CN109263978A - Semi-active type imitates dandelion micro air vehicle and its control method - Google Patents
Semi-active type imitates dandelion micro air vehicle and its control method Download PDFInfo
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- CN109263978A CN109263978A CN201811339955.4A CN201811339955A CN109263978A CN 109263978 A CN109263978 A CN 109263978A CN 201811339955 A CN201811339955 A CN 201811339955A CN 109263978 A CN109263978 A CN 109263978A
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- pappus
- wing
- aircraft
- dandelion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
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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
- B64C27/10—Helicopters with two or more rotors arranged coaxially
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses a kind of semi-active types to imitate dandelion micro air vehicle and its control method.Aircraft, for bionical object, is designed with dandelion using the strong characteristic of its float and diffusivity.Aircraft is mainly made of upper rotor, lower rotor, the pappus wing, main shaft and main cabin.Upper and lower rotor wing rotation is contrary, to balance reaction torque, DCB Specimen climb with it is motor-driven when generate needed for lift and steering force；Rotor is foldable, can effectively save aircraft parking space.The pappus wing has two layers, and the pappus wing can form collar vortex in lower part to generate lift, to extend the floating duration of aircraft.Main shaft connects coaxial double-rotary wing system, pappus wing system and main cabin.Aircraft can have there are two types of offline mode, and one kind is dynamic offline mode, and another mode is unpowered flight mode.Aircraft of the present invention has the feature of small size, light weight, consume energy low, mobility strong and floating time length.
Description
Technical field
The present invention relates to aircraft fields, refer in particular to a kind of imitative dandelion micro air vehicle of semi-active type.
Background technique
With vehicle technology, the rapid development of manufacturing process and advanced material application technology, the multiplicity of bionic Aircraft
Change develops into possibility, and also more and more attention has been paid to all kinds of bionic Aircrafts occur bionics techniques like the mushrooms after rain, such as imitative bat
Bat aircraft, imitative wasp unmanned plane, imitative sea-gull unmanned plane.The Nature is the source of engineering design always, uses for reference birds and incites
The aerodone of flapping wing aircraft, imitative wild goose flight that dynamic wing flight is designed, imitates " bamboo dragonfly " and the helicopter of design
Etc..For aircraft, most bionical object is all the animals such as birds, insects, and uses for reference natural plant and imitated
It survives more rare.
Dandelion is a kind of herbaceous plant of lightweight, there is the white pappus of reversed umbrella, Pu on each Taraxacum mongolicum seeds
The total quality of public English seed and pappus composition is lighter, and this structure similar to parachute of Taraxacum mongolicum seeds is extremely efficient, small
It is remote to several hundred or even thousands of kilometers that Taraxacum mongolicum seeds only lean on wind-force that can float.It is found by Research Scientists, when blowing air over Pu
When public English seed pappus, pressure difference is formed between the air that meeting be moved around Taraxacum mongolicum seeds, the generation of pressure difference will form
Collar vortex of one stabilization below pappus.Collar vortex can increase air drag, hold up Taraxacum mongolicum seeds, extend it and float in the sky
Time.
The present invention uses for reference the structure and aerodynamic characteristic of dandelion, in conjunction with a semi-active type of coaxial double-rotary wing Technology design
Aircraft.Aircraft of the present invention has the feature of small size, light weight, consume energy low, mobility strong and floating time length.Aircraft
Can by carry different task load carry out monomer operation/industry, can also by cooperative achievement multi rack aircraft cluster fight/industry,
Greatly improve efficiency.This flying instrument has wide practical use, in civil field, can be used for communicating relaying, navigation, remote sensing,
Environment weather observation etc.；In military domain, it can be used for investigating, monitor, bee colony operation, aerial mine-laying etc..
Summary of the invention
It is an object of the invention to solve problems of the prior art, in conjunction with flexible wing technology, coaxial double-rotary wing
Technology, dandelion pappus bionics techniques propose a microminiature semi-active type and imitate dandelion micro air vehicle.Fly with tradition
Row device is compared, and aircraft of the present invention has the feature of small size, light weight, consume energy low, mobility strong and floating time length.Flight
Device can also cooperate with cluster fight/industry by carrying different mission payload monomer operation/industry, greatly improve fighting efficiency.
