CN109018342A - One kind is verted cycloid fan swing device, vert cycloid fan rotor aircraft and its control method - Google Patents
One kind is verted cycloid fan swing device, vert cycloid fan rotor aircraft and its control method Download PDFInfo
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- CN109018342A CN109018342A CN201810973022.4A CN201810973022A CN109018342A CN 109018342 A CN109018342 A CN 109018342A CN 201810973022 A CN201810973022 A CN 201810973022A CN 109018342 A CN109018342 A CN 109018342A
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- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims description 18
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- 125000004122 cyclic group Chemical group 0.000 claims description 13
- 230000033001 locomotion Effects 0.000 claims description 9
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/10—Shape of wings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/36—Structures adapted to reduce effects of aerodynamic or other external heating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/38—Adjustment of complete wings or parts thereof
- B64C3/385—Variable incidence wings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/10—All-wing aircraft
- B64C2039/105—All-wing aircraft of blended wing body type
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- Aviation & Aerospace Engineering (AREA)
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Abstract
It verts cycloid fan swing device, vert cycloid fan rotor aircraft and its control method the invention proposes one kind, fan swing device includes the deflectable cycloid fan swing device in conjunction with the cross flow fan wing and cycloid propeller feature.Present invention incorporates both the cross flow fan wing and cycloid propeller advantages.Fan wing blade in the present invention is also the blade of cycloid propeller, which is worked when can be flown before aircraft by operating mechanism with the cross flow fan blade mode in the fan wing, and in aircraft hovering, the blade is with the work of cycloidal oar blade mode.Compared with conventional cross flow fan rotor aircraft, fan blade is adjustable when preceding winged, adapts to different flying conditions, and the ability with VTOL and hovering, compared with conventional cycloid propeller (the rolling wing) aircraft, fly that high-efficient, load-carrying is big before having many advantages, such as.The fan rotor aircraft that verts is designed as four wing modes of verting, and overcomes existing contradiction between hovering performance and preceding winged performance.
Description
Technical field
The present invention is a kind of dual-use aviation aircraft, is related to Flight Vehicle Design, mechanical manoeuvring system and lifting wing
Field, specifically a kind of cycloid fan rotor aircraft that verts.
Background technique
The cross flow fan wing is a kind of device of novel generation aerodynamic lift, it generates whirlpool using the preposition rotary fan of aerofoil profile
Lift and thrust are flown, and have many advantages, such as that low-speed performance is good, load is big and High Angle of Attack not stall.The fan wing generate lift by
Two parts composition: a part is when fan rotation, and the flow velocity of wing latter half upper and lower surface is different, causes following table on wing
The pressure difference in face forms the lift of wing;Another part is because when fan rotates, and generation one is very strong partially inside fan
Heart vortex causes stronger eccentric vortex low-pressure area, so that the upper and lower surface generation in the arc-shaped region of wing first half is biggish
Pressure difference forms larger portion of airfoil lift, i.e. vortex lift.Fan rotor aircraft comes out soon, and research work is still in spy
The rope starting stage delivers less about the newest research achievement of the fan wing and its development of projects both at home and abroad.
Current verts aircraft generally by the way of tilting rotor, i.e., in the secondary rotor of the end of wing installation one, rises
When flying, for rotor level in ground, rotor wing rotation generates lift, and when preceding winged, rotor gradually verts until horizontal, and thrust is produced by rotor
Raw, wing generates lift.Meanwhile the general aircraft that verts is two rotors that vert, using side-by-side configuration.Due to using simple
Rotor is as lift and thrust device, and rotor causes generally to vert so winged in hovering and the preceding otherness for flying upper performance
Row device needs to compromise in hovering and preceding winged performance, causes the winged performance of aircraft hovering performance peace not high, reduces efficiency.When
It is preceding by the way of the DCB Specimen that verts, cause aircraft to be rather limited in voyage endurance and load-carrying ability.
