CN109131863A - The more rotors of culvert type are tethered at unmanned plane and its control system - Google Patents
The more rotors of culvert type are tethered at unmanned plane and its control system Download PDFInfo
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- CN109131863A CN109131863A CN201811051269.7A CN201811051269A CN109131863A CN 109131863 A CN109131863 A CN 109131863A CN 201811051269 A CN201811051269 A CN 201811051269A CN 109131863 A CN109131863 A CN 109131863A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/20—Rotorcraft characterised by having shrouded rotors, e.g. flying platforms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F3/00—Ground installations specially adapted for captive aircraft
- B64F3/02—Ground installations specially adapted for captive aircraft with means for supplying electricity to aircraft during flight
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The more rotors of culvert type are tethered at unmanned plane and its control system, belong to unmanned plane field.Existing unmanned plane has that cruise duration is short, the exposed easy air crash of unmanned plane rotor.It is connected between the duct pipe of inside center pipe and outside of the invention by one group of flow deflector, one group of carbon fiber pipe is fixedly mounted in the block side outer wall of central plate composition, every carbon fiber pipe middle section and the tube wall of duct pipe are fixed, and secondary rotor is installed by auxiliary-motor in the end of carbon fiber pipe；Hardware system is installed in the upper surface of central plate block, and the lower surface of central plate block is concentric to drive main rotor by main motor, and power supply system is arranged by main motor；Hardware system connects main motor, one group of auxiliary-motor, power supply system, video acquisition unit and automatic pilot, is tethered at cable by power supply system and connects hardware system, main motor, one group of auxiliary-motor and video acquisition unit.Unmanned plane of the invention can realize non-stop run in 24 hours.
Description
Technical field
The present invention relates to a kind of more rotors of culvert type to be tethered at unmanned plane and its control system.
Background technique
Unmanned plane referred to as (UAV) refer to be not loaded with operator can be with autonomous flight or the aircraft of remote driving.More rotors
Unmanned plane is a kind of tool there are three or three or more rotors, special unmanned vehicle, it is common to have quadrotor, six rotations
The types such as the wing, eight rotors drive rotor, to generate a liter thrust by controlling the revolving speed of motor on each axis.
In recent years, multi-rotor unmanned aerial vehicle was widely used in military investigation, safety monitoring, communication support, media entertainment, ring
The fields such as border monitoring.The manipulation of multi-rotor unmanned aerial vehicle flight stability is simple, and price is less expensive, provides great convenience for people,
Receive user's popular welcome.But traditional multi-rotor unmanned aerial vehicle power supply capacity is always its short slab, its electric energy is logical
Often derive from self-contained lithium battery, other than providing power for aircraft, it is also necessary to for carrying camera, wireless data sending,
The power electronic equipments such as automatic pilot, on the market multi-rotor unmanned aerial vehicle once charge at most continuation of the journey one hour, and cannot for compared with
Big power apparatus power supply, greatlys restrict its working time and application range.In addition, multi-rotor unmanned aerial vehicle rotor is naked
It exposes outside and does not protect, it is easy to air crash wounding event occur, become accident potential.
Summary of the invention
, unmanned plane rotor exposed easy air crash short there are cruise duration that the purpose of the present invention is to solve existing unmanned planes
The problem of, and propose a kind of more rotors of culvert type and be tethered at unmanned plane and its control system.
A kind of more rotors of culvert type are tethered at unmanned plane, composition include duct pipe, central tube, one group of central plate, one group lead
Flow, one group of carbon fiber pipe, main rotor, main motor, 80A electricity tune, one group of pair rotor, one group of auxiliary-motor, one group of 30A electricity tune,
It is tethered at cable, hardware system, power supply system, video acquisition unit and automatic pilot, external duct pipe and inside
Central tube concentric setting passes through one group of flow deflector connection, the concentric stacked shape of one group of central plate between central tube and duct pipe
At central plate block, the side outer wall of central plate block is fixedly mounted one group of carbon fiber pipe, and during carbon fiber pipe is evenly distributed on
On the side outer wall circumferencial direction of core block, central plate and the concentric setting of duct pipe, the tube body middle section of every carbon fiber pipe
It is fixed with the tube wall of duct pipe, auxiliary-motor is installed in the end of carbon fiber pipe, and auxiliary-motor drives secondary rotor,；Central plate block it is upper
Surface is installed by hardware system, 80A electricity one group of 30A electricity tune of reconciliation, the concentric main electricity of installation in the lower surface of central plate block
Machine, main motor drives main rotor, and power supply system is arranged by main motor；Wherein, hardware system connects main motor, one group
Auxiliary-motor, power supply system, video acquisition unit and automatic pilot are tethered at cable by power supply system and connect hardware controls system
System, main motor, one group of auxiliary-motor and video acquisition unit；Video acquisition unit is mounted on duct pipe side wall or central plate block
Top.
