CN109398751A - The detection method whether the tilting wing unmanned plane wing with a kind of aerodynamic arrangement and inclining rotary mechanism loosens - Google Patents
The detection method whether the tilting wing unmanned plane wing with a kind of aerodynamic arrangement and inclining rotary mechanism loosens Download PDFInfo
- Publication number
- CN109398751A CN109398751A CN201811292801.4A CN201811292801A CN109398751A CN 109398751 A CN109398751 A CN 109398751A CN 201811292801 A CN201811292801 A CN 201811292801A CN 109398751 A CN109398751 A CN 109398751A
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- wing
- control
- angle
- rotary mechanism
- inclining rotary
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Classifications
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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
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/38—Adjustment of complete wings or parts thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
- B64C29/0008—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/10—Wings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
Abstract
The invention discloses the detection methods whether a kind of a kind of wing of tilting wing unmanned plane with aerodynamic arrangement and inclining rotary mechanism loosens, its detection method is as follows: when the inclining rotary mechanism that certain moment flies control control verts wing to the intermediate value for total size of verting, at this time fly control by the wing angular transducer on wing detect wing relative to winged control angle be α, fly control control inclining rotary mechanism later to vert certain angle β by the direction of setting, angle [alpha] 2 of the wing relative to winged control is detected after pending, fly control control 2 β of inclining rotary mechanism opposite direction tilt angle later, angle [alpha] 3 of the wing relative to winged control is detected after pending, determine whether the difference of (α 2+ α 3)/2 and α are more than a certain given threshold later, assert that wing has been loosened with shaft if being more than.What the present invention may be implemented wing and shaft loosens the functions such as detection, automatic calibration, has very much application value.
Description
Technical field
The present invention relates to unmanned plane, the VTOL of capableing of of aerodynamic shape optimization and inclining rotary mechanism optimization is referred in particular to
The detection method whether wing of tilting wing unmanned plane loosens.
Technical background
Small Civil unmanned plane is broadly divided into fixed-wing unmanned plane and multi-rotor unmanned aerial vehicle two major classes type, fixed-wing at present
Unmanned plane is long cruise duration, and flight Energy Efficiency Ratio is high, and flying speed is fast, and having being capable of large area operation and high excellent of flight efficiency
Gesture, multi-rotor unmanned aerial vehicle have and can hover in the sky, realize ocean weather station observation, the function of VTOL.Due to fixed-wing nobody
Machine flying speed is fast, and take-off venue requires high, operating technology requirement height, therefore the engineering staff for being not suitable for just relating to unmanned plane makes
With the reasons such as multi-rotor unmanned aerial vehicle since cruise duration is short, cruising speed is slow, and flight Energy Efficiency Ratio is low can not achieve single and take off
The function of a wide range of operation.
Traditional tilting wing unmanned plane is since front and back wing is in same level under fixed-wing mode, because of hereafter machine
The wing is easy to be influenced by preceding wing air-flow, makes the reduction of aerofoil efficiency, and rear wing is easy therefore to generate and tremble, and leads to entirety
Flight experience is bad.
Traditional tilting rotor wing unmanned aerial vehicle causes rear power device by preceding dynamic since two pairs of front and back power device is symmetrically installed
Power device airflow influence is big, so that rear power plant effiiency reduces and is easy to produce the phenomenon that trembling.
Traditional tilting rotor wing unmanned aerial vehicle due to two pairs of front and back can the axis of tilting wing carry out collaboration using link mechanism and turn
It is dynamic, lead to front and back wing inclination calibration difficulties, manipulation flexibility is bad, and front and back wing cannot independently vert, troublesome maintenance, and
The connecting rod occupancy fuselage interior space that the bindiny mechanism of front and back wing inclining rotary mechanism uses is larger, is unfavorable for inside unmanned aerial vehicle body
Space makes full use of.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of detection method whether unmanned plane wing loosens, this nobody
Machine has the function of VTOL mode and fixed-wing mode two, and the VTOL in the limited range of region may be implemented, meanwhile,
Fixed-wing mode be can be exchanged into flight course to improve cruise duration.