Summary of the invention
In view of the above technical problems, the present invention provides it is a kind of it is novel, meet VTOL, hovering, height simultaneously
Vert cycloid fan rotor aircraft and its working principle that sky cruise requires, in conjunction with both the cross flow fan wing and cycloid propeller advantage,
Flight Vehicle Design of verting is four wing modes of verting, and overcomes existing contradiction between hovering performance and preceding winged performance, hovering property
Winged performance, voyage endurance and load can, be equalled all to be improved.
It can vert cycloid fan swing device the present invention provides one kind, including cross flow fan wing 5 and cycloid propeller manipulate machine
Structure, in the front end of the cross flow fan wing 5, one end is fixed on aircraft fuselage the cycloid propeller structure setting, another
End is connected with the contractile fan nose of wing on cross flow fan wing;The cycloid paddle structure by steering engine, steering engine connecting rod and
The angle for operating mechanism control 1 blade of cycloid propeller that inclinator is constituted, to control aircraft hovering or preceding winged.
Further, the cycloid paddle structure includes cycloid propeller rotary part, and the cycloid propeller rotary part includes cycloid
Paddle fixed plate 2, cycloid propeller 1, transmission shaft 3;Wherein, the cycloid propeller fixed plate 2 is located at 1 both ends of cycloid propeller, for fixing
The cycloid propeller 1;The cycloid propeller rotary part includes several cycloid propellers 1, and angularly circumference is fixed on cycloid to the cycloid propeller 1
In paddle fixed plate 2;The transmission shaft 3 is passed to through the cycloid propeller center, by power by cycloid propeller fixed plate 2
Cycloid propeller 1 rotates cycloid propeller 1 around transmission shaft 3.
Further, the operating mechanism includes connecting plate 12, inclinator 14, inclinator connecting rod, cycloid propeller connecting rod, L-type
Bar, steering engine, steering engine connecting rod and steering engine fixation device, cycloid propeller fixed plate 2, the connecting plate are protruded in described 3 one end of transmission shaft
12 are fixed on the end of prominent 2 one end of cycloid propeller fixed plate of transmission shaft, and the fixation device of transmission shaft 3 and steering engine is connected to one
It rises;The operating mechanism includes several steering engines, and the steering engine is evenly distributed on transmission shaft by the fixed device of steering engine, and
Each steering engine passes through steering engine connecting rod and is connected on inclinator 14;The inclinator 14 is matched by inclinator connecting rod and l-shaped rod
Resultant motion controls the movement of cycloid propeller connecting rod, to control the variation of each cycloid propeller setting angle.
Further, the cross flow fan wing 5 includes contractile fan nose of wing 18, cycloid propeller 1 and cycloid
Paddle operating mechanism is the device that lift is generated when flying before aircraft.
As a preference, the cycloid propeller rotary part is made of eight cycloidal oar blades;Eight cycloids
Paddle blade circumferentially angularly place by circumferential arrangement.
Further, it is equipped with three identical steering engines in the cycloid propeller operating mechanism, steering force is provided, and by automatic
Inclinator 14 controls eight cycloidal oar blades always away from operating with feathering respectively.
The present invention also provides the cycloid fan rotor aircrafts that verts using the even numbers fan wing, are provided with four on the aircraft
Have the cycloid fan swing device that can vert as claimed in claim 6, is symmetrically arranged on the two sides of aircraft two-by-two, is cycloid propeller
Structure is in the preceding posterior form of cross flow fan wing;When aircraft vertical flight, cross flow fan wing 5 verts close with ground
Vertically, for blade with the work of cycloid propeller mode, aircraft generates the lift of direction upward;When aircraft horizontal flight, flow over wind
Fan wing 5 verts parallel to the ground, and blade generates forward thrust with the work of cross flow fan mode, aircraft.
And the present invention also provides the control method for the cycloid fan rotor aircraft that verts, the control method passes through steering engine control
The posture of inclinator processed, then drive what connecting rod to become the inclination angle that the variation of its posture is converted into cycloidal oar blade by inclinator
Change, verting for cross flow fan wing of cooperation controls the offline mode of aircraft;
For inclinator when carrying out cyclic pitch control, blade cyclic displacement is with the work of cycloid propeller mode;Change cyclic pitch control
Direction, the size and Orientation of the aerodynamic force of adjustable cycloid propeller.
