CN109279007A

CN109279007A - A compound-driven rotary-wing fixed-wing unmanned aerial vehicle

Info

Publication number: CN109279007A
Application number: CN201811390295.2A
Authority: CN
Inventors: 吴翰; 邓磊
Original assignee: Northwestern Polytechnical University
Current assignee: Northwestern Polytechnical University
Priority date: 2018-11-21
Filing date: 2018-11-21
Publication date: 2019-01-29
Anticipated expiration: 2038-11-21
Also published as: CN109279007B

Abstract

The invention discloses a compound-driven rotary-wing fixed-wing unmanned aerial vehicle, which adopts all-electric drive for vertical take-off and landing and forward-flying cruise, and utilizes a compound inverted V-shaped tail and a rectangular four-straight airfoil of equal chord length with the axis symmetry of the fuselage. Layout; the use of rotor components to achieve vertical take-off and landing, the vertical take-off and landing of the UAV is not limited by the site, and the transition mode of vertical-to-level flight has little height loss and high stability. The propeller and drive motor are used to achieve forward flight cruising, and the drone has fast forward flight cruising speed and long continuation time. The use of the composite inverted V-shaped tail is in line with the aerodynamic principle of the UAV, which can ensure the aerodynamic efficiency of the tail during the flight of the UAV. The cruising efficiency and forward flight speed of the UAV can be greatly improved when the UAV is cruising forward, ensuring the rigidity of the overall structure of the UAV, ensuring the structural stability of the UAV during flight and the flight safety of the UAV .

Description

A kind of rotor fixed-wing unmanned plane of composite drive

Technical field

The present invention relates to air vehicle technique fields, specifically, being related to a kind of rotor fixed-wing unmanned plane of composite drive.

Background technique

Airplane design expert and researcher attempting to design always one kind can short distance or have VTOL and before Fly the aircraft of cruise performance.At present in actual application, is combined using rotor and realize that the aircraft of VTOL compares into Ripe, unmanned vehicle illustrates outstanding performance in many fields, gradually steps into the stage of people's life.More rotors without The man-machine performance with VTOL, therefore, take photo by plane, Aerial Surveying Technology field has critical role, structure is simple, weight compared with Gently, mobility strong, high reliablity, but multi-rotor unmanned aerial vehicle body is smaller, and without fixed lifting surface, cruise efficiency is not high, flies Scanning frequency degree is simultaneously unhappy, and flying distance and application range are subject to certain restrictions.Fixed-wing unmanned plane has preceding winged cruise performance, gloomy Numerous areas is maked an inspection tour in woods fire prevention, electric power pipe network has critical role, and cruise efficiency is high, flying speed is fast, flexibility is high, but solid Determine wing unmanned plane and do not have VTOL performance, the requirement to runway and ground run distance limits the use model of Fixed Wing AirVehicle It encloses.

Chinese patent CN205770149 discloses " a kind of fixed-wing rotor mixing unmanned plane of multi-configuration ", including rotor Component, fixed-wing system and equipment compartment, are placed with flight controller, sensor and power supply in the cabin of equipment compartment.The nothing It is man-machine to be made of in conjunction with quadrotor fixed-wing ontology, the performance with VTOL and preceding winged cruise.The unmanned plane feature exists In can according to demand rotor wing unmanned aerial vehicle, fixed-wing unmanned plane and mixing unmanned plane Three models between convert, purposes and use Range is wider, but its structure is directly to be fixed in rotor assemblies on body by connecting rod, and structural strength is weaker, only by the two-shipper wing Lift is provided, cruise efficiency is not high.

Patent CN206141829 discloses a kind of " the more rotor combined type aircraft of fixed-wing ", which includes main body Sweep angle behind skeleton, the engine that verts, all-wing aircraft fuselage, rectangular wing and wingflying aircraft.Aircraft have VTOL and before fly to patrol Boat performance, realizes the conversion between unmanned plane VTOL and preceding winged cruise, feature is in such a way that rotor engine verts Reduce weight of the aircraft in preceding winged cruise, winged cruise efficiency before improving, deficiency is that the engine that verts vertically is risen The method of transition is excessively complicated between drop and preceding winged cruise, and the cost is relatively high.

