CN109436318A - Parafoil platform and its control method - Google Patents
Parafoil platform and its control method Download PDFInfo
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- CN109436318A CN109436318A CN201811483017.1A CN201811483017A CN109436318A CN 109436318 A CN109436318 A CN 109436318A CN 201811483017 A CN201811483017 A CN 201811483017A CN 109436318 A CN109436318 A CN 109436318A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C31/00—Aircraft intended to be sustained without power plant; Powered hang-glider-type aircraft; Microlight-type aircraft
- B64C31/028—Hang-glider-type aircraft; Microlight-type aircraft
- B64C31/036—Hang-glider-type aircraft; Microlight-type aircraft having parachute-type wing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
- B64D27/02—Aircraft characterised by the type or position of power plant
- B64D27/24—Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
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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
Abstract
The invention discloses parafoil platform and its control method, parafoil platform is not equipped with manipulation rope executing agency, saves installation space inside gondola, and improve the reliable operation degree of platform；The anti-twisted problem that direction of rotation when two propeller works generates when on the contrary, the working platform for being only equipped with single propeller is solved perfectly；Size selected by two propellers is far below the size of single propeller, and the two overall size is suitable；The control of parafoil platform, which only passes through control revolution speed of propeller, can be realized；The control mode of parafoil platform can make platform interior space is more excellent, reliability is higher, operation it is more convenient.
Description
Technical field
The invention belongs to parafoil technical fields, and in particular to parafoil platform and its control method.
Background technique
The conventional control structure of parafoil platform is usually: two suspension strops of parafoil are connected on gondola, and pass through gondola
Center of gravity plummet face, parafoil rear two manipulations rope is connected in the Liang Ge executing agency (steering engine) at gondola rear, while by
Propeller on gondola with paddle cover provides power.When executing the flights such as left and right turning, corresponding side steering engine is needed to pull down tricing line,
Cause parafoil rear shape to change, and then change aerodynamic force, realizes turning flight.
1, this control mode realize must by executing agency's (steering engine) for being arranged on gondola just can, and introduce and hold
Row mechanism will certainly occupy the available space inside gondola, for the platform of space layout anxiety, it is clear that undesirable.
2, simultaneously, executing agency is as a kind of electronic equipment, if the reliable of platform can directly be reduced by reducing from platform
Property.
We has developed a kind of parafoil platform and its control method in order to solve problem above.
Summary of the invention
The object of the invention is that providing a kind of parafoil platform and its control method to solve the above-mentioned problems.
The present invention through the following technical solutions to achieve the above objectives:
Parafoil platform, including parafoil, gondola platform, two power devices, each power device pass through a connector
It is mounted on gondola platform, two power devices are mounted side by side, and parafoil platform further includes；
Vertical bar；Vertical bar is mounted on gondola platform upper, and vertical bar is vertical with gondola platform；
Hanger bar；It is connect at the top of the center of hanger bar and vertical bar, hanger bar and gondola platform parallel, the both ends of hanger bar are equal
It is connected with the suspension strop of parafoil, the upper end of two suspension strops is connect with parafoil；
Cross bar；The center of the first end of cross bar and vertical bar connects, and cross bar is vertical with hanger bar, vertical bar respectively, cross bar with hang
Cabin platform parallel；
Manipulation rope hanging rod；The center of manipulation rope hanging rod and the second end of cross bar connect, and manipulation rope hanging rod is flat with gondola respectively
Platform, hanger bar are parallel, and the both ends of manipulation rope hanging rod are respectively connected with manipulation rope, the upper end that two manipulations are restricted with the behaviour of parafoil
Control rope connection.
It is not equipped with manipulation rope executing agency, saves installation space inside gondola, and improve the reliable operation degree of platform.
