CN109131866A - The compound unmanned plane of multiaxis fixed-wing and its flight control method - Google Patents
The compound unmanned plane of multiaxis fixed-wing and its flight control method Download PDFInfo
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- CN109131866A CN109131866A CN201811157448.9A CN201811157448A CN109131866A CN 109131866 A CN109131866 A CN 109131866A CN 201811157448 A CN201811157448 A CN 201811157448A CN 109131866 A CN109131866 A CN 109131866A
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- 150000001875 compounds Chemical class 0.000 title claims abstract description 41
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims description 9
- 238000009434 installation Methods 0.000 claims description 12
- 239000000446 fuel Substances 0.000 claims description 4
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- 230000033001 locomotion Effects 0.000 description 4
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- 241000208340 Araliaceae Species 0.000 description 1
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000010006 flight Effects 0.000 description 1
- 239000002828 fuel tank Substances 0.000 description 1
- 239000003502 gasoline Substances 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 229910002804 graphite Inorganic materials 0.000 description 1
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- 239000002002 slurry Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
Abstract
The present invention discloses a kind of compound unmanned plane of multiaxis fixed-wing, which includes fixed-wing body, rotor mechanism and be arranged in the intracorporal steering mechanism of fixed-wing aircraft；Steering mechanism includes the rotary drive assembly for crossing fixed-wing body and being rotated from the turning-bar of the both ends of wing stretching and driving turning-bar using its axis as shaft；Rotor mechanism includes the fixation bracket for being symmetrically arranged at the both ends of turning-bar, is arranged on fixed bracket along the actuator of the direction setting perpendicular to turning-bar and the rotor for the output shaft for connecting actuator, and the shaft of rotor is parallel to each other and is vertically arranged with turning-bar.The present invention solves in the prior art, and multiaxial type unmanned plane is since airframe structure limits, the unhappy problem of flying speed.
Description
Technical field
The present invention relates to unmanned plane fields, and in particular to a kind of compound unmanned plane of multiaxis fixed-wing and its flight controlling party
Method.
Background technique
Fixed wing aircraft or unmanned plane flow through the pressure difference that upper and lower airfoil is formed by air and generate in horizontal flight
Lift so that aircraft, which can be used, can be obtained longer airborne period compared with the engine of low thrust.But fixed wing aircraft rises
Fly and require when landing the runway of relatively long distance.The fixed-wing unmanned plane for having installed VTOL rotor additional, can preferably solve
Certainly fixed-wing unmanned plane needs the problem of runway run-up landing, but in flat winged state, the rotor for landing no longer plays work
With becoming instead and increase useless load to aircraft and bring the burden of flight resistance.In the prior art, multiaxial type unmanned plane is general
It is flat winged to realize by the revolving speed for controlling the power unit of different direction, but the limitation limitation of its airframe structure, flat flying speed
It is unhappy.
Summary of the invention
The main object of the present invention is to propose a kind of compound unmanned plane of multiaxis fixed-wing, it is intended to it solves in the prior art, it is more
Shaft type unmanned plane is since airframe structure limits, the unhappy problem of flying speed.
To achieve the above object, the present invention proposes a kind of compound unmanned plane of multiaxis fixed-wing, including fixed-wing body, rotor
Mechanism and setting are in the intracorporal steering mechanism of the fixed-wing aircraft；
The steering mechanism includes from the turning-bar of the left and right sides of fixed-wing body stretching and for driving
State the rotary drive assembly that turning-bar is rotated around an axis；
The rotor mechanism includes being separately positioned on the both ends of the turning-bar and symmetrical about the fixed-wing body
Fixed bracket, the actuator being arranged on the fixed bracket and the rotor being arranged on the support bracket fastened both ends, institute
Actuator is stated to connect with the shaft of the rotor；
It is described from the head of the fixed-wing body toward tail direction, and using the turning-bar position as separating
The rotor of the neighbouring head forms the first rotor group in rotor mechanism, and the rotor far from the head forms the second rotor group,
It is formed corresponding to lift official post the first rotor group and the second rotor group between the first rotor group and the second rotor group
When lifting surface relative level is verted, the steering mechanism is for adjusting the angle of the fixed-wing body with respect to the horizontal plane.
