CN108382579A - A kind of new and effective tilting rotor unmanned vehicle - Google Patents
A kind of new and effective tilting rotor unmanned vehicle Download PDFInfo
- Publication number
- CN108382579A CN108382579A CN201810423802.1A CN201810423802A CN108382579A CN 108382579 A CN108382579 A CN 108382579A CN 201810423802 A CN201810423802 A CN 201810423802A CN 108382579 A CN108382579 A CN 108382579A
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- aircraft
- rotor
- tilting rotor
- vertical
- state
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Classifications
-
- 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
- B64C27/28—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft with forward-propulsion propellers pivotable to act as lifting rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/38—Constructions adapted to reduce effects of aerodynamic or other external heating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C9/00—Adjustable control surfaces or members, e.g. rudders
- B64C9/12—Adjustable control surfaces or members, e.g. rudders surfaces of different type or function being simultaneously adjusted
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
Abstract
The invention discloses a kind of new and effective tilting rotor unmanned vehicle, aircraft layout, which has higher pneumatic efficiency and preferably puts down, flies longitudinal and Heading control performance, under the premise of ensureing VTOL, can realize that high-speed and high-efficiency flies.Aircraft includes：Tilting rotor, the aircraft structure that hangs down, fixed wing, fixed vertical fin, flying tail, airframe structure and undercarriage.Aircraft flies to flat winged hang down winged state, the transition flight state peace of need to undergoing from and flies state.Tilting rotor and vertical aircraft structure can be rotated by actuation mechanism, and the aircraft is enable to realize that VTOL and high speed are flat winged.Tilting rotor variable-distance takes into account the rotor efficiency that winged state peace of hanging down flies state, can drive aircraft high-speed flight；Aircraft structure hang down when hanging down winged state, the lift and control force of VTOL are provided jointly with tilting rotor, is received to fuselage both sides in flat winged state, keeps the good aerodynamic configuration of aircraft.
Description
Technical field
The present invention relates to a kind of tilting rotor vertically taking off and landing flyer, belong to aeronautical product technical field.
Background technology
Tilting rotor unmanned vehicle has both the VTOL ability of helicopter and the high speed of propeller fixed wing aircraft flies
Row performance, belongs to vertically taking off and landing flyer.Tilting rotor unmanned vehicle power force direction can vert, and have and widely answer
With foreground, main application includes logistics, line walking, forest fire protection, environmental monitoring etc..Although tilting rotor unmanned vehicle can expire
The application demand of some special screnes of foot, but there is also hang down to flying in circles that wing efficiency is low, control performance is poor and pneumatic effect in practical application
The problems such as rate is low.Such as：Fly to fly to use same set of dynamical system with flat 1. existing tilting rotor unmanned vehicle hangs down, and is mostly fixed
Away from propeller, and in fact, the rotor of more rotors and Fixed Wing AirVehicle no matter from shape size or on mechanical mechanism all
There are significant difference, this be by propeller under different flight state aerodynamic conditions it is different determined, therefore existing rotation of verting
Wing unmanned vehicle dynamical system is difficult while efficiently compatible hang down flies the winged state of peace, and level speed is relatively low, and control performance is poor；2.
Existing tilting rotor unmanned vehicle scheme mostly uses more rotor mode VTOL, is realized by increasing multigroup rotor vertical
Landing function, and these rotors can only provide less power during flat fly, and also complicated inclining rotary mechanism reduces flight
Pneumatic efficiency when device is flat winged, increases aerodynamic drag.
Invention content
The present invention provides a kind of new and effective tilting rotor unmanned vehicle scheme, aircraft layout has higher
Pneumatic efficiency and better Heading control performance can realize that high-speed and high-efficiency flies under the premise of ensureing VTOL.
A kind of tilting rotor unmanned vehicle includes：Tilting rotor, the aircraft structure that hangs down, fixed wing, fixed vertical fin, Quan Dongping
Tail, airframe structure and undercarriage, and hang down including at least 1 tilting rotor and by 2 and to fly in circles the wing and Collapsible support lever forms
Hang down aircraft structure.
Tilting rotor unmanned vehicle according to one of above-mentioned technical proposal, which is characterized in that the tilting rotor
It can longitudinally vert around the shaft perpendicular to vertical fin plane of symmetry direction, another shaft that can be also wound in the vertical fin plane of symmetry is laterally inclined
Turn.
Tilting rotor unmanned vehicle according to one of above-mentioned technical proposal, which is characterized in that rotor is taken into account vertically
Rotor efficiency when landing and flat winged high speed.
