CN109795682A - A kind of efficient tail sitting posture VTOL Fixed Wing AirVehicle and its control method - Google Patents
A kind of efficient tail sitting posture VTOL Fixed Wing AirVehicle and its control method Download PDFInfo
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- CN109795682A CN109795682A CN201811505895.9A CN201811505895A CN109795682A CN 109795682 A CN109795682 A CN 109795682A CN 201811505895 A CN201811505895 A CN 201811505895A CN 109795682 A CN109795682 A CN 109795682A
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Abstract
The invention discloses a kind of efficient tail sitting posture VTOL Fixed Wing AirVehicles, are made of fuselage, wing, vertical tail, undercarriage, elevon, the first dynamical system, the second dynamical system, third dynamical system, energy resource system and flight controller.First dynamical system and the second dynamical system are installed on wing middle section, and airscrew diameter is big, and third dynamical system is installed on the upside of fuselage, and the total disk loading of aircraft is low, and VTOL stage aircraft is high-efficient.The landing stage controls aircraft pitching and roll attitude by three dynamical system thrust differences, and level flight stage passes through the thrust difference trimmed flight device vertical passage of the first and second dynamical system and third dynamical system, so that aircraft trim resistance is small.A kind of efficient tail sitting posture VTOL Fixed Wing AirVehicle has many advantages, such as that strong gesture stability ability, landing and horizontal flight are high-efficient.
Description
Technical field
The present invention relates to technical field of aerospace, specially a kind of efficient tail sitting posture VTOL Fixed Wing AirVehicle and its control
Method processed.
Background technique
Tailstock vertical takeoff and landing vehicle is mainly two paddles layout, four paddles layout and more paddles layout at present.Two paddle tail sitting postures
Vertically taking off and landing flyer in-flight provides aircraft pitch control using the pneumatic rudder face in propellerslip in landing, but
It is that slip-stream rudder face steerage is low, bandwidth is low, stability is poor when aircraft is disturbed by crosswind.Four paddles and more paddle tail sitting posture VTOL
Aircraft controls aircraft pitch attitude, but the cloth of four paddle propellers and multiple propellers using thrust difference in the landing stage
Office is limited by aircraft wing length, and airscrew diameter is difficult to do greatly, and propeller rotor disk area is square with diameter
Directly proportional, total rotor disk area is small compared with two paddle tailstock vertical takeoff and landing vehicle rotor disk areas, and aircraft takeoff weight is limited, rises
The efficiency of depression of order section is lower.
Tail sitting posture aircraft generallys use no tailplane layout, in level flight stage aircraft to lower the center of gravity
Longitudinal trim is more difficult, and elevon needs to generate negative lift and flies the angle of attack for making aircraft keep flat, at this time elevon
Biggish additional drag is brought, aircraft horizontal flight lift resistance ratio is lower, so that aircraft cruise efficiency is lower.
The present invention proposes a kind of efficient tail sitting posture VTOL Fixed Wing AirVehicle and its control method, which is tail
Sitting posture layout passes through thrust combination and the common completion aircraft longitudinal direction trim of elevon deflection and behaviour using three rotor-hub configurations
It is vertical.Compared with existing tail sitting posture, the control ability and efficiency during aircraft vertical landing are improved, cruising flight is improved
Lift resistance ratio, it is easier to realize long flight.
Summary of the invention
The technical problem to be solved in the present invention is that the defect for overcoming the flight efficiency of existing tail sitting posture aircraft low, thus
A kind of efficient tail sitting posture VTOL Fixed Wing AirVehicle of offer one and its control method.