For the inclinator when carrying out always away from manipulation and no periodic displacement is adjusted, the vaned angle of institute is all identical, at this time
With the work of cross flow fan mode;Change always away from size, adjust cross flow fan blade angle, with adjust aerodynamic force size or
For adapting to different flying conditions, make it possible to keep higher pneumatic efficiency.
The beneficial effects of the invention are that:
1, the cycloid fan rotor aircraft that verts overcomes the shortcomings that conventional Ian rotor aircraft is unable to VTOL and hovering,
Expand the use scope of such aircraft.
2, when flying before the aircraft, the size or use of aerodynamic force is can be changed in cross flow fan adjustable blade burner on the fan wing
Adapt to different flying conditions, winged pneumatic efficiency before making it possible to keep higher.
3, effective combination of the fan wing and cycloid propeller, so that aircraft hovering with higher and preceding winged efficiency, comprehensive
It has excellent performance.
4, vert the designs of four wings, overcome hovering and it is preceding fly between contradiction, be effectively promoted hovering efficiency with
Preceding winged performance.And it all has a distinct increment in terms of load-carrying ability and voyage endurance.
Use scope
At civilian aspect, it is aerial that the cycloid fan rotor aircraft of the present invention that verts can be used for aeroplane photography, geological prospecting etc.
Operation, at military aspect, the cycloid fan rotor aircraft of the present invention that verts can be used for firepower investigation, ground target positions,
Generic task is investigated in submarine search etc..The cycloid fan rotor aircraft of the present invention that verts is since it takes into account helicopter and fixed-wing
Aircraft feature, therefore compared with traditional unmanned plane is on Mission Capability with greater advantage.
Detailed description of the invention
Fig. 1 is cycloid propeller and cycloid propeller operating mechanism overall structure diagram.
Fig. 2 is the cycloid fan rotor aircraft schematic diagram that verts.
Fig. 3 is cycloid propeller operating mechanism left side view.
Fig. 4 is cycloid propeller operating mechanism right side view.
Fig. 5 is the cycloid fan rotor aircraft hovering/lift mode schematic diagram that verts.
Fig. 6 is the cycloid fan rotor aircraft level flight condition schematic diagram that verts.
Fig. 7 is winglike state when verting cycloid fan rotor aircraft hovering/vertical flight.
Fig. 8 is the state of wing when flying before verting cycloid fan rotor aircraft.
Fig. 9 is wing neighbouring air flow schematic diagram when verting cycloid fan rotor aircraft hovering/vertical flight.
Air flow schematic diagram near wing when Figure 10 is winged before verting cycloid fan rotor aircraft.
In figure, cycloid propeller 1, cycloid propeller fixed plate 2, transmission shaft 3, fuselage 4, cross flow fan wing 5, cycloid propeller connecting rod 6, L
Type bar 7, inclinator connecting rod 8, steering engine 9, steering engine fixed plate 10, steering engine 11, connecting plate 12, steering engine 13, inclinator 14, connecting rod 15,
Steering engine fixed plate 16, blade rib 17, contractile fan nose of wing 18, vertical fin 19, rudder 20, fan nose of wing radio and tape player
Structure gear 21, fan nose of wing jack rack gear 22.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and specific embodiments.
Cycloid propeller is a kind of device of novel generation aerodynamic lift, and blade is while around the revolution of cycloid propeller shaft also around hinge
Chain does vertical dip mining movement, provides lift by the angle of attack of different location blade in cyclomorphosis rotary blade system, passes through
Change the phase angle of blade cyclic pitch and then change net vector direction of pull, since the period rotation bring of cycloid propeller is non-fixed
Normal flow behavior increases the stalling angle of blade, so that cycloid propeller has, high-efficient, noise is low, vectored thrust variation is fast etc.
Feature.
Embodiment 1
As shown in Figures 1 to 4, it can vert cycloid fan swing device the present invention provides one kind, including pass through operating mechanism and connect
Cycloid propeller 1 and cross flow fan wing 5, the cycloid fan wing structure, mainly by cycloid propeller operating mechanism, cycloid propeller rotation
Rotation member and cross flow fan wing 5 form.In conjunction with both the cross flow fan wing and cycloid propeller advantage.