Tilting rotor unmanned vehicle according to one of above-mentioned technical proposal, which is characterized in that the tilting rotor
Vertical power of ascending to heaven is provided for aircraft when hanging down winged, preceding winged pulling force is provided for aircraft when preceding winged, is hung down winged and preceding winged using same set of rotation
Wing dynamical system.
Tilting rotor unmanned vehicle according to one of above-mentioned technical proposal, which is characterized in that the tilting rotor
Airflow function improves Heading control performance in vertical fin rudder when flat winged.
Tilting rotor unmanned vehicle according to one of above-mentioned technical proposal, which is characterized in that the aircraft structure that hangs down is hanging down
Fly to provide lift when state, enables aircraft vertical and landing takeoff；It is received to fuselage both sides in flat winged state, keeps flight
The good aerodynamic configuration of device.
Tilting rotor unmanned vehicle according to one of above-mentioned technical proposal, which is characterized in that flying tail is flat
It is integrally used as pitch control rudder face when winged, increases control plane compared to normal arrangement Fixed Wing AirVehicle, improves pitch control
Performance.
In one more specifically technical solution, the present invention in order to achieve the above object using a kind of tilting rotor without
People's aircraft, including tilting rotor, the aircraft structure that hangs down, fixed wing, fixed vertical fin, flying tail, airframe structure and undercarriage.Fly
Row device flown to from it is flat fly to undergo winged state (winged state of hanging down) of hanging down, it is vertical turn to put down winged transition flight state (transition state) and
Turn to put down the flat winged state (flat to fly state) after flying.The control method of use is as follows：When hanging down winged state, tilting rotor and vertical aircraft
Structure provides lift for aircraft, poor by the lift for changing 3 rotors, aircraft pitching and rolling control is realized, by verting
Aircraft course control is realized in rotor lateral deflection.In transition state, tilting rotor longitudinally verts, at this time tilting rotor liter
Component of the power on preceding winged direction flies before driving aircraft, makees jointly with vertical aircraft structure in the component on preceding winged direction
With providing part lift and gesture stability power for aircraft.When flat winged state, tilting rotor is verted completely to flat with heading
Row, at this time tilting rotor provide pulling force driving aircraft before fly, after enough lift can be provided in wing, hang down aircraft structure receive to
Fuselage both sides keep the good aerodynamic configuration of aircraft, are realized to flight by changing aileron, rudder and flying tail drift angle
The gesture stability of device.
The advantageous effect that the present invention is brought：
(1) aircraft tilting rotor of the present invention uses variable-pitch propeller, takes into account the rotor that winged state peace of hanging down flies state
Efficiency improves aircraft cruise duration, it can be achieved that high-speed flight.
(2) the vertical aircraft structure of aircraft of the present invention is received in flat winged state to fuselage both sides, keeps the good gas of aircraft
Dynamic shape, reduces aerodynamic drag.
(3) rudder surface of aircraft of the present invention is located at tilting rotor flow area, and rudder effectiveness improves, Heading control
It can enhancing.
(4) horizontal tail of aircraft of the present invention, which integrally deflects, is used as pitch control rudder face, pitch control performance enhancement.
Description of the drawings
Fig. 1 is the vertical winged status diagram of tiltrotor aircraft of the present invention；
Fig. 2 is the vertical winged state vertical view of tiltrotor aircraft of the present invention；
Fig. 3 is the flat winged status diagram of tiltrotor aircraft of the present invention；
Fig. 4 is the flat winged state vertical view of tiltrotor aircraft of the present invention；
Fig. 5 is the tilting rotor mechanism schematic diagram of tiltrotor aircraft of the present invention.
In Fig. 1：1. tilting rotor；2. vertical aircraft structure；21. hang down the wing that flys in circles；22. Collapsible support lever；3. fixing wing；
31. aileron rudder face；4. fixing vertical fin；5. flying tail；6. airframe structure；7. undercarriage.
In Fig. 2：1. tilting rotor；2. vertical aircraft structure；21. hang down the wing that flys in circles；22. Collapsible support lever；3. fixing wing；
31. aileron rudder face；4. fixing vertical fin；5. flying tail；6. airframe structure；7. undercarriage.
In Fig. 3：1. tilting rotor；2. vertical aircraft structure；21. hang down the wing that flys in circles；22. Collapsible support lever；3. fixing wing；
31. aileron rudder face；4. fixing vertical fin；41. 5. flying tail of rudder；6. airframe structure；7. undercarriage.
