CN108791816A - A kind of tilting wing unmanned plane with complex pneumatic rudder face - Google Patents
A kind of tilting wing unmanned plane with complex pneumatic rudder face Download PDFInfo
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- CN108791816A CN108791816A CN201810778530.7A CN201810778530A CN108791816A CN 108791816 A CN108791816 A CN 108791816A CN 201810778530 A CN201810778530 A CN 201810778530A CN 108791816 A CN108791816 A CN 108791816A
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- 230000005484 gravity Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000007704 transition Effects 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C9/00—Adjustable control surfaces or members, e.g. rudders
- 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
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
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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)
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Abstract
The present invention discloses a kind of tilting wing unmanned plane with complex pneumatic rudder face, including：Fuselage and complex pneumatic rudder face, the fuselage both sides are equipped with wing after wing before tandem and tandem, the afterbody is equipped with vertical fin, engine is installed on the fuselage, before the tandem propeller and nacelle are equipped on wing after wing and tandem, complex pneumatic rudder face and wing tiliting axis, the complex pneumatic rudder face is installed on the posterior border position after wing and tandem on wing before the tandem, the complex pneumatic rudder face is set to the rear side of propeller and nacelle, the propeller and nacelle are installed on before the tandem leading edge of a wing after wing and tandem, it can vert with wing after wing before the tandem and tandem, the wing tiliting axis divides former and later two, control before tandem that wing verts after wing and tandem respectively.The VTOL simple, easily controllable, that realizability is high of its topology layout is verted wing unmanned plane.
Description
Technical field
The present invention relates to unmanned plane apparatus field, more particularly to a kind of tilting wing with complex pneumatic rudder face nobody
Machine.
Background technology
Based on aircraft of the unmanned plane common at present in the form of more rotors.Multi-rotor unmanned aerial vehicle is simply steerable, can be real
Existing VTOL and hovering operation, but cruise duration is short, cruising speed is slow, cannot achieve a wide range of operation of single.
Compared to rotor craft, fixed wing aircraft has many advantages, such as that speed is high, endurance is long, voyage is remote.But fixed-wing flies
The landing of machine there are certain requirements runway and place, it is difficult to meet many unmanned plane application industries and unmanned plane is easy to make
With, quickly lift-off the features such as needs.
The development of tilt rotor aircraft starts from the forties in last century, takes the lead in being developed by American Bell Incorporated, with V-22
Osprey aircraft is well known for representative.Tilt rotor aircraft combines the advantages of gyroplane and fixed wing aircraft, but its
Control system with it is complicated, safety when manned receives query.
Patent of invention CN106516080A have a kind of aerodynamic arrangement and inclining rotary mechanism tilting wing unmanned plane and
A kind of tilt rotor aircraft is disclosed in the detection method whether wing loosens, which employs the sides that front and back propeller is staggeredly arranged
Formula, but rudder face is not arranged on wing only ensures aircraft stability when VTOL, not only by adjusting wing inclination
It manipulates and control is more complicated, effectiveness is also difficult to ensure with reliability.
In a kind of trapezoidal layout tandem tilting wing aircraft of patent of invention CN107600403A and its inclining rotary mechanism
A kind of trapezoidal layout tandem tilt wing aircraft is disclosed, more rudder faces layout of wing not only increases mechanism weight and control
Difficulty, while increasing failure risk.
Existing unmanned plane tilting rotor is more in lift mode loss pulling force；Flat winged cruising condition control plane quantity
More, control is complicated, realisation low with practicability.
Invention content
For above-mentioned deficiency in the prior art, the present invention provides a kind of tilting wing with complex pneumatic rudder face without
Man-machine, the VTOL simple, easily controllable, that realizability is high of topology layout is verted wing unmanned plane.
In order to reach foregoing invention purpose, the technical solution adopted by the present invention is：
A kind of tilting wing unmanned plane with complex pneumatic rudder face, including：Fuselage and complex pneumatic rudder face, the fuselage both sides
Equipped with wing after wing before tandem and tandem, the afterbody is equipped with vertical fin, is equipped with engine on the fuselage, institute
It states and is equipped with propeller and nacelle, complex pneumatic rudder face and wing tiliting axis, institute on wing after wing and tandem before tandem
It states complex pneumatic rudder face and is installed on posterior border position before the tandem after wing and tandem on wing, the complex pneumatic rudder
Face is set to the rear side of propeller and nacelle, and the propeller and nacelle are installed on before the tandem machine after wing and tandem
Nose of wing can vert with wing after wing before the tandem and tandem, and the wing tiliting axis divides former and later two, controls respectively
Wing verts after wing and tandem before tandem processed.
