CN108791801A - A kind of unmanned vehicle of four axicons dynamic structure layout - Google Patents
A kind of unmanned vehicle of four axicons dynamic structure layout Download PDFInfo
- Publication number
- CN108791801A CN108791801A CN201810598672.5A CN201810598672A CN108791801A CN 108791801 A CN108791801 A CN 108791801A CN 201810598672 A CN201810598672 A CN 201810598672A CN 108791801 A CN108791801 A CN 108791801A
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- China
- Prior art keywords
- unmanned vehicle
- axicons
- dynamic structure
- structure layout
- flight
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
- B64D27/02—Aircraft characterised by the type or position of power plant
- B64D27/24—Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D31/00—Power plant control; Arrangement thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/02—Arrangements or adaptations of signal or lighting devices
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The present invention relates to a kind of unmanned vehicles of four axicons dynamic structure layout, belong to aviation aircraft design field.Aircraft of the present invention uses the emanant actuating unit layout designs of four axicons, the fuselage includes the rack of four equal lengths, four racks are connected to same point and in radiation distribution shapes, line between four outer points of four racks constitutes pyramid positive tetrahedron, and arbitrary three outer point lines form equilateral triangle.By being coordinated with sensor, the flight attitude of aircraft can be adjusted flexibly, easily realize the flare maneuvers such as move horizontally, vertically move, turning to, overturning in the air.If aircraft the case where single dynamical system damage occurs in during flight, flight control can adjust its excess-three dynamical system into Mobile state according to sensing data, ensure the skyborne posture balancing of aircraft.
Description
Technical field
The present invention relates to the unmanned flights that a kind of unmanned vehicle more particularly to a kind of four axicons dynamic structure are laid out
Device belongs to aviation aircraft design field.
Background technology
The unmanned rotary wings such as traditional unmanned vehicle, such as four common axis, six axis, eight axis (or use microminiature jet
Dynamical system) etc. aircraft, mainly provide power by being distributed in the rotor system of the basic same level in the whole body in flight,
Pose adjustment is carried out by controlling rotor rotating speed.
It is limited to traditional physical arrangement layout designs, the flight attitude adjustment of such aircraft is not sufficiently stable and flexibly,
Be easy to be influenced by factors such as strong wind, flight stability is high, pose adjustment underaction, be susceptible to when serious rollover,
The extreme cases such as reversing.And traditional rotor craft normal flight relies on all rotors normal works, when there is rotor damage
When, flying activity cannot be normally carried out.
Invention content
The short slab that the purpose of the present invention is designed for existing unmanned vehicle, there are flight attitude adjustment to be not sufficiently stable spirit
The problems such as living, proposes a kind of unmanned vehicle of new-type dynamic structure layout.The aircraft uses the emanant power of four axicons
Organization distribution designs, and by being coordinated with sensor, the flight attitude of aircraft can be adjusted flexibly, easily realize in the air
The flare maneuvers such as move horizontally, vertically move, turning to, overturning.If there is single dynamical system damage in during flight in aircraft
The case where, flight control can adjust its excess-three dynamical system into Mobile state according to sensing data, ensure
The skyborne posture balancing of aircraft.
The technical solution adopted in the present invention is as follows：
A kind of unmanned vehicle of four axicons dynamic structure layout, including fuselage, dynamical system, flight attitude sensing system
System, flight control system and power supply.
The fuselage includes the rack of four equal lengths, and four racks are connected to same point and are distributed shape in radiating, and four
The mutual angle of a rack is 109 ° 28 '；Line between four outer points of four racks constitutes pyramid
Shape positive tetrahedron, arbitrary three outer point lines form equilateral triangle.
One group of dynamical system is separately installed at four outer points, it is dynamic under every group of dynamical system regular flight condition
Power output center axis is conllinear with the linking arm central axis where it.For example, when using rotor power system, rotor system
Output force direction it is conllinear with the linking arm central axis that it is installed, that is, plane where rotor blade and linking arm central shaft
Line is vertical.
At body center position, flight attitude sensing system, flight control system and power supply are installed.Wherein, it flies
Posture sensing system includes the Flight Condition Datas information such as angular speed, acceleration and level angle for obtaining, and is flown for adjustment
The state of flight of device provides data basis.Flight control system is used for according to Flight Condition Data information, adjustment and control flight
The flight attitude of device.In addition, it can include signal transmission system, communicates for being transmitted with external control system, believe
Number Transmission system is mounted on unmanned vehicle, and is connected with control system.