In Fig. 4：1. tilting rotor；2. vertical aircraft structure；21. hang down the wing that flys in circles；22. Collapsible support lever；3. fixing wing；
31. aileron rudder face；4. fixed vertical fin；5. flying tail；6. airframe structure；7. undercarriage.
In Fig. 5：8. longitudinal deflection control steering engine；9. lateral deflection controls steering engine.
Specific implementation mode
Fig. 1~5 show the basic structure layout and fortune of a kind of new and effective tilting rotor unmanned vehicle of the present invention
Line mode.Aircraft includes：Tilting rotor (1), the aircraft structure (2) that hangs down, fixed wing (3), fixed vertical fin (4), flying tail
(5), airframe structure (6) and undercarriage (7), which is characterized in that tilting rotor is located at vertical fin apical position, can be two along transverse and longitudinal
It verts in direction；The aircraft structure that hangs down is foldable to fuselage both sides.
Aircraft can carry out the flight of three kinds of state of flights, including：Winged state, the transition state peace of hanging down fly state.Figure
1, Fig. 2 shows the relative positions of the present embodiment vertical winged state tilting rotor (1) and vertical aircraft structure (2) and airframe structure (6)；Figure
3, when Fig. 4 shows that the present embodiment equals winged state, the relative position of hang down aircraft structure (2) and airframe structure (6)；Fig. 5 shows this
The structure of verting of embodiment tilting rotor；Embodiment transition state respectively verts component rotation position between the winged winged shape of state peace that hangs down
Between state.2 fly in circles layouts of the wing and 1 tilting rotor of hanging down should not limit present disclosure in the present embodiment, and hang down the wing that flys in circles
Quantity with tilting rotor should be according to content of the present invention depending on specific General layout Plan with layout.
If the tilting rotor (1) of Fig. 1, the embodiment are fixed on vertical tail (4), tilting rotor (1) can be around vertical
Shaft in vertical fin plane of symmetry direction is longitudinally verted, another shaft that can be also wound in the plane of symmetry is laterally verted.It hangs down and flies state
When, tilting rotor (1) provides lift and makes aircraft can VTOL.When flat winged state, tilting rotor (1) is gone to and flight side
To parallel, main pulling force is provided for aircraft.Tilting rotor (1) should be variable-distance rotor, be flown and wing effect of before flying in circles with taking into account to hang down
Motor or fuel engines driving can be used in rate, tilting rotor (1).Preferably, tilting rotor (1) is driven using motor, displacement
Using electric drive, and can automatically be changed according to speed of incoming flow in flight course rotor away from.
If the vertical aircraft structure (2) of Fig. 1, the embodiment are fixed on airframe structure (6) front end, the vertical wing (21) that flys in circles should have
High winged efficiency of hanging down.When hanging down winged state, the wing (21) and tilting rotor (1) collective effect of flying in circles of hanging down, by the variation of rotating speed and
The transverse direction of tilting rotor (1) is verted provides horizontal lateral control force for aircraft.In flat winged state, the aircraft structure (2) that hangs down passes through folding
Folded supporting rod (22) is received to fuselage both sides, and the good aerodynamic configuration of aircraft is kept.
Such as Fig. 3, the fixation wing (3) of the embodiment provides prevailing lift in flat winged state for aircraft.It is fixed
Wing (3) should include aileron rudder face (31), and in flat winged state, the differential aircraft that is deflected to of aileron rudder face (31) provides laterally control
Power processed.
If the vertical tail (4) of Fig. 3, the embodiment do not deflect, lateral stabilization when flying for aircraft is flat.Vertical end
There is rudder (41) on the wing (4), control surface deflection, which is that aircraft is flat, to fly to provide Heading control power.When flat winged state, vertical tail (4)
Positioned at the tilting rotor zone of action, the efficiency of rudder (41) is improved, enhances directional control when aircraft is flat to fly.
If the flying tail (5) of Fig. 3, the embodiment can be deflected integrally in flat winged state, make compared to part empennage
The aircraft of rudder face in order to control, the pitch control face bigger of the present embodiment, it is possible to provide more preferable pitch control power.
The airframe structure (6) is connecting the vertical aircraft structure (2) of aircraft, fixed wing (3), vertical tail (4), complete
Dynamic horizontal tail (5) and undercarriage (7), and flight load can be accommodated.This example Flight Vehicle Structure (5) is as shown in figure 3, can in flat fly
The vertical aircraft structure (2) after folding is accommodated with part, keeps shape good stream shape, reduces aerodynamic drag.
