertical Square
It verts to horizontal direction.
The present invention in terms of existing technologies, has the advantages that：
1) double coaxial tilting rotor wing unmanned aerial vehicles of shoe formula proposed by the present invention can have both flying with fixed-wing for helicopter simultaneously
The advantages of machine, has excellent high speed and cruise performance, and in helicopter mode, being not required to airport or runway can vertically be risen
Drop, safety and adaptability are stronger；It can meet high subsonic speed requirement in the airplane mode, but also with stronger cruise energy
Power, therefore be with a wide range of applications.
2) double coaxial tilting rotor wing unmanned aerial vehicles of shoe formula proposed by the present invention have excellent performance, fuselage at pneumatic aspect
Wing integrated design, fuselage, shoe forepart are using streamlined contour plastics design, and the coaxial DCB Specimen that verts is compared to other pairs
Rotor configuration, such as lap siding, cross-arranging type, front face area greatly reduce, and reduce useless resistance.
3) the coaxial tilting rotor wing unmanned aerial vehicle construction weight of double shoe formulas proposed by the present invention is small, and topology layout is reasonable, coaxial
DCB Specimen shares a propeller hub, the construction weight that double propeller hubs is avoided to bring.The inclining rotary mechanism of unmanned plane proposed by the present invention uses
Simple turbine mechanism reduces complexity,
4) double coaxial tilting rotor wing unmanned aerial vehicles of shoe formula that invention proposes are easy to manipulate, by controlling altogether under helicopter mode
Axis DCB Specimen always away from, lateral control torque, fore-and-aft control torque manipulated, under airplane-mode, by controlling aileron, direction
Rudder, elevator carry out attitude angle control, and the manipulation under both of which is easy to convert, and driving efficiency is high.
5) double coaxial tilting rotor wing unmanned aerial vehicles of shoe formula proposed by the present invention are at low cost, and performance is good, and flexibility is high, adaptability
By force.
Description of the drawings
The coaxial tilting rotor wing unmanned aerial vehicle structure composition axonometric drawing of the bis- shoe formulas of Fig. 1；
The coaxial tilting rotor wing unmanned aerial vehicle structure composition front view of the bis- shoe formulas of Fig. 2；
Schematic diagram under the coaxial tilting rotor wing unmanned aerial vehicle helicopter mode of the bis- shoe formulas of Fig. 3；
Schematic diagram under the coaxial tilting rotor wing unmanned aerial vehicle airplane-mode of the bis- shoe formulas of Fig. 4；
Schematic diagram when the bis- coaxial tilting rotor wing unmanned aerial vehicles of shoe formula of Fig. 5 are converted from from helicopter mode to airplane-mode；
In figure：Rotor 1, propeller hub 2, wing 3, fuselage 4, shoe 5, vertical fin 6, rudder 7, horizontal tail 8, elevator 9, aileron
10th, radome fairing 11, rotor shaft 12.
Specific embodiment
The present invention is further elaborated and illustrated with reference to the accompanying drawings and detailed description.Each implementation in the present invention
The technical characteristic of mode can carry out the corresponding combination under the premise of not conflicting with each other.
As illustrated in fig. 1 and 2, it is a kind of structure diagram of double coaxial tilting rotor wing unmanned aerial vehicles of shoe formula.The unmanned plane packet
Include rotor 1, propeller hub 2, wing 3, fuselage 4, shoe 5, vertical fin 6, rudder 7, horizontal tail 8, elevator 9, aileron 10, radome fairing 11,
Rotor shaft 12.Fuselage is the main part of whole frame unmanned plane, and propeller hub 2 is mounted on the head of fuselage 4, fuselage 4 by rotor shaft 12
It is designed using fusiformis, reduces full machine resistance, all symmetrical up and down, rotor shaft 12 is located on the central axes of fuselage 4, so as to ensure
Unmanned plane all has preferable aerodynamic characteristic in helicopter mode and airplane-mode, and avoids generating additional trim torque.Paddle
Rotor 1 is installed, rotor 1 is the rotor up and down (coaxial double-rotary wing) of close coupled type on hub 2.Upper and lower rotor has three pieces blade respectively,
Blade uses Clark-Y aerofoil profiles, and the established angle root of blade is 4 ° bigger than tip.The direction of rotation of upper and lower rotor, from head
It looks back, upper rotor rotates counterclockwise, and lower rotor rotates clockwise, to balance reaction torque.Coaxial double-rotary wing can pass through propeller hub pair
Upper and lower rotor always manipulated away from manipulation and vertical, horizontal.
Both sides wing 3 is fixed-wing, is connected firmly respectively with fuselage 4, and carry out integrated design, has excellent pneumatic property
Energy.Wing 3 is trapezoidal midsetwing, and leading edge sweep is 15 °, and rear is vertical with fuselage, air-foil NACA64A010.Wing
There is aileron 10 on 3, for the roll guidance under airplane-mode.