A kind of efficient tail sitting posture VTOL Fixed Wing AirVehicle belongs to technical field of aerospace, feature (as shown in Figure 1)
Be containing: fuselage 1, wing 2, vertical tail 3, undercarriage 4, elevon 5, the first dynamical system 6, the second dynamical system 7,
Third dynamical system 8, energy resource system 9 and flight controller 10；
The wing 2 is symmetrically mounted on fuselage two sides, the elevon 5 using winged high aspect ratio wing is efficiently put down
It is mounted on 2 rear of wing, the vertical tail 3 is mounted on fuselage 2；
First dynamical system 6 and the second dynamical system 7 are symmetrically mounted on 1 left and right sides of fuselage, and under wing 2
Side, thrust line to aircraft center of gravity have the offset of certain distance；
The third dynamical system 8 is mounted on vertical tail 3, and thrust line to aircraft center of gravity has certain distance offset；
First dynamical system 6 is characterized in that containing engine 6-1 and propeller 6-2；
Second dynamical system 7 is characterized in that containing engine 7-1 and propeller 7-2；
The third dynamical system 8 is characterized in that containing engine 8-1 and propeller 8-2；
The propeller 6-2 and propeller 7-2 is the low disk loading propeller of major diameter, the propeller 6-2 and spiral
Paddle 7-2 is positive paddle and anti-paddle respectively, and propeller 6-2 and propeller 7-2 cancel out each other for reverse torque；
The energy resource system 9 is installed on inside fuselage 1, provides energy for engine 6-1, engine 7-1 and engine 8-1
Source；
The flight controller 10 is installed on inside fuselage 1；
There are three mission phases for a kind of efficient tail sitting posture VTOL Fixed Wing AirVehicle tool: taking off vertically, vertical landing
And level flight stage；Taking off vertically and the vertical landing stage, aircraft head straight up, the first dynamical system 6, second
The sum of thrust of dynamical system 7 and third dynamical system 8 balances each other with aircraft gravity；It is a kind of efficient in flat winged mission phase
Tail sitting posture VTOL Fixed Wing AirVehicle is as general Fixed Wing AirVehicle, the first dynamical system 6, the second dynamical system 7
Thrust with third dynamical system 8 is for overcoming flight vehicle aerodynamic resistance.
A kind of propeller 8-2 of efficient tail sitting posture VTOL Fixed Wing AirVehicle can be coaxial double-rotary wing propeller,
Its reverse torque is close to 0.Propeller 8-2 may be positive paddle or anti-paddle, the thrust axis of third dynamical system 8 with it is vertical
For 3 symmetrical plane of empennage there are inclination angle, the thrust relative flight of third dynamical system 8 thinks highly of the torque and propeller 8- of heart generation
The sum of 2 reverse torque is close to 0.Propeller 8-2 is positive paddle or anti-paddle, passes through driver drives third dynamical system 8 or so
It verts, tilts 8 thrust line of third dynamical system, generate the reversion for offsetting propeller 8-2 relative to the torque of aircraft center of gravity
Torque.
A kind of engine 6-1, engine 7-1 and the engine 8-1 of efficient tail sitting posture VTOL Fixed Wing AirVehicle can
Think motor, the energy resource system 9 is battery pack at this time.Engine 6-1 and engine 7-1 may be internal combustion engine, start
Machine 8-1 is motor, and energy resource system 9 is the combination of fuel system and battery pack at this time.Engine 6-1 and engine 7-1 can also
Think internal combustion engine and motor combination power, engine 8-1 is internal combustion engine and motor combination power or motor, at this time
Energy resource system 9 is the combination of fuel system and battery pack, is taken off and vertical landing stage engine 6-1, hair in aircraft vertical
The internal combustion engine of motivation 7-1 and engine 8-1 and motor drive propeller jointly, in aircraft level flight stage engine 6-
1, the motor of engine 7-1 and engine 8-1 are generated electricity using internal combustion engine dump power, are charged to the battery pack of energy resource system 9.
A kind of efficient tail sitting posture VTOL Fixed Wing AirVehicle control method, it is characterised in that: in the efficient tail of the present invention
The sitting posture VTOL Fixed Wing AirVehicle vertical and landing takeoff stage deflects control aircraft by 5 antisymmetry of elevon
Yaw-position, by changing the first dynamical system 6, the thrust and elevon 5 of the second dynamical system 7 and third dynamical system 8
Symmetric deflection combination control aircraft pitch attitude；In efficiently tail sitting posture VTOL Fixed Wing AirVehicle horizontal flight of the invention
Stage deflects control aircraft roll attitude by 5 antisymmetry of elevon, passes through the first dynamical system 6, the second dynamical system
7 and third dynamical system 8 thrust combined with 5 symmetric deflection of elevon trimmed flight device vertical passage, control pitch attitude,
And make under elevon 5 partially and deflection angle is smaller, so that aircraft is in high lift-drag ratio state of flight.
The present invention has the advantages that
(1) layout for using 3 propellers, so that the total face of propeller paddle disk under the conditions of aircraft length size is limited
Product is bigger, so that aircraft takeoff weight is big, can carry more energy, the consumption of aircraft landing stage power is smaller, right
Dynamical system total power requirements are lower, therefore more efficiently.