The undercarriage (7) ensures the normal takeoff and landing of aircraft to support Flight Vehicle Structure.As shown in figure 3,
The present embodiment aircraft landing gear (7) includes undercarriage (72) after two-wheeled nose-gear (71) and single-wheel, nose-gear (71) and
Undercarriage (72) is directly anchored to below airframe structure (6) afterwards.
Such as Fig. 5, the inclining rotary mechanism of the embodiment tilting rotor, by servo driving so that tilting rotor is around being mutually perpendicular to
Two axis vert.Wherein, longitudinal deflection control steering engine (8) works in transition flight state, and tilting rotor is made longitudinally to vert,
Flat winged direction is gone to by vertical direction；Lateral deflection control steering engine (9) works when hanging down winged state, is realized by lateral deflection
To the Heading control of aircraft.
The present embodiment aircraft is when hanging down winged state, such as Fig. 1 and Fig. 2.The steering of three rotors is different, can balance flight
The torque that the rotor of device generates.Pitch control is by changing tilting rotor (1) and the wing (21) lift difference realization of flying in circles of hanging down, rolling control
System, which passes through, changes the vertical wing (2) the lift difference realization of flying in circles in left and right, and Heading control verts to realize by the transverse direction of change tilting rotor.
The attitude control method for winged state of hanging down will be designed based on more rotor control methods for specific distribution form, this embodiment
Control method should not limit the content of present invention.
In transition state, tilting rotor (1) verts the present embodiment aircraft longitudinally forward, and tilting rotor (1) is drawn at this time
Component of the power on preceding winged direction flies before driving aircraft, component in the vertical direction and the wing (2) collective effect of flying in circles of hanging down,
Lift and gesture stability power are provided for aircraft.When aircraft reaches certain forward flight speed, the wing (21) stopping rotation of flying in circles of hanging down
Turn and lock at an angle, the aircraft structure (2) that hangs down starts to receive to fuselage both sides.In the process, pitch control passes through change
Tilting rotor (1) and hanging down flys in circles the wing (2) lift difference and flying tail (5) drift angle realizes that rolling control is by changing left and right
The vertical wing (1) lift that flys in circles is poor and aileron (31) drift angle is realized, Heading control passes through the lateral tilt angle for changing tilting rotor (1)
It is realized with rudder (41) drift angle.The attitude control method of transition state will be based on more rotor control methods for specific layout
Form is designed, and the control method of this embodiment should not limit the content of present invention.
The present embodiment aircraft is in flat winged state, such as Fig. 3 and Fig. 4.Tilting rotor (1) vert completely to heading
It is parallel, fly before the pulling force driving aircraft of tilting rotor (1) at this time, tilting rotor changes pitch and adapts to flat winged height with efficient automatically
Fast incoming.Pitch control is deflected by flying tail (5) and is realized, rolling control passes through the differential realization in left and right aileron (31) drift angle,
Heading control is realized by changing rudder (41) drift angle.The attitude control method of flat winged state will be based on Fixed Wing AirVehicle
Control method is designed for specific distribution form, and the control method of this embodiment should not limit the content of present invention.
Based on technical scheme of the present invention, inventor is designed into Late Stage Verification from the initial scheme of aircraft and takes a flight test development
A large amount of creative work, during taking a flight test, inventor has found for tiltrotor aircraft, can be right using different rotors
Its flight efficiency generation under different flight state significantly affects；Whether the aircraft structure that hangs down folds flight when flying flat to aircraft
Efficiency also has a certain impact.In order to which further this clear species diversity, inventor use the aircraft of technical solution of the present invention,
Different propellers is respectively adopted under identical flying condition and has carried out taking a flight test for winged both states of cruising of VTOL peace,
And further experiment has been carried out to whether the aircraft structure that hangs down folds in flat winged cruising condition.At to aircraft in the case of each
Required power plant minimum throttle is recorded when stable state, obtains that the results are shown in table below：
As can be seen from the above table, tilting rotor can be distinguished using the aircraft of low speed lift paddle and propelled at high velocity propeller
Fly cruising phase in VTOL stage peace to keep lower accelerator open degree and then maintain higher flight efficiency, but when this two
After kind aircraft conversion offline mode, maintains the minimum accelerator open degree of stabilized flight condition to improve rapidly, greatly improve
Energy expenditure rate, reduces the flight efficiency of aircraft, especially with the aircraft of low speed lift paddle, flies cruise rank flat
Section blade efficiency significantly declines, while larger paddle size further increases the air drag of aircraft.In addition, due to
Throttle is mutated in transfer process, easily causes the unstable of aircraft, and the flight safety and reliability for aircraft generate
Very detrimental effect.Therefore, the tilting rotor by aircraft of the present invention of inventor's creativeness changes variable-distance rotor into, makes
It obtains rotor and takes into account to hang down simultaneously and fly and put down flight efficiency when flying, from the point of view of data in table, this innovation greatly improves rotor
Efficiency, improve the flight efficiency of aircraft, and reduce offline mode conversion when throttle mutation, improve aircraft
Safety and reliability.