Specifically, power device includes:
Motor；
Propeller；The shaft of motor is fixedly connected with propeller center；The rotational plane of propeller is parallel with vertical bar；Spiral
The rotational plane of paddle is vertical with gondola platform；The projection centre of vertical bar plane locating for the propeller center of two power devices point
It is not identical at a distance from the propeller center of two power devices；When two propeller works, rotation direction is opposite；
Paddle cover；Propeller is mounted in paddle cover；
Electric machine support；Motor is mounted on the center of electric machine support, and electric machine support is fixed on connector；Electric machine support passes through
More looms and paddle cover external connection.
Direction of rotation when two propeller works is on the contrary, generation when the working platform for being only equipped with single propeller is solved perfectly
Anti-twisted problem；Size selected by two propellers is far below the size of single propeller, and the two overall size is suitable；Parafoil is flat
The control of platform, which only passes through control revolution speed of propeller, can be realized.
The control method of parafoil platform, comprising:
When S1, parafoil platform are flat winged, suspension strop, the pulling force of manipulation rope and angle control；
Using gondola as research object, gondola includes gondola platform, vertical bar, hanger bar and cross bar；Power suffered by gondola includes:
Pulling force, the gravity, airscrew thrust, resistance that the pulling force of suspension strop, manipulation are restricted；Wherein, manipulation rope tension mainly plays maintenance aerofoil profile
Effect, value much smaller than suspension rope tension；θ1After parafoil and gondola outer dimension determine, value remains constant, is
Definite value；In flat fly, parafoil platform torque is zero, can obtain following equation:
FL1sinθL1LOA+FR1sinθR1LOA=FL2cosθL2cosθ2LOB+FR2cosθR2cosθ2LOB+2TLLOC (1)
In formula, θL1For the angle in the umbrella rope plummet face parallel with gondola tail portion, L indicates left side, and R indicates right side, 1 table
Show suspension strop, 2 indicate that manipulation rope, A point are the junction central point of hanger bar one end and suspension strop, and B point is manipulation rope hanging rod one
The junction central point that end is restricted with manipulation, C point are the central point of electric machine support, and O point is perpendicular where A point and B point place
The point that intersect again with the vertical centerline plane of vertical bar after horizontal plane intersection, P point be when revolution speed of propeller increases manipulation rope and
The contact point of paddle cover, all angles, length are that A point, B point, C point, O point and P point transverse projection are entered one altogether in formula
It is constituted after formed point in the left view plane of same parafoil platform；
In parafoil platform flight, left side suspension strop and surface at angle, θL1, left side suspension strop and left side manipulation restrict
At angle, θL2It is influenced by parafoil aerofoil profile, chord length, the distribution of umbrella rope and length, hitch point and manipulation hanging point distance, is met always
Certain relationship, following formula indicate:
Gondola gross weight M, resistance f, unilateral propeller gross thrust T suffered by gondolaL, then it can be obtained by stress balance:
In flat fly, the suspension rope tension of the left and right sides is equal, and the manipulation rope tension of the left and right sides is equal, it may be assumed that
Convolution (1)-formula (4) calculates F when flat flyL1、FL2、θL1、θL2、FR1、FR2、θR1、θR2；
The pulling force and angle of suspension strop, manipulation rope when S2, left-hand rotation；
One, manipulation rope in two sides is not contacted with paddle cover；
When platform turns left, control left screw accelerates, then thrust increases on the left of gondola, and left side is advanced relative to right side,
Right side, which is increased its stress size and angle by left side thrust, to change, at this time equalising torque, it may be assumed that
It can be obtained by stress balance:
The F of left-hand bend and manipulation rope not in contact with paddle cover when is calculated by formula (3), (5), (6)L1、FL2、θL1、θL2、FR1、FR2、
θR1、θR2；H in above formulaOA、HOB、HOCWhen for plane locating for A, B, C point transverse projection to O point in main view, O point and A, B, C point
The line of subpoint, it is known that the length for manipulating rope is L, then at this point, due to causing before right side opposite on the left of gondola and then indirectly
The drop-down of left side tricing line, drop-down amount are the difference that left and right sides tricing line is projected in vertical plane, value are as follows:
Δ L=L cos θR2cosθ2-L cosθL2cosθ2 (7)
Steering engine acts directly on the effect of manipulation rope when the effect that the drop-down amount generates is equal to parafoil conventional control mode,
To realize the turning flight of parafoil platform；
Two, unilateral manipulation rope is contacted with paddle cover；
When platform turns left, left side umbrella rope is contacted with paddle cover, at this time θL2Be defined as manipulation rope above paddle circle contact point P with
The angle in the parallel plummet face in gondola tail portion can be obtained by equalising torque:
If θ0For the angle in the plummet face parallel with gondola tail portion of the manipulation rope below paddle circle contact point P, then formula (2) can
It is written as:
F when left-hand bend (manipulation rope contact paddle cover) can be calculated by formula (6), (8), (9)L1、FL2、θL1、θL2、FR1、FR2、
θR1、θR2；Then drop-down amount are as follows:
Δ L=L cos θR2cosθ2-HOP-(L-HOP/sinθ0)sinθL2 (10)
Comparison one is it is found that the value of drop-down amount is larger at this time, and turning efficiency becomes apparent, and Gu Jiangquan is bigger, HOPIt is bigger, drop-down
Amount is bigger, and the curving effect of generation is more obvious；
Three, manipulation rope in two sides is contacted with paddle cover；
When revolving speed is also promoted when the other side, the drop-down of the side umbrella rope is also resulted in, calculation is ibid similar, therefore practical turn
To drop-down amount can summary and induction are as follows:
In above formula, when △ L is greater than 0, parafoil platform turns left, and when less than 0, parafoil platform is turned right, and △ L absolute value is bigger, turns
Curved effect is more obvious；
S3, it climbs and declines；
From formula (11) as can be seen that when controlling two revolution speed of propeller with equal increments, the drop-down amount of two tricing lines
It is identical, that is, increasing same rotational speed simultaneously, the amount that two tricing lines pull down simultaneously is equal, and platform is not turned, but due under
Drawing causes parafoil rear to deflect down, and lift increases, parafoil platform lifting；Reduce same rotational speed simultaneously, two tricing lines are simultaneously
The amount of drop-down is equal, is equivalent to puts umbrella rope at this time, and lift reduces, the decline of parafoil platform.
The beneficial effects of the present invention are:
Parafoil platform of the invention and its control method:
1, it is not equipped with manipulation rope executing agency, saves installation space inside gondola, and improve the reliable operation degree of platform；
2, when two propeller works direction of rotation on the contrary, production when the working platform for being only equipped with single propeller is solved perfectly
Raw anti-twisted problem；Size selected by two propellers is far below the size of single propeller, and the two overall size is suitable；Parafoil
The control of platform, which only passes through control revolution speed of propeller, can be realized；
3, the control mode of parafoil platform can make platform interior space is more excellent, reliability is higher, operation it is more convenient.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is left view of the invention；
Fig. 3 is the left view when present invention is flat winged；
Fig. 4 is the stress decomposition diagram of A point in the present invention；
Fig. 5 is the schematic diagram of the first situation when the present invention turns left；
Fig. 6 is the schematic diagram of the second situation when the present invention turns left.
