CN110001953A - A kind of aerofoil profile unmanned plane and its flight control method - Google Patents
A kind of aerofoil profile unmanned plane and its flight control method Download PDFInfo
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- CN110001953A CN110001953A CN201910354937.1A CN201910354937A CN110001953A CN 110001953 A CN110001953 A CN 110001953A CN 201910354937 A CN201910354937 A CN 201910354937A CN 110001953 A CN110001953 A CN 110001953A
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims abstract description 15
- 230000008447 perception Effects 0.000 claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims description 18
- 238000004891 communication Methods 0.000 claims description 10
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- 241000238631 Hexapoda Species 0.000 abstract description 3
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- 238000005265 energy consumption Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 11
- 230000007246 mechanism Effects 0.000 description 9
- 230000006870 function Effects 0.000 description 8
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- NINIDFKCEFEMDL-UHFFFAOYSA-N Sulfur Chemical compound [S] NINIDFKCEFEMDL-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
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Abstract
The invention discloses a kind of aerofoil profile unmanned plane and its flight control methods, comprising: fuselage ring, port wing, starboard wing, left wing's motor, right flank motor, dihedral angle steering engine, tuning steering engine, posture perception module, controller and power module.Power are provided by two pairs of symmetrical flight wings when aerofoil profile unmanned plane during flying of the invention, wing is provided power by motor, using imitative insect without empennage-type design method, the flight attitude of itself is adjusted using fuselage dihedral angle steering engine and tuning steering engine；When flight, only wing energy consumption of electrical machinery consumption is larger, and steering engine only makees intermittent adjustment posture.Unmanned plane during flying mode of the invention is unique, and structure is compared simpler with other unmanned planes, and the efficiency of flight is higher, while the miniaturization of unmanned plane may be implemented.
Description
Technical field
The invention belongs to aerofoil profile air vehicle technique field, in particular to a kind of aerofoil profile unmanned plane and its flight control method.
Background technique
The advantages of unmanned plane is generally divided into three classes, respectively fixed-wing, rotor and flapping wing, they have itself with it is insufficient.
The upward resultant force that the wing that fixed-wing unmanned plane relies primarily on itself generates realizes flight, passes through aileron and empennage adjustment flight
Posture；In flight, flexibility ratio is poor for it, it is difficult to realize low-angle flight and relative low speeds flight, and flight freedom degree is less.
Rotor wing unmanned aerial vehicle usually has quadrotor, six rotors and more rotors etc., generates upward resultant force using the rotation paddle rotation of itself, by
Alternating current generator provides power, needs motor to have higher rotation speed, therefore power consumption is larger, it is difficult to realize the flight of long-time or long range.
Existing flapping wing unmanned plane is mostly bird imitating type, and imitative birds unmanned plane has the following deficiencies: that 1) adaptability is poor in flight,
If encountering air-flow, it is difficult to keep stabilized flight；2) imitating birds unmanned plane during flying can not achieve the movement such as hovering；3) imitate birds formula without
It is man-machine to have generally comprised empennage, the heading and posture of fuselage are controlled by empennage, therefore cause volume relatively large；4) have
There is the defect that freedom degree is less.
To sum up, a kind of novel aerofoil profile unmanned plane structure and its flight control method are needed.
Summary of the invention
The purpose of the present invention is to provide a kind of aerofoil profile unmanned plane and its flight control methods, to solve above-mentioned one
A or multiple technical problems.Unmanned plane of the invention can utilize less power output, realize the flight of more freedom, can
Flight time or flying distance are combined with multiple degrees of freedom.