(2) the longitudinal trim and pitch control scheme combined are deflected with elevon using three airscrew thrusts, so that
The landing stage wind loading rating of aircraft is strong, and cruising phase aircraft trim resistance is smaller, and high lift-drag ratio flight may be implemented, because
This aircraft cruise efficiency is higher.
Detailed description of the invention
A kind of Fig. 1: efficient tail sitting posture VTOL Fixed Wing AirVehicle three-dimensional figure.
1. fuselage, 2. wings, 3. vertical tails, 4. undercarriages, 5. elevons, 6. first dynamical systems, 7. second is dynamic
Force system, 8. third dynamical systems, 9. energy resource systems, 10. flight controllers.
A kind of Fig. 2: efficient tail sitting posture VTOL Fixed Wing AirVehicle side view.
1. fuselage, 2. wings, 6. first dynamical systems, 7. second dynamical systems, 8. third dynamical systems.
A kind of Fig. 3: efficient tail sitting posture VTOL Fixed Wing AirVehicle offline mode schematic diagram.
Specific embodiment
By engine using motor, energy resource system using battery pack, propeller 8-2 using positive paddle aircraft for into
One step explanation.
In fig. 1, the first dynamical system is located on the downside of wing, and on the left of fuselage, the second dynamical system is located at wing
Downside, and on the right side of fuselage, the first dynamical system and the second dynamical system are positive paddle and anti-paddle respectively, so that reaction torque is mutually supported
Disappear.First dynamical system and the second dynamical system are respectively arranged in two sides wing, and airscrew diameter is big.The installation of third dynamical system
In vertical tail wing tip, which is located at right above fuselage, has a spacing with the propeller paddle disk of the first and second dynamical system
From avoiding interfering with each other.The wing tip of vertical tail is equipped with undercarriage fulcrum, so that aircraft landing gear longitudinal width is wide, rises
Aircraft is more stable when flying and landing, and lightweight construction.
Aircraft gross thrust are as follows:
T=T1+T2+T3
Wherein, T1For the thrust that the first dynamical system generates, T2For the thrust that the second dynamical system 7 generates, T3It is dynamic for third
The thrust that Force system generates.The total paddle disk of the thrust and third dynamical system that first dynamical system, the second dynamical system generate
Product are as follows:
A=0.5* π * d1*d1+0.25*π*d2*d2
Wherein, d1For the first and second dynamical system airscrew diameter, d2For third dynamical system airscrew diameter.Vertically rising
Offline mode drops, and the sum of the first dynamical system, the second dynamical system, thrust of third dynamical system are suitable with aircraft gravity,
First and second dynamical system propeller is major diameter propeller, and disk loading is low, so that a kind of efficient tail sitting posture VTOL is fixed
Rotor aircraft take-off weight can be larger, carries more fuel, has high efficiency in the vertical and landing takeoff stage.
During aircraft vertical landing, by change the first dynamical system, the second dynamical system generate thrust and
The thrust size of third dynamical system may be implemented to generate pitch control torque in the case that gross thrust T is constant:
M=b*T3–a*(T1+T2)
Wherein, a is the thrust line of the first dynamical system and the second dynamical system at a distance from aircraft center of gravity, and b is third
Dynamical system thrust line is at a distance from aircraft center of gravity, as shown in Figure 2.
A kind of flight course of efficient tail sitting posture VTOL Fixed Wing AirVehicle is as follows: (1) taking off vertically.Such as attached drawing 3
It is shown, aircraft head straight up, before taking off aircraft by gear support on the ground, first and second and three dynamic systems
The thrust-balancing aircraft gravity of generation.After aircraft is liftoff, vehicle yaw posture is controlled by elevon, by the
One, the thrust difference of two dynamical systems controls aircraft roll attitude, the thrust control generated by adjusting first and second and three dynamic systems
Aircraft pitch attitude processed.When aircraft reaches safe altitude, control aircraft, which is bowed, gradually to lean forward, at this time dynamical system thrust
So that aircraft level accelerates, when aircraft reaches conversion flying speed, that is, switch to horizontal flight.
(2) horizontal flight.As shown in Fig. 3, the stage aircraft horizontal flight generates Pneumatic balancing by wing and flies
Row thinks highly of power, controls aircraft roll attitude by elevon.Pass through pushing away for the first and second dynamical system and third dynamical system
Power difference generates pitch control torque M trimmed flight device vertical passage, so that the trim deflection angle very little of pneumatic rudder face, at aircraft
In high lift-drag ratio state of flight.