When the dynamical system of a certain outer point is damaged or when failure, control system is according to sensing data to its excess-three
Being adjusted into Mobile state for a dynamical system, maintains the resultant force risen, ensures the skyborne posture balancing of aircraft.
The flight attitude motion principle of unmanned vehicle of the present invention, the flip-flop movement of any direction can be in space
It is decomposed into the rotary motion of horizontal direction and the rotary motion of vertical direction.When aircraft deflects, adjustment rule and mistake
Journey is as follows：
The power that four outer point dynamical systems of unmanned vehicle generate is respectively F1、F2、F3And F4, what four power generated
Resultant force can be further broken into the power F on x, y and z axes directionx、Fy、Fz, wherein the power on x, y-axis direction can synthesize again
Resultant force F in horizontal directionh。
When attitude of flight vehicle deflects, sensor on body by obtain aircraft level angle θ and
Vertical angles φ.Force analysis is carried out to flight attitude, according to Newton's second law Fh=mah、Fz=mazObtain resultant force Fh、FzWith
Institute position acceleration ah、azRelationship, m is quality；The angular velocity of satellite motion ω of shaft end point can be obtained according to v=ω R；And by
Velocity and acceleration formulaFurther calculate out the relationship of respective shaft end angular velocity omega and each self-acceleration a.
Advantageous effect
The present invention is compared with the prior art and method, and there are following advantages：
Aircraft uses cone structure power arrangement, and the flight attitude information of cooperation sensor acquisition can be with dynamic flexible
The flight attitude of aircraft is adjusted, easily realizes the actions such as move horizontally, vertically move, turning to, overturning in the air.
Due to using cone structure power arrangement, arbitrary vertex all can be used as vertex.When a certain vertex dynamical system is sent out
When raw damage, control system can adjust its excess-three dynamical system into Mobile state according to sensing data, to ensure to fly
The skyborne posture balancing of row device.
Description of the drawings
Fig. 1 is the structure composition stereoscopic schematic diagram of unmanned vehicle of the present invention；
Fig. 2 is the stress diagram under the jacking condition of unmanned vehicle of the present invention；
Fig. 3 is the three rotor stress vertical view of horizontal plane of unmanned vehicle of the present invention；
Fig. 4 is that the posture of unmanned vehicle of the present invention overturns stress diagram；
Fig. 5 is stress diagram after the single rotor of unmanned vehicle of the present invention is damaged.
Wherein, 1- fuselages, 2- dynamical systems, 3- flight attitudes sensing system, 4- control systems, 5- power supplys, 6- racks, 7-
Rotor, 8- motors, 9- gyroscopes, 10- accelerometers, 11- double-shaft levels sensor, 12- embedded microcontrollers, 13- electronics
Governor, 14- buzzing alarm devices
Specific implementation mode
The specific embodiment of the invention is further elaborated with reference to the accompanying drawings and embodiments.
A kind of unmanned vehicle of four axicons dynamic structure layout, as shown in Figure 1, including fuselage 1, dynamical system 2, flying
Row posture sensing system 3, control system 4 and power supply 5.
Using the rack 6 for including four equal lengths, four racks are connected to same point and in radiation distributions the fuselage 1
Shape, four mutual angles of rack are 109 ° 28 '；Four vertex of four racks, vertex 1, vertex 2, vertex 3 and top
Line between point 4 constitutes pyramidal positive tetrahedron, and arbitrary three vertex line forms equilateral triangle；
Preferably, the material of rack 6 uses aluminium and glass fiber material, can have excellently while proof strength
Stability.
The dynamical system 2 shares 4 groups, and each group includes rotor 7 and motor 8, and rotor 7 is connected with 8 shaft of motor.
Angular speed, acceleration, level angle when the flight attitude sensing system 3 is used to obtain aircraft flight hang down
The state of flights information such as squareness provides data basis for adjustment state of flight.Flight attitude sensing system 3 include gyroscope 9,
Accelerometer 10 and double-shaft level sensor 11.The gyroscope 9 is used to measure each angular speed of unmanned vehicle three-dimensional
Signal is respectively connected with control system 4, power supply 5.Since common single axis gyroscope can only measure the angular speed letter in a direction
Number, it is therefore desirable to three orthogonal single axis gyroscopes are installed to measure the angle rate signal of three-dimensional, or use one
A three-axis gyroscope measures.It is used to sense the acceleration of unmanned vehicle using accelerometer 10, corrects the mistake of gyroscope 9
Difference, accelerometer 10 are respectively connected with control system 4, power supply 5.It is to measure tested surface using double-shaft level sensor 11
Levelness and the cooperation of other data further control the flight attitude of aircraft.