A kind of more rotors of culvert type are tethered at unmanned aerial vehicle control system, and the control system includes: hardware control unit, dynamic
Power unit, video acquisition unit, automatic pilot, is tethered at cable at power supply unit；Wherein,
For receiving control signal and controlling entire unmanned plane, power unit mentions hardware control unit for unmanned plane
For the mobile power of vertical horizontal direction, power supply unit provides electric energy for unmanned plane, and video acquisition unit is for mentioning unmanned plane
It is used to provide hardware control unit control signal for flight feedback information, automatic pilot, is tethered at cable and is used for unmanned plane
And control system is attached with power supply unit respectively, realizes unmanned plane uninterrupted power supply；
Hardware control unit connects main motor, one group of auxiliary-motor, power supply system, video acquisition unit and automatic pilot,
Being tethered at cable and connecting hardware control unit, power unit and video acquisition unit, power unit by power supply unit includes main electricity
Machine and one group of auxiliary-motor；
The hardware control unit includes flight controller, data transmission unit, voltage-current sensor, GPS receiver
Device, airspeed sensor, ultrasonic range finder sensor, receiver of remote-control sytem and automatic pilot, flight controller are internally integrated acceleration
Meter, gyroscope, magnetometer and barometer, the interface connection voltage-current sensor of flight controller, GPS receiver, air speed pass
Sensor, ultrasonic range finder sensor, receiver of remote-control sytem, flight controller connect automatic pilot, flight by data transmission unit
Controller connects video acquisition unit, main motor and one group of auxiliary-motor.
The invention has the benefit that
It is a kind of extraordinary unmanned vehicle that the more rotors of the culvert type that the present invention designs, which are tethered at unmanned plane, in duct and duct
The big rotor in portion provides prevailing lift, and four subsidiary small rotors can be to the appearance of aircraft while providing auxiliary lifting
State is controlled, and is tethered at cable as aircraft and is provided electric energy.The present invention completes the machine that the more rotors of culvert type are tethered at unmanned plane
The design of body structure and power supply plan design, so that the aircraft has lower aerodynamic noise, higher safety, stronger
Anti-interference ability, the longer flight time the advantages that.
The more rotors of culvert type of the invention are tethered at the safety that unmanned plane protects equipment while improving aerodynamic lift,
It can also fly in narrow space.It is light-duty containing power supply line and optical fiber by one that the more rotors of culvert type are tethered at unmanned plane
Composite cable converts ground High Level AC Voltage to for the low-voltage DC of unmanned plane flying for long time, realizes unmanned plane
Power supply and audio-video, the transmission for controlling signal, substantially increase working time and the transmission bandwidth of aircraft.With wired
With wireless two kinds of control modes, the reliability of flying vehicles control is improved.Compared to traditional multi-rotor unmanned aerial vehicle, culvert type revolves more
The wing is tethered at unmanned plane also and has the characteristics that following:
(1) it is widely applied occasion.The UAV system can vertically rise under the MODEL OVER COMPLEX TOPOGRAPHYs such as city and mountain area
Drop and hovering have good application prospect in military, commercial field.
(2) bigger aerodynamic lift.Duct can change the aerodynamic characteristic of rotor, and additional lift is provided for aircraft, real
Existing energy efficient utilizes, and the design of more rotors has higher load-carrying ability.
(3) cruise time of overlength.Ground power supply provides electric energy for aircraft, and under no special status, unmanned plane can be realized
Non-stop run in 24 hours.
(4) good anti-interference ability.Electromagnetic interference can be avoided under complex electromagnetic environment using wired control mode,
The electric energy of combined ground abundance supplies, and can overcome the influence of extraneous adverse circumstances, ensure the stability contorting of attitude of flight vehicle.
(5) excellent performance safe and out of sight.Propeller is located at the inside of duct, will not prevent thing because of damaged in collision rotor
Therefore hidden danger, aerodynamic noise are blocked physically to reduce the noise intensity and propagation distance of aircraft.Meanwhile dynamical system
System is expanded by duct ring, reduces the engine radiation diffusion of whole aircraft.
(6) easily open up and remove receipts ability.Surface car of arranging in pairs or groups uses, can fast reserve to specified region, quick portion
Receipts are affixed one's name to and removed, the time can be saved, improve working efficiency.
