CN108791818A - A kind of novel tilting wing unmanned plane with variable-pitch propeller - Google Patents
A kind of novel tilting wing unmanned plane with variable-pitch propeller Download PDFInfo
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- CN108791818A CN108791818A CN201810779471.5A CN201810779471A CN108791818A CN 108791818 A CN108791818 A CN 108791818A CN 201810779471 A CN201810779471 A CN 201810779471A CN 108791818 A CN108791818 A CN 108791818A
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- wing
- tandem
- unmanned plane
- propeller
- variable
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- 238000005096 rolling process Methods 0.000 claims abstract description 5
- 230000009471 action Effects 0.000 claims description 11
- 230000007246 mechanism Effects 0.000 claims description 3
- 239000011295 pitch Substances 0.000 description 18
- 230000005484 gravity Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000007704 transition Effects 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 241000566150 Pandion haliaetus Species 0.000 description 1
- 230000008485 antagonism Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
- B64C11/30—Blade pitch-changing mechanisms
- B64C11/32—Blade pitch-changing mechanisms mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
- B64C27/58—Transmitting means, e.g. interrelated with initiating means or means acting on blades
- B64C27/59—Transmitting means, e.g. interrelated with initiating means or means acting on blades mechanical
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
Abstract
The present invention discloses a kind of novel tilting wing unmanned plane with variable-pitch propeller, including：Fuselage and horizontal rudder face, the fuselage both sides are equipped with wing after wing before tandem and tandem, the afterbody is equipped with the vertical fin for providing Aircraft Lateral shipping-direction stability, the fuselage is equipped with engine, before the tandem horizontal rudder face is equipped on wing after wing and tandem, variable-distance propeller and nacelle, wing tiliting axis, the leading edge locus of wing after wing and tandem is arranged before the tandem in the variable-distance propeller and nacelle, the wing tiliting axis controls before the tandem verting for wing after wing and tandem respectively, the horizontal rudder face is set on rear side of variable-distance propeller and nacelle, the control ability in pitching and rolling direction can be provided when aircraft is flat winged.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 novel tilting wing with variable-pitch propeller without
It is man-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.
It is disclosed in a kind of VTOL fixed-wing unmanned planes with variable-pitch propeller of patent of invention CN107187595A
A kind of vertical take-off and landing drone, it uses to turning the double paddle forms of variable-distance, but the flight of tailstock formula aircraft vertical with it is horizontal
Control difficulty is big when state of flight switches, dynamical system requirement is high, adjustability is poor, is mostly able to reality on small-sized unmanned plane
It is existing, poor practicability.
A kind of tandem is disclosed in patent of invention CN206087301U tandem wing tilting rotor displacement aircraft to vert
Gyroplane, paddle efficiency reduces after front and back propeller will be arranged on same axis when will lead to flat fly, and only tilting rotor
Mode can make wing vertically become a prodigious flaps in rotor, reduce pulling force effect.
Existing UAV Flight Control difficulty is big, and tilting rotor is more in lift mode loss pulling force.
Invention content
For above-mentioned deficiency in the prior art, the present invention provides a kind of novel machines that verts with variable-pitch propeller
Wing unmanned plane, the VTOL simple, easily controllable, that realizability is high of topology layout are verted wing unmanned plane.
In order to reach foregoing invention purpose, the technical solution adopted by the present invention is：
A kind of novel tilting wing unmanned plane with variable-pitch propeller, including：Fuselage and horizontal rudder face, the fuselage both sides
Equipped with wing after wing before tandem and tandem, the afterbody is equipped with the vertical fin for providing Aircraft Lateral shipping-direction stability, institute
It states fuselage and is equipped with engine, be equipped with horizontal rudder face, variable-distance propeller on wing after wing and tandem before the tandem
And wing after wing and tandem is arranged before the tandem in nacelle, wing tiliting axis, the variable-distance propeller and nacelle
Leading edge locus, and the variable-distance propeller and nacelle of wing both sides are symmetrical, can together vert with the wing, the wing inclines
Shaft controls before the tandem verting for wing after wing and tandem respectively, and the horizontal rudder face is set to variable-distance spiral
On rear side of paddle and nacelle, the control ability in pitching and rolling direction can be provided when aircraft is flat winged.
Further, the power of the variable-distance propeller and the propeller on nacelle provides power, the string by engine
The propeller of both sides is in reversely rotating on wing after wing and tandem before column, before the tandem of the same side after wing and tandem
Propeller direction of rotation on wing is also on the contrary, the propeller can be by pitch-changing mechanism, under aircraft different flight state
Adjust the pitch of propeller.