(3) vertical landing.As shown in Fig. 3, aircraft gradually increases pitch angle by horizontal flight, so that aircraft subtracts
Speed, while dynamics output power gradually increases, part thrust are used to support aircraft gravity, power system operational state and hang down
Mode of directly taking off is the same.As the horizontal flying speed of aircraft reduces, attitude of flight vehicle switchs to straight up, pass through elevon
Vehicle yaw posture is controlled, aircraft roll attitude is controlled by the thrust difference of the first and second dynamical system, by adjusting the
One, the thrust that two and three dynamic systems generate controls aircraft pitch attitude.After aircraft reaches landing point, it is high to gradually decrease flight
Degree completes vertical landing until undercarriage lands.
Above-described specific implementation method has carried out specifically the purpose of the present invention, technical scheme and beneficial effects
It is bright, it should be understood that the foregoing is merely a specific embodiment of the invention, the protection that is not intended to limit the present invention
Range, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in this hair
Within bright protection scope.
Claims (9)
1. a kind of efficient tail sitting posture VTOL Fixed Wing AirVehicle, it is characterised in that contain: fuselage 1, wing 2, vertical tail
3, undercarriage 4, elevon 5, the first dynamical system 6, the second dynamical system 7, third dynamical system 8, energy resource system 9 and flight
Controller 10；
The wing 2 is symmetrically mounted on fuselage two sides using winged high aspect ratio wing is efficiently put down, and the elevon 5 is installed
In 2 rear of wing, the vertical tail 3 is mounted on fuselage 2；
First dynamical system 6 and the second dynamical system 7 are symmetrically mounted on 1 left and right sides of fuselage, and in 2 downside of wing, push away
The line of force to aircraft center of gravity has the offset of certain distance；
The third dynamical system 8 is mounted on vertical tail 3, and thrust line to aircraft center of gravity has certain distance offset；
First dynamical system 6 is characterized in that containing engine 6-1 and propeller 6-2；
Second dynamical system 7 is characterized in that containing engine 7-1 and propeller 7-2；
The third dynamical system 8 is characterized in that containing engine 8-1 and propeller 8-2；
The propeller 6-2 and propeller 7-2 is the low disk loading propeller of major diameter, the propeller 6-2 and propeller 7-2
Be positive paddle and anti-paddle respectively, and propeller 6-2 and propeller 7-2 cancel out each other for reverse torque；
The energy resource system 9 is installed on inside fuselage 1, provides the energy for engine 6-1, engine 7-1 and engine 8-1；
The flight controller 10 is installed on inside fuselage 1；
There are three mission phases for a kind of efficient tail sitting posture VTOL Fixed Wing AirVehicle tool: taking off vertically, vertical landing and water
Flat mission phase；Taking off vertically and the vertical landing stage, aircraft head straight up, the first dynamical system 6, the second power
The sum of thrust of system 7 and third dynamical system 8 balances each other with aircraft gravity；In flat winged mission phase, a kind of efficient tail seat
Formula VTOL Fixed Wing AirVehicle is as general Fixed Wing AirVehicle, the first dynamical system 6, the second dynamical system 7 and
The thrust of three dynamical systems 8 is for overcoming flight vehicle aerodynamic resistance.
2. efficient tail sitting posture VTOL Fixed Wing AirVehicle according to claim 1, it is characterised in that: propeller 8-2
For coaxial double-rotary wing propeller, reverse torque is close to 0.
3. efficient tail sitting posture VTOL Fixed Wing AirVehicle according to claim 1, it is characterised in that: propeller 8-2
Be positive paddle or anti-paddle, and there are inclination angle, third power with 3 symmetrical plane of vertical tail for the thrust axis of third dynamical system 8
The thrust relative flight of system 8 thinks highly of the sum of the torque of heart generation and the reverse torque of propeller 8-2 close to 0.
4. efficient tail sitting posture VTOL Fixed Wing AirVehicle according to claim 1, it is characterised in that: propeller 8-2
Be positive paddle or anti-paddle, is verted by driver drives third dynamical system 8 or so, tilts 8 thrust line of third dynamical system, produces
The raw torque relative to aircraft center of gravity offsets the reverse torque of propeller 8-2.
5. efficient tail sitting posture VTOL Fixed Wing AirVehicle according to claim 1-4, it is characterised in that: institute
Stating engine 6-1, engine 7-1 and engine 8-1 is motor, and the energy resource system 9 is battery pack.