The cycloid propeller rotary part, by cycloid propeller fixed plate 2 by eight or the identical cycloid propeller 1 of multi-disc angularly
Circumference is fixed, and power is passed to cycloid propeller 1 by cycloid propeller fixed plate 2 by transmission shaft 3, makes eight cycloid propellers 1 around transmission shaft 3
Rotation.
The cycloid propeller operating mechanism is linked together transmission shaft 3 and steering engine fixed plate 10 by connecting plate 12, is led to
Cross steering engine fixed plate 10 and steering engine fixed plate 16 steering engine 9, steering engine 13 and steering engine 11 is fixed, steering engine 13 is controlled by steering engine connecting rod 15
Inclinator 14 processed moves, and the movement of inclinator 14 controls cycloid propeller connecting rod 6 by the cooperative movement of inclinator connecting rod 8 and l-shaped rod 7
Movement, to control the change in angle of attack of cycloid propeller, steering engine 9 and steering engine 11 control inclinator 14 and pendulum respectively in an identical manner
The movement of line paddle connecting rod.The cycloid propeller operating mechanism mainly provides behaviour by three identical steering engines 9, steering engine 11 and steering engine 13
Vertical power, and eight cycloid propellers are controlled always away from operating with feathering by inclinator 14.The cycloid propeller operating mechanism structure letter
Single, each inter-agency no clamping stagnation, therefore for other existing operating mechanisms has a higher driving efficiency, response is fast,
Light-weight advantage.
Described its main function of cross flow fan wing 5 is fixed cycloid propeller 1 and cycloid propeller operating mechanism and aircraft
Lifting system.
Embodiment 2
Based on the above-mentioned cycloid fan swing device that verts, as shown in Fig. 5 to Fig. 8, vert cycloid wind the present invention also provides one kind
Rotor aircraft is fanned, the cycloid fan swing device that verts is symmetrically arranged on the two sides of aircraft two-by-two, is cycloid propeller knot
Structure is in the preceding posterior form of cross flow fan wing;When aircraft vertical flight, cross flow fan wing 5 verts close vertical with ground
Directly, blade is worked with cycloid propeller mode, and lift direction caused by aircraft is upward;When aircraft horizontal flight, flow over wind
Fan wing 5 verts parallel to the ground, and blade is with the work of cross flow fan mode, forward thrust produced by aircraft.
The control method controls the posture of inclinator by steering engine, then drives what connecting rod by its posture by inclinator
Variation be converted into the inclination angle of cycloid paddle piece, verting for cross flow fan wing of cooperation controls the offline mode of aircraft;
For inclinator when carrying out cyclic pitch control, blade cyclic displacement is with the work of cycloid propeller mode;Change cyclic pitch control
Direction, the size and Orientation of the aerodynamic force of adjustable cycloid propeller.
For the inclinator when carrying out always away from manipulation and no periodic displacement is adjusted, the vaned angle of institute is all identical, at this time
With the work of cross flow fan mode;Change always away from size, the angle of adjustable cross flow fan blade, to adjust the big of aerodynamic force
It is small or for adapting to different flying conditions, make it possible to keep higher pneumatic efficiency.
The cross flow fan wing 5 can vert;Cross flow fan leading edge of a wing circular arc portion 18 can be taken in wing 5
Portion, to the aerodynamic interference of cycloid propeller when reducing aircraft hovering.The fan rotor aircraft that verts can be realized overhead suspension
Stop, vertical flight and horizontal flight.
Wherein, the scheme in patent CN105799934A patent can be used in wing inclining rotary mechanism.
Embodiment 3
And the present invention also provides the control method for the cycloid fan rotor aircraft that verts, the control method is inclined by steering engine control
The posture of oblique device, then drive what connecting rod to convert the variation of its posture to the change of pitch angle of cycloidal oar blade by inclinator,
Verting for cross flow fan wing of cooperation controls the offline mode of aircraft;
For inclinator when carrying out cyclic pitch control, blade cyclic displacement is with the work of cycloid propeller mode;Change cyclic pitch control
Direction, the size and Orientation of the aerodynamic force of adjustable cycloid propeller.
