CN108839570A - Using solar panel and lithium battery group as the small-sized solar unmanned plane of power source - Google Patents
Using solar panel and lithium battery group as the small-sized solar unmanned plane of power source Download PDFInfo
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- CN108839570A CN108839570A CN201810624785.8A CN201810624785A CN108839570A CN 108839570 A CN108839570 A CN 108839570A CN 201810624785 A CN201810624785 A CN 201810624785A CN 108839570 A CN108839570 A CN 108839570A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L8/00—Electric propulsion with power supply from forces of nature, e.g. sun or wind
- B60L8/003—Converting light into electric energy, e.g. by using photo-voltaic systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Photovoltaic Devices (AREA)
Abstract
The present invention provides a kind of small-sized solar unmanned planes, including：Fuselage；Wing；The single motor and propeller of front fuselage are set；Tailplane and vertical tail.The upper surface of anti-section and middle part straight section is respectively disposed with solar battery board group (101,102,103) on the left and right side of wing, cutting and multilayer encapsulation is carried out to solar panel, to be perfectly combined with aerofoil profile；For space in saving machine and reasonable counterweight, lithium battery group (104) is arranged in the rib (105) of wing straight section.Each solar battery board group series connection, and it is furnished with independent maximum power point tracking system, that is, MPPT solar controller (304), to adjust solar battery board group output voltage, directly power to electron speed regulator (307) and motor (308), even if ensure that dead battery capability aircraft remains unchanged can substantially increase the reliability and safety of aircraft energy management system by the energy gliding landing that solar array provides.
Description
Technical field
The present invention relates to a kind of using solar panel and lithium battery group as the low latitude small-sized solar unmanned plane of power source,
Belong to aviation aircraft design field.
Background technique
Numerous advantages of low latitude solar powered aircraft, such as：Communication platform is provided for remote mountainous region；Apart from ground close-perspective recording
Photo resolution height is taken the photograph, forest fire, search rescue etc. can be investigated, there is wide application.It generally relies on self-contained
Fuel oil is that there are voyages is few, airborne period is short and leaves a blank what height was very limited for the small-sized low latitude unmanned planes of power resources
Problem.In addition, small drone is needed to execute high-altitude or remote task under partial picture, due to unmanned plane itself take-off weight compared with
It is small, enough fuel can not be carried, it is impossible to meet the requirement of aerial mission.
By taking border is investigated as an example, China has a vast territory, and environment is complicated, just will receive voyage, boat using the reconnaissance plane of active service
When and local environment influence, can not accomplish uninterrupted monitoring in round-the-clock 24 hours.If using scounting aeroplane multi rack time
It takes off, ground maintenance personnel can be caused greatly to bear.
Military aspect：Distant early warning, ground reconnaissance and monitoring operating distance and limited time, and survival ability is lower,
Seriously restrict the process of my army's informatization.
Civilian aspect：TV service, atmosphere environment supervision and weather forecast, hazard forecasting and emergency processing effect means and
Can overlay area it is limited.
Therefore, the present invention designs a small-sized low latitude solar energy unmanned plane, realizes that short distance is thrown and flies, and when landing realizes gliding
Landing.
Summary of the invention
For applications such as example above-mentioned border investigations, if can will be risen by the unmanned plane that solar energy is power in border
Fly, fly to designated place overhead, cooperate autopilot system, whole monitoring in 24 hours is provided and scouts, effect can be improved
Rate and the burden for mitigating ground staff significantly, solar energy unmanned plane can complete the reconnaissance mission that this long-time is left a blank.
Therefore, the purpose of the present invention is to provide a kind of small-sized low latitude solar energy unmanned plane.
According to an aspect of the invention, there is provided a kind of unmanned plane, it is characterised in that including：
Fuselage,
It is mounted on front fuselage, motor with foldable propeller, for power needed for providing flight for aircraft,
Wing has three sections of wing designs, is divided into middle section wing and two outer segment wings,
The rear of outer segment wing is provided with aileron,
The tailplane and vertical tail being connected with fuselage,
Lithium battery group is arranged in the rib of middle section wing,
Wherein：
In middle section, the upper surface of wing and two outer segment wings is respectively disposed with second, first and third solar panel
Group,
Described second, first and third solar battery board group in solar panel carried out cutting and multilayer envelope
Dress, with the fusion of the aerofoil profile of middle section wing and two outer segment wings.
Detailed description of the invention
Fig. 1 shows the monnolithic case figure of small-sized solar unmanned plane according to an embodiment of the invention.
Fig. 2 shows the solar panel arrangement of small-sized solar unmanned plane according to an embodiment of the invention
Figure.