Meanwhile the more rotors of culvert type are tethered at unmanned plane and are also used as an outstanding flying platform, it can be to such as certainly
Suitable solution, filtering algorithm are analyzed and are verified, and are provided conveniently for scientific research.Carry various electronic monitoring, communication base station
Fixed point monitoring and signal of communication covering are carried out to a certain region, provided safeguard for tasks such as communication recoveries after security stability maintenance, calamity,
Atmospheric environment can also be monitored, based on above several aspects, unmanned plane is tethered to the more rotors of culvert type and is conducted a research tool
There is important meaning.
Detailed description of the invention
Fig. 1 is that the present invention is tethered at cable cross-sections figure；
Fig. 2 is culvert type multi-rotor unmanned aerial vehicle the schematic diagram of the section structure；
The master-plan structural schematic diagram of Fig. 3 hardware；
Fig. 4 bulk supply system schematic；
Fig. 5 DCM power supply chip three-level parallel connection schematic diagram；
Specific embodiment
Specific embodiment 1:
A kind of more rotors of culvert type of present embodiment are tethered at unmanned plane, and composition includes duct pipe 1,2, one groups of central tube
3, one groups of central plate, 4, one groups of flow deflector carbon fiber pipe 5, main rotor 6, main motor 7,80A electricity tune, one group of pair rotor, 8, one groups of pairs
9, one groups of 30A electricity tune of motor are tethered at cable 10, hardware system 11, power supply system 12, video acquisition unit 13 and are used for
Remote controlled drone automatic pilot 14, external duct pipe 1 and the internal concentric setting of central tube 2, central tube 2 and duct
It is connected between pipe 1 by one group of flow deflector 4, concentric be stacked of one group of central plate 3 forms central plate block, central plate block
One group of carbon fiber pipe 5 is fixedly mounted in side outer wall, and carbon fiber pipe 5 is evenly distributed on the side outer wall circumference of central plate block
On direction, central plate block and the concentric setting of duct pipe 1, the tube body middle section of every carbon fiber pipe 5 and the tube wall of duct pipe 1
Fixed, auxiliary-motor 9 is installed in the end of carbon fiber pipe 5, and auxiliary-motor 9 drives secondary rotor 8, and secondary rotor 8 generates downward impulse force；In
Upper surface installation hardware system 11, the 80A electricity one group of 30A electricity tune of reconciliation of core block, the lower surface of central plate block are same
Axle center installing main motor 7, main motor 7 drive main rotor 6, and main rotor 6 generates upward impulse force, and power supply is arranged by main motor 7
System 12；Wherein, hardware system 11 connects main motor 7, one groups of auxiliary-motors 9, power supply system 12, video acquisition units 13
With automatic pilot 14, cable 10 is tethered at by power supply system 12 and connects 7, one groups of hardware system 11, main motor auxiliary-motors
9 and video acquisition unit 13；Video acquisition unit 13 is mounted at the top of 1 side wall of duct pipe or central plate block.
Realize uninterrupted flight for a long time；
(1) the more rotors of culvert type are tethered at the design of unmanned plane body.Main research is the function according to realization, determines and flies
The performance indexes of row device, the feasibility realized by computer sim- ulation research, continues to optimize, determines parameters.Culvert type
It mainly includes Design of Mechanical Structure, dynamical system design and Hardware Design that more rotors, which are tethered at the design of unmanned plane body,.It is mechanical
Structure design designs the size of associated components mainly by correlation plane design software.Body all parts parts information model closes
Suitable material is processed, and the requirement such as quality and intensity of aircraft entirety is met, and finally completes the processing assembling of complete machine.It is dynamic
Force system design is mainly the type selecting collocation of motor rotor, obtains the pulling force and energy that generate under different rotating speeds by experiment first
Then effect reasonably selects major-minor motor rotor, realize the efficient stability contorting using with aircraft of energy.Hardware system
The design mainly connection including flight management instrument and peripheral multiple sensors interface, realizes required function.
(2) the more rotors of culvert type are tethered at the design of unmanned plane power supply system.Direct current can only be used due to being tethered at unmanned plane
Source power supply, it is therefore desirable to ground High Level AC Voltage is first converted to high voltage direct current, be transported to aerial nothing by being tethered at cable
On man-machine, the direct current for being reconverted into low pressure could be used for unmanned plane.Simultaneously to select tension damage, light weight, low resistance,
It can transmit that powerful photoelectricity is compound to be tethered at cable, realize the Efficient Conversion of energy, and carry out safety measure, support personnel sets
Standby safety
Specific embodiment 2:
Unlike specific embodiment one, the more rotors of the culvert type of present embodiment are tethered at unmanned plane, and described is
The section of cable 10 is stayed to be followed successively by outer casing layers 15, ground wire stratum reticulare 16, strength materials layer 17, high pressure from the outer to the inner
Insulating layer 18, high-voltage insulation layer 18 is interior to be arranged 1 load cable, 19,2 telecommunication optical fiber 20 and 2 piece power supply lines 21, load cable
19 are located at middle part, and 2 telecommunication optical fiber 20 and 2 piece power supply lines 21, telecommunication optical fiber 20 and the alternate setting of power supply line 21 is arranged in surrounding.