In order to achieve the above objectives, the invention adopts the following technical scheme:
A kind of aerofoil profile unmanned plane, comprising: fuselage ring, port wing, starboard wing, left wing's motor, right flank motor, dihedral angle rudder
Machine, tuning steering engine, posture perception module, controller and power module；The left frame of fuselage ring is equipped with left wing's motor and flutters
Wing formula port wing, left wing's motor is for driving port wing to flutter；The left frame of fuselage ring is equipped with right flank motor and flapping wings type
Starboard wing, right flank motor is for driving starboard wing to flutter；The upper side frame of fuselage ring includes isometric the first upper side frame and second
Upper side frame；One end of first upper side frame is hinged by the upper end of the left frame of the first articulated shaft and fuselage ring, and described the
The other end of one upper side frame is hinged by one end of the second articulated shaft and second upper side frame, second upper side frame it is another
End is hinged by the upper end of third articulated shaft and the left frame of fuselage ring；First articulated shaft, the second articulated shaft, third hinge
Spindle is each perpendicular to horizontal plane；The hinged place of first upper side frame and second upper side frame is equipped with dihedral angle steering engine；Institute
The horizontal sextant angle for stating the first upper side frame and second upper side frame is dihedral angle, and dihedral angle steering engine is for adjusting dihedral angle angle
Size；The both ends of the lower frame of fuselage ring pass through the 4th articulated shaft respectively and the 5th articulated shaft is hinged on the left side of fuselage ring
The lower end of frame and left frame；4th articulated shaft and the 5th articulated shaft are each perpendicular to horizontal plane；Fuselage ring it is following
Tuning steering engine is installed, for adjusting tuning angle angular dimension, tuning angle is the lower frame and machine of fuselage ring at the center of frame
The upper side frame angle of body frame；Posture perception module includes: airborne sensor, accelerometer, magnetometer and gyroscope；Posture sense
Know module for obtain the pitch angle of unmanned plane, roll angle, yaw angle and with geographical north angle；Controller includes: channel radio
Interrogate unit, control unit, feedback unit and driving unit；The signal input part of the wireless communication unit is used to realize with outside
Telecommunication, the signal output end of the wireless communication unit are connected with the signal input part of described control unit；The appearance
The signal output end of state sensing module is connected with the signal input part of the feedback unit, the signal output of the feedback unit
End is connected with the signal input part of described control unit, the letter of the signal output end of described control unit and the driving unit
Number input terminal is connected；The driving unit includes left wing's electric-motor drive unit and right flank electric-motor drive unit；Left wing's electricity
The signal output end of machine driving unit is connected with the signal receiving end of left wing's motor, the signal of the right flank electric-motor drive unit
Output end is connected with the signal receiving end of right flank motor；Power module, for being left wing's motor, right flank motor, dihedral angle rudder
Machine, tuning steering engine, posture perception module and controller power supply.
A further improvement of the present invention is that yaw zero angle and geographical north angle are scheduled same direction, gesture feedback uses angle
Spend fusion method:
In formula, θ*To merge angle,For yaw angle, γ is yaw angle weight, and α is that geographical north angle γ value is 0 to arrive
1；
Controller will merge pulse width needed for angular transition is calculated as the rotation of tuning steering engine, be realized by tuning steering engine
The control of heading.
A further improvement of the present invention is that dihedral angle steering engine and tuning steering engine are all made of AFRC-D1302, the period is
20ms, pulse width adjusting range are 0.5~2.5ms, and pulse width 0.5ms steering engine rotates 0 °, the rotation of pulse width 1ms steering engine
45 °, pulse width 1.5ms steering engine rotates 90 °；Wherein, pulse width and rotational angle are proportional.
A further improvement of the present invention is that when the value range of dihedral angle angle, θ is 180 ° < θ < 360 °, unmanned plane
Center of gravity moves back；When the value range of dihedral angle angle, θ is 0 ° < θ < 180 °, the center of gravity Forward of unmanned plane.
A further improvement of the present invention is that the driving unit of the controller uses two-way MOSFET UCC27524A,
It flutters the independent control of frequency for realizing port wing and starboard wing.
A further improvement of the present invention is that the specific structure of left/right wing includes: the first wing, the second wing, first
Connecting rod and second connecting rod；First wing and second wing are hinged by the 6th articulated shaft, the 6th articulated shaft
Axis is overlapped with the axis of left/right frame；The left/right wing motor is fixedly mounted on left/right frame by mounting rack, described
The output end of left/right wing motor is equipped with the first transmission gear；The second transmission gear and third are also equipped on the mounting rack
Transmission gear, the first transmission gear are meshed with the second transmission gear and third transmission gear simultaneously；The one of the first connecting rod
End is hinged on the first wing, and the other end is hinged on the end face of the second transmission gear；One end of the second connecting rod is hinged on
On second wing, the other end is hinged on the end face of third transmission gear；Wherein, first can be driven by left/right wing motor
Wing and the second wing are fluttered.