Summary of the invention

In order to avoid the shortcomings of the prior art, the present invention proposes a kind of rotor fixed-wing unmanned plane of composite drive, The unmanned plane uses all-electric VTOL, and VTOL is not limited by place to use；Combined type inverted V-shape empennage layout, Guarantee that unmanned plane has hung down and levels off the efficiency of winged transition mode rudder face and the overall stability of unmanned plane；It is laid out using four straight aerofoils, It reduces unmanned plane and has hung down and level off the decline of flying height in winged transition mode, keep unmanned plane safety reliable, four straight aerofoil cloth When office flies cruise before unmanned plane, biggish lift is provided, and then improve the preceding winged cruise efficiency and flying speed of unmanned plane.

The technical solution adopted by the present invention to solve the technical problems is: including the first rotor assemblies, the second rotor assemblies, Third rotor assemblies, quadrotor component, the first propeller, the second propeller, fuselage, flight control system, battery, the first wing, Second wing, third wing, the 4th wing, nose-gear, rear undercarriage, the first rotor arm, the second rotor arm, aileron, driving Motor, the first empennage, the second empennage, it is characterised in that the fuselage is formed using glass reinforced plastic, fuselage head and afterbody Cross section is ellipse, and fuselage two sides are respectively the first wing, third wing and the second wing, the 4th wing, the first wing with Third wing, the second wing and the 4th wing are symmetrically installed respectively with fuselage axis；First wing, the second wing, third machine The wing and the 4th wing such as are at the chord lengths rectangular airfoil structure, and aspect ratio is 6~8, and the upper counterangle of wing is 0~10 degree；First Rotor arm one end and the first wing tip position are connected, and the first rotor arm other end and the second wing tip position are connected, and second Rotor arm one end and third wing tip position are connected, and the second rotor arm other end and the 4th wing tip position are connected；Driving Motor is fixed on the intermediate position of the first wing and the third leading edge of a wing, at 2/3 position of rear of the second wing and the 4th wing It is separately installed with aileron, two ailerons are hinged with the second wing, the 4th wing respectively；First propeller, the second propeller point It is not connected in driving motor front end, the first propeller and the second propeller arrangement are identical, and the first propeller and the second propeller exist It is turned in the course of work opposite；

First rotor assemblies, the second rotor assemblies, third rotor assemblies and quadrotor component are that structure is identical Component, wherein rotor is located at the top of motor, and multiple rotors motor equal with quantity is coupled, and is respectively symmetrically fixed On the first rotor arm and the second rotor arm, the first rotor assemblies, the second rotor assemblies, third rotor assemblies and quadrotor group Rotor, the motor of part are respectively positioned on same plane, and the first rotor assemblies and the rotor of quadrotor component rotate clockwise when work, The rotor of second rotor assemblies and third rotor assemblies rotates counterclockwise；

First empennage and the second empennage form combined type inverted V type empennage, and the first empennage is with the second empennage inverted diherdral 30~60 degree；

The nose-gear is located at fuselage bottom 1/4, and the rear undercarriage is located at fuselage bottom 2/3, nose-gear, Undercarriage height is greater than vee tail height afterwards, and when unmanned plane is placed in ground or when VTOL, vee tail will not be touched Encounter ground.

The battery and flight control system are located in fuselage intermediate position, and battery is 1~2 piece of 6s battery, battery installation Position-adjustable, battery are used for as rotor motor and propeller driving motor supplies power；Flight control system is for guaranteeing unmanned plane Manipulation and stability in flight course.

Beneficial effect

A kind of rotor fixed-wing unmanned plane of composite drive proposed by the present invention, using all-electric VTOL and before fly to patrol Boat, is not limited by place using combined type inverted V type empennage and straight airfoil structure, VTOL, has hung down and leveled off winged stage die Formula height loss is less, stability is high, and winged cruise efficiency is high before unmanned plane, speed is fast, the flight time is long；Unmanned plane is straight using four Aerofoil is laid out, and provided lift is larger, flies the cruise efficiency of energy biggish raising unmanned plane when cruise before unmanned plane with before Rapidly degree；It has hung down and has been leveled off in winged transition mode in unmanned plane, four straight aerofoils, which are laid out, can guarantee that the flying height of unmanned plane will not subtract It is few, and then guarantee the flight safety of unmanned plane.