In order to solve the above technical problems, technical solution provided by the invention is that have a kind of aerodynamic arrangement and inclining rotary mechanism
Tilting wing unmanned plane the detection method that whether loosens of wing, detection method is as follows: certain moment flies verting for control control
When mechanism verts wing to the intermediate value for total size of verting, flies control at this time and detected by the wing angular transducer on wing
Wing is α relative to the angle of winged control, flies control control inclining rotary mechanism later and verts certain angle β by the direction of setting, pending
After detect angle [alpha] 2 of the wing relative to winged control, fly control control 2 β of inclining rotary mechanism opposite direction tilt angle later, it is pending
After detect angle [alpha] 3 of the wing relative to winged control, determine whether the difference of (α 2+ α 3)/2 and α are more than a certain setting threshold later
Value assert that wing has been loosened with shaft if being more than.
Tilting wing unmanned plane of the invention, including fuselage and the front and back wing being arranged on fuselage, on the wing of front and back
It is respectively arranged with propeller power device, wing before the propeller power device on the wing of front and back is trapezoidal layout and is installed on
The wheelbase of two propeller power devices is less than the wheelbase for being installed on two propeller power devices of rear wing；Before fuselage
Position is respectively arranged with front and back shaft afterwards, and front and back shaft extends through fuselage, and front and back wing is respectively and fixedly installed to be located at fuselage
The both ends of the front and back shaft of two sides；It is separately provided for that the front and back wing is driven to turn in shaft before and after being located in fuselage
Dynamic inclining rotary mechanism.Inclining rotary mechanism includes the servo motor being arranged on fuselage, and the gear on servo motor and setting are in front and back
Gear in shaft is meshed to drive front and back wing rotation.Rotation angular stop means are provided in the shaft of front and back.Rotation
Angular stop means include the lock pin being arranged in the shaft of front and back and the Locking arc that is arranged on the fuselage；When front and back shaft
When angle needed for rotating, the lock pin is sticked into the Locking arc and is limited.It is provided on the wing of front and back for measuring
The wing angular transducer of front and back wing rotational angle.Mounting height is not on fuselage for the fixed front and back shaft of front and back wing
Together.Front rotary shaft mounting height on fuselage is lower than mounting height of the rear shaft on fuselage.
Tilting wing unmanned plane provided by the invention has the housing construction of improvement pneumatic design and structure design, has
Two functions of vertical mode and fixed-wing mode can carry out hovering and VTOL under vertical mode, so that unmanned plane can
To carry out landing in the environment of limited space, front and back wing can simultaneously or independently vert certain angle under fixed-wing mode,
Allow unmanned plane as fixed-wing high speed, efficiently flight.Propeller power device of the invention is on two pairs of wings
Trapezoidal profile, the first two propeller power device wheelbase are less than the wheelbase of latter two propeller power device with the air-flow that is staggered, make
Unmanned plane under fixed-wing mode simultaneously start four power device opportunitys behind side two propeller power devices not by preceding
The two propeller power device airflow influences in side, thus keep higher power effect than and higher thrust.
The present invention changes the mounting height of two pairs of wing shafts before and after tilting wing unmanned plane, so that fore-body wing
Air-flow can reduce the influence to fuselage afterbody wing aerodynamic effect so that efficiency when unmanned plane cruises under fixed-wing mode
Higher, cruise duration is longer.
Wing inclining rotary mechanism of the invention uses the independent inclining rotary mechanism in two sets of front and back to carry out the control of wing tilt angle, and
And equipped with rotation angular stop means.Be fixedly installed gear in the shaft of front and back wing, be provided on servo motor with
The gear that gear in shaft is meshed, the gear being mounted thereon by servo motor driving is to drive front and back wing to turn
It is dynamic.Since the inclining rotary mechanism being arranged in the wing shaft of front and back is independent two sets of driving mechanisms, the angle on the wing of front and back is passed
It is controlled under sensor cooperation by flying, two pairs of front and back wing can be driven to vert in synchronization different angles, and can
The functions such as detection, automatic calibration are loosened with realize wing and shaft.