Further, the vertical fin provides horizontal lateral stability for aircraft, and sidestep maneuver operation can be by compound rudder face control
System is completed, and the rudder that sidestep maneuver uses is specialized in without setting.
Further, the complex pneumatic rudder face is divided into upper and lower rudder face two parts, and upper and lower rudder face can both merge around rotation axis
Deflection can also be separated and be rotated, and upper and lower two rudder faces of the complex pneumatic rudder face are identical as normal level rudder face when merging, can
By the lift on wing after wing before two rudder faces merging deflection angle δ s change tandems of control and tandem, to control
Pitching, rolling, the yaw of full machine；Upper and lower rudder face will change before tandem trailing edge configuration after wing and tandem when separating,
The flow velocity and flow direction that air-flow after propeller and nacelle can be changed by two rudder face angle δ k of control, adjust wing and string before tandem
Pulling force and resistance after column on wing, the lifting to control full machine are acted with hovering.
Further, the propeller of the propeller and nacelle is located above nacelle, the spiral in the propeller and nacelle
Driving device provides power by engine, and the propeller of both sides is in reversely rotating on same set of wing, two wings before and after the same side
On propeller direction of rotation it is also opposite.
Further, during the unmanned plane VTOL, by control unmanned plane on 4 revolution speed of propeller, 4 it is compound
Pneumatic rudder face merges deflection angle and 4 complex pneumatic rudder face folding angles amount to 12 input quantities and unmanned plane is made to complete vertical rise
Drop and hovering maneuver and safety action precision.
Further, multiple by 4 revolution speed of propeller on control unmanned plane and 4 during the unmanned plane cruising level flight
Closing pneumatic total 8 input quantities of rudder face merging deflection angle makes unmanned plane complete fly each maneuver and safety action precision.
Further, during the wing verts, by controlling on unmanned plane before tandem inclining for wing after wing and tandem
Gyration, 4 complex pneumatic rudder faces merge deflection angle and 4 complex pneumatic rudder face folding angles amount to 10 input quantities and make nothing
The man-machine aerial wing of completion, which verts, acts simultaneously safety action precision.
Beneficial effects of the present invention are：
The invention reside in tilted propellers can ensure that unmanned plane has the advantages of VTOL and the high speed of a ship or plane long voyage simultaneously；Wing
It verts simultaneously with propeller blocking of the large area to screw current of wing when also reducing only tilted propeller；Complex pneumatic
Rudder face can not only serve as common horizontal rudder face, but also can control propeller pulling force and full machine resistance, not only simplify aircraft
Layout, also simplifies the complexity of aircraft control system, it is easy to accomplish.
Description of the drawings
Fig. 1 is the full machine vertical view of the present invention；
Fig. 2 is the wing A-A sectional views of the present invention；
Fig. 3 is two kinds of griping modes of complex pneumatic rudder face of the present invention and the main pneumatic force component schematic diagram of generation；
Fig. 4 is the present invention available flight control mode schematic diagram in VTOL and cruising flight；
Fig. 5 is the label schematic diagram that present invention cooperation specific implementation mode illustrates；
The reference numeral table of comparisons：
Wing, 4- propellers and nacelle, 41- propeller 5- complex pneumatic rudders after wing, 3- tandems before 1- fuselages, 2- tandems
Face, 6- vertical fins, 7- flap rotation axis.
Specific implementation mode
Specific implementation mode to further illustrate the present invention below in conjunction with the accompanying drawings.Wherein identical parts are with identical
Reference numeral indicates.
It should be noted that word "front", "rear" used in the following description, "left", "right", "up" and "down" refer to
Direction in attached drawing, word "inner" and "outside" refer respectively to the direction towards or away from geometric center of specific component.
In order that the present invention can be more clearly and readily understood, following will be combined with the drawings in the embodiments of the present invention,
Technical scheme in the embodiment of the invention is clearly and completely described.