Specific embodiment 3:
Unlike specific embodiment one or two, the more rotors of the culvert type of present embodiment are tethered at unmanned plane, described
Hardware system 11 include flight controller 22, data transmission unit 23, voltage-current sensor 24, GPS receiver
25, airspeed sensor 26, ultrasonic range finder sensor 27 and receiver of remote-control sytem 28, flight controller 22 be internally integrated accelerometer,
Gyroscope, magnetometer and barometer, interface connection voltage-current sensor 24, the GPS receiver 25, sky of flight controller 22
Fast sensor 26, ultrasonic range finder sensor 27, receiver of remote-control sytem 28, flight controller 22 are connected by data transmission unit 23
Automatic pilot 14, flight controller 22 connect video acquisition unit 13, main motor 7 and one group of auxiliary-motor 9.Flight controller
22 model PIXHAWK, 32 ARM chip processors；Data transmission unit 23 uses wired or wireless form.
Specific embodiment 4:
Unlike specific embodiment three, the more rotors of the culvert type of present embodiment are tethered at unmanned plane, power supply system
12 are used as backup power source with power supply unit 30, battery 29 is tethered at including battery 29, and battery 29 connects hardware system 11, master
Motor 7 and one group of auxiliary-motor 9 are tethered at power supply unit 30 and connect 220V AC power source, hardware system 11, main motor 7 and one
Group auxiliary-motor 9, wherein being tethered at power supply unit 30 includes boost rectifying circuit 31, level-one reduction voltage circuit 32 (DC-DC) and second level
Reduction voltage circuit 33 (DC-DC)；It is tethered at cable 10 and level-one reduction voltage circuit 32, level-one decompression electricity is connected by boost rectifying circuit 31
Road 32 is separately connected main motor 7 and second level reduction voltage circuit 33 (DC-DC), and second level reduction voltage circuit 33 (DC-DC) connects hardware controls
System 11 and one group of auxiliary-motor 9, main motor 7 connect 80A electricity tune, and auxiliary-motor 9 connects 30A electricity tune；Boost rectifying circuit 31 includes
Concatenated transformer and three-phase full wave rectifier circuit, three-phase full wave rectifier circuit are three pieces of DCM power supply chips being arranged in parallel.
Specific embodiment 5:
Unlike specific embodiment one, two or four, the more rotors of the culvert type of present embodiment are tethered at unmanned plane, institute
The tube body middle section for the carbon fiber pipe 5 stated and the fixed point of duct pipe 1 are whole long for carbon fiber pipe 5 away from 5 tip length of carbon fiber pipe
The 1/3-1/2 of degree.
Specific embodiment 6:
Unlike specific embodiment five, the more rotors of the culvert type of present embodiment are tethered at unmanned plane, and described one
The quantity of group central plate 3 is two.
Specific embodiment 7:
Unlike specific embodiment one, two, four or six, the more rotors of the culvert type of present embodiment are tethered at nobody
Machine, the also concentric setting pedestal (not marking in figure) in the lower surface of 3 block of central plate, pedestal are used for installing main motor
7。
Specific embodiment 8:
Unlike specific embodiment seven, the more rotors of the culvert type of present embodiment are tethered at unmanned plane, the carbon
5 end of fibre pipe is also set up pedestal (not marking in figure), and pedestal is for installing auxiliary-motor 9.
Specific embodiment 9:
Unlike specific embodiment one, two, four, six or eight, the more rotors of the culvert type of present embodiment are tethered at nothing
It is man-machine, the side outer wall wrap carbon fiber cloth of the side wall of the duct pipe 1.
Specific embodiment 10:
Unlike specific embodiment nine, the more rotors of the culvert type of present embodiment are tethered at unmanned plane, the culvert
The side wall of deferent 1 also sets up the staggered one group of longitudinal bracing skeleton of transverse and longitudinal and one group of cross-brace skeleton.