For achieving the above object, The technical solution adopted by the invention is as follows:
A kind of imitative dandelion micro air vehicle of semi-active type, which includes upper rotor, lower rotor, the pappus wing, master
Axis and main cabin；The upper rotor, lower rotor are fixed on the main shaft top, constitute coaxial double-rotary wing；And upper rotor is under
The direction of rotation of rotor on the contrary, and the two blade it is foldable；The pappus wing is constituted by inside and outside two layers；Every layer of pappus wing
In, several flexible pappus circumferentially evenly distributed along main shaft are all had, and one end of every flexible pappus is fixed on main shaft, separately
One end is free end；The main cabin carry is in main shaft lower part.
Preferably, the upper rotor, lower rotor are rigid rotor, upper rotor, lower rotor are by two panels blade group
At blade turns with negative twist, and blade shape is trapezoidal；Blade selects CLARK-Y aerofoil profile.
Preferably, the flexible pappus is hollow cavity.
Preferably, in the inner cavity of every flexible pappus, being equipped with for controlling pappus subtended angle size in the pappus wing
Shape-memory alloy wire.
Preferably, every layer of pappus wing is made of 36 root cap hairs.
Preferably, the flexible pappus main structure is made of graphene aerogel.
Preferably, shape is spindle to the master out of my cabin.
Preferably, being placed with equipment and/or mission payload in the main cabin.
Preferably, further including storing female storehouse, the aircraft is fixed in the female storehouse of storage with folded state batch.
Another object of the present invention is to provide the controlling parties that a kind of above-mentioned semi-active type imitates dandelion micro air vehicle
Method, its step are as follows: aircraft is fixed on the female storehouse of storage before dispensing with folded state, and is carried by other aircraft to mesh
Mark air position；Then according to itself mission requirements, the rotation by being unfolded and starting coaxial double-rotary wing generates each aircraft
Power is risen, aircraft is detached from and stores female storehouse progress Mission Operations；Climb or maneuvering condition under, aircraft start coaxial double-rotary
The wing, and the angle of two layers of pappus wing is adjusted, make it in concave surface umbrella directed downwardly, coaxial double-rotary wing provides power；Suspend or under
Under drop state, aircraft closes coaxial double-rotary wing, and adjusts the angle of two layers of pappus wing, makes its umbrella in concave surface upward,
Unpowered suspension or flight are carried out by the buoyancy of the pappus wing.
Compared with prior art, the present invention has the advantage that
Semi-active type proposed by the present invention imitates dandelion micro air vehicle, float and expansion using Taraxacum mongolicum seeds
The strong characteristic of the ability of dissipating is designed.The feature of, light weight small with size, consume energy low, mobility strong and floating time length.
Semi-active type proposed by the present invention imitates dandelion micro air vehicle, and the imitative of dandelion is used for reference in the design of the pappus wing
It is raw to learn construction and movement mechanism, made of the lightweights functional material such as graphene aerogel, can make aircraft carry out in the sky compared with
The floating and diffusion of long-time and relatively long distance, without consuming any energy.This efficient fly mechanics can be to greatest extent
Ground reduces energy consumption.
Semi-active type proposed by the present invention imitates dandelion micro air vehicle, is opened according to different motion states different
Motor pattern, adaptable, flexibility is high, energy consumption is low, this aircraft has the feature of the long endurance of Taraxacum mongolicum seeds, but than Pu public affairs
The mobility of English seed is stronger.
Semi-active type proposed by the present invention imitates dandelion micro air vehicle, and rotor uses folding technique, stores the time
Save space.The installation of aircraft and location mode can be designed according to user demand, such as straight barrel type, flat, bent-plate-type
Deng flexibility is stronger.
Detailed description of the invention
Fig. 1 is that semi-active type imitates dandelion micro air vehicle decline state and structure composition figure；
Fig. 2 is that semi-active type imitates dandelion micro air vehicle climb mode figure；
Fig. 3 is that semi-active type imitates dandelion micro air vehicle folded state diagram；
Fig. 4 is that straight barrel type stores schematic diagram；
Fig. 5 is flat storage schematic diagram；
Fig. 6 is that bent-plate-type stores schematic diagram.
In figure: upper rotor 1, lower rotor 2, the pappus wing 3, main shaft 4 and main cabin 5.