Preferably, for the fixation holder combination on the turning-bar and its both ends at " H " type structure, the shaft of the rotor is mutual
It is parallel and be vertically arranged with the pivot center of the turning-bar.
Preferably, the turning-bar is structure as a whole, and the compound unmanned plane of multiaxis fixed-wing further includes locking mechanism, institute
Stating locking mechanism includes being set on the turning-bar and with described in the locking ring being open and the driving locking ring holding
The locking driving motor of turning-bar.
Preferably, the rotary drive assembly includes engaging with the worm gear of turning-bar coaxial arrangement, with the worm gear
Worm screw and steering driving motor for driving worm screw rotation；Alternatively, the rotary drive assembly include with it is described
The driven gear of turning-bar coaxial arrangement, the driving gear that is engaged with the driven gear and for driving the driving gear
The steering driving motor of rotation；Alternatively, the rotary drive assembly includes turning to driving motor and the steering driving motor
It exports the drive pulley of axis connection and the driven pulley of turning-bar coaxial arrangement and is connected to the drive pulley
Synchronous belt between wheel and driven pulley.
Preferably, the fixed bracket include with the vertically disposed first connecting rod of the turning-bar, be separately positioned on institute
It states first connecting rod both ends and second connecting rod parallel with the turning-bar and third connecting rod and is separately positioned on described
The installation position at the both ends of the second connecting rod and third connecting rod, the rotor are arranged on the installation position, the first connecting rod,
Second connecting rod and third connecting rod are combined into " H " type structure.
Preferably, the actuator includes motor or fuel engines.
Preferably, the hollow setting of the turning-bar, for for connecting the actuator route or oil circuit pass through.
Preferably, the compound unmanned plane of multiaxis fixed-wing further includes the first posture being arranged on the fixed-wing body
Sensor and the second attitude transducer being arranged on the fixed bracket, first attitude transducer and the second posture pass
Sensor is connect with the flight controller of the compound unmanned plane of multiaxis fixed-wing.
The present invention also proposes a kind of flight control method of compound unmanned plane of multiaxis fixed-wing, the flight control method packet
Include following steps:
When the compound unmanned plane of multiaxis fixed-wing switches to flat winged state from lifting or floating state:
The lift for generating the first rotor group is less than the lift that the second rotor group generates, so that rotor corresponding to rotor is flat
Face is rotated to relative level around an axis in forward-lean state；
During the rotor plane switches to the forward-lean state, fixed-wing body phase is adjusted by steering mechanism
For the angle of horizontal plane；
When the compound unmanned plane of multiaxis fixed-wing switches to hovering or jacking condition from flat winged state:
The lift for generating the first rotor group is greater than the lift that the second rotor group generates, so that rotor corresponding to rotor is flat
Face is rotated around an axis, and plane corresponding to rotor is made to rotate to relative level state from the state of turning forward.
During the rotor plane is switched to horizontality from heeling condition, fixed-wing is adjusted by steering mechanism
The angle of body with respect to the horizontal plane.
Preferably, the lift for generating the first rotor group includes: less than the step of lift that the second rotor group generates
Make the revolving speed of the first rotor group less than the revolving speed of the second rotor group；Alternatively,
The pitch of the first rotor group is set to be less than the pitch far from the second rotor group；
It is described make the first rotor group generate lift be greater than the second rotor group generate lift the step of include:
The revolving speed of the first rotor group is set to be greater than the revolving speed of the second rotor group；Alternatively,
The pitch of the first rotor group is set to be greater than the pitch far from the second rotor group.
The present invention is arranged symmetrical rotor mechanism by the wing both ends in fixed-wing body, company is arranged in fuselage interior
The turning-bar and driving turning-bar that connect rotor mechanism drive the rotary drive assembly of rotor mechanism overturning, make the rotation of rotor mechanism
Lift is provided for fixed-wing body when shaft keeps vertical, after rotary drive assembly driving rotor mechanism overturning, shaft and machine
Head is directed toward one and shows the driving force for providing and putting down and flying, and fly the compound unmanned plane of this multiaxis fixed-wing can in vertical lift and quick flat
Deng movement between switch, solve in the prior art multiaxial type unmanned plane due to airframe structure limit, the unhappy problem of flying speed.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of compound one embodiment of unmanned plane of multiaxis fixed-wing of the present invention；
Fig. 2 is the structural schematic diagram that mechanism structure is turned in Fig. 1 embodiment；
Fig. 3 is the structural schematic diagram of another embodiment of the compound unmanned plane of multiaxis fixed-wing of the present invention.