As shown in Figures 1 to 5, a kind of tilting wing unmanned plane with complex pneumatic rudder face, including：Fuselage 1 and compound
Pneumatic rudder face 5,1 both sides of the fuselage are equipped with vertical fin equipped with wing 3 after wing 2 before tandem and tandem, 1 tail portion of the fuselage
6, engine is installed on the fuselage, propeller and nacelle are equipped on wing 3 after wing 2 and tandem before the tandem
4, complex pneumatic rudder face 5 and wing tiliting axis 7, the complex pneumatic rudder face 5 are installed on wing 2 and tandem before the tandem
Posterior border position on wing 3 afterwards, the complex pneumatic rudder face 5 are set to the rear side of propeller and nacelle 4, the propeller and short
Cabin 4 is installed on before the tandem 3 leading edge of wing after wing 2 and tandem, can be with wing 2 before the tandem and tandem after
Wing 3 verts, and the wing tiliting axis 7 divides former and later two, controls before tandem that wing 3 verts after wing 2 and tandem respectively.
The vertical fin 6 provides horizontal lateral stability for aircraft, and sidestep maneuver operation can have been controlled by compound rudder face 5
At it is not necessary that the rudder specialized in sidestep maneuver and used is arranged.The complex pneumatic rudder face 5 divides for upper and lower rudder face two parts, upper,
Lower rudder face can both merge to be deflected around rotation axis, can also be separated and be rotated, upper and lower two rudder faces of the complex pneumatic rudder face 5 merge
When it is identical as normal level rudder face, can pass through to control two rudder faces and merge deflection angle δ s and change wing 2 and tandem before tandems
Lift after formula on wing 3, to control the pitching, rolling, yaw of full machine；Before upper and lower rudder face will change tandem when separating
3 rear configuration of wing after wing 2 and tandem can pass through air-flow after two rudder face angle δ k change propellers of control and nacelle 4
Flow velocity and flow direction adjust pulling force and resistance after wing 2 and tandem on wing 3 before tandem, to control the lifting of full machine
It is acted with hovering.The propeller 41 of the propeller and nacelle 4 is located above nacelle, the spiral in the propeller and nacelle 4
Driving device provides power by engine, and the propeller 41 of both sides is in reversely rotating on same set of wing, two machines before and after the same side
41 direction of rotation of propeller on the wing is also opposite.During the unmanned plane VTOL, by controlling 4 spirals on unmanned plane
41 rotating speed of paddle, 4 complex pneumatic rudder faces 5 merge deflection angle and 4 complex pneumatic rudder faces 5 open and close angle and amount to 12 input quantities
Unmanned plane is set to complete VTOL and hovering maneuver and safety action precision.During the unmanned plane cruising level flight, lead to
4 41 rotating speeds of propeller and 4 merging deflection angles of complex pneumatic rudder faces 5 on control unmanned plane are crossed to amount to 8 input quantities and make nothing
Man-machine completion is flown each maneuver and safety action precision.During the wing verts, by controlling on unmanned plane before tandem
The tilt angle of wing 3,4 complex pneumatic rudder faces 5 merge deflection angle and 4 complex pneumatic rudder faces 5 after wing 2 and tandem
Folding angle, which amounts to 10 input quantities unmanned plane is made to complete aerial wing, to vert action and safety action precision.
Embodiment 1：δ s are that the upper and lower rudder face of the complex pneumatic rudder face 5 merges deflection angle, and when deflection mainly generates liter
The aerodynamic force increment of force direction, δ k separate angle for the upper and lower of the complex pneumatic rudder face 5, rudder face, and resistance is mainly generated when separating
The aerodynamic force increment of force direction.
Full machine X-axis is the longitudinal axis, and it is just to be directed toward tail with head；Full machine Y-axis is horizontal axis, and the vertical full machine plane of symmetry is directed toward aircraft
Right side is just；Full machine Z axis is vertical pivot, meets the right-hand rule and is directed toward above full machine as just.
When unmanned plane standby for takeoff, wing 2 and wing after tandem 3 are vertical with level ground before tandem, make propeller
41 direction of pull are the same as full machine Z axis forward direction.
Under the driving of engine, the rotation of propeller 41 generates the weight generated when pulling force confrontation aircraft gravity and upward flight
The resistance of force direction, unmanned plane take off vertically, and during which can control unmanned plane by the folding angle δ k of complex pneumatic rudder face 5 completes
Vertical lift acts or hovering, can also by adjusting the merging deflection angle δ s of complex pneumatic rudder face 5 to adjust unmanned plane
Land posture, such as Fig. 4 a.