Specific embodiment
The present invention is further elaborated and is illustrated with reference to the accompanying drawings and examples.Each embodiment in the present invention
Technical characteristic can carry out the corresponding combination under the premise of not conflicting with each other.
Aircraft of the invention with dandelion for bionical object, it is strong using the float and diffusivity of its double-deck pappus
Characteristic be designed.
As shown in Figure 1, aircraft is made of upper rotor 1, lower rotor 2, the pappus wing 3, main shaft 4 and main cabin 5.Upper rotor 1, under
Rotor 2 is coaxially fixed on 4 top of main shaft, constitutes coaxial double-rotary wing, the dynamical system as entire aircraft.And upper rotor 1, under
Rotor 2 is rigid rotor, and direction of rotation is opposite each other, and upper rotor 1, lower rotor 2 respectively pass through connecting rod by two panels blade
It is formed by connecting, blade turns with negative twist, and shape is trapezoidal, aerofoil profile selection CLARK-Y.In order to save during aircraft storage
Volume is both designed as foldable form between upper rotor 1 or the two panels blade and connecting rod of lower rotor 2, the two panels in storing process
Blade is sagging, saves laterally land occupation；And the expansion of two panels blade is in level in flight course.Foldable structure herein can be by paddle
Leaf is articulated on connecting rod and realizes, but needs in blade expansion with certain rigidity, the stability of blade when guaranteeing flight.
The implementation of the structure of the holding rigidity can be multiplicity, such as can be all provided in the contact site two sides of blade and connecting rod
The magnetic absorption member for setting power control is needing to be unfolded to be powered both making that holding rigidity is tightly sucked, and while needing to fold is disconnected
Opening electricity makes its bending；It can certainly be the electric control structures such as motor control to realize.
In the aircraft, the pappus wing 3 is made of upper layer and lower layer, and every layer of pappus wing is made of 36 flexible pappus, and totally 72
Root.Flexible pappus internal structure is that hollow cavity can be made, such as graphite with mitigating weight by the functional material of lightweight
Alkene aeroge etc. makes it have good architectural characteristic and electromagnetic property.Every layer of pappus wing 3 copies the pappus structure of dandelion
It makes, circumferentially evenly distributed along 4 outer wall of main shaft by a plurality of flexible pappus, every flexible pappus one end is fixed on main shaft 4, the other end
For free end.The upper layer and lower layer pappus wing 3 has been actually formed inside and outside double-layer structure since curved surface is upward, and the pappus wing can be
Lower part forms collar vortex to generate lift, and stablizes collar vortex by regulation porosity, to extend the floating duration of aircraft.It is double-deck
For 3 structure of the pappus wing for single layer structure, floating effect is more preferable.In addition, the direction of the pappus wing 3 is needed according to aircraft
The state that rises or falls flexibly changed, meet the mobility of aircraft.Therefore, can by angle adjustment device come
Control the subtended angle of the pappus wing 3.The implementation of angle adjustment device can be multiplicity, in the present embodiment, be remembered by shape
Alloy is recalled to realize the accurate control of subtended angle: in the hollow cavity of every flexible pappus, being respectively implanted strip memory and is closed
Spun gold has the function of the deformation of shape memory characteristic using it, to control the size of pappus subtended angle.Shape-memory alloy wire can be with
External power supply is connected, changes the rigidity and angle of alloy wire by control electric current.
As shown in Figure 1, 2, flying instrument is dynamic offline mode there are two types of offline mode, one kind, is mainly being climbed
With maneuvering condition (such as Fig. 1), rotor works and consumes certain power at this time, and the pappus wing is umbrella, reduces downward resistance；Separately
One mode is unpowered flight mode, is mainly suspending and is declining state (such as Fig. 2), rotor does not work at this time, mainly by hat
The hair wing generates buoyancy, and the pappus wing is umbrella, increases upward buoyancy, and do not consume any power, saves the energy.Moreover,
Different pappus subtended angles is not at the same time it can also realizing different decrease speeds in the pappus wing.
In the aircraft, main cabin 5 be spindle shape, reduce additional drag, effective use space be used to place power,
Electrically, equipment and mission payload etc. are controlled.Such as folding and unfolding, power control unit, power supply of coaxial double-rotary wing system etc. can be taken
It is loaded in main cabin 5, to realize automation control.Various power, electrical, control equipment can be used existing aircraft correlation and sets
It is standby, and the key point of non-present invention, therefore repeat no more.Aircraft can carry out monomer operation by carrying different task load
It can carry out group operation.