The rotor fixed-wing unmanned plane of composite drive of the present invention, it is respectively symmetrically solid using the first rotor arm and the second rotor arm Determine rotor assemblies, two rotor arms are connected with four wings respectively, and which improves the overall structure rigidity of unmanned plane, can guarantee Safety of the unmanned plane in flight course.Using combined type inverted V type empennage, make unmanned plane in flight course empennage it is pneumatic It is high-efficient, since its upper surface has biggish resistance elements to unmanned plane in flight, it can upset and flow to unmanned airplane empennage Air-flow, and then the pneumatic efficiency of empennage during unmanned plane during flying is reduced, the problem for causing empennage maneuverability lower, combined type is fallen Vee tail can guarantee the maneuverability of unmanned airplane empennage, and meet the pneumatic principle of rotor fixed-wing unmanned plane.

Detailed description of the invention

A kind of rotor fixed-wing unmanned plane of composite drive of the present invention is made with embodiment with reference to the accompanying drawing further It is described in detail.

Fig. 1 is the rotor fixed-wing unmanned plane axonometric drawing of composite drive of the present invention.

Fig. 2 is the rotor fixed-wing unmanned plane main view of composite drive of the present invention.

Fig. 3 is the rotor fixed-wing unmanned plane top view of composite drive of the present invention.

Fig. 4 is the unmanned side view of rotor fixed-wing of composite drive of the present invention.

In figure:

1. 5. first spiral shell of the first 4. quadrotor component of rotor assemblies 2. second rotor assemblies, 3. third rotor assemblies Revolve 6. second propeller of paddle, 7. fuselage, 8. flight control system, 9. battery, 10. first 11. second wing of wing, 12. third machine 16. first 17. second rotor arm of rotor arm of undercarriage, 18. aileron 19. after 14. nose-gear 15. of the 4th wing of the wing 13. 20. first empennage of driving motor, 21. second empennage

Specific embodiment

The present embodiment is a kind of rotor fixed-wing unmanned plane of composite drive.

Refering to fig. 1~Fig. 4, the rotor fixed-wing unmanned plane of the present embodiment composite drive, using electric vertical landing with before Fly cruise, utilize four aerofoils layout and combined type inverted V type tail structure, it is ensured that unmanned plane has VTOL and preceding winged cruise Can, guarantee that unmanned plane has hung down and level off the safety and stability of winged transition mode, improves preceding winged cruise efficiency and the flight of unmanned plane Speed.

In the present embodiment, the first rotor assemblies 1, the second rotor assemblies 2, third rotor assemblies 3 and quadrotor component 4 are equal It include identical rotor and motor, rotor is used for the VTOL process of unmanned plane, flies not occur when cruise before unmanned plane Rotation.First rotor assemblies 1, the second rotor assemblies 2 are connected with the first rotor arm 16 respectively, third rotor assemblies 3 and the 4th rotation Wing component 4 is connected with the second rotor arm 17 respectively, and when spacing between two rotor assemblies can guarantee rotor rotational mutually will not It touches.First rotor arm, 16 both ends are connected with 10 wing tip of the first wing and 11 wing tip position of the second wing respectively, the second rotation 17 both ends of wing arm are connected with 12 wing tip of third wing and 13 wing tip position of the 4th wing respectively, to guarantee drawing caused by rotor Power can be transmitted on fuselage 7.The rotor of first rotor assemblies 1 and quadrotor component 4 is to rotate clockwise, the second rotor assemblies 2 with the rotors of third rotor assemblies 3 be to rotate counterclockwise, with torque produced by guaranteeing during rotor rotational can itself be flat Weighing apparatus.First wing 10, the second wing 11, third wing 12 and the 4th wing 13 wing root be connected with unmanned aerial vehicle body 7, to protect Card passes to lift caused by aerofoil surface on fuselage 7.First wing 10, the second wing 11, third wing 12, the 4th wing 13 and fuselage 7 using intensity, the preferable cork wood of rigidity or glass-reinforced plastic material；In this example, the first wing 10, the second wing 11, third wing 12, the 4th wing 13 and fuselage 7 are manufactured for glass reinforced plastic.First wing 10, the second wing 11, third machine The wing 12 and the 4th wing 13 such as are at the chord lengths rectangular airfoil structure, and aspect ratio 7, the upper counterangle is 5 degree.Unmanned aerial vehicle body head Cross section be ellipse, area of section is larger, 7 tail portion cross section of fuselage be ellipse, cross-sectional area is smaller, and fuselage 7 is whole Body is slender bodies, cross-sectional area first increases and then decreases；For installing battery 9 and flight control system 8,7 tail of fuselage in the middle part of fuselage 7 Portion upwarps and is fixedly connected with the first empennage 20 and the second empennage 21.First propeller 5 and the second propeller 6 are located at driving electricity The front end of machine 19, driving motor 19 drive propeller rotational, and the first propeller 5 and the second propeller 6 rotate during the work time It is contrary；The first propeller 5 rotates clockwise in this example, the second propeller 6 rotates counterclockwise.First propeller 5 and Two propellers 6 are respectively arranged in the leading edge of the first wing 10 and third wing 12, are located at 1/2 position of wing；In the second wing 11 and the 4th 2/3 position of rear portion of wing 13 be separately installed with aileron 18, two ailerons are cut with scissors with the second wing, the 4th wing respectively It connects, to manipulate unmanned plane.7 middle part cross-sectional area maximum position of fuselage is equipped with big opening, and battery 9 and flight control system 8 are installed Inside fuselage 7, with guarantee unmanned plane electric system supply and auxiliary unmanned plane during flying during manipulation；Nothing in this example The big opening of man-machine fuselage is located at 1/2 position of fuselage.Battery 9 is 1~2 piece of 6s battery；This example uses 1 piece of 6s battery, electricity Line by the first wing 10, the second wing 11, third wing 12 and the 4th wing 13 lightening hole by battery 9 and rotor motor and Driving motor 19 links together, and completes the matching of unmanned plane dynamical system.Flight control system 8 includes flying control plate, for assisting nothing The flying quality of man-machine control and record unmanned plane.Nose-gear 14 is fixed at the 1/4 of fuselage, and rear undercarriage 15 is fixed in At the 2/3 of fuselage, used for unmanned plane in ground placement or VTOL；The height of nose-gear 14 and rear undercarriage 15 Height that is consistent and being greater than the first empennage 20 and the second empennage 21 composition combined type inverted V type empennage, to guarantee unmanned plane on ground When face places or takes off, combined type inverted V type empennage will not be touched with ground；Guarantee unmanned plane horizontal shipping-direction stability and Maneuverability；First empennage 20 and the second empennage inverted diherdral are 30~60 degree；Under this example the first empennage 20 and the second empennage 21 Dihedral is 45 degree.