Fig. 3 shows the lithium battery arrangement schematic diagram of small-sized solar unmanned plane according to an embodiment of the invention.
Fig. 4 shows the solar battery board group encapsulation of small-sized solar unmanned plane according to an embodiment of the invention
Figure.
Fig. 5 shows the structure of the energy management system of small-sized solar unmanned plane according to an embodiment of the invention
Schematic diagram.
Fig. 6 shows the energy management system control stream of small-sized solar unmanned plane according to an embodiment of the invention
Cheng Tu.
Fig. 7 shows the foldable propeller shape of small-sized solar unmanned plane according to an embodiment of the invention
Figure.
Specific embodiment
Voyage, airborne period and flying height in order to solve the problems, such as existing unmanned plane is limited, and can be by miniature self-service
The function of machine is extended, and makes it the high-altitude for completing to complete originally by self power, long-range long endurance flight
Task, the present inventor devise one kind using solar energy as power, have certain task load, can complete mapping scouting etc. and appoint
Business, and can be applied to the small drone of a variety of application fields such as meteorological mapping.
The power resources of solar energy unmanned plane are solar energy, and the capture of solar energy is the sun by being arranged on aircraft
Energy solar panel is realized.Since Different climate is different with the intensity of solar irradiation under time conditions, solar panel can be supplied
The power given is also to change therewith, in order to guarantee the normal even running of solar energy unmanned plane, is needed to by solar battery
Energy resource system composed by plate, motor and lithium battery carries out energy management and status monitoring.For this purpose, the present invention devises a kind of fit
For the energy management system of long endurance unmanned aircraft, guarantee the efficiently and smoothly operated of energy resource system under different operating conditions.
Existing solar panel is divided into flexible solar battery plate and non-flexible cells plate.Wherein, flexible solar electricity
Pond plate is with high costs can not be extensive practical；Non-flexible solar panel can not be bent due to material cause.In order to make the sun
Energy solar panel can be bonded the radian of aerofoil surface, and the present invention cuts solar panel, can be fitted in wing table
Face.Meanwhile the present invention has been bonded light-transmissive film on its surface, has improved solar-electricity in the encapsulation process of solar panel
The light gathering of pond plate.
The total arrangement of solar energy unmanned plane according to the present invention
Small drone according to an embodiment of the invention is using conventional formula aerodynamic arrangement, as depicted in figs. 1 and 2,
It is designed with high mounted wing, and fuselage (2) front end is provided with the motor (1) of foldable propeller (9), provides flight for aircraft
Required power.
Wing planform is rectangle, no angle of sweep, the design of three sections of wings be divided into middle section wing (5) and outer segment wing (7) and
(8), there are 5 ° of upper counterangles in outer segment wing (7) and (8), increase flight stability.Outer segment trailing edge is provided with aileron (6).It is horizontal
Empennage (3) is connected with vertical tail (4) with fuselage (2), and in a specific embodiment, fuselage (2) uses carbon fiber composite
Expect round tube.Small-sized solar unmanned plane of the invention throws winged realize by short distance and takes off, no runway is wanted without undercarriage
It asks, landing is landed in a manner of gliding.
The arrangement mode of solar battery board group and lithium battery group
According to one embodiment of present invention, as shown in Figures 2 and 3, anti-section, middle part straight section, the right side on the left side of wing
The upper surface of anti-section is respectively disposed with one piece of solar battery board group (101,102,103) on side, carries out to solar panel
Cutting and multilayer encapsulation, can be perfectly combined with aerofoil profile；Meanwhile in order to save space in machine, reasonable counterweight, the present invention is by lithium
Battery pack (104) is arranged in the rib (105) of wing straight section.On the outside of rib, it is coated with covering (106).In covering (106)
Upper surface, be fitted with solar battery board group (102).Meanwhile in the leading edge of a wing, it is covered with material shell (107).
Solar panel packaged type
According to one embodiment of present invention, as shown in figure 4, several pieces of single-crystalline-silicon solar-cell panels are adopted by cutting
It is encapsulated on solar battery board group (102) with the mode of multilayer encapsulation.