It is an advantage of the current invention that can be taken off in the environment of limited space with the vertical mode of more rotors and in the sky
Hovering, and high-performance cruise can be carried out with the flat winged mode of fixed-wing in the sky.The pneumatic structure of optimization can make unmanned plane with
Aeroperformance is more outstanding when fixed-wing mode flight, and Energy Efficiency Ratio increases, and the cruise time is longer.Independent two sets of wings vert tooth
Wheel mechanism cooperation wing angular transducer can individually control the tilt angle of every a pair of of wing, so that control is more flexible, control
Precision processed is higher, and fault diagnosis is more easier, and the present invention has obviously technical advantage relative to traditional unmanned plane type.
Detailed description of the invention
Fig. 1, overall structure and power device scheme of installation of the present invention.
Fig. 2, the present invention are verted driving mechanism schematic diagram.
Fig. 3, present invention front and back wing shaft mounting height alternate position spike schematic diagram.
Fig. 4, angular stop means structural schematic diagram of the present invention.
Fig. 5, wing vertical of the present invention, three kinds of 45 degree of angles, level status diagrams of verting.
Specific embodiment
Scheme in view of the above technology is now lifted a preferred embodiment and is specifically described in conjunction with diagram.Referring to Fig. 1 to Fig. 5,
The present invention includes fuselage, preceding wing, rear wing, propeller power device, inclining rotary mechanism, wherein.
Front rotary shaft 11 and rear shaft 12 are installed before and after fuselage 1, front rotary shaft and rear shaft extend transversely through fuselage respectively,
The both ends of front and back shaft are made to be located at fuselage two sides.Two sides are equipped with supporting shaft holder in the fuselage where forward and backward shaft
13, it for supporting front rotary shaft and rear shaft, rotate front rotary shaft and rear shaft can under the bearing of bearing block.In fuselage,
Front rotary shaft mounting height is lower than the mounting height of rear shaft.Before the both ends that front rotary shaft is located at fuselage outer side are fixedly installed with respectively
Wing 2, the wing 3 after the both ends that rear shaft is located at fuselage outer side are fixedly installed with respectively, due to the peace of front rotary shaft and rear shaft
Dress height is different, and therefore, after wing installation, relative to fuselage, preceding airfoil height is lower than rear airfoil height.Preceding wing and rear machine
The mounting height of the wing is poor, so that the air-flow by preceding wing in vertical direction can be to a certain degree far from rear wing, by rear machine
The wing is influenced to be greatly reduced by preceding wing air-flow, stability when improving unmanned plane under fixed-wing state of flight.In fuselage afterbody
Empennage 14 is installed above.
Propeller power device 4 is separately installed on preceding wing and rear wing.Propeller power device is four, every
One is mounted on a wing.Propeller power device in the installation of preceding wing is filled with the propeller power in the installation of rear wing
Trapezoidal arranged in dislocation is set, and the propeller power device wheelbase on preceding wing is less than the propeller power device on rear wing
Wheelbase is observed along the length parallel direction of fuselage, the propeller in propeller power device and rear wing on preceding wing
Power device does not have overlapping, that is, the certain distance that is staggered setting.Such arranged in dislocation, the propeller power device of wing before can reducing
Air-flow causes airflow influence to the propeller power device on rear wing, thus the propeller power device after increasing on wing
Propeller power device is issuable because of the sinuous flow of front power device generation on wing after pneumatic efficiency and mitigation
Chattering promotes whole flight efficiency and handling.Propeller power device, which can be, is equipped with the brushless of propeller
Motor or ducted-fan blower.Propeller rotational is driven to provide flying power for unmanned plane by driving motor.The present invention is relative to dynamic
Power device all around for the powerplant layout of symmetrical traditional tilting wing unmanned plane, patrols under fixed-wing mode
In the case that endurance opens four propeller power devices simultaneously, power dress can be largely reduced while promoting thrust
Set an airflow influence and bring flight efficiency loses.