During VTOL as shown in Figure 5,41 rotating speed δ t of propeller, complex pneumatic rudder face 5 merge deflection angle δ s
And the relationship opened and closed between the power or torque that angle δ k is controlled can be written as following form：
Control is inputted into battle array
It is with desired control matrix representation by control distribution battle array, then have：
There is the distribution battle array of following form：
It can makeAnd power is orthogonal with the control of torque, that is, uses this 12 control inputs can be individually to each to power
It carries out accurately adjustment control and does not generate to interfere with each other with torque.
Under the rational height determined by the pneumatic ability of unmanned plane and engine ability, wing 2 and tandem before tandem
Wing 3 verts around wing tiliting axis 7 to horizontal direction after formula, unmanned plane propeller 41 pulling force under the component of full machine X-axis
Forward flight is generated, the liter of wing 2 and the unmanned plane gravity direction that creates antagonism on wing 3 after tandem before tandem is made
Power, unmanned plane is from taking off vertically to cruising level flight transition.
Similar, the control distribution battle array that can also be solved at this time makes comprising wing 2 before tandem and wing 3 after tandem
Above-mentioned 10 input quantities including tilt angle individually can carry out accurately adjustment control to each to power and torque.
When wing 2 is verted with wing 3 after tandem to level before tandem, unmanned plane has reached enough forward direction flight speed
It spends, wing 2 is equal to unmanned plane gravity with the lift generated on wing 3 after tandem before tandem, and 41 pulling force of propeller is equal to
The full machine X that generates to flight before unmanned plane to resistance, unmanned plane enters cruising level flight.It, can be by dividing during flat fly
Wing 2 and the complex pneumatic rudder face 5 of wing after tandem 3 deflection angle δ s Tiao Zheng not be merged to complete unmanned plane before tandem
Pitching, rolling and yaw etc. are motor-driven, such as Fig. 4 b.
Control when cruising level flight is identical as the tandem wing distribution form aircraft of fixed-wing, by 8 above-mentioned input quantities pair
Respectively accurately adjustment is carried out to power and torque to control.
When unmanned plane is flown to landing place, before tandem wing 2 with wing 3 after tandem again to vertical level
Direction vert, unmanned plane forward speed reduces, from cruising level flight to vertical landing transition.
When wing 2 is verted with wing 3 after tandem to vertical level direction before tandem, unmanned plane can be by adjusting spiral shell
The folding angle δ k control unmanned planes of the rotating speed and complex pneumatic rudder face 5 that revolve paddle 41 land, and in descent, can also pass through tune
The merging deflection angle δ s of whole complex pneumatic rudder face 5 adjust UAV Landing posture, are finally completed vertical landing.
The foregoing is merely the preferred embodiments of patent of the present invention, are not intended to limit the invention patent, all at this
All any modification, equivalent and improvement etc., should be included in patent of the present invention made by within the spirit and principle of patent of invention
Protection domain within.
Claims (7)
1. a kind of tilting wing unmanned plane with complex pneumatic rudder face, which is characterized in that including：Fuselage（1）And complex pneumatic
Rudder face（5）, the fuselage（1）Both sides are equipped with wing before tandem（2）And wing after tandem（3）, the fuselage（1）Tail portion is set
There is vertical fin（6）, engine is installed, wing before the tandem on the fuselage（2）And wing after tandem（3）On be equipped with
Propeller and nacelle（4）, complex pneumatic rudder face（5）And wing tiliting axis（7）, the complex pneumatic rudder face（5）It is installed on described
Wing before tandem（2）And wing after tandem（3）On posterior border position, the complex pneumatic rudder face（5）It is set to propeller
And nacelle（4）Rear side, the propeller and nacelle（4）It is installed on wing before the tandem（2）And wing after tandem（3）
Leading edge, can be with wing before the tandem（2）And wing after tandem（3）It verts, the wing tiliting axis（7）It is divided to front and back two
It is a, wing before tandem is controlled respectively（2）And wing after tandem（3）It verts.
2. a kind of tilting wing unmanned plane with complex pneumatic rudder face according to claim 1, it is characterised in that：It is described
Vertical fin（6）Horizontal lateral stability is provided for aircraft, and sidestep maneuver operation can be by compound rudder face（5）Control is completed, without setting
It sets and specializes in the rudder that sidestep maneuver uses.