6. efficient tail sitting posture VTOL Fixed Wing AirVehicle according to claim 1-4, it is characterised in that: institute
Stating engine 6-1 and engine 7-1 is internal combustion engine, and the engine 8-1 is motor, and the energy resource system 9 is fuel system
With the combination of battery pack.
7. efficient tail sitting posture VTOL Fixed Wing AirVehicle according to claim 1-4, it is characterised in that: institute
It states engine 6-1 and engine 7-1 is respectively the power device that internal combustion engine is combined with motor, the engine 8-1 is electronic
Machine, the energy resource system 9 are the combination of fuel system and battery pack, are taken off and vertical landing stage engine in aircraft vertical
The internal combustion engine of 6-1 and engine 7-1 and motor drive propeller jointly, in aircraft level flight stage engine 6-1 and
The motor of engine 7-1 is generated electricity using internal combustion engine dump power, is charged to the battery pack of energy resource system 9.
8. efficient tail sitting posture VTOL Fixed Wing AirVehicle according to claim 1-4, it is characterised in that: institute
Stating engine 6-1, engine 7-1 and engine 8-1 is respectively the power device that internal combustion engine is combined with motor, the energy system
System 9 is the combination of fuel system and battery pack, is taken off and vertical landing stage engine 6-1, engine 7-1 in aircraft vertical
Propeller is driven jointly with the internal combustion engine and motor of engine 8-1, in aircraft level flight stage engine 6-1, is started
The motor of machine 7-1 and engine 8-1 are generated electricity using internal combustion engine dump power, are charged to the battery pack of energy resource system 9.
9. a kind of efficient tail sitting posture VTOL Fixed Wing AirVehicle control method, it is characterised in that: sat in efficiently tail of the invention
The formula VTOL Fixed Wing AirVehicle vertical and landing takeoff stage, it is inclined to deflect control aircraft by 5 antisymmetry of elevon
Navigation attitude state is right by the thrust and elevon 5 that change the first dynamical system 6, the second dynamical system 7 and third dynamical system 8
Claim deflection combination control aircraft pitch attitude；
It is inclined by 5 antisymmetry of elevon in efficiently tail sitting posture VTOL Fixed Wing AirVehicle level flight stage of the invention
Turn control aircraft roll attitude, passes through the first dynamical system 6, the thrust and liter of the second dynamical system 7 and third dynamical system 8
5 symmetric deflection of aileron combination trimmed flight device vertical passage, control pitch attitude are dropped, and makes inclined and deflection angle under elevon 5
It is smaller, so that aircraft is in high lift-drag ratio state of flight.
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| CN201811505895.9A CN109795682A (en) | 2018-12-10 | 2018-12-10 | A kind of efficient tail sitting posture VTOL Fixed Wing AirVehicle and its control method |
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| CN110427043A (en) * | 2019-09-04 | 2019-11-08 | 福州大学 | Pose Control device design method based on operation flying robot's centre-of gravity shift |
| CN110466754A (en) * | 2019-09-09 | 2019-11-19 | 西安交通大学 | A kind of tailstock formula tilting rotor vertical take-off and landing drone |
| FR3101329A1 (en) * | 2019-10-01 | 2021-04-02 | Airbus Operations | hybrid fixed-wing multirotor vertical take-off aircraft |
| CN112678167A (en) * | 2020-12-28 | 2021-04-20 | 中国航空工业集团公司沈阳飞机设计研究所 | Vertical take-off and landing control method for tail-seated airplane |
| CN113232826A (en) * | 2021-05-07 | 2021-08-10 | 南京航空航天大学 | Vertical take-off and landing aircraft with vertical tail seat and control method thereof |
| CN113232838A (en) * | 2021-05-07 | 2021-08-10 | 南京航空航天大学 | Vertical take-off and landing aircraft with vertical tail seat based on dual-mode variant landing gear |
| CN113788143A (en) * | 2021-11-15 | 2021-12-14 | 中国航天空气动力技术研究院 | Tail sitting type vertical take-off and landing solar unmanned aerial vehicle |
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| CN113232838B (en) * | 2021-05-07 | 2022-05-03 | 南京航空航天大学 | Vertical take-off and landing aircraft with vertical tail seat based on dual-mode variant landing gear |
| CN113788143A (en) * | 2021-11-15 | 2021-12-14 | 中国航天空气动力技术研究院 | Tail sitting type vertical take-off and landing solar unmanned aerial vehicle |
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Application publication date: 20190524 |
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