Specific embodiment
The embodiment of the present invention is described more fully below, the example of embodiment is shown in the accompanying drawings, wherein phase from beginning to end
Identical element or element with the same function are indicated with label.Embodiment below with reference to attached drawing description is exemplary
, it is intended to it is used to explain the present invention, and is not considered as limiting the invention, based on the embodiments of the present invention, this field
Those of ordinary skill's every other embodiment obtained without creative efforts, belongs to protection of the present invention
Range.
In order to solve the above technical problems, the present invention proposes a kind of compound unmanned plane of multiaxis fixed-wing, it referring to Figures 1 and 2, should
The compound unmanned plane of multiaxis fixed-wing includes fixed-wing body 10, rotor mechanism 20 and the steering being arranged in fixed-wing body 10
Mechanism 30；Steering mechanism 30 includes crossing fixed-wing body 10 and turning to from the turning-bar 31 of the both ends of wing stretching and driving
The rotary drive assembly that bar 31 is rotated using its axis as shaft；Rotor mechanism 20 includes being separately positioned on the two of turning-bar 31
The actuator being arranged on fixed bracket 21 along the direction perpendicular to turning-bar 31 and connection is arranged in the fixation bracket 21 at end
The rotor of the output shaft of actuator.The head of self-retaining wing body toward tail direction, and using turning-bar position as separate,
The rotor of neighbouring head forms the first rotor group in rotor mechanism, and the rotor far from head forms the second rotor group, in the first rotation
Between wing group and the second rotor group when shape lift difference, steering mechanism is for adjusting the angle of fixed-wing body with respect to the horizontal plane.
The head of self-retaining wing body is toward tail direction, and using 31 position of turning-bar as separating, neighbouring machine in rotor mechanism 20
The rotor of head forms the first rotor group, and the rotor far from head forms the second rotor group, in the first rotor group and described the
When forming lifting surface relative level corresponding to lift official post the first rotor group and the second rotor group between two rotor groups and verting, institute
Steering mechanism is stated for adjusting the angle of the fixed-wing body with respect to the horizontal plane.
In the present embodiment, fixed-wing body 10 includes head, fuselage, wing and tail, and steering mechanism 30 includes crossing
Fuselage and the turning-bar 31 stretched out from the both ends of wing.It is additionally provided with mounting base 35 in fuselage interior, mounting base 35 includes fixing
In the fixed plate of fuselage interior, two support plates that are upwardly extended from fixed plate and two support sleeves being arranged in two support plates,
The support sleeve and turning-bar 31 are rotatablely connected by bearing.Gear drive, belt transmission or worm gear may be selected in rotary drive assembly
The modes such as worm-drive.
Such as: rotary drive assembly includes the driven gear being coaxially disposed with turning-bar 31, the master engaged with driven gear
Moving gear and for drive driving gear rotate steering driving motor；Alternatively, rotary drive assembly includes turning to driving electricity
Machine, with turn to driving motor output axis connection drive pulley, with turning-bar 31 coaxial arrangement driven pulley and
The synchronous belt being connected between drive pulley and driven pulley.Preferred Worm Wheel System herein.Driving group is rotated as a result,
Part includes the worm gear 32 being coaxially disposed with turning-bar 31 and the worm screw 33 being adapted to worm gear 32.Worm screw 33 is by being fixed at
Fuselage interior turns to driving motor 34 and drives, and worm gear 32 is located at the middle section of turning-bar 31.Rotor is as ginseng behind turning-bar 31
According to when, the effect of steering mechanism 30 is to adjust fixed-wing body angle with respect to the horizontal plane.
In the present embodiment, fixed bracket 21 includes the first connecting rod 22 connecting with turning-bar 31, first connecting rod 22
Midpoint connect and be vertically arranged with turning-bar 31.Fixed bracket 21 further includes the installation that 22 both ends of first connecting rod are arranged in
Position, installation position is for installing actuator.The preferred motor of actuator, gasoline engine or diesel engine.The defeated of actuator is then arranged in rotor
On shaft, i.e., every width rotor drives respectively by a motor driven, or by a fuel engines.In addition it is also possible to be same
Two width rotors of side are driven by a fuel engines by shaft or synchronous belt simultaneously.It is worth noting that turning-bar 31
Optimum position is the center of gravity across body, to slow down the overturning of fuselage when rotor mechanism 20 adjusts corner.