According to one embodiment of present invention, solar battery board group is using soft plastic film as counterdie (201)；According to one
The packaged type of a specific embodiment is that have one layer of EVA (ethyl vinyl acetate among solar panel (203) and counterdie (201)
Ethylene copolymer) hot melt adhesive film (202)；In solar panel (203) upper surface, it is also covered with one layer of EVA hot-melt adhesive film
(204)；In the upper surface of upper layer EVA hot-melt adhesive film (204), it is packaged with one layer of light-transmissive film (205), which can be improved too
The light gathering of positive energy cell plate group；Wherein, EVA hot-melt adhesive film (202,204) is played to counterdie (201), solar battery
The adhesive effect of plate (203), light-transmissive film (205), ensure that the stability of solar panel encapsulating structure.In addition, in order to make
Solar panel is more bonded aerofoil curve, improves flight efficiency, and every piece of solar panel is all extended to having carried out cutting process.
According to one embodiment of present invention, solar panel (203) is using conventional single crystal silicon battery plate, and adopts
With the mode of cutting multilayer encapsulation in conjunction with wing, lithium battery is embedded in the carbon pipe of wing fin, carries out integrated design, is increased
Wing intensity reduces occupied space.
Energy management system
Solar powered aircraft energy management system structure chart according to an embodiment of the invention is as shown in Figure 5.Wherein,
One solar battery board group (301), the second solar battery board group (302), third solar battery board group (303) are respectively to arrange
Be distributed in anti-section on the left side of wing, middle part straight section, on right side the upper surface of anti-section cell plate group expression in circuit；Lithium electricity
Pond group (306) is the expression of solar battery group in circuit being arranged in the middle part of wing in straight section.The system is by solar-electricity
Pond board group (301,302,303) is electric to lithium by MPPT maximum power point tracking (MPPT) system, i.e. MPPT solar controller (304)
Pond group (306) and the motor (308) (motor (1) in namely Fig. 1) of electron speed regulator (307) control are directly powered,
When motor (308) needs relatively high power, lithium battery group (306) and first to third solar battery board group (301,302,
303) it powers simultaneously to motor (308).Meanwhile going here and there afterwards in MPPT solar controller (304) has counnter attack to fill diode (309)
To protect the steady operation of solar battery board group (301,302,303).
First is series in circuit to third solar battery board group (301,302,303), MPPT solar controller
(304) it for adjusting the output voltage of solar battery board group, directly powers to electron speed regulator (307) and motor (308),
Even if guaranteeing in the case where dead battery capability, the energy that solar powered aircraft can still be provided by solar battery board group
Gliding landing, substantially increases the reliability and safety of entire solar powered aircraft energy management system.
Lithium battery group (306) prevents over-charging of battery, protects the normal work of lithium battery group equipped with protection system (305) are overcharged
Make, extends battery life.
The control flow chart of solar powered aircraft energy management system according to an embodiment of the invention as shown in fig. 6,
The energy management system is mainly implemented by an energy conservation module (310).At work, energy conservation module is standby in real time,
Monitoring in real time and control are carried out to the working condition of energy resource system.When energy resource system start-up operation (3001), first reading function
Rate data (3002), the consumption power of output end power and motor (308) including MPPT solar controller (304)；So
Enter afterwards and judge process (3003), in the case where taking off climb mode, the output power of general solar panel is less than electronic
Machine consumes power, enters lithium battery discharge mode (3005) at this time, and energy conservation module passes through the input of control lithium battery group, output
The breaker (311,312) at end makes lithium battery group (306) to discharge, at this time lithium battery group (306) and solar battery board group
(301,302,303) are jointly motor (308) power supply of electron speed regulator (307) control, provide enough power to take off；
Under the flat winged state of aircraft, the output power of general solar panel is greater than motor and consumes power, enters lithium battery at this time
Discharge mode (3004), energy conservation module make lithium by the input of control lithium battery group, the breaker (311,312) of output end
Battery pack (306) charging, receives solar energy by solar battery board group (301,302,303) at this time, fills for lithium battery group (306)
Motor (308) power supply controlled while electric to electron speed regulator (307), it is flat that aircraft can fully rely on solar power
Fly.After lithium battery charge mode changes, control flow terminates (3006).
Foldable propeller design
Foldable propeller (9) outline drawing of solar powered aircraft according to an embodiment of the invention is as shown in Figure 7.Its
In, two panels blade (401,402) is connected on paddle folder (405) by two shafts (403,404) respectively；Paddle folder (405) passes through
Axis hole (406) is connected on motor (1).Wherein, blade (401,402) (403,404) can rotate around the shaft, realize blade
Folding, when motor (1) drive propeller rotational when, blade (401,402) can be opened under the action of the centrifugal force, be unmanned plane
Thrust is provided.The beneficial effect of the design is that, when unmanned plane landing, motor (1) stops operating, blade (401,402)
It can pack up automatically, can effectively prevent blade in this way and collide with ground, cause motor damages.