Specific embodiment 11:
A kind of more rotors of culvert type are tethered at unmanned plane and control system, the control system include: hardware control unit,
Power unit, video acquisition unit, automatic pilot, is tethered at cable at power supply unit；Wherein,
Hardware control unit, for receiving control signal and controlling entire unmanned plane,
Power unit provides vertical horizontal direction mobile power for unmanned plane,
Power supply unit provides electric energy for unmanned plane,
Video acquisition unit, for providing flight feedback information to unmanned plane,
Automatic pilot, for providing control signal to hardware control unit, with remote controlled drone；
It is tethered at cable, for unmanned plane and control system to be attached with power supply unit respectively, between realizing unmanned plane not
Cut-off electricity；
Hardware control unit connects main motor, one group of auxiliary-motor, power supply system, video acquisition unit and automatic pilot,
Being tethered at cable and connecting hardware control unit, power unit and video acquisition unit, power unit by power supply unit includes main electricity
Machine and one group of auxiliary-motor；
The hardware control unit includes flight controller, data transmission unit, voltage-current sensor, GPS receiver
Device, airspeed sensor, ultrasonic range finder sensor and receiver of remote-control sytem, flight controller be internally integrated accelerometer, gyroscope,
The interface of magnetometer and barometer, flight controller connects voltage-current sensor, GPS receiver, airspeed sensor, ultrasound
Distance measuring sensor, receiver of remote-control sytem, flight controller connect automatic pilot by data transmission unit, and flight controller connects
Connect video acquisition unit, main motor and one group of auxiliary-motor；
The model PIXHAWK of flight controller, 32 ARM chip processors.
Data transmission unit is chosen as wired or wireless transmission mode.
Embodiment 1:
Using intermediate motor rotor downward, around the design upward of four motor rotors.The hovering of exploratory flight device and
Low-angle gesture stability problem, the aerodynamic characteristic of duct side influence smaller, the main gas considered in duct vertical direction on it
Influence of the dynamic characteristic to unmanned plane entirety pulling force.In summary factor, culvert type multi-rotor unmanned aerial vehicle use structure shown in Fig. 2
Design.
The design of duct body
Duct body should have the features such as density is small, intensity is big, is unlikely to deform and is easy to process.Carbon fiber density ratio gold
Belong to that aluminium is also small, and intensity is but higher than steel, there are corrosion resistance, high-modulus and the characteristics such as easy to process.Therefore, Carbon fibe is selected
Plate selects polypropylene plastics annulus to maintain the shape of duct, intermediate gaps as cross-brace skeleton as longitudinal bracing skeleton
It is filled using expanded polypropylene annulus.This design dramatically reduces vehicle mass.Determine the basic framework of duct body
Afterwards, external to be wrapped up using carbon fiber sheet, meet the intensity requirement of duct body.Meanwhile higher die sinking expense is avoided,
It is also convenient for the manual maintenance in later period and optimizes and revises.Major defect is that manufacture craft is poor, and body surface is not smooth enough, up to not
To permissible accuracy, the aerodynamic characteristic of duct is influenced.
Connection structure design
Connection structure mainly includes the design of central tube, central plate, carbon pipe and flow deflector.Central tube uses aluminium alloy material
Material design.Central plate is made of the certain thickness double-deck Carbon fibe plate, the installation of the upper surface of central plate flies control, number passes, battery and
Electricity such as adjusts at the electronic equipments, below central plate installation one for fixing the pedestal of motor, intermediate gaps can be installed and be tethered at confession
Electric module, edge accompany the Carbon fibe pipe that four diameters are 12mm, a length of 40mm, and carbon fiber pipe end is mounted with that 4 are used for
The pedestal of fixed motor.The component for connecting central tube and duct wall is by 8 pieces of a length of 140mm, width 45mm, with a thickness of 0.5mm
Carbon fiber guiding flow constitute, on the one hand play connection supporting role, on the other hand by adjust flow deflector angle can offset
The reaction torque that part is generated by duct rotor.The binding site of all parts is all made of the aluminum alloy sheet and screw connection of customization.
Power unit structure design
The more rotors of culvert type are tethered at the power resources of unmanned plane in four auxiliary-motor rotors of main duct motor rotor and surrounding,
The original intention of design is that intermediate main duct rotor is allowed to provide most of pulling force, and surrounding four secondary rotors provide less pulling force, mainly
Gesture stability for aircraft.Therefore, the type selecting collocation of main duct rotor and four secondary rotors will affect the entirety of aircraft
Performance can also determine the inclination angle of flow deflector.The collocation of specific motor and rotor is as follows:
Main duct selects T-MOTOR brand U7 (490KV) motor 1550 rotors of collocation, and specific experiment data are as shown in table 1.