Empennage is laid out for H-type, and including vertical fin 6 and horizontal tail 8, aerofoil profile is NACA0010 aerofoil profiles.Horizontal tail 8 is horizontally installed to two
Between piece vertical fin 6, and installation direction rudder 7 is used to implement directional control under airplane-mode on vertical fin 6, and elevator 9 is installed in horizontal tail 8
It is used to implement pitch control under airplane-mode.Two panels vertical fin 6 is fixed on by shoe 5 on wing girder respectively, and then is connected to
On fuselage 4.And in unmanned plane, it is fixed not to be between shoe 5 and wing girder, but is connected in a manner of hinged etc., makes it
With rotational freedom.The range of the rotational freedom be make variable angle ranging from 0 between rotor shaft 12 and shoe 5~
90 °, thus fuselage 4 can drive rotor 1, propeller hub 2 and wing 3 around wing girder carry out 0~90 ° in the range of verting, so as to
Realize the conversion of airplane-mode and helicopter mode.
There is radome fairing 11 before shoe 5, radome fairing shape is spindle, can place counterweight, bearing block, airborne equipment, task
Load etc., size can be adjusted according to actual needs.
Control method based on above-mentioned double coaxial tilting rotor wing unmanned aerial vehicles of shoe formula is as follows：
There are two kinds of operating modes of helicopter mode and airplane-mode during unmanned plane during flying.In flight course, nobody
Machine can be according to aerial mission, by adjusting the angle between control rotor shaft 12 and shoe 5, in helicopter mode and aircraft mould
It is converted between formula；Wherein：
During helicopter mode, as shown in figure 3, control rotor shaft 12 and 5 angle in 90 ° of shoe, make rotor 1 in unmanned plane
Top, generating lift makes unmanned plane realize VTOL or hovering；And under the state, 3 plane of wing is vertical with shoe 5, reduces
Aerodynamic interference between fuselage and rotor improves aeroperformance；
During airplane-mode, as shown in figure 4, control rotor shaft 12 and 3 plane of wing keep parallel with shoe 5, that is, revolve
The pulling force that wing axis 12 advances with shoe 5 into 0 ° of angle, rotor 1 in the front of unmanned plane, generation aircraft, unmanned plane is in flight course
In as needed for wing 3 generates aircraft lift；
When unmanned plane flies to be transferred to vertical movement in the past, control rotor shaft 12 gradually forms 90 ° of folders with shoe 5 by level
Angle, makes wing 3 gradually unload, and rotor 1 gradually bears the load of vertical direction.It is similar, as shown in figure 5, when unmanned plane is from hanging down
When straight movement is transferred to preceding winged state, control rotor shaft 12 is increasingly turned to level with shoe 5 by 90 ° of angles, and wing 3 is made gradually to add
It carries, and the pulling force that rotor 1 generates gradually is verted from vertical direction to horizontal direction.
Double coaxial tilting rotor wing unmanned aerial vehicles of shoe formula, have that lightweight construction, flexibility be high, at low cost, environment adapts to
The strong advantage of property, is with a wide range of applications in military-civil field.
Embodiment described above is a kind of preferable scheme of the present invention, and so it is not intended to limiting the invention.Have
The those of ordinary skill of technical field is closed, without departing from the spirit and scope of the present invention, various changes can also be made
Change and modification.Therefore the technical solution that all modes for taking equivalent substitution or equivalent transformation are obtained all falls within the guarantor of the present invention
In the range of shield.
Claims (10)
1. a kind of double coaxial tilting rotor wing unmanned aerial vehicles of shoe formula, which is characterized in that including rotor (1), propeller hub (2), wing (3),
Fuselage (4), shoe (5), empennage and rotor shaft (12), the propeller hub (2) is by rotor shaft (12) mounted on the head of fuselage (4)
Portion, the rotor (1) are installed on propeller hub (2)；Rotor (1) is the rotor up and down of close coupled type, and upper and lower rotor has several respectively
Piece blade, and upper rotor is opposite with the direction of rotation of lower rotor；Both sides wing (3) is connected firmly with fuselage (4), and wing has pair on (3)
The wing (10)；Empennage is laid out for H-type, and including vertical fin (6) and horizontal tail (8), two panels vertical fin (6) is fixed on wing master by shoe (5)
Liang Shang, and shoe (5) has rotational freedom between wing girder, becomes the angle between rotor shaft (12) and shoe (5)
Change ranging from 0~90 °；Horizontal tail (8) is horizontally installed between two panels vertical fin (6), and installation direction rudder (7) is used on vertical fin (6)
Directional control, installation elevator (9) is for pitch control in horizontal tail (8).
2. the coaxial tilting rotor wing unmanned aerial vehicle of double shoe formulas as described in claim 1, which is characterized in that on the rotor up and down
Blade quantity be 3.
3. the coaxial tilting rotor wing unmanned aerial vehicle of double shoe formulas as described in claim 1, which is characterized in that in the rotor (1),
Blade uses Clark-Y aerofoil profiles, and the established angle root of blade is 4 ° bigger than tip.