For the inclinator when carrying out always away from manipulation and no periodic displacement is adjusted, the vaned angle of institute is all identical, at this time
With the work of cross flow fan mode;Change always away from size, adjust cross flow fan blade angle, with adjust aerodynamic force size or
For adapting to different flying conditions, make it possible to keep higher pneumatic efficiency.
Fig. 9 is that wing is empty nearby when verting cycloid fan rotor aircraft hovering/vertical flight when implementing to control to aircraft
Flow of air schematic diagram;Air flow schematic diagram near wing when Figure 10 is winged before verting cycloid fan rotor aircraft.
The cycloid fan rotor aircraft that verts overcomes conventional Ian rotor aircraft and is unable to VTOL and hovering
Disadvantage expands the use scope of such aircraft.When flying before the aircraft, cross flow fan adjustable blade burner on the fan wing,
The size of aerodynamic force can be changed or for adapting to different flying conditions, fly pneumatic efficiency before making it possible to keep higher.Wind
Effective combination of the wing and cycloid propeller is fanned, so that aircraft hovering with higher and preceding winged efficiency, excellent combination property.It verts
The design of four wings, overcome hovering and it is preceding fly between contradiction, hovering efficiency and preceding winged performance is effectively promoted.And
It all has a distinct increment in terms of load-carrying ability and voyage endurance.
At civilian aspect, the cycloid fan rotor aircraft of the present invention that verts can be used for aeroplane photography, geological prospecting etc.
Aerial work, at military aspect, the cycloid fan rotor aircraft of the present invention that verts can be used for firepower investigation, ground target it is fixed
Generic task is investigated in position, submarine search etc..The cycloid fan rotor aircraft of the present invention that verts is since it takes into account helicopter and consolidates
Determine rotor aircraft feature, therefore compared with traditional unmanned plane is on Mission Capability with greater advantage.
There are many concrete application approach of the present invention, the above is only a preferred embodiment of the present invention, it is noted that for
For those skilled in the art, without departing from the principle of the present invention, it can also make several improvements, this
A little improve also should be regarded as protection scope of the present invention.
Claims (9)
- The cycloid fan swing device 1. one kind can vert, it is characterised in that: manipulate machine including cross flow fan wing (5) and cycloid propeller Structure, the cycloid propeller structure setting are fixed on aircraft fuselage in the front end of the cross flow fan wing (5), one end, separately One end is connected with the contractile fan nose of wing on cross flow fan wing;The cycloid paddle structure passes through steering engine, steering engine connecting rod The angle of operating mechanism control cycloid propeller (1) blade constituted with inclinator, to control aircraft hovering or preceding winged.
- The cycloid fan swing device 2. one kind according to claim 1 can vert, it is characterised in that: the cycloid paddle structure packet Cycloid propeller rotary part is included, the cycloid propeller rotary part includes cycloid propeller fixed plate (2), cycloid propeller (1), transmission shaft (3);Its In, the cycloid propeller fixed plate (2) is located at the cycloid propeller (1) both ends, for fixing the cycloid propeller (1);The cycloid propeller Rotary part includes several cycloid propellers (1), and angularly circumference is fixed on cycloid propeller fixed plate (2) cycloid propeller (1);It is described Transmission shaft (3) passes to cycloid propeller (1) by cycloid propeller fixed plate (2) through the cycloid propeller center, by power, makes Cycloid propeller (1) is rotated around transmission shaft (3).
- The cycloid fan swing device 3. one kind according to claim 1 can vert, it is characterised in that: the operating mechanism includes Connecting plate (12), inclinator (14), inclinator connecting rod, cycloid propeller connecting rod, l-shaped rod, steering engine, steering engine connecting rod and the fixed of steering engine fill It sets, cycloid propeller fixed plate (2) are protruded in described transmission shaft (3) one end, and the connecting plate (12) is fixed on the prominent cycloid propeller of transmission shaft The end of fixed plate (2) one end, transmission shaft (3) and the fixation device of steering engine are linked together;If the operating mechanism includes Dry steering engine, the steering engine is evenly distributed on transmission shaft by the fixed device of steering engine, and each steering engine is connected by steering engine Bar is connected on inclinator (14);The inclinator (14) controls cycloid propeller by the cooperative movement of inclinator connecting rod and l-shaped rod The movement of connecting rod, to control the variation of each cycloid propeller setting angle.
