CN108423167A - Double-control system aircraft - Google Patents
Double-control system aircraft Download PDFInfo
- Publication number
- CN108423167A CN108423167A CN201810458136.5A CN201810458136A CN108423167A CN 108423167 A CN108423167 A CN 108423167A CN 201810458136 A CN201810458136 A CN 201810458136A CN 108423167 A CN108423167 A CN 108423167A
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- aircraft body
- aircraft
- control system
- support column
- control
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- 230000005484 gravity Effects 0.000 claims abstract description 7
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005669 field effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
-
- 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
-
- 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)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
The invention relates to the technical field of unmanned aerial vehicles, and discloses a dual-control system aircraft. The double-control-system aircraft comprises an aircraft body, a main supporting column extending below the aircraft body is fixedly arranged at the gravity center position of the aircraft body, auxiliary supporting columns extending below the aircraft body are fixedly arranged on the front side, the rear side, the left side and the right side of the aircraft body respectively, and the double-control-system aircraft further comprises a first control system and a second control system, wherein the first control system comprises propellers arranged on the front and the rear and the left and the right of the aircraft body, and the second control system comprises control surfaces arranged on the front and the rear and the left and the right of the aircraft body. The double-control-system aircraft provided by the invention has two independent flight control systems, and has better safety and reliability.
Description
Technical field
The present invention relates to vehicle technology fields, more particularly, to a kind of double control system aircraft.
Background technology
With the fast development of vehicle technology, aircraft is got in the application of the industrial circles such as electric power cruise, logistics transportation
Come it is more extensive, meanwhile, higher requirements are also raised for security reliability of the technical grade unmanned plane to aircraft.
In the prior art, the control system of multi-rotor unmanned aerial vehicle is to realize flight by the thrust difference and speed discrepancy of motor
The adjusting of device posture；The control system of helicopter is that the gesture stability of aircraft is realized by changing the screw pitch of variable-pitch propeller；
The control system of fixed-wing unmanned plane is to realize aircraft appearance by controlling the rotation of rudder face (elevator, aileron, rudder etc.)
The control of state, these belong to single control system, when (motor of such as multi-rotor unmanned aerial vehicle is gone straight up to for single control device
The variable-pitch propeller of machine, the control rudder face of fixed-wing) it breaks down, entire aircraft will be out of hand, therefore, single control
There is serious security risks for the aircraft of system.
Invention content
For overcome the deficiencies in the prior art, the present invention provides a kind of double control system aircraft, with independent operating
Double control system, the safety and reliability of aircraft can be greatly improved.
The technical solution adopted by the present invention to solve the technical problems is：A kind of double control system aircraft is provided, including
Aircraft body, the main support extended below the fixed oriented aircraft body at the position of centre of gravity of the aircraft body
Column, the front side of the aircraft body, rear side, left and right side distinguish the pair extended below the fixed oriented aircraft body
Support column further includes the first control system, and first control system includes the propeller being fixedly arranged on the aircraft body,
The propeller is respectively arranged on the front side of the aircraft body, rear side, left and right side；Second control system, described second
Control system includes control rudder face, rotation axis and steering engine, and the control rudder face is respectively arranged on the main support column and is located at institute
State aircraft body front side, rear side, left and right side the secondary support column between, the rotation axis run through the control flaps
Face；One end of the rotation axis is rotatablely connected with the steering engine, the other end of the rotation axis and the corresponding the secondary support column
Rotation connection, the steering engine are fixedly arranged on the main support column, alternatively, one end of the rotation axis connects with steering engine rotation
It connects, the other end of the rotation axis is rotatablely connected with the main support column, and the steering engine is fixedly arranged on the corresponding the secondary support column
On.
As a further improvement of the above technical scheme, it is located at the propeller on front side of the aircraft body with rear side
It is symmetrical arranged by symmetry axis of the main support column, is located at the propeller of the aircraft body left and right side with described
Main support column is symmetrical arranged for symmetry axis.