A kind of flight control method for the aerofoil profile unmanned plane that the present invention is above-mentioned, comprising: using there is a mode flight mode, i.e.,
There is a direction mode, always using fixed direction as forward direction when unmanned plane during flying；
Zero angle will be yawed and geographical north angle schedules same direction；
Gesture feedback uses angle fusion method:
Merge angle=yaw angle * yaw angle weight+geographical north angle * (1- yaw angle weight)；
Controller will merge pulse width needed for angular transition is calculated as the rotation of tuning steering engine, be realized by tuning steering engine
The control of heading.
Further, port wing and starboard wing are individually controlled by left wing's electric-motor drive unit and right flank electric-motor drive unit
Frequency of fluttering, realize differential, and then realize unmanned plane roll movement flight.
Further, dihedral angle angle is adjusted by dihedral angle steering engine, so that drone center of unmanned aerial vehicle position is changed, Jin Ershi
The pitching motion flight of existing unmanned plane.
Further, steering angle is adjusted by tuning steering engine, so that the wing root axial direction of unmanned plane is changed, Jin Ershi
The yaw maneuver flight of existing unmanned plane.
Compared with prior art, the invention has the following advantages:
Aerofoil profile unmanned plane of the invention can utilize less power output, realize the flying method of more freedom, energy
It is enough to combine flight time or flying distance with multiple degrees of freedom.It is embodied in: right by two pairs when aerofoil profile unmanned plane during flying
The flight wing of title provides power, and wing provides power by motor, using imitative insect without empennage-type design method, utilizes fuselage two
Face angle steering engine and tuning steering engine adjust the flight attitude of itself；When flight, only wing energy consumption of electrical machinery consumption is larger, and steering engine is only made
Intermittence adjustment posture.Unmanned plane during flying mode of the invention is unique, and structure compares, the effect of flight simpler with other unmanned planes
Rate is higher, while the miniaturization of unmanned plane may be implemented.In addition, current imitative birds unmanned plane generallys use left and right wing and flutters
Forward power is provided, the adjustment of heading and posture is realized using the adjustment of empennage, therefore in flight, left and right wing and
The power that empennage generates will not only provide forward power, but also it is also required to provide upward power, and this requires for left and right machine
The motor that the wing provides power has biggish torque, accordingly just has higher power consumption.Unmanned plane of the invention is in the way of flapping wing
Flight, smaller in terms of the power consumption energy, the flight time is longer, while can realize the flying method of more freedom.
Flight control method of the invention, the flight for unmanned plane of the present invention control, use left and right wing to flutter and match
Steering engine rotation is closed, less power output can be utilized, realize the flying method of more freedom, by the flight time or can be flown
Row distance is combined with multiple degrees of freedom.
Detailed description of the invention
Fig. 1 is a kind of system principle schematic block diagram of aerofoil profile unmanned plane of the embodiment of the present invention；
Fig. 2 is a kind of overlooking structure diagram of aerofoil profile unmanned plane of the embodiment of the present invention；
Fig. 3 is the forward sight structural schematic diagram of Fig. 2；
Fig. 4 is a kind of a kind of differential operation schematic diagram of aerofoil profile unmanned plane of the embodiment of the present invention；
Fig. 5 is a kind of another differential operation schematic diagram of aerofoil profile unmanned plane of the embodiment of the present invention；
Fig. 6 is a kind of schematic diagram of rotation mode of dihedral angle steering engine in a kind of aerofoil profile unmanned plane of the embodiment of the present invention；
Fig. 7 is the signal of another rotation mode of dihedral angle steering engine in a kind of aerofoil profile unmanned plane of the embodiment of the present invention
Figure；
Fig. 8 is a kind of schematic diagram of rotation mode of tuning steering engine in a kind of aerofoil profile unmanned plane of the embodiment of the present invention；
Fig. 9 is the schematic diagram of another rotation mode of tuning steering engine in a kind of aerofoil profile unmanned plane of the embodiment of the present invention；
Fig. 2 is into Fig. 9,1, dihedral angle steering engine；2, left wing's motor；3, port wing；4, right flank motor；5, starboard wing；6, it adjusts
To steering engine.