In figure, 1. hanger bars；2. manipulation rope hanging rod；3. motor；4. loom；5. paddle cover；6. propeller；7. electric machine support；
8. suspension strop；9. manipulation rope；10. vertical bar；11. gondola platform；12. cross bar.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings:
Embodiment 1, as shown in Figure 1 and Figure 2:
Parafoil platform, including 11, two parafoil, gondola platform power devices, each power device pass through a connection
Part is mounted on gondola platform 11, and two power devices are mounted side by side, and parafoil platform further includes；
Vertical bar 10；Vertical bar 10 is mounted on 11 top of gondola platform, and vertical bar 10 is vertical with gondola platform 11；
Hanger bar 1；It is connected at the top of the center of hanger bar 1 and vertical bar 10, hanger bar 1 is parallel with gondola platform 11, hanger bar 1
Both ends be connected with the suspension strop of parafoil 8, the upper end of two suspension strops 8 is connect with parafoil；
Cross bar 12；The first end of cross bar 12 is connect with the center of vertical bar 10, and cross bar 12 hangs down with hanger bar 1, vertical bar 10 respectively
Directly, cross bar 12 is parallel with gondola platform 11；
Manipulation rope hanging rod 2；Manipulation rope hanging rod 2 center connect with the second end of cross bar 12, manipulate restrict hanging rod 2 respectively with hang
Cabin platform 11, hanger bar 1 are parallel, and the both ends of manipulation rope hanging rod 2 are respectively connected with a manipulation rope 9, and the upper end of two manipulation ropes 9 is equal
It is connect with the manipulation rope 9 of parafoil.
In practical application, the both ends of hanger bar 1 and the both ends of manipulation rope hanging rod 2 are tilted to top, and again laterally
A cylindrical body is connected, a baffle for avoiding suspension strop 8, manipulation rope 9 from slipping is arranged in the outer end of cylindrical body again.
9 executing agencies of manipulation rope are not equipped with, save installation space inside gondola, and improve the reliable operation degree of platform.
Embodiment 2, as depicted in figs. 1 and 2,
The present embodiment the difference from embodiment 1 is that: power device includes:
Motor 3；
Propeller 6；The shaft of motor 3 is fixedly connected with 6 center of propeller；The rotational plane of propeller 6 and vertical bar 10 are flat
Row；The rotational plane of propeller 6 is vertical with gondola platform 11；Vertical bar 10 is put down locating for 6 center of propeller of two power devices
The projection centre in face is identical at a distance from 6 center of propeller of two power devices respectively；When two propellers 6 work, rotation
It is contrary；
Paddle cover 5；Propeller 6 is mounted in paddle cover 5；
Electric machine support 7；Motor 3 is mounted on the center of electric machine support 7, and electric machine support 7 is fixed on connector；Electric machine support
7 pass through more looms 4 and 5 external connection of paddle cover.
Direction of rotation is on the contrary, production when the working platform for being only equipped with single propeller 6 is solved perfectly when two propellers 6 work
Raw anti-twisted problem；Size selected by two propellers 6 is far below the size of single propeller 6, and the two overall size is suitable；The wing
The control of umbrella platform, which only passes through control 6 revolving speed of propeller, can be realized.
The control method of parafoil platform, comprising:
1, suspension strop 8 when flying, the pulling force of manipulation rope 9 and angle are equalled
When parafoil platform keeps flat and flies, total system stress balance, using gondola as research object, suffered by power include: outstanding
The pulling force of lanyard 8, the pulling force of manipulation rope 9, gravity, 6 thrust of propeller, resistance.Wherein, 9 pulling force of manipulation rope mainly play the maintenance wing
The effect of type, value are much smaller than 8 pulling force of suspension strop.Gondola stress as shown in Figure 3, by taking A point as an example, be shown in by the stress diagram of A point
Shown in Fig. 4, wherein θL1For the angle in the umbrella rope plummet face parallel with gondola tail portion, (L indicates left side, and R indicates right side, and 1 indicates outstanding
Lanyard 8,2 indicates manipulation rope 9, similarly hereinafter), θ1After parafoil and gondola outer dimension determine, value remains constant, is fixed
Value.In flat fly, parafoil platform torque is zero, can obtain following equation:
FL1sinθL1LOA+FR1sinθR1LOA=FL2cosθL2cosθ2LOB+FR2cosθR2cosθ2LOB+2TLLOC (1)