The present invention is arranged symmetrical rotor mechanism 20 by the wing both ends in fixed-wing body 10, sets in fuselage interior
The rotary drive assembly that the turning-bar 31 and driving turning-bar 31 for setting connection rotor mechanism 20 drive rotor mechanism 20 to overturn, makes
Lift is provided for fixed-wing body 10 when the rotary shaft of rotor mechanism 20 keeps vertical, when rotary drive assembly drives rotor mechanism
After 20 overturnings, shaft and head are directed toward one and show the flat winged driving force of offer, keep the compound unmanned plane of this multiaxis fixed-wing achievable
The movements such as vertical lift and quick flat are winged.Solve it is more in the prior art, shaft type unmanned plane due to airframe structure limit, flight
The unhappy problem of speed.
Further, when rotary drive assembly uses the kind of drive without self-locking function, when such as using gear drive, this
Locking mechanism is additionally provided with inside the compound unmanned plane of multiaxis fixed-wing, locking mechanism includes the locking ring being arranged on turning-bar 31
40 and drive 40 locking turning-bar 31 of locking ring locking driving motor.The opening setting of locking ring 40, including it is set in steering
The sticking department of 31 outer wall of bar extends from one end of opening and prolongs with the fixing end being fixedly connected and from the other end of opening
The keyed end stretched and connect with locking driving motor, under the driving of the second motor, keyed end can drive to fixed end motion
Dynamic 40 locking turning-bar 31 of locking ring realizes locking, avoids the compound unmanned plane of multiaxis fixed-wing rotor mechanism 20 in flight course
Occur abnormally to deflect between body, it is ensured that flight stability.
In a preferred embodiment of the present invention, referring to Fig.1, fixed bracket 21 includes the first connection connecting with turning-bar 31
Bar 22 and the installation position that 22 both ends of first connecting rod are arranged in, installation position is for installing actuator.In the present embodiment, with solid
When the direction of fixed wing machine head is used as upwardly direction, two first connecting rods 22 in rotor mechanism 20 constitute one with turning-bar 31
The structure of " H " type, actuator and rotor thereon are arranged at four ends of " H " type structure, set at the both ends of two first connecting rods 22
It is equipped with the installation position of installation actuator.Actuator and 4 points of the rotor flights for being distributed as fuselage provide stable lift.
In another preferred embodiment of the present invention, referring to Fig. 3, fixed bracket 21 includes that first connect with turning-bar 31 connects
Extension bar 22 is vertically set on 22 both ends of first connecting rod and second connecting rod 23 and third connecting rod 24 parallel with turning-bar 31
And it is separately positioned on the installation position at the both ends of the second connecting rod 23 and third connecting rod 24, installation position is for installing actuator.
When in the present embodiment, using the direction of fixed-wing head as upwardly direction, fixed bracket 21 is by first connecting rod 22, second
23 third connecting rods 24 of connecting rod form a dies, and first connecting rod 22 connects the second connection disposed in parallel
The midpoint of bar 23 and third connecting rod 24.Turning-bar 31 be equally arranged in parallel with the second connecting rod 23 and third connecting rod 24 and with
The center of first connecting rod 22 connects.Four ends of fixed bracket 21 are arranged in actuator and rotor.Thus entire multiaxis fixed-wing
The left and right both wings of compound unmanned plane are respectively set four rotors and bigger lift and flat winged driving force have been provided.
In still another embodiment of the process, the hollow setting of turning-bar 31, for for connecting actuator route or oil circuit it is logical
It crosses.Turning-bar 31 and the fixed hollow setting of bracket 21, the connecting line or pipeline road of actuator can pass through in the present embodiment
Turning-bar 31 and fixed bracket 21 connect/pass to the overall weight for reducing fuselage with the power supply of fuselage interior or fuel tank, and wiring is more
Add simply, is easily installed and safeguards.