Specific embodiment
In order to keep purpose, technological merit and the scheme of the embodiment of the present invention clearer, below in conjunction in embodiment
Attached drawing, technical solution in the embodiment of the present invention carry out further clear, complete description；It is described herein as being only used for the present invention
The explanation of technical solution is not used in the restriction of the scope of the present invention.
It please refers to Fig.1 to Fig.3, a kind of aerofoil profile unmanned plane structure of the embodiment of the present invention, comprising: fuselage ring, port wing
3, starboard wing 5, left wing's motor 2, right flank motor 4, dihedral angle steering engine 1, tuning steering engine 6, posture perception module, controller and power supply
Module；
The left frame of fuselage ring is equipped with left wing's motor 2 and flapping wings type port wing 3, and left wing's motor 2 is for driving left machine
The wing 3 is fluttered；
The left frame of fuselage ring is equipped with right flank motor 4 and flapping wings type starboard wing 5, and right flank motor 4 is for driving right machine
The wing 5 is fluttered；
The upper side frame of fuselage ring includes isometric the first upper side frame and the second upper side frame；One end of first upper side frame
Upper end by the first articulated shaft and the left frame of fuselage ring is hinged, and the other end of first upper side frame is hinged by second
One end of axis and second upper side frame is hinged, and the other end of second upper side frame passes through third articulated shaft and fuselage ring
The upper end of left frame is hinged；First articulated shaft, the second articulated shaft, third articulated shaft are each perpendicular to horizontal plane；Described first
The hinged place of upper side frame and second upper side frame is equipped with dihedral angle steering engine 1；First upper side frame and second top
The horizontal sextant angle of frame is dihedral angle, and dihedral angle steering engine 1 is used to adjust the size of dihedral angle angle；The two of the lower frame of fuselage ring
End is hinged on the left frame of fuselage ring and the lower end of left frame by the 4th articulated shaft and the 5th articulated shaft respectively；Described 4th
Articulated shaft, the 5th articulated shaft are each perpendicular to horizontal plane；Tuning steering engine 6 is installed at the center of the lower frame of fuselage ring, is used for
Tuning angle angular dimension is adjusted, tuning angle is the lower frame of fuselage ring and the upper side frame angle of fuselage ring；Its by adjusting
The angle of flutter frequency and the dihedral angle steering engine 1 and tuning steering engine 6 of port wing 3 and starboard wing 5 is, it can be achieved that aerofoil profile unmanned plane
Lifting and steering and the six degree of freedom flight of unmanned plane.
Flapping motion mechanism includes left wing's driving motor and right flank driving motor, and corresponding gear and axis driving section
Part, structure can the technical solutions with reference to disclosed in Chinese patent notification number the CN103241379Bth.
Dihedral angle mechanism includes dihedral angle steering engine 1 and corresponding transmission parts；The dihedral angle steering engine 1 is installed on nothing
Man-machine front end of rack portion.
Adjusted device includes tuning steering engine 6 and corresponding transmission parts；The tuning steering engine 6 is installed on unmanned plane
Rear end of rack portion.
Posture perception mechanism includes preset Position and attitude sensor, includes that three axis add using spatial attitude sensor MPU9250
The pitch angle, roll angle, yaw angle of body can be obtained by attitude transducer for speed, three-axis gyroscope, three axle magnetometer.
UAV Attitude feedback fraction is by airborne sensor MPU9250, three axis accelerometer, three axle magnetometer, three axis tops
Spiral shell instrument is constituted, and is installed on unmanned plane middle position, and above tuning steering engine 6, and direction is forward, available unmanned plane pitch angle
(angle of body coordinate system x-axis and horizontal plane), roll angle (angle between body coordinate system y horizontal axis and horizontal line), yaw
Angle (body rotates angle around z-axis) degree and with geographical north angle.The present invention has direction mould using there is a mode flight mode
Formula, always using fixed direction as forward direction when unmanned plane during flying.
Fuselage skin is provided on fuselage ring.
Zero angle will be yawed in the present invention and geographical north angle schedules same direction, and gesture feedback uses angle fusion method:
Merge angle=yaw angle * yaw angle weight+geographical north angle * (1- yaw angle weight)；
This fusion angular transition is calculated as tuning steering engine 6 and rotates required pulse width by master controller, can be more accurate
Realization heading control.