The advantages of the present invention include：
1) the solar energy unmanned plane using normal arrangement, single shoe, inverted T shaped empennage distribution form, have it is very high can
By property.
2) compared with small drone powered by conventional energy, which has longer by solar panel and lithium battery group power supply
Endurance, farther flying distance, can serve as a long time cruise task.
3) using conventional single crystal silicon battery plate, and by the way of cutting multilayer encapsulation in conjunction with wing, lithium battery
It is embedded in watchfully rib machine, carries out integrated design, increase wing intensity, reduce occupied space.
4) it takes off by power provided by solar panel and lithium battery group, can be fully relied on too under flat winged state
Positive motility is flat to fly.5) have the advantages that high-tensile strength effect, big torsion, the slow-speed of revolution as driving power using single-shot motor.
6) solar battery board group has maximum power point tracking system, and solar panel is made all to work in best power
Point guarantees that solar battery board group can work under the higher operating condition of output power, while guaranteeing the steady of aircraft electrical power supply system
It is qualitative.
7) lithium battery group can prevent over-charging of battery with protection system is overcharged, and extend battery life.
8) it is designed using foldable propeller, and short distance throwing may be implemented without undercarriage, when taking off by the present invention
Fly to realize gliding landing when landing without runway requirement.
Claims (10)
1. a kind of unmanned plane, it is characterised in that including：
Fuselage (2),
It is mounted on fuselage (2) front end, motor (1) with foldable propeller (9), for providing needed for flight for aircraft
Power,
Wing has three sections of wing designs, is divided into middle section wing (5) and two outer segment wings (7,8),
The rear of outer segment wing (7,8) is provided with aileron (6),
The tailplane (3) and vertical tail (4) being connected with fuselage (2),
Lithium battery group (104) is arranged in the rib (105) of middle section wing (5),
Wherein：
In middle section, the upper surface of wing (5) and two outer segment wings (7,8) is respectively disposed with second, first and third solar-electricity
Pond board group (101,102,103),
Described second, first and third solar battery board group (101,102,103) in solar panel cut
It cuts and multilayer encapsulation, with the fusion of the aerofoil profile of middle section wing (5) and two outer segment wings (7,8).
2. unmanned plane according to claim 1, wherein：
The unmanned plane is small drone, using conventional formula aerodynamic arrangement, is designed with high mounted wing,
Fuselage (2) uses carbon fibre composite round tube
Unmanned plane throws winged realize by short distance and takes off without undercarriage, and landing is landed in a manner of gliding,
Wing planform is rectangle, no angle of sweep,
Outer segment wing (7,8) has 5 ° of upper counterangles, improves flight stability.
3. unmanned plane according to claim 1, it is characterised in that：
The middle section wing (5) and two outer segment wings (7,8) respectively include rib,
On the outside of rib, covering (106) are coated with,
In the upper surface of covering (106), it is bonded the solar battery board group,
Material shell (107) are covered in the leading edge of the middle section wing (5).
4. unmanned plane according to claim 1, it is characterised in that：
Each solar battery board group includes multiple signle crystasl silicon solar cell plate (203),
The multiple signle crystasl silicon solar cell plate (203) by cutting, be packaged by the way of multilayer encapsulation it is described too
Positive energy cell plate group.
5. unmanned plane according to claim 4, it is characterised in that：
The solar battery board group is using soft plastic film as counterdie (201)；
There is one layer of first ethylene vinyl acetate copolymer hot melt adhesive film among solar panel (203) and counterdie (201)
(202)；
One layer of second ethylene vinyl acetate copolymer hot melt adhesive film (204) is covered in solar panel (203) upper surface；
In the upper surface of the second ethylene vinyl acetate copolymer hot melt adhesive film (204), it is packaged with one layer of light-transmissive film (205), is used for
Improve the light gathering of solar battery board group；
Wherein, the first and second ethylene vinyl acetate copolymer hot melt adhesive films (202,204) are used for counterdie (201), solar energy
Solar panel (203), light-transmissive film (205) are bonded, and guarantee the stability of the encapsulating structure of solar panel,
Every piece of solar panel is all extended to cutting process is carried out, so that solar panel is more bonded aerofoil curve, improves flight effect
Rate.
6. unmanned plane according to claim 1, it is characterised in that：
Lithium battery group (104) is embedded in the carbon pipe in rib (105).