In still another embodiment of the process, the compound unmanned plane of multiaxis fixed-wing further includes being arranged on fixed-wing body 10
First attitude transducer and the second attitude transducer being arranged on fixed bracket 21.In the present embodiment, the first posture passes
Sensor and the preferred graphite gyroscope of the second attitude transducer, the second attitude transducer are fixedly connected with fixed bracket 21, work as fixation
The second attitude transducer rotates synchronously when bracket 21 rotates, to detect the posture of multiaxis unmanned plane.
In addition, the encoder connecting with turning-bar 31 angularly sensor also may be selected in the second attitude transducer, can be used for
The rotational angle of turning-bar 31 is measured you can learn that the opposite rotational angle with fuselage of rotor plane, thus the second attitude transducer
It may be provided at internal body.
Rotor flies control and connect with the second attitude transducer, while connecting with rotor drive control device, and rotor flies control from second
Attitude transducer obtains attitude data, merges the instruction of remote command or auto-flare system module, generates rotor control and refers to
It enables and is sent to rotor drive control device.First attitude transducer is installed on fixed-wing body 10, for detecting fixed-wing body
10 posture, fixed-wing fly control and connect with the first attitude transducer, while driving with the aileron, empennage, rotor of fixed wing aircraft
Controller and rotary drive assembly connection, fixed-wing fly control and obtain attitude data from the first attitude transducer, merge remote controler
Instruction or the instruction of automatic vehicle generate gesture stability instruction to drive aileron, empennage and rotor.Fixed-wing fly control and
Rotor flies control connection, for intercoursing attitude data and control instruction.Fixed-wing flies control and rotor flies control and is also possible to share
One hardware entities, fixed-wing flies control and rotor flies two tasks controlled be in the common hardware system.
The present invention also proposes that a kind of flight control method of compound unmanned plane of multiaxis fixed-wing, the flight control method include
Following steps:
When the compound unmanned plane of multiaxis fixed-wing switches to flat winged state from vertical lift or floating state: unmanned plane is in sky
When middle delay, rotor plane and fuselage keeping parallelism or rotor plane keep lesser angle aircraft to be likely to be at fuselage
Hover, climb or decline state.Perfect condition is that aircraft is in floating state, and rotorshaft keeps vertical, and fuselage keeps horizontal
State.
The lift for generating the first rotor group is less than the lift that the second rotor group generates, so that rotor corresponding to rotor is flat
Face is rotated to relative level around an axis in forward-lean state；In the present embodiment, turning for rotor is controlled by flight controller
Speed, the first rotor group reduction of speed and/or the speed-raising of the second rotor group, rotor leans forward together with fuselage at this time, in the certain angle to lean forward
Under, aircraft still maintains regular flight condition.Or by adjusting the first rotor group and/or the pitch of the second rotor group, before making
The pitch of person is less than the pitch of the latter, and rotor leans forward together with fuselage at this time, and under the certain angle to lean forward, aircraft is still maintained
Regular flight condition.
During rotor plane switches to the forward-lean state, by steering mechanism adjust fixed-wing body relative to
The angle of horizontal plane；In the present embodiment, when turning-bar rotates counterclockwise, the angle between rotor plane and fuselage increases, and makes
The fuselage to lean forward slowly restores finally to make the shaft direction of rotor consistent with the flat winged direction of aircraft to horizontality, and rotor turns
Speed and pitch are consistent.In this case, the level speed of aircraft is adjustable to most fast state.
It is worth noting that, above-mentioned rotor is rotated by the process and rotating bar for adjusting the speed or pitch being adjusted to realize that fuselage leans forward
Adjustment rotor plane and the process of fuselage angle can carry out simultaneously, can also be successively alternately so that aircraft is in adjustment process
Middle holding stabilized flight.
In the present embodiment, the compound unmanned plane of multiaxis fixed-wing switches to hovering or vertical lift state from flat winged state
When: ideally, aircraft is in flat winged state, and rotor plane is vertical with fuselage holding.
The lift for generating the first rotor group is greater than the lift that the second rotor group generates, so that rotor corresponding to rotor is flat
Face is rotated around an axis, and plane corresponding to rotor is made to rotate to relative level state from the state of turning forward.