Further, in the unmanned plane VTOL, by controlling 4 airscrewpistons and 4 hydroplanes on unmanned plane
Face drift angle, which amounts to 8 input quantities, makes unmanned plane complete VTOL and hovering maneuver and safety action precision.
Further, in the unmanned plane cruising level flight, by controlling 4 airscrewpistons and 4 hydroplanes on unmanned plane
Face drift angle, which amounts to 8 input quantities, makes unmanned plane complete each maneuver of fixed-wing flight and safety action precision.
Further, during the unmanned plane wing verts, by controlling wing tiliting axis angle, 4 airscrewpistons
And 4 horizontal rudder face drift angles amount to 10 input quantities unmanned plane are made to complete aerial wing and vert action and safety action precision.
Beneficial effects of the present invention are：
Wing and the propeller of the present invention vert simultaneously wing when also reducing tilted propeller large area to screw current
Blocking；The efficiency of front and back propeller opened layout and ensure that propeller on rear wing, meanwhile, variable-distance propeller makes engine exist
Under various flight progress can stability and high efficiency output, optimize the flight performance of tilt wing aircraft.This practicality not only simplifies winged
Machine is laid out, and 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 for propeller and nacelle of the invention with vert posture and the change schematic diagram of pitch of wing under different conditions；
Fig. 3 is the schematic diagram of propeller blade A-A section pitches of the present invention variation；
Fig. 4 is the label schematic diagram that present invention cooperation specific implementation mode illustrates；
The reference numeral table of comparisons：
Wing, 4- variable-distances propeller and nacelle, 41- propellers, 5- water after wing, 3- tandems before 1- fuselages, 2- tandems
Flat rudder face, 6- vertical fins, 7- wing tiliting 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 4, a kind of novel tilting wing unmanned plane with variable-pitch propeller, including：Fuselage 1 and
Horizontal rudder face 5, equipped with wing 3 after wing 2 before tandem and tandem, 1 tail portion of the fuselage is equipped with to be provided 1 both sides of the fuselage
The vertical fin 6 of Aircraft Lateral shipping-direction stability, the fuselage 1 are equipped with engine, wing 3 after wing 2 and tandem before the tandem
On be equipped with horizontal rudder face 5, variable-distance propeller and nacelle 4, wing tiliting axis 7, the variable-distance propeller and nacelle 4 are arranged
Before the tandem after wing 2 and tandem wing 3 leading edge locus, and the variable-distance propeller and nacelle 4 of wing both sides
Symmetrically, it can together vert with the wing, the wing tiliting axis 7 is controlled before the tandem respectively after wing 2 and tandem
Wing 3 verts, and the horizontal rudder face 5 is set to 6 rear side of variable-distance propeller and nacelle, can provide pitching when aircraft is flat winged
And the control ability in rolling direction.
The power of propeller 41 on the variable-distance propeller and nacelle 4 provides power, the tandem by engine
The propeller 41 of both sides is in reversely rotate on wing 3 after preceding wing 2 and tandem, wing 2 and tandem before the tandem of the same side
41 direction of rotation of propeller on wing 3 is also on the contrary, the propeller 41 can be flown by pitch-changing mechanism in aircraft difference afterwards
The pitch of propeller 41 is adjusted under state.In the unmanned plane VTOL, by controlling 4 41 pitches of propeller on unmanned plane
And 45 drift angles of horizontal rudder face amount to 8 input quantities and unmanned plane are made to complete VTOL and hovering maneuver and safety action essence
Degree.It is total by controlling 4 41 pitches of propeller and 45 drift angles of horizontal rudder face on unmanned plane in the unmanned plane cruising level flight
8 input quantities make unmanned plane complete each maneuver of fixed-wing flight and safety action precision.The unmanned plane wing verted
Cheng Zhong amounts to 10 input quantities by controlling 7 angle of wing tiliting axis, 4 41 pitches of propeller and 45 drift angles of horizontal rudder face
So that the aerial wing of unmanned plane completion is verted and acts simultaneously safety action precision.
Embodiment 1：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, the vertical full machine plane of symmetry
It is directed toward on the right side of aircraft as 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 3 is vertical with level ground after wing 2 and tandem before tandem, makes 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 in landing pitch generates pulling force confrontation aircraft gravity and rises
The resistance of the gravity direction generated when flight, unmanned plane take off vertically, such as Fig. 2 a.Period can be by controlling the horizontal rudder face of unmanned plane
The posture of 5 adjustment unmanned planes.