According to data in table it is found that under 22.2V voltage, with the increase of electric current, the pulling force of motor is continuously increased, and working efficiency
It is reduced constantly.When current of electric is 39.8V, output power 839w, maximum pull-up quality is the object of 4100g.According to
Design experiences quality of taking off is 0.4 to 0.5 times of maximum pull, guaranteeing there is certain control allowance under the premise of load-carrying,
Winged quality should be between 1640g to 2500g.The maximum current of motor is 39.8A in table, considers the influence of overcurrent, final choice
The 80A electricity of being full of well regulates and controls motor speed processed.
1 U7 motor of table, 1550 rotors of collocation
Surrounding 4 secondary rotors select 1047 rotors of bright space X2216 (880kv) motors collocation, specific experiment data such as 2 institute of table
Show.According to data in table it is found that under 11.1V voltage, with the increase of electric current, the working efficiency of motor is reduced constantly,
When power of motor is 159.84w, maximum pull-up quality is the object of 890g.According to design experiences, quality of taking off should be arrived in 356g
Between 445g.The maximum current of motor is 14.4A, considers influence and the laboratory existence conditions of overcurrent, final choice is full of well
30A electricity transfers to control motor speed.
Bright space X2216 (880kv) motor of table 2 1047 rotors of collocation
According to the above analysis of experimental data, the entirety that culvert type is tethered at unmanned plane takes off quality should be in 3064g to 4280g
Between.Consider duct to the adjection of main rotor pulling force, the entirety of aircraft take off quality should 4518g to 6497g it
Between.But due to the manufacture craft of main duct rotor is poor and rotor between aerodynamic effects, complete machine is extremely difficult to theoretical drawing
Power is additional.According to data in table, peak power output needed for complete machine is 1479w, hovering power should 591.6w to 739.5w it
Between.When unmanned plane, which has been led, to be tethered at cable change posture or accelerate flight, maximum power needed for complete machine reaches a kilowatt rank,
It at least needs for the power of 1000w to be transported on unmanned plane that is being tethered at cable.In addition, when there is event in Ground Mooring power supply
It needs to be switched to backup power source in time when barrier.To prevent air crash accident, final choice grignard 6S, 5000mAh battery is as spare
Power supply, the exportable 24V direct current of the battery, with the current discharge of 50A, unmanned plane can fly 6 minutes, fully meet ground confession
The landing recycling of unmanned plane when electric system failure.
The type selecting of complete machine assembling and each component
The buying for completing the materials such as design and motor, propeller, the carbon pipe of main duct, to each component carry out rational deployment,
Processing is fixed, and is carried out line welding to each electronic equipment, is finally completed the assembling of complete machine.It is needed pair after completing the assembling of complete machine
Each component is leveled, and makes body center of gravity on body center's line close to rotor plane position, as far as possible convenient for UAV Attitude
Control.
By calculating, overall mass 3.2kg is tethered at cable unit length e=0.05kg/m, when the high-altitude 10m is hovered
Overall mass is about 3.7kg, and the motor rotor of design meets the power demand for being tethered at unmanned plane hovering.Each device particular type
Number and quality, as shown in table 3.
The type selecting of each component of table 3
The more rotors of culvert type are tethered at unmanned plane Hardware Design
Many manually controls facts proved that fully relying on, and unmanned plane is difficult to complete fixed height and a series of complex such as hovers, makes a return voyage
Movement, it is necessary to controlled using automatic pilot.It is by multiple sensors that the information such as collected position, height are anti-
It is fed on flight controller, after via controller integrated treatment, the control amount of generation is passed into machine governor, realizes nobody
Set the control with posture in seat in the plane.The master-plan of unmanned plane hardware system, as shown in Figure 3.
The core of Hardware Design is to use flight controller of the PIXHAWK as unmanned plane, the flight controller
Predecessor is APM.Since the processor operational capability of APM is limited, has no idea to handle increasingly complex operation, use 32 instead
ARM chip design processor.PIXHAWK has been internally integrated accelerometer, gyroscope, magnetometer and barometer, can provide appearance
The information such as state, height.In addition, there are also external interfaces abundant, voltage-current sensor, GPS receiver, light stream can be accessed
The electronic equipments such as sensor, airspeed sensor and receiver of remote-control sytem, for perceiving battery capacity, extraneous position height speed
Variation and transmission of control signals play the effect for improving precision of fuzzy controller.
There is employed herein the Inertial Measurement Units of designed, designed, to verify this navigation attitude measuring system in practical unmanned plane during flying
Precision and antivibration under state, interference free performance are compared this product and current external matured product.This experiment choosing
Contrast product is the MTI-710 of Xsens company production, and nominal accuracy is for static conditions under 0.25 ° lower, dynamic condition
Within 1 °.This product and MTI-710 are mounted on unmanned aerial vehicle platform with same axial, under maneuvering flight conditions by a small margin,
Gyroscope, the accelerometer of two kinds of equipment are exported and compared with attitude angle output.