7. unmanned plane described in one of -6 according to claim 1, it is characterised in that：
Described second, first and third solar battery board group by MPPT maximum power point tracking solar controller (304) to lithium
Battery pack and the motor of electron speed regulator (307) control are directly powered,
When motor needs high-power, lithium battery group and first to third solar battery board group simultaneously to motor,
First is series in circuit to third solar battery board group,
MPPT maximum power point tracking solar controller (304) is used to adjust the output voltage of solar battery board group, makes solar energy
Cell plate group is directly to electron speed regulator (307) and motor, even if guaranteeing sun in the case where dead battery capability
Energy aircraft, which remains unchanged, to land by the energy gliding that solar battery board group provides.
8. unmanned plane according to claim 7, it is characterised in that：
Pass through lithium battery group (306) and solar battery board group (301,302,303) during taking off is electronics jointly
The motor of governor (307) control,
During aircraft can fully rely on solar power and put down winged, connect by solar battery board group (301,302,303)
Solar energy is received, the motor (308) to control while lithium battery group (306) charging to electron speed regulator (307) is powered,
Solar panel (203) uses conventional single crystal silicon battery plate,
Going here and there afterwards in MPPT maximum power point tracking solar controller (304) has counnter attack to fill diode (309), for protecting solar-electricity
The steady operation of pond board group,
Lithium battery group (306) prevents over-charging of battery, protects the normal work of lithium battery group, prolong equipped with protection system (305) are overcharged
Long battery life.
9. unmanned plane described in one of -6 according to claim 1, it is characterised in that：
Foldable propeller (9) includes two panels blade (401,402),
Two panels blade (401,402) is connected on paddle folder (405) by two shafts (403,404) respectively,
Paddle folder (405) is connected on motor (1) by axis hole (406),
Wherein,
Blade (401,402) (403,404) can rotate around the shaft, realize the folding of blade,
When motor (1) drives propeller rotational, blade (401,402) can be opened under the action of the centrifugal force, mention for unmanned plane
Arch thrust,
When unmanned plane landing, motor (1) stops operating, and blade (401,402) is packed up automatically, to prevent blade and ground
It collides and is damaged with the possibility of caused motor.
10. a kind of energy management method based on unmanned plane described according to claim 1 one of -9, it is characterised in that including：
A) read includes the output end power of MPPT solar controller (304) and the power for consuming power of motor (308)
Data (3002)；
B) enter judgement (3003), and：
Enter lithium battery discharge mode (3005) at this time in the consumption power that the output power of solar panel is less than motor,
By controlling the input terminal of lithium battery group and/or the breaker (311,312) of output end, so that lithium battery group (306) is discharged, make lithium
Battery pack (306) and solar battery board group (301,302,303) are jointly the motor of electron speed regulator (307) control
(308) it powers, so that enough power is provided,
When the output power of solar panel is greater than motor consumption power, into lithium battery discharge mode (3004), lead to
The breaker (311,312) for crossing control lithium battery group input terminal and/or output end makes lithium battery group (306) to charge, at this time the sun
Energy cell plate group (301,302,303) receives solar energy, to electron speed regulator while for lithium battery group (306) charging
(307) motor (308) power supply controlled.
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| CN110040239A (en) * | 2019-04-25 | 2019-07-23 | 上海空间电源研究所 | A kind of unmanned plane photovoltaic stressed-skin construction that modularization is replaceable |
| CN110362113A (en) * | 2019-07-23 | 2019-10-22 | 武昌理工学院 | A kind of multi-rotor unmanned aerial vehicle height geography mapping system |
| CN112793795A (en) * | 2021-03-19 | 2021-05-14 | 靳晨昊 | Carry on new forms of energy system's unmanned aerial vehicle |
| CN112937834A (en) * | 2021-04-14 | 2021-06-11 | 北京航空航天大学 | Adopt small-size unmanned aerial vehicle of ally oneself with pneumatic overall arrangement of wing formula |
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| CN110362113A (en) * | 2019-07-23 | 2019-10-22 | 武昌理工学院 | A kind of multi-rotor unmanned aerial vehicle height geography mapping system |
| CN112793795A (en) * | 2021-03-19 | 2021-05-14 | 靳晨昊 | Carry on new forms of energy system's unmanned aerial vehicle |
| CN112793795B (en) * | 2021-03-19 | 2022-03-29 | 靳晨昊 | Carry on new forms of energy system's unmanned aerial vehicle |
| CN112937834A (en) * | 2021-04-14 | 2021-06-11 | 北京航空航天大学 | Adopt small-size unmanned aerial vehicle of ally oneself with pneumatic overall arrangement of wing formula |
| CN112937834B (en) * | 2021-04-14 | 2022-06-28 | 北京航空航天大学 | Adopt small-size unmanned aerial vehicle of antithetical couplet wing formula aerodynamic configuration |
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