Because square thrust generated with it of rotor wing rotation speed is proportional, i.e. F ∝ r2, therefore, can fly
During device is adjusted to target level angle, θ ' and target vertical angles φ ', F is realized according to the adjustment of rotor rotating speed rx、Fy、
FzVariation, coordinate the angular velocity omega measured, acceleration a, level angle θ and vertical angles φ to be controlled, be finally completed winged
The pose adjustment of row device acts.
The control system 4 is for controlling dynamical system 2.According to the control of setting rule, system is sensed in conjunction with flight attitude
The data that system 3 obtains, the output power of adjustment different top point dynamical system 2, realize the control to attitude of flight vehicle.Control system
2 include embedded microcontroller 12 and electron speed regulator 13.Wherein, electron speed regulator 13 is used for the output power of regulation motor 8,
And then control 7 rotary speed of rotor.Equipped with flight control program in embedded microcontroller 12.
In addition, it can include buzzing alarm device 14, is installed at unmanned vehicle bullet inner hub location, use
In the state of flight of instruction aircraft, buzzing warning is sent out in aircraft operation troubles；Buzzing alarm device 14 and power supply 5,
Control system 4 is connected.
The connection relation of above-mentioned building block is：
4 groups of dynamical systems are respectively arranged at 4 vertex positions of body, and the central axis of dynamical system 2 is and machine
Frame 6 is conllinear, and 7 place plane of rotor is vertical with 6 axis of rack where the rotor.As shown in Figure 1.
Flight attitude sensing system 3, control system 4 and power supply 5 are installed at body center position.Flight attitude sensing system
System 3 is connected with control system 4, specifically, embedded microcontroller 12 respectively with electron speed regulator 13, gyroscope 9, accelerometer
10, double-shaft level sensor 11, power supply 5 and buzzing alarm device 14 connect.Control system 4 distinguishes phase with four groups of dynamical systems 2
Even.Power supply 5 is respectively connected with dynamical system 2, flight attitude sensing system 3, control system 4.To improve the reliability of aircraft,
Stand-by power supply can be used as (as being respectively equipped with battery) by distributing installation independent current source at each system.
In addition, it can include signal transmission system, for (such as ground remote control station, aerial distant with external control system
Control station, boat-carrying remote control station etc.) be transmitted communication, signal transmission system on unmanned vehicle, and with control system 4,
Power supply 5 is respectively connected with, and is installed at unmanned vehicle bullet inner hub location.
The different flight state and pose adjustment process of unmanned vehicle of the present invention are described below：
1, hovering, lifting and decline
As shown in Fig. 2, being provided straight up or straight down by the dynamical system on the vertex 1 with gravity coaxial direction
The dynamical system of power, other three apexes generates thrust outward.Under output power unanimous circumstances, in three's horizontal direction
Resultant force is 0, and power straight up or straight down is provided in vertical direction；If the Whole power etc. of unmanned vehicle straight up
In gravity, i.e., when aircraft is 0 with joint efforts in the vertical direction, unmanned vehicle realizes hovering；If unmanned vehicle is perpendicular
Resultant force is not 0 to histogram upwards, when upward lift is more than gravity, unmanned vehicle lifting, conversely, unmanned vehicle declines.
2, the movement of horizontal plane any direction
The rotor 7 on vertex 2,3 and 4 power schematic top plan view in the horizontal direction is as shown in figure 3, horizontal plane any direction
The relied on horizontal resultant of flight can be obtained by three power superpositions.When the power output on vertex 2 increases, aircraft is in vertical direction
Lift becomes larger, and aircraft entirety posture run-off the straight, Whole power direction continues to point to the direction on vertex 1, adds at this time vertical
After active force on direction, free flight in three dimensions may be implemented.
By the dynamical system power in the horizontal direction on vertex 2,3 and 4, horizontal plane any direction flies relied on water
The horizontal force superposition of flat resultant force thus three dynamical systems obtains；When the power that vertex 2 exports increases, unmanned vehicle is in Vertical Square
Upward lift will become larger, and unmanned vehicle entirety posture run-off the straight, Whole power direction continues to point to the direction on vertex 1,
After adding the active force in vertical direction at this time, free flight in three dimensions is realized.