In parafoil platform flight, θL1, θL2It is hung by parafoil aerofoil profile, chord length, the distribution of umbrella rope and length, hitch point and manipulation
Point distance etc. influences, and meets certain relationship always, and following formula indicates:
Assuming that gondola gross weight M, resistance f, unilateral 6 gross thrust T of propeller suffered by gondolaL, then it can be obtained by stress balance:
In flat fly, 8 pulling force of suspension strop of the left and right sides is equal, and 9 pulling force of manipulation rope of the left and right sides is equal, it may be assumed that
Convolution (1)~formula (4) can calculate F when flat flyL1、FL2、θL1、θL2、FR1、FR2、θR1、θR2。
2, suspension strop 8, the pulling force of manipulation rope 9 and angle when turning to (for turning left)
2.1 two sides manipulation rope 9 is not contacted with paddle cover 5
When platform turns left, control left screw 6 accelerates, then thrust increases on the left of gondola, and left side is advanced relative to right side
(the effect very little of parafoil can be ignored in the rotation of gondola), right side is increased its stress size by left side thrust and angle may
It changes, Fig. 5 is shown in stress signal, at this time equalising torque, it may be assumed that
It can be obtained by stress balance:
F when left-hand bend (manipulation rope 9 is not in contact with paddle cover 5) can be calculated by formula (3), (5), (6)L1、FL2、θL1、θL2、
FR1、FR2、θR1、θR2.H in above formulaOA、HOB、HOCWhen for plane locating for A, B, C point transverse projection to O point in main view, O point and A,
B, the line of the subpoint of C point, it is known that the length of manipulation rope 9 is L, then at this point, due to before right side opposite on the left of gondola in turn
Lead to left side tricing line drop-down indirectly, drop-down amount is the difference that left and right sides tricing line is projected in vertical plane, value are as follows:
Δ L=L cos θR2cosθ2-L cosθL2cosθ2 (7)
Steering engine acts directly on the effect of manipulation rope 9 when the effect that the drop-down amount generates is equal to parafoil conventional control mode
Fruit, to realize the turning flight of parafoil platform.
2.2 unilateral manipulation ropes 9 are contacted with paddle cover 5
When platform turns left, left side umbrella rope is contacted with paddle cover 5, and stress diagram is shown in Fig. 6, at this time θL2It is defined as connecing in paddle circle
The angle in the 9 plummet faces parallel with gondola tail portion of manipulation rope above the P of contact can be obtained by equalising torque:
If θ0For the angle in the 9 plummet faces parallel with gondola tail portion of manipulation rope below paddle circle contact point P, then formula (2)
It is writeable are as follows:
F when left-hand bend (9 contact paddle cover 5 of manipulation rope) can be calculated by formula (6), (8), (9)L1、FL2、θL1、θL2、FR1、
FR2、θR1、θR2.Then drop-down amount are as follows:
Δ L=L cos θR2cosθ2-HOP-(L-HOP/sinθ0)sinθL2 (10)
Comparison 2.1 is it is found that the value of drop-down amount is larger at this time, and turning efficiency becomes apparent, and Gu Jiangquan is bigger, HOPIt is bigger, under
Drawing amount is bigger, and the curving effect of generation is more obvious.
2.3 two sides manipulation rope 9 is contacted with paddle cover 5
When revolving speed is also promoted when the other side, the drop-down of the side umbrella rope is also resulted in, calculation is ibid similar, therefore practical turn
To drop-down amount can summary and induction are as follows:
In above formula, when △ L is greater than 0, parafoil platform turns left, and when less than 0, parafoil platform is turned right, and △ L absolute value is bigger, turns
Curved effect is more obvious.
3, it climbs and declines
From formula (11) as can be seen that when controlling two 6 revolving speeds of propeller with equal increments, the drop-down amount of two tricing lines
It is identical, that is, increasing same rotational speed simultaneously, the amount that two tricing lines pull down simultaneously is equal, and platform is not turned, but due under
Drawing causes parafoil rear to deflect down, and lift increases, parafoil platform lifting；Reduce same rotational speed simultaneously, two tricing lines are simultaneously
The amount of drop-down is equal (be equivalent to put umbrella rope at this time), and lift reduces, the decline of parafoil platform.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe originals of the invention
Reason, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appending claims and equivalents circle
It is fixed.