As a further improvement of the above technical scheme, along the front-rear direction of the aircraft body, the aircraft
The front side of ontology is equipped with several propellers, using the main support column as symmetry axis, the rear side of the aircraft body successively
Be symmetrically arranged with several propellers, along the left and right directions of the aircraft body, the left side of the aircraft body according to
It is secondary to be provided with several propellers, using the main support column as symmetry axis, it is symmetrically arranged on the right side of the aircraft body
Several propellers.
As a further improvement of the above technical scheme, the propeller be set to it is corresponding it is described control rudder face just on
Side.
As a further improvement of the above technical scheme, the rotation axis is disposed through the top of the control rudder face.
As a further improvement of the above technical scheme, control navigation is installed at the position of centre of gravity of the aircraft body
Module.
As a further improvement of the above technical scheme, 4 pieces of batteries have been arranged in parallel on the main support column, described in 4 pieces
Battery is respectively used to provide power supply to the propeller positioned at the aircraft body front side, rear side, left and right side.
The beneficial effects of the invention are as follows：
The double control system of the present invention is respectively provided with the first control system and the second control system, is by the first control
System and the second control system respectively can independent regulation and control aircraft flight, the mutual coordinated of the two greatly improved winged
The safety and reliability of row device.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the overall structure diagram of the double control system aircraft of the present invention；
Fig. 2 is the side view along X-direction in Fig. 1；
Fig. 3 is the vertical view along Z-direction in Fig. 1.
Specific implementation mode
The technique effect of the design of the present invention, concrete structure and generation is carried out below with reference to embodiment and attached drawing clear
Chu, complete description, to be completely understood by the purpose of the present invention, scheme and effect.It should be noted that the case where not conflicting
Under, the features in the embodiments and the embodiments of the present application can be combined with each other.
It should be noted that unless otherwise specified, when a certain feature is referred to as " fixing ", " connection " is in another feature,
It can directly fix, be connected in another feature, can also fix, be connected in another feature indirectly.In addition, this
The descriptions such as the up, down, left, right, before and after used in invention be only relative in attached drawing each component part of the present invention it is mutual
For position relationship.
In addition, unless otherwise defined, the technology of all of technologies and scientific terms used here by the article and the art
The normally understood meaning of personnel is identical.Term used in the description is intended merely to description specific embodiment herein, without
It is to limit the present invention.Term " and or " used herein includes the arbitrary of one or more relevant Listed Items
Combination.
Please refer to Fig. 1, X-axis arrow direction refers to the front side of aircraft in Fig. 1, and Y-axis arrow direction refers to flying
The right side of row device, Z axis arrow direction are the lower sections of aircraft.
Please with reference to Fig. 1 to Fig. 3, the present invention provides a kind of double control system aircraft, including aircraft body 1, master
Support column 2, the secondary support column 3, the first control system and the second control system, column support column 2 are fixedly arranged on the weight of aircraft body 1
At heart position, and extend to the lower section of aircraft body 1, the secondary support column 3 has many places, is separately positioned on aircraft body 1
Front side, rear side, left and right side, 3 one end of the secondary support column are fixedly connected with aircraft body 1, and the other end is to aircraft body 1
Lower section extends, and the first control system includes propeller 4, and propeller 4 has multiple, and propeller 4 is provided in aircraft sheet respectively
The front side of body 1, rear side, left and right side, the second control system includes control rudder face 50, rotation axis 51 and steering engine 52, in master
Support column 2 and positioned at 1 front side of aircraft body, rear side, left and right side the secondary support column 3 between be respectively equipped with control rudder face
50, control rudder face 50, which runs through, rotation axis 51, and control rudder face 50 is stretched out at the both ends of rotation axis 51, and one end of rotation axis 50 turns
Dynamic to be arranged in corresponding the secondary support column 51, the other end is rotatablely connected with steering engine 52, and steering engine 52 is installed on main support column 2, from
And drive control rudder face 50 to deflect by the rotation of steering engine 52, it certainly, can also in other different embodiments
Steering engine 52 is installed in corresponding the secondary support column 3, and rotation axis 51 is rotatably arranged on main support column 2.