As shown in figure 3, the blade of the coaxial double-rotary wing of aircraft foldable upper rotor 1, lower rotor 2 in storage, and make
The pappus wing is also shunk upwards, generally in folded state, to save memory space.As shown in Figure 4,5, 6, aircraft is before dispensing
It can be stored and be installed with different modes, straight tube (Fig. 4), plate (Fig. 5) can be placed in, on bent plate (Fig. 6), storage
It measures big and convenient, flexible.When dispensing, rotor is organized work, and complete machine is driven to separate with female cabin.
The control method that above-mentioned semi-active type imitates dandelion micro air vehicle is as follows: aircraft is before dispensing with rugosity
State is detachable to be fixed on the female storehouse of storage, and is carried by other aircraft to target air position；Then each aircraft according to
Itself mission requirements, the rotation by being unfolded and starting coaxial double-rotary wing generate lifting power, are detached from aircraft and store female storehouse
Carry out Mission Operations；Climb or maneuvering condition under, aircraft start coaxial double-rotary wing, and adjust two layers of pappus wing 3 angle,
Make it in concave surface umbrella directed downwardly, the active flight generated by coaxial double-rotary wing rotation；Under suspension or decline state, flight
Device closes coaxial double-rotary wing, and adjusts the angle of two layers of pappus wing 3, makes its umbrella in concave surface upward, passes through the pappus wing 3
Buoyancy carries out unpowered suspension or long-distance flight.
Above-mentioned embodiment is only a preferred solution of the present invention, so it is not intended to limiting the invention.Have
The those of ordinary skill for closing technical field can also make various changes without departing from the spirit and scope of the present invention
Change and modification.Therefore all mode technical solutions obtained for taking equivalent substitution or equivalent transformation, all fall within guarantor of the invention
It protects in range.
Claims (10)
1. a kind of semi-active type imitates dandelion micro air vehicle, which is characterized in that aircraft includes upper rotor (1), lower rotor
(2), the pappus wing (3), main shaft (4) and main cabin (5)；The upper rotor (1), lower rotor (2) are fixed on the main shaft (4)
Portion constitutes coaxial double-rotary wing；And the direction of rotation of upper rotor (1) and lower rotor (2) on the contrary, and the two blade it is foldable；
The pappus wing (3) is constituted by inside and outside two layers；In every layer of pappus wing (3), all have several circumferential evenly distributed along main shaft (4)
Flexible pappus, and one end of every flexible pappus is fixed on main shaft (4), and the other end is free end；The main cabin (5) is hung
It is loaded in main shaft (4) lower part.
2. semi-active type as described in claim 1 imitates dandelion micro air vehicle, which is characterized in that the upper rotor
(1), lower rotor (2) is rigid rotor, and upper rotor (1), lower rotor (2) are made of two panels blade, and blade turns with negative twist,
Blade shape is trapezoidal；Blade selects CLARK-Y aerofoil profile.
3. semi-active type as described in claim 1 imitates dandelion micro air vehicle, which is characterized in that the flexible pappus
For hollow cavity.
4. semi-active type as described in claim 1 imitates dandelion micro air vehicle, which is characterized in that the pappus wing
(3) in, in the inner cavity of every flexible pappus, it is equipped with the shape-memory alloy wire for controlling pappus subtended angle size.
5. semi-active type as described in claim 1 imitates dandelion micro air vehicle, which is characterized in that every layer of pappus
The wing (3) is made of 36 root cap hairs.
6. semi-active type as described in claim 1 imitates dandelion micro air vehicle, which is characterized in that the flexible pappus
Main structure is made of graphene aerogel.
7. semi-active type as described in claim 1 imitates dandelion micro air vehicle, which is characterized in that the main cabin (5)
Shape is spindle.
8. semi-active type as described in claim 1 imitates dandelion micro air vehicle, which is characterized in that the main cabin (5)
Inside it is placed with equipment and/or mission payload.
9. semi-active type as described in claim 1 imitates dandelion micro air vehicle, which is characterized in that further include that storage is female
Storehouse, the aircraft are fixed in the female storehouse of storage with folded state batch.