This experiment has carried out motor-driven by a small margin twice, this product accelerometer and gyroscope output peak value between landing
It is slightly less than MTI product, roll angle and pitch angle output are almost the same, and yaw angle output has different, it may be possible to installation position
Setting difference causes caused by the difference of magnetic field.
The more rotors of culvert type are tethered at unmanned plane power supply region
The more rotors of culvert type are tethered at unmanned aerial vehicle power supply system, as shown in Figure 4.Whole system is first by terrestrial power generation machine
The 220V alternating current of generation is converted to the direct current of 300V-400V by boost rectifying circuit, then by being tethered at cable conveying
To after aerial unmanned plane, turn DC circuit using DC, be depressured as 24V or be reduced to the low-voltage DC of 12V, 5V for nothing again
Man-machine use.Entire power supply system is related to that AC turns DC boost rectifying circuit, DC turns the design of DC circuit.
AC turns DC boost rectifying circuit and is upgraded to High Level AC Voltage first with transformer, is provided by Japanese SanRex manufacturer
Three phase full wave rectification module (DF30AA160) be converted into the direct current of 300-400V.Three phase full wave rectification module
(DF30AA160), as shown in figure 5, maximum output current is 30A, maximum voltage 1600V, meet the power need of this secondary design
It asks.Wherein, the purpose of boosting is to reduce to transmit more powerful electric energy in the power loss being tethered on cable.
The DC that connection is tethered at cable turns DC circuit, is to convert (24V) low-pressure direct for (300V-400V) high voltage direct current
Galvanic electricity, the core of design are the DCM power supply chips provided using VICOR producer.DCM power supply chip is an isolated, pressure stabilizing
DC-DC converter, individual module weight 29.2g, maximum output current 25A, power 600W, at most can be 8 pieces in parallel, satisfaction kilowatt
Grade power output, three pieces of DCM chip parallel circuits are as shown in 5 figures.
Unmanned plane is tethered at auspicious 1 light 2 for closing intelligent scientific & technical corporation's production in line selection Hefei and replies light combination electric wire cable by cable, is resistant to thousand
Volt high pressure, maximum can lead to 7A electric current.Hundred rice noodles cables are only 2kg, have it is light-weight, insulate, is high pressure resistant, stretching resistance greatly, environment
The features such as strong is adapted to, equipped with high-tension connector, multiplies power connector, unmanned plane special manual folding and unfolding bobbin loader, automatic takeup frame, it can
Meet multiple retractable cable to use.Wherein 1 optical fiber can be used to transmit audio-video, network signal, also can be used as the biography of control signal
Defeated channel.
The present invention can also have other various embodiments, without deviating from the spirit and substance of the present invention, this field
Technical staff makes various corresponding changes and modifications in accordance with the present invention, but these corresponding changes and modifications should all belong to
In the protection scope of the appended claims of the present invention.
Claims (9)
1. a kind of more rotors of culvert type are tethered at unmanned plane, it is characterized in that: its composition include duct pipe, central tube, one group of central plate,
One group of flow deflector, one group of carbon fiber pipe, main rotor, main motor, 80A electricity tune, one group of pair rotor, one group of auxiliary-motor, one group of 30A electricity
It adjusts, be tethered at cable, hardware system, power supply system, video acquisition unit and automatic pilot, external duct pipe and inside
The concentric setting of central tube, by the connection of one group of flow deflector between central tube and duct pipe, one group of central plate is concentric stacked
Central plate block is formed, one group of carbon fiber pipe is fixedly mounted in the side outer wall of central plate block, and carbon fiber pipe is evenly distributed on
On the side outer wall circumferencial direction of central plate block, central plate and the concentric setting of duct pipe, in the tube body of every carbon fiber pipe
Section and the tube wall of duct pipe are fixed, and auxiliary-motor is installed in the end of carbon fiber pipe, and auxiliary-motor drives secondary rotor,；Central plate block
Upper surface is installed by hardware system, 80A electricity one group of 30A electricity tune of reconciliation, the concentric main electricity of installation in the lower surface of central plate block
Machine, main motor drives main rotor, and power supply system is arranged by main motor；Wherein, hardware system connects main motor, one group of pair
Motor, power supply system, video acquisition unit and automatic pilot, be tethered at cable by power supply system connect hardware system,
Main motor, one group of auxiliary-motor and video acquisition unit；Video acquisition unit is mounted at the top of duct pipe side wall or central plate block.