During VTOL as shown in Figure 4, what 41 pitch δ p of propeller and 5 deflection angle δ s of horizontal rudder face were controlled
Relationship between power or torque can be written as following form：
Control is inputted into battle arrayBattle array is distributed by control
It is with desired control matrix representation：
, then have：
There is the distribution battle array of following form：
It can makeAnd power is orthogonal with the control of torque, that is, use this 8 control input can individually to it is each to power with
Torque carries out accurately adjustment control and does not generate to interfere with each other.
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 for the unmanned plane gravity direction that makes to create antagonism on wing 3 after wing 2 and tandem before tandem
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 3 after wing 2 before tandem and tandem
Above-mentioned 10 input quantities including tilt angle individually can carry out accurately adjustment control to each to power and torque.
When wing 3 is verted to level after wing 2 and tandem before tandem, unmanned plane has reached enough forward direction flight speed
Degree, propeller 41 are adjusted to cruise pitch, and the lift generated on wing 3 after wing 2 and tandem before tandem is i.e. equal to nobody
Machine gravity, propeller pulling force be equal to before unmanned plane to flight be generation full machine X to resistance, unmanned plane enters cruising level flight,
Such as Fig. 2 b.In the cruising level flight stage, the adjustment of controlled level rudder face 5 aircraft pitch, the posture of rolling and yaw can be passed through.
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 after wing 2 and tandem wing 3 again to vertical level
Direction vert, unmanned plane forward speed reduces, from cruising level flight to vertical landing transition.
When wing 3 is verted to vertical level direction after wing 2 and tandem before tandem, propeller 41 has been again at
Pitch drops, and unmanned plane completes 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 (5)
1. a kind of novel tilting wing unmanned plane with variable-pitch propeller, which is characterized in that including：Fuselage（1）And it is horizontal
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
It is provided with the vertical fin of Aircraft Lateral shipping-direction stability（6）, the fuselage（1）Equipped with engine, wing before the tandem（2）And string
Wing after column（3）On be equipped with horizontal rudder face（5）, variable-distance propeller and nacelle（4）, wing tiliting axis（7）, described variable
Away from propeller and nacelle（4）Wing is set before the tandem（2）And wing after tandem（3）Leading edge locus, and wing
The variable-distance propeller and nacelle of both sides（4）Symmetrically, it can together vert with the wing, the wing tiliting axis（7）It controls respectively
Make wing before the tandem（2）And wing after tandem（3）Vert, the horizontal rudder face（5）It is set to variable-distance spiral
Paddle and nacelle（6）Rear side can provide the control ability in pitching and rolling direction when aircraft is flat winged.
2. a kind of novel tilting wing unmanned plane with variable-pitch propeller according to claim 1, it is characterised in that：
The variable-distance propeller and nacelle（4）On propeller（41）Power provide power by engine, machine before the tandem
The wing（2）And wing after tandem（3）The propeller of upper both sides（41）In reverse rotation, wing before the tandem of the same side（2）And string
Wing after column（3）On propeller（41）Direction of rotation is also on the contrary, the propeller（41）It can flown by pitch-changing mechanism
Propeller is adjusted under machine different flight state（41）Pitch.
3. a kind of novel tilting wing unmanned plane with variable-pitch propeller according to claim 2, it is characterised in that：
In the unmanned plane VTOL, by controlling 4 propellers on unmanned plane（41）Pitch and 4 horizontal rudder faces（5）Drift angle is total
8 input quantities of meter make unmanned plane complete VTOL and hovering maneuver and safety action precision.
4. a kind of novel tilting wing unmanned plane with variable-pitch propeller according to claim 3, it is characterised in that：
In the unmanned plane cruising level flight, by controlling 4 propellers on unmanned plane（41）Pitch and 4 horizontal rudder faces（5）Drift angle is total
8 input quantities of meter make unmanned plane complete each maneuver of fixed-wing flight and safety action precision.