4. the coaxial tilting rotor wing unmanned aerial vehicle of double shoe formulas as described in claim 1, which is characterized in that the rotor up and down
Direction of rotation is：It under preceding winged state, is looked back from head, upper rotor rotates counterclockwise, and lower rotor rotates clockwise.
5. the coaxial tilting rotor wing unmanned aerial vehicle of double shoe formulas as described in claim 1, which is characterized in that the fuselage (4) is adopted
It is designed with fusiformis, it is symmetrical up and down.
6. the coaxial tilting rotor wing unmanned aerial vehicle of shoe formula as described in claim 1 double, which is characterized in that the wing (3) is
Tapered wing, leading edge sweep are 15 °, and rear is vertical with fuselage, air-foil NACA64A010.
7. the coaxial tilting rotor wing unmanned aerial vehicle of double shoe formulas as described in claim 1, which is characterized in that before the shoe (5)
Equipped with radome fairing (11).
8. the coaxial tilting rotor wing unmanned aerial vehicle of double shoe formulas as claimed in claim 7, which is characterized in that the radome fairing (11)
In be placed with task device and clump weight.
9. the coaxial tilting rotor wing unmanned aerial vehicle of shoe formula as described in claim 1 double, which is characterized in that the vertical fin (6) and
The aerofoil profile of horizontal tail (8) is NACA0010 aerofoil profiles.
10. a kind of control method of unmanned plane as described in claim 1, which is characterized in that have during unmanned plane during flying straight
Rise two kinds of operating modes of machine pattern and airplane-mode；Unmanned plane is according to aerial mission, by adjusting control rotor shaft (12) and tail
The angle between (5) is supportted, is converted between helicopter mode and airplane-mode；Wherein：
During helicopter mode, control rotor shaft (12) and shoe (5) angle in 90 ° make rotor (1) in the top of unmanned plane, production
Raw lift makes unmanned plane realize VTOL or hovering；And wing (3) plane is vertical with shoe (5), reduce fuselage and rotor it
Between aerodynamic interference, improve aeroperformance；
During airplane-mode, control rotor shaft (12) and wing (3) plane keeps parallel with shoe (5), and rotor (1) is at nobody
The front of machine generates the pulling force that aircraft advances, unmanned plane lift as needed for wing (3) generates aircraft in flight course；
When unmanned plane flies to be transferred to vertical movement in the past, control rotor shaft (12) gradually forms 90 ° of folders with shoe (5) by level
Angle makes wing (3) gradually unload, and rotor (1) gradually bears the load of vertical direction；Fly before unmanned plane is transferred to from vertical movement
During state, control rotor shaft (12) is increasingly turned to level with shoe (5) by 90 ° of angles, and wing (3) is made gradually to load, and rotor
(1) pulling force generated is gradually verted from vertical direction to horizontal direction.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810016234.3A CN108128448A (en) | 2018-01-08 | 2018-01-08 | The coaxial tilting rotor wing unmanned aerial vehicle of double shoe formulas and its control method |
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| CN201810016234.3A CN108128448A (en) | 2018-01-08 | 2018-01-08 | The coaxial tilting rotor wing unmanned aerial vehicle of double shoe formulas and its control method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109543271A (en) * | 2018-11-14 | 2019-03-29 | 中国直升机设计研究所 | It is a kind of applied to the coaxial trim control design method with thrust paddle high-speed helicopter |
| CN109612681A (en) * | 2018-11-16 | 2019-04-12 | 中国空气动力研究与发展中心低速空气动力研究所 | A kind of aerodynamic interference measurement method of the coaxial rigid rotor model of helicopter |
| CN109878713A (en) * | 2019-04-10 | 2019-06-14 | 上海交通大学 | Miniature coaxial double-rotary wing unmanned plane |
| CN110228581A (en) * | 2019-06-06 | 2019-09-13 | 天峋创新（北京）科技有限公司 | A kind of high speed Bi-Tail-Boom Layout unmanned plane |
| CN110282127A (en) * | 2019-07-01 | 2019-09-27 | 大连理工大学 | A kind of tailstock formula unmanned plane |
| CN112046745A (en) * | 2020-08-24 | 2020-12-08 | 南京理工大学 | Portable modularization unmanned aerial vehicle platform |
| CN114148547A (en) * | 2021-12-06 | 2022-03-08 | 浙江大学 | Dandelion-like mars aircraft and device and control method thereof |
| CN114348245A (en) * | 2022-03-14 | 2022-04-15 | 中国人民解放军空军工程大学 | Unmanned aerial vehicle double tail brace tail folding mechanism |
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| CN110228581A (en) * | 2019-06-06 | 2019-09-13 | 天峋创新（北京）科技有限公司 | A kind of high speed Bi-Tail-Boom Layout unmanned plane |
| CN110282127A (en) * | 2019-07-01 | 2019-09-27 | 大连理工大学 | A kind of tailstock formula unmanned plane |
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Application publication date: 20180608 |