The flight that aircraft is described in detail in the double control system aircraft of the present invention is combined to control process first below：
Take off vertically process, and taking off vertically for aircraft is completed by the first control system, the front side of aircraft body 1, after
Side, left and right side propeller 4 by work be that aircraft body 1 provides the power of rising, wherein before aircraft body 1
Side is identical as 4 rotation direction of propeller of rear side, and 4 rotation direction of propeller of 1 left and right side of aircraft body is identical, and
And in order to offset complete machine in the state of the equilibrium before and after the torque of Z axis and rotation, aircraft body 1 side 4 side of rotation of propeller
To opposite with the rotation direction of propeller 4 of 1 left and right sides of aircraft body.
Rotation along X-direction controls, and aircraft body 1 can pass through the first control system and/or the along the rotation of X-axis
The control of two control systems is completed.The control of first control system is completed：Turn positioned at 1 left and right side propeller 4 of aircraft body
It is dynamic, keep the rotating speed of the propeller 4 of 1 left and right side of aircraft body different, to the spiral of 1 left and right side of aircraft body
There are differences, the thrust difference of the two to make to the generation of aircraft body 1 between the upward thrust that paddle 4 generates aircraft body 1
The torque that aircraft body 1 turns about the X axis；Second control system is completed：During aircraft body 1 flies, position is adjusted
50 equidirectional deflection of control rudder face in 1 front side and rear side of aircraft body controls rudder face 50 during aircraft flight
The propeller 4 of top is in running order, and the rotation of propeller 4 generates the flow field moved to 50 direction of control rudder face, flow field effect
In on the control rudder face 50 deflected along X-direction, one can be generated perpendicular to the windward side of control rudder face 50 to controlling rudder face 50
Thrust, and the thrust acted on control rudder face 50 can be decomposed into the component of the lower section of aircraft body 1 and to aircraft
The component of 1 left or right side of ontology, to make the lower end edge Y direction of aircraft body 1 shift, and aircraft body 1
Upper end do not shift, then show as the rotation around X-axis.
Rudder face 50 is controlled when two to deflect clockwise around X-axis, then generates the component to 1 right direction of aircraft body,
Aircraft body 1 is rotated in an anti-clockwise direction around X-axis, and control rudder face 50 when two deflects around X-axis counterclockwise, then generates to flight
The component of 1 left direction of device ontology, aircraft body 1 around X-axis rotationally clockwise.
Along X-direction translation control, aircraft along X-direction translation control also can by the first control system and/
Or second control system control complete.The control of first control system is completed：Adjust the spiral shell for being located at 1 front side and rear side of aircraft body
Paddle 4 is revolved, makes between two propellers 4 that there are speed discrepancies, such aircraft body 1 will produce the rotation around Y-axis, when aircraft sheet
Body 1 around the deflection angle of Y-axis be not 0 when, the propeller 4 of the front side of aircraft body 1 and rear side can all generate one along X-direction
Component, and two propellers 4 generate the component along X-direction it is of different sizes, direction is identical, to push aircraft sheet
Body 1 moves in the X-axis direction, it is preferred that after aircraft body 1 deflects around Y-axis, makes 1 front side of aircraft body
Identical with the rotating speed of propeller 4 of rear side, then aircraft body 1 will not continue to deflect, and show as translating along X-direction；
The control of second control system is completed：In the case where aircraft body 1 deflects certain angle around Y direction, adjusts and be located at flight
The control rudder face 50 of 1 left and right side of device ontology deflects, the stream that the propeller 5 of two control rudder faces 50 above it generates
Under the action of, the component in X-direction is will produce, to make aircraft body 1 generate the translation in X-direction.
Rotation around Y direction controls, and aircraft is controlled along the rotation of Y direction by the first control system and/or second
System control processed is completed, and specific control principle is identical as the principle to the control along X-direction, the difference is that, first
When control system controls, the propeller 4 that 1 front side of aircraft body and rear side are located at by adjusting is completed, the second control system control
When processed, realized by adjusting the control rudder face 50 positioned at 1 left and right side of aircraft body.
Translation along Y direction controls, and aircraft passes through the first control system and/or the around the translation control of Y direction
The control of two control systems is completed, and with to identical along the principle of translation control of X-direction, difference exists specific control principle
In when the first control system controls, the propeller 4 adjusted positioned at 1 left and right side of aircraft is completed, the control of the second control system
When, adjust the completion of control rudder face 50 for being located at 1 front side of aircraft body and rear side.