Mutually independent inclining rotary mechanism 5 is respectively arranged on front rotary shaft and rear shaft.Inclining rotary mechanism 5 in the shaft of front and back
Structure is identical, here, be introduced for the inclining rotary mechanism 5 in shaft later.Inclining rotary mechanism 5 includes being arranged in fuselage
Front rotary shaft and rear shaft on gear 121, servo motor 51 is separately installed in 121 side of gear, in the drive of servo motor
Gear 511 is installed, the gear 511 on the servo motor of rear shaft side is engaged with gear 121, passes through servo on moving axis
Shaft rotates after the output shaft rotate driving of motor.Preceding wing and rear wing are driven by front rotary shaft and the inclining rotary mechanism of rear shaft
Vert certain angle, and the angle of rotation can be such that front and back wing rotates from horizontality to plumbness, can also be from plumbness
It verts to horizontality.Propeller power dress when current airfoils and rear wing are in plumbness, on preceding wing and rear wing
Setting in the upper surface of preceding wing and rear wing.When in front and back, wing is in plumbness, unmanned plane can be filled in propeller power
The effect of setting is lower to carry out VTOL.Since the inclining rotary mechanism of preceding wing and rear wing is to be independently arranged, front and back wing can be with
Vert certain angle simultaneously, and can also vert different angles respectively, to facilitate the control of flight attitude.
Tilt angle limiting device 6 is also equipped on front rotary shaft and rear shaft.Tilt angle limiting device 6 includes difference
Lock pin 61 on front rotary shaft and rear shaft is set, and lock pin 61 is fixed with along front rotary shaft is parallel with the length direction of rear shaft
Cross bar is limited, the bearing block side on fuselage is fixedly installed Locking arc 62, which has arc groove, current spindle
When driving the limit cross bar on lock pin to enter in the arc groove in Locking arc with the rotation of rear shaft, so that it may prevent front rotary shaft
It is further rotated with rear shaft, to realize position-limiting action.
It is provided with wing angular transducer 7 on preceding wing and rear wing, when wing turns an angle, machine can be passed through
Wing angular transducer measures the angle of wing rotation, realizes in flight course, to the essence of preceding wing and rear wing tilt angle
Really control.Since the wing angular transducer on two sets of front and back inclining rotary mechanism and wing is relatively independent, therefore two sets of front and back
Inclining rotary mechanism can only vert a pair of of wing, or the two pairs of wings that vert simultaneously in the case where flying control control, thus before realizing synchronization
Wing tilt angle is different afterwards.
Whether wing loosens with shaft before and after can also being carried out by the wing angular transducer being arranged on the wing of front and back
Detection.Its detection method is: when the inclining rotary mechanism that certain moment flies control control verts wing to the intermediate value for total size of verting,
At this time fly control by the wing angular transducer on wing detect wing relative to winged control angle be α, later fly control control
Inclining rotary mechanism verts certain angle β by the direction of setting, angle [alpha] 2 of the wing relative to winged control is detected after pending, later
Fly control control 2 β of inclining rotary mechanism opposite direction tilt angle, angle [alpha] 3 of the wing relative to winged control is detected after pending, later
Whether the difference for determining (α 2+ α 3)/2 average values and α is more than a certain given threshold, assert that wing is loose with shaft if being more than
It is de-.
Wing angle automatic calibration function, its implementation can also be realized by the wing angular transducer on wing
Are as follows: after detecting wing and its shaft without loosening, winged control basis is installed on wing to be passed by factory-calibrated wing angle
Sensor data control inclining rotary mechanism automatic fine tuning wing angle, reach preset level or plumbness.
When unmanned plane is taken off with vertical mode, referring to Fig. 5, wing angle be angle shown in front and back wing vertical state into
Row takes off, and front and back wing drives front and back wing slowly from 45 ° as shown in the figure of shown plumbness switching by inclining rotary mechanism after taking off
State, into transition mode, front and back wing is driven by inclining rotary mechanism and is slowly rotated by 45 ° of states as shown in the figure to horizontal later
State completes the function that unmanned plane vertical mode switches to fixed-wing mode.Similarly, fixed-wing mode can also switch from the above mentioned
Cheng Fanxiang switches to vertical mode.