5. a kind of novel tilting wing unmanned plane with variable-pitch propeller according to claim 4, it is characterised in that：
During the unmanned plane wing verts, by controlling wing tiliting axis（7）Angle, 4 propellers（41）Pitch and 4 levels
Rudder face（5）Drift angle, which amounts to 10 input quantities unmanned plane is made to complete aerial wing, verts action and safety action precision.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810779471.5A CN108791818A (en) | 2018-07-16 | 2018-07-16 | A kind of novel tilting wing unmanned plane with variable-pitch propeller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810779471.5A CN108791818A (en) | 2018-07-16 | 2018-07-16 | A kind of novel tilting wing unmanned plane with variable-pitch propeller |
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| Publication Number | Publication Date |
|---|---|
| CN108791818A true CN108791818A (en) | 2018-11-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810779471.5A Withdrawn CN108791818A (en) | 2018-07-16 | 2018-07-16 | A kind of novel tilting wing unmanned plane with variable-pitch propeller |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109398691A (en) * | 2018-12-29 | 2019-03-01 | 保定维特瑞光电能源科技有限公司 | A kind of vertically taking off and landing flyer becoming flying angle |
| CN113031636A (en) * | 2021-03-01 | 2021-06-25 | 之江实验室 | Unmanned aerial vehicle control method and device, electronic equipment, unmanned aerial vehicle and storage medium |
| US11603193B2 (en) | 2018-07-16 | 2023-03-14 | Donghyun Kim | Aircraft convertible between fixed-wing and hovering orientations |
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| CN106741917A (en) * | 2016-12-30 | 2017-05-31 | 上海牧羽航空科技有限公司 | A kind of tiltrotor gone off course with pitching using the control of telescopic propeller arrangement |
| CN107042884A (en) * | 2017-03-18 | 2017-08-15 | 北京天宇新超航空科技有限公司 | A kind of tilting rotor wing unmanned aerial vehicle |
| CN206615386U (en) * | 2017-03-08 | 2017-11-07 | 深圳智航无人机有限公司 | VTOL fixed-wing unmanned plane propeller control and unmanned plane |
| CN107600403A (en) * | 2017-08-21 | 2018-01-19 | 西北工业大学 | A kind of trapezoidal layout tandem tilting wing aircraft and its inclining rotary mechanism |
| US20180057161A1 (en) * | 2016-08-30 | 2018-03-01 | Bell Helicopter Textron Inc. | Aircraft having Dual Rotor-to-Wing Conversion Capabilities |
| CN208775005U (en) * | 2018-07-16 | 2019-04-23 | 西安君晖航空科技有限公司 | A kind of novel tilting wing unmanned plane with variable-pitch propeller |
-
2018
- 2018-07-16 CN CN201810779471.5A patent/CN108791818A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180057161A1 (en) * | 2016-08-30 | 2018-03-01 | Bell Helicopter Textron Inc. | Aircraft having Dual Rotor-to-Wing Conversion Capabilities |
| CN106741917A (en) * | 2016-12-30 | 2017-05-31 | 上海牧羽航空科技有限公司 | A kind of tiltrotor gone off course with pitching using the control of telescopic propeller arrangement |
| CN206615386U (en) * | 2017-03-08 | 2017-11-07 | 深圳智航无人机有限公司 | VTOL fixed-wing unmanned plane propeller control and unmanned plane |
| CN107042884A (en) * | 2017-03-18 | 2017-08-15 | 北京天宇新超航空科技有限公司 | A kind of tilting rotor wing unmanned aerial vehicle |
| CN107600403A (en) * | 2017-08-21 | 2018-01-19 | 西北工业大学 | A kind of trapezoidal layout tandem tilting wing aircraft and its inclining rotary mechanism |
| CN208775005U (en) * | 2018-07-16 | 2019-04-23 | 西安君晖航空科技有限公司 | A kind of novel tilting wing unmanned plane with variable-pitch propeller |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11603193B2 (en) | 2018-07-16 | 2023-03-14 | Donghyun Kim | Aircraft convertible between fixed-wing and hovering orientations |
| CN109398691A (en) * | 2018-12-29 | 2019-03-01 | 保定维特瑞光电能源科技有限公司 | A kind of vertically taking off and landing flyer becoming flying angle |
| CN113031636A (en) * | 2021-03-01 | 2021-06-25 | 之江实验室 | Unmanned aerial vehicle control method and device, electronic equipment, unmanned aerial vehicle and storage medium |
| CN113031636B (en) * | 2021-03-01 | 2024-02-20 | 之江实验室 | Unmanned aerial vehicle control method, unmanned aerial vehicle control device, electronic equipment, unmanned aerial vehicle and storage medium |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181113 |
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| WW01 | Invention patent application withdrawn after publication |