- The cycloid fan swing device 4. one kind according to claim 1 can vert, it is characterised in that: the cross flow fan machine The wing (5) includes retractable fan nose of wing (18), cycloid propeller (1) and cycloid propeller operating mechanism, is generation when flying before aircraft The device of lift drives two gears (21) to drive the rack gear on meshed fan nose of wing (18) by servo motor (22) the folding and unfolding manipulation of fan nose of wing is realized.
- The cycloid fan swing device 5. one kind according to any one of claims 1 to 4 can vert, it is characterised in that: described Cycloid propeller rotary part is made of eight cycloidal oar blades;Eight cycloidal oar blades circumferentially angularly pacify by circumferential arrangement It puts.
- The cycloid fan swing device 6. one kind according to claim 5 can vert, it is characterised in that: the cycloid propeller manipulation It is equipped with three identical steering engines in mechanism, steering forces are provided, and it is total to control by auto-bank unit (14) eight cycloidal oar blades respectively Away from being operated with feathering.
- 7. vert cycloid fan rotor aircraft, which is characterized in that it is as claimed in claim 6 to be provided with four tools on the aircraft Can vert cycloid fan swing device, be symmetrically arranged on the two sides of aircraft two-by-two, be cycloid paddle structure in preceding cross flow fan machine The posterior form of the wing;When aircraft vertical flight, cross flow fan wing (5) verts with ground close to vertical, and blade is with cycloid The work of paddle mode, aircraft generate the lift of direction upward;When aircraft horizontal flight, cross flow fan wing (5) vert with Ground is parallel, and blade generates forward thrust with the work of cross flow fan mode, aircraft.
- 8. the control method of the cycloid fan rotor aircraft according to claim 7 that verts, it is characterised in that: the controlling party Method controls the posture of inclinator by steering engine, then drives what connecting rod to convert cycloid propeller for the variation of its posture by inclinator The change of pitch angle of blade, verting for cross flow fan wing of cooperation control the offline mode of aircraft;For inclinator when carrying out cyclic pitch control, blade cyclic displacement is with the work of cycloid propeller mode;Change cyclic pitch control Direction, the size and Orientation of the aerodynamic force of adjustable cycloid propeller.
- 9. control method according to claim 8, it is characterised in that: the inclinator is carrying out the always nothing away from adjustment manipulation When feathering, the vaned angle of institute is all identical, at this time with the work of cross flow fan mode;Change always away from size, adjustment is horizontal The angle of flow fan blade makes it possible to keep higher to adjust the size of aerodynamic force or for adapting to different flying conditions Pneumatic efficiency.
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CN201810973022.4A CN109018342B (en) | 2018-08-24 | 2018-08-24 | Cycloidal fan wing device, cycloidal fan wing tilting aircraft and control method |
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CN109018342B CN109018342B (en) | 2024-02-20 |
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CN109649638A (en) * | 2019-01-02 | 2019-04-19 | 南京航空航天大学 | It is coaxial to turn double cycloid paddle together |
CN110254711A (en) * | 2019-07-19 | 2019-09-20 | 苏州高博软件技术职业学院 | Two horizontal four vertical blades can turn six wheeled dynamic wing unmanned planes |
CN111521365A (en) * | 2020-05-18 | 2020-08-11 | 南京航空航天大学 | Adjustable frequency and phase unsteady flow control experimental device based on rotary slot grating |
WO2023021054A1 (en) * | 2021-08-17 | 2023-02-23 | Noraero As | A compact safe efficient multi-rotor evtol airborne craft |
CN116238689A (en) * | 2023-05-12 | 2023-06-09 | 南京航空航天大学 | Perpendicular take-off and landing span medium aircraft based on propulsion wings and control system thereof |
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