Claims (1)
1. a kind of detection side whether a kind of wing of the tilting wing unmanned plane with aerodynamic arrangement and inclining rotary mechanism loosens
Method, detection method are as follows: when the inclining rotary mechanism that certain moment flies control control verts wing to the intermediate value for total size of verting, this
When fly control by the wing angular transducer on wing detect wing relative to winged control angle be α, later fly control control inclines
Rotation mechanism verts certain angle β by the direction of setting, and angle [alpha] 2, Zhi Houfei of the wing relative to winged control is detected after pending
Control control 2 β of inclining rotary mechanism opposite direction tilt angle, detects angle [alpha] 3 of the wing relative to winged control, sentences later after pending
Whether the difference of fixed (α 2+ α 3)/2 and α are more than a certain given threshold, assert that wing has been loosened with shaft if being more than.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811292801.4A CN109398751B (en) | 2016-12-06 | 2016-12-06 | Method for detecting whether unmanned aerial vehicle wing with tilting mechanism loosens or not |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811292801.4A CN109398751B (en) | 2016-12-06 | 2016-12-06 | Method for detecting whether unmanned aerial vehicle wing with tilting mechanism loosens or not |
| CN201611107696.3A CN106516080B (en) | 2016-12-06 | 2016-12-06 | A kind of tilting wing unmanned plane with aerodynamic arrangement and inclining rotary mechanism |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611107696.3A Division CN106516080B (en) | 2016-12-06 | 2016-12-06 | A kind of tilting wing unmanned plane with aerodynamic arrangement and inclining rotary mechanism |
Publications (2)
| Publication Number | Publication Date |
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| CN109398751A true CN109398751A (en) | 2019-03-01 |
| CN109398751B CN109398751B (en) | 2023-07-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611107696.3A Active CN106516080B (en) | 2016-12-06 | 2016-12-06 | A kind of tilting wing unmanned plane with aerodynamic arrangement and inclining rotary mechanism |
| CN201811292801.4A Active CN109398751B (en) | 2016-12-06 | 2016-12-06 | Method for detecting whether unmanned aerial vehicle wing with tilting mechanism loosens or not |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611107696.3A Active CN106516080B (en) | 2016-12-06 | 2016-12-06 | A kind of tilting wing unmanned plane with aerodynamic arrangement and inclining rotary mechanism |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106828911B (en) * | 2016-12-09 | 2020-02-07 | 北京京东尚科信息技术有限公司 | Series wing unmanned aerial vehicle |
| CN107140179B (en) * | 2017-05-11 | 2019-10-29 | 北京航空航天大学 | A kind of tailstock formula tandem chord endurance aerodynamic configuration of aircraft |
| CN107651164A (en) * | 2017-08-28 | 2018-02-02 | 北京航空航天大学 | A kind of wing wide-angle inclining rotary mechanism for small-sized tilting wing formula aircraft |
| CN109131835A (en) * | 2018-09-07 | 2019-01-04 | 佛山皖和新能源科技有限公司 | A kind of adjustable wing structure of fixed-wing unmanned plane |
| CN110450938A (en) * | 2019-08-16 | 2019-11-15 | 刘忠革 | A kind of whole rotatable aircraft of wing |
| CN112977811B (en) * | 2021-05-13 | 2021-09-03 | 北京三快在线科技有限公司 | Multi-rotor unmanned aerial vehicle |
| CN114084344A (en) * | 2021-08-23 | 2022-02-25 | 上海新云彩航空科技有限责任公司 | Multi-shaft rotor aircraft with power wheel type undercarriage |
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| GB0201482D0 (en) * | 2001-01-23 | 2002-03-13 | Matsushita Electric Ind Co Ltd | Rotation angle detector |
| WO2010141916A1 (en) * | 2009-06-05 | 2010-12-09 | Aerovironment | Air vehicle flight mechanism and control method |
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| US8708273B2 (en) * | 2009-10-09 | 2014-04-29 | Oliver Vtol, Llc | Three-wing, six tilt-propulsion unit, VTOL aircraft |
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| GB0201482D0 (en) * | 2001-01-23 | 2002-03-13 | Matsushita Electric Ind Co Ltd | Rotation angle detector |
| WO2010141916A1 (en) * | 2009-06-05 | 2010-12-09 | Aerovironment | Air vehicle flight mechanism and control method |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106516080B (en) | 2019-01-11 |
| CN109398751B (en) | 2023-07-04 |
| CN106516080A (en) | 2017-03-22 |
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