In the present embodiment, the revolving speed of rotor, the speed-raising of the first rotor group and/or the second rotor are controlled by flight controller
Group is slowed down, and rotor is swung back together with fuselage at this time, and under certain angle of swinging back, aircraft still maintains regular flight condition.Alternatively,
By adjusting the first rotor group and/or the pitch of the second rotor group, make the former pitch be greater than the latter pitch, at this time rotor with
Fuselage is swung back together, and under the certain angle of layback, aircraft still maintains regular flight condition.
During the rotor plane is switched to horizontality from heeling condition, fixed-wing is adjusted by steering mechanism
The angle of body with respect to the horizontal plane.In the present embodiment, folder when turning-bar rotates clockwise, between rotor plane and fuselage
Angle reduces, and restores the fuselage to lean forward slowly to horizontality, rotor plane is also restored to horizontality.
It is worth noting that, above-mentioned rotor is by adjusting the speed or adjusting pitch to realize the process and rotating bar rotation of fuselage layback
Adjustment rotor plane and the process of fuselage angle can carry out simultaneously, can also be successively alternately so that aircraft is in adjustment process
Middle holding stabilized flight.
In addition, being turned in above-mentioned all steps when rotary drive assembly is using the kind of drive for not having self-locking function
Also locking mechanism is needed to cooperate in the rotation process of bar.During rotor mechanism adjustment, locking mechanism keeps non-locking state, when
When rotor mechanism is adjusted to final carriage, locking mechanism locking turning-bar keeps flight more stable.
In an alternative embodiment of the invention, the lift for generating the first rotor group is stated less than the lift that the second rotor group generates
The step of include: to make the revolving speed of the first rotor group less than the revolving speed of the second rotor group；Alternatively, being less than the pitch of the first rotor group
Pitch far from the second rotor group；
The lift for generating the first rotor group includes: to make the first rotation greater than the step of lift that the second rotor group generates
The revolving speed of wing group is greater than the revolving speed of the second rotor group；Alternatively, the pitch of the first rotor group is made to be greater than the slurry far from the second rotor group
Away from.
In the present embodiment can by it is single adjustment the first rotor group and the second rotor group revolving speed or pitch method come
Generation lift is poor, or combines the method for adjustment that revolving speed adjustment is adjusted with pitch and further increase the first rotor group and the second rotation
Lift between wing group is poor.Above-described Adjusted Option belongs in protection scope of the present invention.
The present invention is arranged symmetrical rotor mechanism by the wing both ends in fixed-wing body, company is arranged in fuselage interior
The turning-bar and driving turning-bar that connect rotor mechanism drive the rotary drive assembly of rotor mechanism overturning, make the rotation of rotor mechanism
Lift is provided for fixed-wing body when shaft keeps vertical, after rotary drive assembly drives rotor mechanism overturning, shaft and head
It is directed toward one and the driving force for providing and putting down and flying is provided, fly the achievable vertical lift of the compound unmanned plane of this multiaxis fixed-wing and quick flat
Deng movement.Solve it is more in the prior art, shaft type unmanned plane due to airframe structure limit, the unhappy problem of flying speed.
Above is only part or preferred embodiment of the invention, therefore either text or attached drawing cannot all limit this
The range of protection is invented to be made under all designs with an entirety of the invention using description of the invention and accompanying drawing content
Equivalent structure transformation, or directly/be used in other related technical areas indirectly and be included in the scope of protection of the invention.
Claims (10)
1. a kind of compound unmanned plane of multiaxis fixed-wing, which is characterized in that including fixed-wing body, rotor mechanism and be arranged in institute
State the intracorporal steering mechanism of fixed-wing aircraft；
The steering mechanism includes from the turning-bar of the left and right sides of fixed-wing body stretching and for driving described turn
The rotary drive assembly rotated to bar around an axis；
The rotor mechanism includes being separately positioned on the both ends of the turning-bar and symmetrically fixing about the fixed-wing body
Bracket, the actuator being arranged on the fixed bracket and the rotor being arranged on the support bracket fastened both ends, the drive
Moving part is connect with the shaft of the rotor；
From the head of the fixed-wing body toward tail direction, and using the turning-bar position as separating, the rotor
The rotor of the neighbouring head forms the first rotor group in mechanism, and the rotor far from the head forms the second rotor group, in institute
It states and forms lift corresponding to lift official post the first rotor group and the second rotor group between the first rotor group and the second rotor group
When face relative level is verted, the steering mechanism is for adjusting the angle of the fixed-wing body with respect to the horizontal plane.