The offline mode of the present embodiment unmanned plane is VTOL mode, has hung down and leveled off winged transition mode and preceding winged cruise mould Formula.

VTOL mode: during the present embodiment unmanned plane takes off vertically, the first rotor assemblies 1, the second rotor assemblies 2, the rotor of third rotor assemblies 3 and quadrotor component 4 rotates under the drive of the motor, provides upward lift, is used for nothing Man-machine hangs down；First propeller 5, the second propeller 6 and driving motor 19 do not occur during unmanned plane takes off vertically Rotation；First empennage 20, the second empennage 21 and aileron 18 guarantee during unmanned plane takes off vertically the horizontal course of unmanned plane with And longitudinal stability.During taking off vertically, the first rotor assemblies 1, the second rotor assemblies 2, third are controlled by flight control system 8 The rotor revolving speed of rotor assemblies 3 and quadrotor component 4 carries out the control of unmanned plane, guarantees that unmanned function normal upright rises Fly.During unmanned plane takes off vertically, the first rotor assemblies 1, the second rotor assemblies 2, third rotor assemblies 3 and quadrotor The rotor revolving speed of component 4 gradually increases, until stablizing, drone flying height gradually increases, reaches in drone flying height When 100m or more, unmanned plane completes the process that takes off vertically.The vertical landing of unmanned plane and unmanned plane take off vertically process on the contrary, The rotor revolving speed of first rotor assemblies 1, the second rotor assemblies 2, third rotor assemblies 3 and quadrotor component 4 is by stablizing gradually Reduce, when unmanned plane drops to ground by nose-gear 14 and rear undercarriage 15, the first rotor assemblies 1, the second rotor group The rotor revolving speed of part 2, third rotor assemblies 3 and quadrotor component 4 is reduced to zero, and unmanned plane smoothly drop to ground, hangs down Straight descent terminates.