3, posture is overturn
As shown in figure 4,1,2,3,4 status of vertex is identical, overturning reference point all can serve as.It is with vertical direction overturning
Example, in switching process, any form is equilibrium state, it is that angular velocity omega that gyroscope 9 measures, accelerometer 10 measure plus
The level angle θ and vertical angles φ that speed a and double-shaft level sensor 12 measure, the thrust of the generation of rotor 7 on four vertex
Respectively F1、F2、F3And F4, F2、F3And F4The resultant force of generation is F, as shown in figure 4, itself and gravity G, thrust F1Collective effect generates
Resultant force be all clockwise active force for four axis where four vertex, increase resultant force F simultaneously reduce F1, aircraft overturning speed
Degree is accelerated.When aircraft is overturn to target angle, the resultant force and gravitational equilibrium on four vertex, aircraft hovering, in balance
State.
4, when a certain vertex is damaged
When there is the case where damage of certain rotor or failure, if as shown in figure 5, the rotor power system on vertex 1 is damaged
Bad when, embedded microcontroller 12 can be according to sensing datas to the output power and power output of its excess-three rotor power system
Direction (such as rotor reversion) is adjusted into Mobile state, maintains the resultant force risen, ensures the skyborne posture balancing of unmanned vehicle.
Claims (13)
1. a kind of unmanned vehicle of four axicons dynamic structure layout, including fuselage (1), dynamical system (2), flight attitude sense
Examining system (3), control system (4) and power supply (5), it is characterised in that：
Using the rack (6) for including four equal lengths, four racks are connected to same point and in radiation distributions the fuselage (1)
Shape, four mutual angles of rack are 109 ° 28 '；Line between four outer points of four racks constitutes gold
Word turriform positive tetrahedron, arbitrary three outer point lines form equilateral triangle；
Dynamical system (2) includes four groups, is respectively arranged at four vertex positions, under every group of dynamical system regular flight condition
Power output power central axis is conllinear with rack (6) central axis where it；
The flight attitude sensing system (3) is for capturing Flight Condition Data information, including angular speed, acceleration, horizontal angle
Degree, vertical angle provide data basis for adjustment flight attitude；
The control system (4) is respectively connected with four groups of dynamical systems, for controlling each group dynamical system, according to the control of setting
Rule adjusts the power of different top point dynamical system in conjunction with the Flight Condition Data information that flight attitude sensing system (3) obtains
Output size and outbound course realize the control to unmanned vehicle posture；
Flight attitude sensing system (3), control system (4) and power supply (5) are installed at body center, flight attitude sensing system
(3) it is connected with control system (4)；Power supply (5) is respectively connected with other each systems.
2. a kind of unmanned vehicle of four axicons dynamic structure layout as described in claim 1, which is characterized in that rack is adopted
Use aluminum material.
3. a kind of unmanned vehicle of four axicons dynamic structure layout as described in claim 1, which is characterized in that rack is adopted
Use glass fiber material.
4. a kind of unmanned vehicle of four axicons dynamic structure layout as described in claim 1, which is characterized in that described dynamic
Force system (2) is rotor power system.
5. a kind of unmanned vehicle of four axicons dynamic structure layout as claimed in claim 4, which is characterized in that the rotation
Wing dynamical system includes rotor (7) and motor (8)；Wherein, rotor (7) is connected with the shaft of motor (8), flat where rotor (7)
Rack (6) axis perpendicular where face and the rotor.
6. a kind of unmanned vehicle of four axicons dynamic structure layout as described in claim 1, which is characterized in that described to fly
Row posture sensing system (3) includes gyroscope (9) and double-shaft level sensor (11)；
The gyroscope (9) is used to measure each angular velocity signal of unmanned vehicle three-dimensional, with control system (4), electricity
Source (5) is respectively connected with；
The double-shaft level sensor (11) is used to sense the levelness of unmanned vehicle tested surface, with control system (4), electricity
Source (5) is respectively connected with.
7. a kind of unmanned vehicle of four axicons dynamic structure layout as claimed in claim 6, which is characterized in that the top
Spiral shell instrument (9) is three-axis gyroscope.