Meanwhile as can be seen from the table, it puts down under winged state, it is several that aircraft structure folding of hanging down can be such that minimum accelerator open degree reduces
Percentage point, it was demonstrated that the aircraft structure that hangs down can improve aircraft after folding and equal winged efficiency, reduce ability consumption, also reduce conversion
The mutation of throttle in process, improves the safety and reliability of aircraft.
Core of the invention be tilting rotor be displacement rotor and can two dimension vert, can efficiently adapt to rotor hang down fly and
Different operating modes when flat winged；Rudder is located at rotor flow area, and navigation control efficiency is higher；The aircraft structure that hangs down is simple, foldable,
Maintain good aerodynamic configuration；Flying tail makes control plane increase, and pitch control efficiency is higher.The present invention is not limited to above-mentioned tool
Body embodiment, if the various changes and deformation to the present invention do not depart from the scope of the invention, the right for still falling within the present invention is wanted
Within the scope of equivalent technology of summing.
Claims (9)
1. a kind of new and effective tilting rotor unmanned vehicle, which is characterized in that housing construction includes：Tilting rotor (1), hanging down flies
Mechanism (2), fixed wing (3), fixed vertical fin (4), flying tail (5), airframe structure (6) and undercarriage (7).Aircraft is simultaneously
Including tilting rotor (1) with function of verting and being capable of providing the vertical aircraft structure (2) of VTOL lift.
2. a kind of new and effective tilting rotor unmanned vehicle according to claim 1, which is characterized in that body at least wraps
The vertical aircraft structure (2) formed containing 1 tilting rotor (1) and by 2 vertical the fly in circles wing and Collapsible support levers.
3. tilting rotor (1) according to claim 1, which is characterized in that can turn around perpendicular to vertical fin plane of symmetry direction
Axis longitudinally rotates and another shaft transverse rotation in the vertical fin plane of symmetry.
4. tilting rotor (1) according to claim 1, which is characterized in that rotor variable-distance takes into account VTOL and high speed
Rotor efficiency when flat winged.
5. tilting rotor (1) according to claim 1, which is characterized in that when flat winged state, rotor airflow function is in vertical
Tail, vertical fin rudder control efficiency improve.
6. tilting rotor (1) according to claim 1, which is characterized in that rotor verts structure mounted on vertical fin top, inclines
Turning over Cheng Dangzhong can contact to earth to avoid rotor, improve security performance.
7. vertical aircraft structure (2) according to claim 1, which is characterized in that can provide lift when hanging down winged state, make flight
Device being capable of vertical and landing takeoff；It can be received to fuselage both sides in flat winged state, keep the good aerodynamic configuration of aircraft.
8. vertical aircraft structure (2) according to claim 1, which is characterized in that hang down and fly in circles the wing (21) with locking function, work as rotation
When wing motor stalls, rotor (21) locks after effect of inertia backspin goes to precalculated position, to fold.
9. flying tail (5) according to claim 1, which is characterized in that when flat winged state, flying tail (5) is used as and bows
It faces upward control plane integrally to deflect, increases control plane, improve pitch control performance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810423802.1A CN108382579A (en) | 2018-05-06 | 2018-05-06 | A kind of new and effective tilting rotor unmanned vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810423802.1A CN108382579A (en) | 2018-05-06 | 2018-05-06 | A kind of new and effective tilting rotor unmanned vehicle |
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| CN108382579A true CN108382579A (en) | 2018-08-10 |
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|---|---|---|---|
| CN201810423802.1A Pending CN108382579A (en) | 2018-05-06 | 2018-05-06 | A kind of new and effective tilting rotor unmanned vehicle |
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| CN109436332A (en) * | 2019-01-03 | 2019-03-08 | 朱文武 | Big-elevation is flat to fly two sections of unmanned fog machines of the wing |
| CN109532361A (en) * | 2019-01-07 | 2019-03-29 | 深圳墨菲航空科技有限公司 | Manned air-ground amphibious aircraft and its group control system |
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Application publication date: 20180810 |