Rotation along Z-direction controls, and aircraft is controlled along the rotation of Z-direction by the first control system and/or second
System control processed is completed.First control system controls：The spiral positioned at 1 front side and rear side of aircraft body is increasedd or decreased simultaneously
The rotating speed of paddle 4, correspondingly, the rotating speed of the propeller 4 positioned at 1 left and right side of aircraft body is reduced or increased simultaneously, in this way,
In the case where ensureing that the total life of aircraft body 1 is constant, the torque of the motor of driving aircraft body 1 front side and rear side and
Drive the torque of the motor of 1 left and right side of aircraft body different, unbalanced reaction torque causes aircraft body 1 about the z axis
Direction rotates；Second control system controls：When second control system control aircraft body 1 turns about the Z axis, it can adjust
Control rudder face 50 positioned at 1 front side and rear side of aircraft body makes the two control rudder faces 50 deflect certain angle around X-axis, and
The deflection direction of the two is on the contrary, so that the direction for the component along Y direction that two control rudder faces 50 generate is on the contrary, make aircraft
Ontology 1 rotates about the z axis, can also adjust the control rudder face 50 positioned at 1 left and right side of aircraft body, make the two controls
Rudder face 50 processed around Y-axis deflect certain angle, and the two deflection angle on the contrary, to two control rudder faces 50 generate along X-axis
The direction of the component in direction is on the contrary, make aircraft body 1 rotate about the z axis, it is of course also possible to simultaneously to aircraft body 1
The control rudder face 50 of four direction is all operable to adjusting aircraft body 1 and turns about the Z axis.
Along the control of moving of Z-direction, aircraft has been controlled along the first control system of climbing or be lowered through of Z-direction
At, by increase positioned at the rotating speed of the propeller 4 of 1 four direction of aircraft body, the lift increasing for making aircraft body 1 be subject to
Add, realization is climbed, by reduction positioned at 1 four direction of aircraft body propeller 4 rotating speed, make aircraft body 1 by
Lift reduce, under gravity, aircraft body 1 decline.
It is the principle of the flight control of the first control system and the second control system to aircraft above, it is noted that real
In the flight course of border, the flight of aircraft can be controlled respectively using the first control system and the second control system respectively
System can also make the first control system and the second control system mutually coordinated to increase the flight control performance of aircraft.
In the present embodiment, control navigation module 6 is provided at the position of centre of gravity of aircraft body 1, control navigation module 6 is used
In balance during adjusting aircraft flight.
Battery 7 is additionally provided on main support column 4, it should be pointed out that, in the present embodiment, the motor that driving propeller 4 works is
It is arranged in propeller 4, battery 7 is used to provide power supply for the motor in propeller 4, in the preferred scheme, the quantity of battery 7
It is 4,4 batteries 7 are arranged in parallel, and each battery 7 provides continuation of the journey to the propeller 4 in a direction of aircraft body 1 respectively,
It can be obviously improved the cruising ability of aircraft in this way.
In Fig. 1 to Fig. 3,1 four direction of aircraft body is respectively provided with a propeller 4, is total up to 4 propellers 4, so
And this is one of present invention embodiment, it, can be in aircraft body 1 in other different embodiments
Front side sets gradually the propeller 4 more than 1 along X-direction, is symmetry axis with main support column 2 in the rear side of aircraft body 1
It is symmetrical arranged the propeller 4 of identical quantity, the propeller more than 1 is set gradually along Y direction in the left side of aircraft body 1
4, it is the propeller 4 that symmetry axis is symmetrical arranged identical quantity with main support column 2 on the right side of aircraft body 1.
Preferably, the propeller 4 on 1 four direction of aircraft body is located at the surface of corresponding control rudder face 4.
Preferably, rotation axis 51 is set to the top of control rudder face 50.
In addition, it is necessary to point out, double control system aircraft of the invention for convenience of description, the shape of aircraft body 1
In cross, this should not cause limitation of the invention, and in actual application, aircraft body 1 can be arranged to various symbols
Close aerodynamic other shapes.