10. a kind of semi-active type as described in claim 1 imitates the control method of dandelion micro air vehicle, feature exists
In aircraft is fixed on the female storehouse of storage before dispensing with folded state, and is carried by other aircraft to target air position；
Then for each aircraft according to itself mission requirements, the rotation by being unfolded and starting coaxial double-rotary wing generates lifting power, makes to fly
Row device, which is detached from, stores female storehouse progress Mission Operations；Climb or maneuvering condition under, aircraft start coaxial double-rotary wing, and adjust two
The angle of the layer pappus wing (3), makes it in concave surface umbrella directed downwardly, and coaxial double-rotary wing provides power；Under suspension or decline state,
Aircraft closes coaxial double-rotary wing, and adjusts the angle of two layers of pappus wing (3), makes its umbrella in concave surface upward, passes through hat
The buoyancy of the hair wing (3) carries out unpowered suspension or flight.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811339955.4A CN109263978B (en) | 2018-11-12 | 2018-11-12 | Semi-active dandelion-like microminiature aircraft and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811339955.4A CN109263978B (en) | 2018-11-12 | 2018-11-12 | Semi-active dandelion-like microminiature aircraft and control method thereof |
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| CN109263978A true CN109263978A (en) | 2019-01-25 |
| CN109263978B CN109263978B (en) | 2023-05-23 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110155333A (en) * | 2019-05-30 | 2019-08-23 | 河北科技大学 | A kind of sealed-de- locking mechanism of inflatable of imitative Taraxacum mongolicum seeds |
| CN110673228A (en) * | 2019-08-30 | 2020-01-10 | 北京航空航天大学 | Formula of throwing sonde under imitative dandelion structure |
| CN113525684A (en) * | 2021-08-31 | 2021-10-22 | 清华大学 | Bionic aircraft and manufacturing method thereof |
| CN114148547A (en) * | 2021-12-06 | 2022-03-08 | 浙江大学 | Dandelion-like mars aircraft and device and control method thereof |
| CN115056984A (en) * | 2022-07-25 | 2022-09-16 | 哈尔滨工业大学 | Microminiature load dispenser and dispensing method |
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| JP2015112929A (en) * | 2013-12-10 | 2015-06-22 | 須知 晃一 | Manufacturing method and components of flying body for individual's aerial work |
| CN108045576A (en) * | 2018-01-15 | 2018-05-18 | 缪顺文 | Deformable bionical rotor flapping wing fixed-wing one aircraft |
| CN209241320U (en) * | 2018-11-12 | 2019-08-13 | 浙江大学 | A kind of imitative dandelion micro air vehicle of semi-active type |
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| CN102837816A (en) * | 2012-09-26 | 2012-12-26 | 陈嘉仪 | Self-flying and self-floating grassland roaming air pavilion |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110155333A (en) * | 2019-05-30 | 2019-08-23 | 河北科技大学 | A kind of sealed-de- locking mechanism of inflatable of imitative Taraxacum mongolicum seeds |
| CN110155333B (en) * | 2019-05-30 | 2024-02-23 | 河北科技大学 | Inflatable locking-unlocking mechanism imitating dandelion seeds |
| CN110673228A (en) * | 2019-08-30 | 2020-01-10 | 北京航空航天大学 | Formula of throwing sonde under imitative dandelion structure |
| CN110673228B (en) * | 2019-08-30 | 2020-09-01 | 北京航空航天大学 | Formula of throwing sonde under imitative dandelion structure |
| CN113525684A (en) * | 2021-08-31 | 2021-10-22 | 清华大学 | Bionic aircraft and manufacturing method thereof |
| CN113525684B (en) * | 2021-08-31 | 2023-08-08 | 清华大学 | Bionic aircraft and manufacturing method thereof |
| CN114148547A (en) * | 2021-12-06 | 2022-03-08 | 浙江大学 | Dandelion-like mars aircraft and device and control method thereof |
| CN114148547B (en) * | 2021-12-06 | 2023-08-22 | 浙江大学 | Dandelion-imitated Mars aircraft and device and control method thereof |
| CN115056984A (en) * | 2022-07-25 | 2022-09-16 | 哈尔滨工业大学 | Microminiature load dispenser and dispensing method |
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