2. the compound unmanned plane of multiaxis fixed-wing according to claim 1, which is characterized in that on the turning-bar and its both ends
Fixation holder combination at " H " type structure, the shaft of the rotor is parallel to each other and vertical with the pivot center of the turning-bar
Setting.
3. the compound unmanned plane of multiaxis fixed-wing according to claim 1, which is characterized in that the turning-bar is integrated knot
Structure, the compound unmanned plane of multiaxis fixed-wing further includes locking mechanism, and the locking mechanism includes being set on the turning-bar
And hold the locking driving motor of the turning-bar tightly with the locking ring and the driving locking ring being open.
4. the compound unmanned plane of multiaxis fixed-wing according to claim 1, which is characterized in that the rotary drive assembly includes
With the worm gear of turning-bar coaxial arrangement, the worm screw that is engaged with the worm gear and steering for driving the worm screw to rotate
Driving motor；Alternatively, the rotary drive assembly includes and the driven gear of turning-bar coaxial arrangement and the driven tooth
Take turns the driving gear of engagement and the steering driving motor for driving the driving gear rotation；Alternatively, the rotation driving
Component includes turning to driving motor, drive pulley and the turning-bar with the output axis connection for turning to driving motor
The driven pulley of coaxial arrangement and the synchronous belt being connected between the drive pulley and driven pulley.
5. the compound unmanned plane of multiaxis fixed-wing according to claim 1, which is characterized in that the fixed bracket includes and institute
The vertically disposed first connecting rod of turning-bar is stated, the first connecting rod both ends are separately positioned on and is parallel with the turning-bar
Second connecting rod and third connecting rod and be separately positioned on second connecting rod and third connecting rod both ends installation position,
The rotor is arranged on the installation position, and the first connecting rod, the second connecting rod and third connecting rod are combined into " H " type knot
Structure.
6. the compound unmanned plane of multiaxis fixed-wing according to claim 1, which is characterized in that the actuator includes motor
Or fuel engines.
7. the compound unmanned plane of multiaxis fixed-wing according to claim 6, which is characterized in that the hollow setting of turning-bar,
For for connecting the actuator route or oil circuit pass through.
8. the compound unmanned plane of multiaxis fixed-wing according to claim 1, which is characterized in that the compound nothing of multiaxis fixed-wing
Man-machine for further including the first attitude transducer being arranged on the fixed-wing body and being arranged on the fixed bracket
Two attitude transducers, first attitude transducer and the second attitude transducer fly with the compound unmanned plane of multiaxis fixed-wing
Line control unit connection.
9. a kind of flight control method of the compound unmanned plane of multiaxis fixed-wing, which is characterized in that be applied in claim 1 to 8
Described in any item compound unmanned planes of multiaxis fixed-wing, the flight control method the following steps are included:
When the compound unmanned plane of multiaxis fixed-wing switches to flat winged state from lifting or floating state:
The lift for generating the first rotor group less than the lift that the second rotor group generates so that rotor plane corresponding to rotor around
One axis is rotated to relative level in forward-lean state；
During the rotor plane switches to the forward-lean state, by steering mechanism adjust fixed-wing body relative to
The angle of horizontal plane；
When the compound unmanned plane of multiaxis fixed-wing switches to hovering or jacking condition from flat winged state:
Make the first rotor group generate lift be greater than the second rotor group generate lift so that rotor plane corresponding to rotor around
The rotation of one axis, makes plane corresponding to rotor rotate to relative level state from the state of turning forward.
During the rotor plane is switched to horizontality from heeling condition, fixed-wing body is adjusted by steering mechanism
Angle with respect to the horizontal plane.
10. flight control method according to claim 1, which is characterized in that the lift for generating the first rotor group
Less than the second rotor group generate lift the step of include:
Make the revolving speed of the first rotor group less than the revolving speed of the second rotor group；Alternatively,
The pitch of the first rotor group is set to be less than the pitch far from the second rotor group；
It is described make the first rotor group generate lift be greater than the second rotor group generate lift the step of include:
The revolving speed of the first rotor group is set to be greater than the revolving speed of the second rotor group；Alternatively,
The pitch of the first rotor group is set to be greater than the pitch far from the second rotor group.
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