It is illustrating for progress to be implemented to the preferable of the present invention, but the invention is not limited to the implementation above
Example, those skilled in the art can also make various equivalent variations or be replaced under the premise of without prejudice to spirit of that invention
It changes, these equivalent deformations or replacement are all contained in the application claim limited range.
Claims (7)
1. a kind of double control system aircraft, which is characterized in that including aircraft body, the position of centre of gravity of the aircraft body
Locate the main support column extended below the fixed oriented aircraft body, front side, rear side, left side and the right side of the aircraft body
The secondary support column extended below the fixed oriented aircraft body is distinguished in side, further includes
First control system, first control system include the propeller being fixedly arranged on the aircraft body, the spiral
Paddle is respectively arranged on the front side of the aircraft body, rear side, left and right side；
Second control system, second control system include control rudder face, rotation axis and steering engine, the control rudder face difference
Set on the main support column and positioned at the aircraft body front side, rear side, left and right side the secondary support column between, institute
It states rotation axis and runs through the control rudder face；One end of the rotation axis and the steering engine are rotatablely connected, the rotation axis it is another
End is rotatablely connected with the corresponding the secondary support column, and the steering engine is fixedly arranged on the main support column, alternatively, the rotation axis
One end is rotatablely connected with the steering engine, and the other end of the rotation axis is rotatablely connected with the main support column, and the steering engine is fixed
In in the corresponding the secondary support column.
2. double control system aircraft according to claim 1, which is characterized in that be located at the aircraft body on front side of and
The propeller of rear side is symmetrical arranged by symmetry axis of the main support column, is located at the aircraft body left and right side
The propeller is symmetrical arranged by symmetry axis of the main support column.
3. double control system aircraft according to claim 1, which is characterized in that along the front and back of the aircraft body
Upwards, the front side of the aircraft body is equipped with several propellers successively, described to fly using the main support column as symmetry axis
Several propellers, along the left and right directions of the aircraft body, the flight are symmetrically arranged on rear side of row device ontology
Several propellers are disposed on the left of device ontology, using the main support column as symmetry axis, the aircraft body
Right side is symmetrically arranged with several propellers.
4. double control system aircraft according to claim 3, which is characterized in that the propeller is set to corresponding described
Control the surface of rudder face.
5. the double control system aircraft according to any one of claim 1-4, which is characterized in that the rotation axis runs through
It is set to the top of the control rudder face.
6. double control system aircraft according to claim 5, which is characterized in that the position of centre of gravity of the aircraft body
Place is installed with control navigation module.
7. double control system aircraft according to claim 5, which is characterized in that be arranged in parallel on the main support column
4 pieces of batteries, 4 pieces of batteries are respectively used to the spiral positioned at the aircraft body front side, rear side, left and right side
Paddle provides power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810458136.5A CN108423167B (en) | 2018-05-14 | 2018-05-14 | Dual control system aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810458136.5A CN108423167B (en) | 2018-05-14 | 2018-05-14 | Dual control system aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108423167A true CN108423167A (en) | 2018-08-21 |
| CN108423167B CN108423167B (en) | 2024-02-27 |
Family
ID=63163005
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810458136.5A Active CN108423167B (en) | 2018-05-14 | 2018-05-14 | Dual control system aircraft |
Country Status (1)
| Country | Link |
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| CN (1) | CN108423167B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109383759A (en) * | 2018-11-05 | 2019-02-26 | 南方科技大学 | Aircraft based on flight attitude is adjusted to control plane |
| CN109573061A (en) * | 2018-08-31 | 2019-04-05 | 辽宁同心圆科技有限公司 | Aerial platform with energy-saving power-boost system of escaping danger |
| CN112198903A (en) * | 2019-12-31 | 2021-01-08 | 北京理工大学 | Modular multifunctional onboard computer system |
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| CN112198903A (en) * | 2019-12-31 | 2021-01-08 | 北京理工大学 | Modular multifunctional onboard computer system |
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| Publication number | Publication date |
|---|---|
| CN108423167B (en) | 2024-02-27 |
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