3. a kind of tilting wing unmanned plane with complex pneumatic rudder face according to claim 1, it is characterised in that：It is described
Complex pneumatic rudder face（5）It is divided into upper and lower rudder face two parts, upper and lower rudder face can both merge to be deflected around rotation axis, can also be separated and be turned
It is dynamic, the complex pneumatic rudder face（5）Upper and lower two rudder faces merge when it is identical with normal level rudder face, can pass through control two
Rudder face merges deflection angle δ s and changes wing before tandem（2）And wing after tandem（3）On lift, to control full machine
Pitching, rolling, yaw；Upper and lower rudder face will change wing before tandem when separating（2）And wing after tandem（3）Rear configuration,
Propeller and nacelle can be changed by two rudder face angle δ k of control（4）The flow velocity and flow direction of air-flow afterwards adjusts wing before tandem
（2）And wing after tandem（3）On pulling force and resistance, acted with hovering to control the lifting of full machine.
4. a kind of tilting wing unmanned plane with complex pneumatic rudder face according to claim 3, it is characterised in that：It is described
Propeller and nacelle（4）Propeller（41）Above nacelle, the propeller and nacelle（4）Interior driving device for slow-run by
Engine provides power, the propeller of both sides on same set of wing（41）In reverse rotation, the spiral shell before and after the same side on two wings
Revolve paddle（41）Direction of rotation is also opposite.
5. a kind of tilting wing unmanned plane with complex pneumatic rudder face according to claim 4, it is characterised in that：It is described
During unmanned plane VTOL, by controlling 4 propellers on unmanned plane（41）Rotating speed, 4 complex pneumatic rudder faces（5）Merge
Deflection angle and 4 complex pneumatic rudder faces（5）Folding angle, which amounts to 12 input quantities, makes unmanned plane complete VTOL and hovering
Maneuver and safety action precision.
6. a kind of tilting wing unmanned plane with complex pneumatic rudder face according to claim 5, it is characterised in that：It is described
During unmanned plane cruising level flight, by controlling 4 propellers on unmanned plane（41）Rotating speed and 4 complex pneumatic rudder faces（5）It closes
And deflection angle amounts to 8 input quantities and unmanned plane is made to complete fly each maneuver and safety action precision.
7. a kind of tilting wing unmanned plane with complex pneumatic rudder face according to claim 6, it is characterised in that：It is described
During wing verts, pass through wing before tandem on control unmanned plane（2）And wing after tandem（3）Tilt angle, 4 it is compound
Pneumatic rudder face（5）Merge deflection angle and 4 complex pneumatic rudder faces（5）Folding angle, which amounts to 10 input quantities, makes unmanned plane complete
Aerial wing, which verts, acts simultaneously safety action precision.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810778530.7A CN108791816B (en) | 2018-07-16 | 2018-07-16 | Tilting wing unmanned aerial vehicle with compound pneumatic control surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810778530.7A CN108791816B (en) | 2018-07-16 | 2018-07-16 | Tilting wing unmanned aerial vehicle with compound pneumatic control surface |
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| Publication Number | Publication Date |
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| CN108791816A true CN108791816A (en) | 2018-11-13 |
| CN108791816B CN108791816B (en) | 2024-02-06 |
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| CN109774918A (en) * | 2019-03-19 | 2019-05-21 | 深圳市道通智能航空技术有限公司 | A kind of unmanned aerial vehicle (UAV) control device and unmanned plane |
| CN113788139A (en) * | 2021-10-26 | 2021-12-14 | 上海磐拓航空科技服务有限公司 | Method for accurately controlling aircraft track through multifunctional pneumatic control surface |
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| CN208775003U (en) * | 2018-07-16 | 2019-04-23 | 西安君晖航空科技有限公司 | A kind of tilting wing unmanned plane with complex pneumatic rudder face |
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| CN109774918A (en) * | 2019-03-19 | 2019-05-21 | 深圳市道通智能航空技术有限公司 | A kind of unmanned aerial vehicle (UAV) control device and unmanned plane |
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| CN113788139A (en) * | 2021-10-26 | 2021-12-14 | 上海磐拓航空科技服务有限公司 | Method for accurately controlling aircraft track through multifunctional pneumatic control surface |
| CN113788139B (en) * | 2021-10-26 | 2024-05-24 | 上海磐拓航空科技服务有限公司 | Method for precisely controlling track of aircraft by using multifunctional pneumatic control surface |
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| Publication number | Publication date |
|---|---|
| CN108791816B (en) | 2024-02-06 |
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