8. a kind of unmanned vehicle of four axicons dynamic structure layout as claimed in claim 6, which is characterized in that the top
Spiral shell instrument (9) is three single axis gyroscopes, and when installation is mutually perpendicular to, and measures the angular velocity signal of three-dimensional respectively.
9. a kind of unmanned vehicle of four axicons dynamic structure layout as described in claim 6 or 7 or 8, which is characterized in that
The flight attitude sensing system (3) includes accelerometer (10), and accelerometer (10) is used to sense the acceleration of unmanned vehicle
Degree corrects the error of gyroscope (9)；
Accelerometer (10) is respectively connected with control system (4), power supply (5).
10. a kind of unmanned vehicle of four axicons dynamic structure layout as described in claim 1, which is characterized in that described
Control system (2) includes embedded microcontroller (12) and electron speed regulator (13)；
Wherein, electron speed regulator (13) is used to adjust the output power of dynamical system (2), and embedded microcontroller is equipped in (12)
Flight control program；
Electron speed regulator (13) is respectively connected with embedded device in order to control (12) and power supply (5).
11. a kind of unmanned vehicle of four axicons dynamic structure layout as described in claim 1, which is characterized in that including
Buzzing alarm device (14) is installed at unmanned vehicle bullet inner hub location, is used to indicate the flight shape of aircraft
State sends out buzzing warning in aircraft operation troubles；Buzzing alarm device (14) is connected with power supply (5), control system (4).
12. a kind of unmanned vehicle of four axicons dynamic structure layout as described in claim 1, which is characterized in that also wrap
Signal transmission system is included, is installed at unmanned vehicle bullet inner hub location, for being passed with external control system
Defeated, signal transmission system is connected with control system (4).
13. a kind of unmanned vehicle of four axicons dynamic structure layout as described in claim 1, which is characterized in that each
Distributing installation independent current source is as stand-by power supply at system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810598672.5A CN108791801A (en) | 2018-06-12 | 2018-06-12 | A kind of unmanned vehicle of four axicons dynamic structure layout |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810598672.5A CN108791801A (en) | 2018-06-12 | 2018-06-12 | A kind of unmanned vehicle of four axicons dynamic structure layout |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108791801A true CN108791801A (en) | 2018-11-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810598672.5A Pending CN108791801A (en) | 2018-06-12 | 2018-06-12 | A kind of unmanned vehicle of four axicons dynamic structure layout |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112109906A (en) * | 2020-07-21 | 2020-12-22 | 深圳飞马机器人科技有限公司 | Power distribution method and device for unmanned aerial vehicle, flight control terminal and unmanned aerial vehicle |
| CN112455670A (en) * | 2020-12-09 | 2021-03-09 | 杭州巨泳科技有限公司 | Flight control method of full-motion wing aircraft |
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| CN103213681A (en) * | 2013-04-09 | 2013-07-24 | 皖西学院 | Six-degree-of-freedom four-shaft aircraft |
| WO2016012790A1 (en) * | 2014-07-23 | 2016-01-28 | Airbus Ds Limited | Improvements in and relating to unmanned aerial vehicles |
| US20160376001A1 (en) * | 2014-06-01 | 2016-12-29 | Robin Felix | Vehicle including a tetrahedral body or chassis |
| CN107600384A (en) * | 2017-08-30 | 2018-01-19 | 泸州深远世宁无人机科技有限公司 | A kind of rack construction for unmanned plane |
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|---|---|---|---|---|
| CN103213681A (en) * | 2013-04-09 | 2013-07-24 | 皖西学院 | Six-degree-of-freedom four-shaft aircraft |
| US20160376001A1 (en) * | 2014-06-01 | 2016-12-29 | Robin Felix | Vehicle including a tetrahedral body or chassis |
| WO2016012790A1 (en) * | 2014-07-23 | 2016-01-28 | Airbus Ds Limited | Improvements in and relating to unmanned aerial vehicles |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112109906A (en) * | 2020-07-21 | 2020-12-22 | 深圳飞马机器人科技有限公司 | Power distribution method and device for unmanned aerial vehicle, flight control terminal and unmanned aerial vehicle |
| CN112455670A (en) * | 2020-12-09 | 2021-03-09 | 杭州巨泳科技有限公司 | Flight control method of full-motion wing aircraft |
| CN112455670B (en) * | 2020-12-09 | 2022-03-22 | 杭州巨泳科技有限公司 | Flight control method of full-motion wing aircraft |
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