2. the more rotors of culvert type are tethered at unmanned plane according to claim 1, it is characterised in that: the section for being tethered at cable
Part is followed successively by outer casing layers, ground wire stratum reticulare, strength materials layer, high-voltage insulation layer from the outer to the inner, sets in high-voltage insulation layer
1 load cable, 2 telecommunication optical fibers and 2 power supply lines are set, load cable is located at middle part, and 2 telecommunication optical fibers and 2 are arranged in surrounding
Root power supply line.
3. the more rotors of culvert type according to claim 1 or 2 are tethered at unmanned plane, it is characterised in that: the hardware controls
System includes flight controller, data transmission unit, voltage-current sensor, GPS receiver, airspeed sensor, supersonic sounding
Sensor and receiver of remote-control sytem, flight controller are internally integrated accelerometer, gyroscope, magnetometer and barometer, flight control
The interface of device connects voltage-current sensor, GPS receiver, airspeed sensor, ultrasonic range finder sensor, receiver of remote-control sytem, flies
Line control unit connects automatic pilot by data transmission unit, and flight controller connects video acquisition unit, main motor and one
Group auxiliary-motor.
4. the more rotors of culvert type according to claim 3 are tethered at unmanned plane, it is characterised in that: power supply system include battery and
It is tethered at power supply unit, battery connects hardware system, main motor and one group of auxiliary-motor, be tethered at confession as backup power source, battery
Electric equipment connection, hardware system, main motor and one group of auxiliary-motor, wherein be tethered at power supply unit include boost rectifying circuit,
Level-one reduction voltage circuit and second level reduction voltage circuit；It is tethered at cable and level-one reduction voltage circuit, level-one decompression is connected by boost rectifying circuit
Circuit is separately connected main motor and second level reduction voltage circuit, and second level reduction voltage circuit connects hardware system and one group of auxiliary-motor, main
Motor connects 80A electricity tune, and auxiliary-motor connects 30A electricity tune；Boost rectifying circuit includes concatenated transformer and three phase full wave rectification
Device, three-phase full wave rectifier circuit are three pieces of DCM power supply chips being arranged in parallel.
5. the more rotors of culvert type according to claim 1,2 or 4 are tethered at unmanned plane, it is characterised in that: the carbon fiber
The fixed point of the tube body middle section of pipe and duct pipe is the 1/3-1/2 of carbon fiber pipe entire length away from carbon fiber pipe tip length.
6. the more rotors of culvert type according to claim 5 are tethered at unmanned plane, it is characterised in that: one group of central plate
Quantity is two.
7. according to claim 1, the more rotors of culvert type described in 2,4 or 6 are tethered at unmanned plane, it is characterised in that: the center
The also concentric setting pedestal in the lower surface of plate body, pedestal are used for installing main motor.
8. the more rotors of culvert type according to claim 7 are tethered at unmanned plane, it is characterised in that: the carbon fiber pipe end
Pedestal is also set up, pedestal is for installing auxiliary-motor.
9. a kind of more rotors of culvert type are tethered at unmanned aerial vehicle control system, the control system includes: hardware control unit, power
Unit, video acquisition unit, automatic pilot, is tethered at cable at power supply unit；Wherein,
For receiving control signal and controlling entire unmanned plane, power unit provides perpendicular hardware control unit for unmanned plane
The mobile power of straight horizontal direction, power supply unit provide electric energy for unmanned plane, and video acquisition unit, which is used to provide unmanned plane, to fly
Row feedback information, automatic pilot are used to provide hardware control unit control signal, are tethered at cable and are used for unmanned plane and control
System processed is attached with power supply unit respectively, realizes unmanned plane uninterrupted power supply；
Hardware control unit connects main motor, one group of auxiliary-motor, power supply system, video acquisition unit and automatic pilot, is tethered at
Cable connects hardware control unit, power unit and video acquisition unit by power supply unit, power unit include main motor and
One group of auxiliary-motor；
The hardware control unit includes flight controller, data transmission unit, voltage-current sensor, GPS receiver, sky
Fast sensor, ultrasonic range finder sensor, receiver of remote-control sytem and automatic pilot, flight controller are internally integrated accelerometer, top
Spiral shell instrument, magnetometer and barometer, flight controller interface connection voltage-current sensor, GPS receiver, airspeed sensor,
Ultrasonic range finder sensor, receiver of remote-control sytem, flight controller connect automatic pilot, flight controller by data transmission unit
Connect video acquisition unit, main motor and one group of auxiliary-motor.
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| CN201811051269.7A CN109131863B (en) | 2018-09-10 | 2018-09-10 | Duct type multi-rotor mooring unmanned aerial vehicle and control system thereof |
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