Claims (3)
1. parafoil platform, including parafoil, gondola platform, two power devices, each power device passes through a connector peace
On gondola platform, two power devices are mounted side by side, which is characterized in that parafoil platform further includes；
Vertical bar；Vertical bar is mounted on gondola platform upper, and vertical bar is vertical with gondola platform；
Hanger bar；Connect at the top of the center of hanger bar and vertical bar, hanger bar and gondola platform parallel, the both ends of hanger bar are and the wing
The suspension strop of umbrella is connected, and the upper end of two suspension strops is connect with parafoil；
Cross bar；The first end of cross bar and the center of vertical bar connect, and cross bar is vertical with hanger bar, vertical bar respectively, and cross bar and gondola are flat
Platform is parallel；
Manipulation rope hanging rod；The center of manipulation rope hanging rod and the second end of cross bar connect, manipulation rope hanging rod respectively with gondola platform, outstanding
Hanging rod is parallel, and the both ends of manipulation rope hanging rod are respectively connected with manipulation rope, the upper end that two manipulations are restricted with the manipulation rope of parafoil
Connection.
2. parafoil platform according to claim 1, which is characterized in that power device includes:
Motor；
Propeller；The shaft of motor is fixedly connected with propeller center；The rotational plane of propeller is parallel with vertical bar；Propeller
Rotational plane is vertical with gondola platform；The projection centre of vertical bar plane locating for the propeller center of two power devices respectively with
The distance of the propeller center of two power devices is identical；When two propeller works, rotation direction is opposite；
Paddle cover；Propeller is mounted in paddle cover；
Electric machine support；Motor is mounted on the center of electric machine support, and electric machine support is fixed on connector；Electric machine support passes through more
Loom and paddle cover external connection.
3. a kind of control method of parafoil platform as claimed in claim 1 or 2 characterized by comprising
When S1, parafoil platform are flat winged, suspension strop, the pulling force of manipulation rope and angle control；
Using gondola as research object, gondola includes gondola platform, vertical bar, hanger bar and cross bar；Power suffered by gondola includes: suspension
Pulling force, the gravity, airscrew thrust, resistance that the pulling force of rope, manipulation are restricted；Wherein, manipulation rope tension mainly acts the work for maintaining aerofoil profile
With value is much smaller than suspension rope tension；θ1After parafoil and gondola outer dimension determine, value remains constant, is definite value；
In flat fly, parafoil platform torque is zero, can obtain following equation:
FL1sinθL1LOA+FR1sinθR1LOA=FL2cosθL2cosθ2LOB+FR2cosθR2cosθ2LOB+2TLLOC (1)
In formula, θL1For the angle in the umbrella rope plummet face parallel with gondola tail portion, L indicates left side, and R indicates right side, and 1 indicates outstanding
Lanyard, 2 indicate manipulation rope, A point be hanger bar one end and suspension strop junction central point, B point be manipulation rope hanging rod one end with
The junction central point of rope is manipulated, C point is the central point of electric machine support, and O point is horizontal where A point place perpendicular and B point
The point intersected again with the vertical centerline plane of vertical bar after plane intersection, P point are manipulation rope and paddle cover when revolution speed of propeller increases
Contact point, in formula all angles, length be by A point, B point, C point, O point and P point transverse projection enter one it is common
It is constituted after formed point in the left view plane of parafoil platform；
In parafoil platform flight, left side suspension strop and surface at angle, θL1, left side suspension strop and left side manipulation rope
Angle, θL2It is influenced, is met always certain by parafoil aerofoil profile, chord length, the distribution of umbrella rope and length, hitch point and manipulation hanging point distance
Relationship, following formula indicate:
Gondola gross weight M, resistance f, unilateral propeller gross thrust T suffered by gondolaL, then it can be obtained by stress balance:
In flat fly, the suspension rope tension of the left and right sides is equal, and the manipulation rope tension of the left and right sides is equal, it may be assumed that
Convolution (1)-formula (4) calculates F when flat flyL1、FL2、θL1、θL2、FR1、FR2、θR1、θR2；
The pulling force and angle of suspension strop, manipulation rope when S2, left-hand rotation；
One, manipulation rope in two sides is not contacted with paddle cover；
When platform turns left, control left screw accelerates, then thrust increases on the left of gondola, and left side is advanced relative to right side, right side
Being increased its stress size and angle by left side thrust may change, at this time equalising torque, it may be assumed that
It can be obtained by stress balance:
The F of left-hand bend and manipulation rope not in contact with paddle cover when is calculated by formula (3), (5), (6)L1、FL2、θL1、θL2、FR1、FR2、θR1、
θR2；H in above formulaOA、HOB、HOCWhen for plane locating for A, B, C point transverse projection to O point in main view, the projection of O point and A, B, C point
The line of point, it is known that the length for manipulating rope is L, then at this point, due to leading to left side indirectly in turn before right side opposite on the left of gondola
Tricing line drop-down, drop-down amount are the difference that left and right sides tricing line is projected in vertical plane, value are as follows:
Δ L=Lcos θR2cosθ2-LcosθL2cosθ2 (7)
Steering engine acts directly on the effect of manipulation rope when the effect that the drop-down amount generates is equal to parafoil conventional control mode, thus
Realize the turning flight of parafoil platform；
Two, unilateral manipulation rope is contacted with paddle cover；
When platform turns left, left side umbrella rope is contacted with paddle cover, at this time θL2The manipulation rope and gondola being defined as above paddle circle contact point P
The angle in the parallel plummet face in tail portion can be obtained by equalising torque:
If θ0For the angle in the plummet face parallel with gondola tail portion of the manipulation rope below paddle circle contact point P, then formula (2) is writeable are as follows:
F when left-hand bend (manipulation rope contact paddle cover) can be calculated by formula (6), (8), (9)L1、FL2、θL1、θL2、FR1、FR2、θR1、
θR2；Then drop-down amount are as follows:
Δ L=Lcos θR2cosθ2-HOP-(L-HOP/sinθ0)sinθL2 (10)
Comparison one is it is found that the value of drop-down amount is larger at this time, and turning efficiency becomes apparent, and Gu Jiangquan is bigger, HOPBigger, drop-down amount is got over
Greatly, the curving effect of generation is more obvious；
Three, manipulation rope in two sides is contacted with paddle cover；
When revolving speed is also promoted when the other side, the drop-down of the side umbrella rope is also resulted in, calculation is ibid similar, therefore actual steering
Drop-down amount can summary and induction are as follows:
In above formula, when △ L is greater than 0, parafoil platform turns left, and when less than 0, parafoil platform is turned right, and △ L absolute value is bigger, turning effect
Fruit is more obvious；
S3, it climbs and declines；
From formula (11) as can be seen that the drop-down amount of two tricing lines is phase when controlling two revolution speed of propeller with equal increments
With, that is, increasing same rotational speed simultaneously, the amount that two tricing lines pull down simultaneously is equal, and platform is not turned, but since drop-down is led
Parafoil rear is caused to deflect down, lift increases, parafoil platform lifting；Reduce same rotational speed simultaneously, two tricing lines pull down simultaneously
Amount it is equal, be equivalent to put umbrella rope at this time, lift reduce, parafoil platform decline.
Priority Applications (1)
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023169966A1 (en) * | 2022-03-10 | 2023-09-14 | Cmi Technonologies | Secure paramotor bucket frame with dual-rotor propulsion offset to the rear and to the side |
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| CN109436318B (en) | 2023-08-29 |
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