Hung down and leveled off winged transition mode: unmanned plane before being converted to by VTOL mode fly cruise mode during, It needs to level off the state transition stage that flies via having hung down, the offline mode of unmanned plane is known as unmanned plane and has hung down to leveling off to fly in the stage Cross mode；Drone flying height is more than 100m in this mode, and unmanned plane forward flight speed reaches 15m/s or more the mode knot Beam；In this mode, the first rotor assemblies 1, the second rotor assemblies 2, the rotor of third rotor assemblies 3 and quadrotor component 4 Revolving speed is progressively smaller until to be zero.The revolving speed of first propeller 5, the second propeller 6 and driving motor 19 is gradually increased until surely It is fixed.Flight control system is still used to control the first rotor assemblies 1, the second rotor assemblies 2, third rotor group early period in the offline mode The rotor revolving speed of part 3 and quadrotor component 4 uses the first empennage 20, the second empennage when forward flight speed reaches 5m/s or more 21, aileron 18 and flight control system 8 carry out the control of unmanned plane；First wing 10, the second wing 11, third wing 12 and the 4th machine The wing 13 generates big lift in the offline mode, and unmanned plane flying height in the offline mode does not have big reduction.

Preceding winged cruise mode: the first rotor assemblies 1, the second rotor assemblies 2 of unmanned plane, third rotor assemblies 3 and the 4th The rotor revolving speed of rotor assemblies 4 is zero；19 stabilization of speed of first propeller 5, the second propeller 6 and driving motor, for providing The pulling force flown before unmanned plane；Unmanned plane is controlled using the first empennage 20, the second empennage 21, aileron 18 and flight control system 8； First wing 10, the second wing 11, third wing 12 and the 4th wing 13 are generated compared with lift, to overcome unmanned plane gravity to guarantee Unmanned plane stablizes cruise.

Claims

1. A composite-driven rotor fixed-wing unmanned aerial vehicle, comprising a first rotor assembly, a second rotor assembly, a third rotor assembly, a fourth rotor assembly, a first propeller, a second propeller, a fuselage, a flight control system, battery, first wing, second wing, third wing, fourth wing, nose landing gear, rear landing gear, first rotor arm, second rotor arm, aileron, drive motor, first tail, The second tail wing is characterized in that: the fuselage adopts FRP molding, the cross section of the fuselage head and the fuselage tail is elliptical, and the two sides of the fuselage are respectively the first wing, the third wing and the second wing. Wing, the fourth wing, the first wing, the third wing, the second wing and the fourth wing are respectively installed symmetrically with the fuselage axis; the first wing, the second wing, the third wing and the fourth wing are of equal chord length rectangular straight airfoil structure, the aspect ratio is 6-8, and the dihedral angle of the wing is 0-10 degrees; one end of the first rotor arm is fixedly connected to the tip of the first wing , the other end of the first rotor arm is fixedly connected to the tip of the second wing, one end of the second rotor arm is fixedly connected to the tip of the third wing, and the other end of the second rotor arm is fixedly connected to the tip of the fourth wing; drive motor It is fixed in the middle of the leading edge of the first wing and the third wing. Ailerons are installed at the 2/3 positions of the trailing edge of the second wing and the fourth wing. The two ailerons are respectively connected to the second wing, The fourth wing is hinged; the first propeller and the second propeller are respectively fixed to the front end of the driving motor, the first propeller and the second propeller have the same structure, and the first propeller and the second propeller turn in opposite directions during operation;

The first rotor assembly, the second rotor assembly, the third rotor assembly and the fourth rotor assembly are components with the same structure, wherein the rotor is located on the upper part of the motor, and a plurality of rotors are installed in cooperation with an equal number of motors, and are respectively fixed symmetrically. On the first rotor arm and the second rotor arm, the rotors and motors of the first rotor assembly, the second rotor assembly, the third rotor assembly and the fourth rotor assembly are all located on the same plane. When working, the first rotor assembly and the fourth rotor are in the same plane. The rotor of the assembly rotates clockwise, and the rotors of the second rotor assembly and the third rotor assembly rotate counterclockwise;

The first tail fin and the second tail fin form a composite inverted V-shaped tail fin, and the dihedral angle between the first tail fin and the second tail fin is 30-60 degrees;

The front landing gear is located at 1/4 of the bottom of the fuselage, and the rear landing gear is located at 2/3 of the bottom of the fuselage. The height of the front landing gear and the rear landing gear is greater than the height of the V-shaped tail. Or when taking off and landing vertically, the V-tail will not touch the ground.

2. the rotor fixed-wing unmanned aerial vehicle of composite drive according to claim 1, is characterized in that: described battery and flight control system are respectively located in the middle part in fuselage, battery is 1～2 6s batteries, battery installation position Adjustable, the battery is used to power the rotor motor and the propeller drive motor; the flight control system is used to ensure the control and stability of the drone during flight.