Wireless telecommunications mechanism module: using FS-IA6B, acts on to receive wireless remote control and transmitting six channel pwm signals, and will
This pwm signal is transmitted to controller, and it is specific function that controller, which parses this pwm signal,.
Power management mechanism module: electric energy is provided for system components, controller power supply is stable 3.3V, wireless telecommunications
Module is 5V, and two-way MOSFET power supply is 5V.
Controller, including driving unit, control unit, feedback unit and wireless communication unit；Wherein, control unit can be with
Instruction, the parsing feedback of parsing wireless communication module are responsible for using contex M3stm32f407 using embedded control chip
The instruction of unit, pwm pulse needed for output mos FET.
Preferably, controller realizes rate-determining steps are as follows:
(1) whether controller detection wireless communication module receives open function order, if open function order again,
(2) step is executed, is not otherwise executed；
(2) order of controller parsing wireless communication module, determines the offline mode of the order；Test pose perception simultaneously
Module determines current pose；
(3) corresponding offline mode, and cycle detection posture perception module are executed, the position beyond current flight state is prevented
Appearance threshold value does not execute this function if exceeding；
(4) circulation executes step (1), step (2) and step (3).
Power are provided by two pairs of symmetrical flight wings when aerofoil profile unmanned plane during flying of the invention, wing is by magnetic 6* two strong
The hollow-cup motor of 14mm provides power, and rated power is about 0.5 watt, and (rated current 0.12A, voltage rating 4.2V, weight are
2g), the flight attitude of itself is adjusted using fuselage dihedral angle steering engine and tuning steering engine without empennage-type design method using imitative insect
(steering engine uses AFRC-D1302, weight 1.7g, and voltage 3.7V, electric current are less than 30mA), when flight, energy consumption consumption is hollow
Cup motor, steering engine only adjust posture.Unmanned plane during flying mode of the invention is unique, and structure is compared simpler with other unmanned planes
Single, the efficiency of flight is higher, while the miniaturization of unmanned plane may be implemented.Imitative birds unmanned plane generallys use left and right wing and flutters
Forward power is provided, the adjustment of heading and posture is realized using the adjustment of empennage, therefore in flight, left and right wing and
The power that empennage generates will not only provide forward power, but also it is also required to provide upward power, and this requires for left and right machine
The motor that the wing provides power has biggish torque, accordingly just has higher power consumption.Unmanned plane of the invention is in the way of flapping wing
Flight, smaller in terms of the power consumption energy, the flight time is longer, and the flight side of more freedom may be implemented in simultaneity factor
Formula.
Referring to Fig. 1, controller and gesture feedback part, left wing's motor driven, right flank motor driven, tuning steering engine 6, two
Face angle steering engine 1 is connected, and can be realized the feedback and the close loop maneuver of control of UAV Attitude.Left wing's motor 2 and right flank motor 4
It is connected with left wing's motor driven and right flank motor driven respectively, it can be achieved that motor rotation speed is adjusted, to realize port wing 3
The adjusting for frequency of fluttering with starboard wing 5.Dihedral angle steering engine 1 and tuning steering engine 6 are connected with controller, realize unmanned plane pitching and
Yaw angle is adjusted.Power management section is connected with other each sections, be controller power supply be stable 3.3V, wireless telecommunications
Module is 5V, and two-way MOSFET power supply is 5V.Realize that voltage is adjusted and converted.Communicating portion is connected with controller, real
The reception of existing earth station's information.
Fig. 2 and Fig. 3 are please referred to, left wing's motor 2 and right flank motor 4 are connected to dihedral angle steering engine 1, port wing 3 and the right side
Wing 5 is connected to left wing's motor 2 and right flank motor 4, and tuning steering engine 6 is connected to wing root, for adjusting wing direction.Left machine
The frequency of fluttering of the wing 3 and starboard wing 5 is individually controlled by left wing's motor driven and right flank motor driven, realizes differential function.Two
The lifting and steering of unmanned plane are realized in face angle steering engine 1 and the control of 6 angle of tuning steering engine, and steering engine is using AFRC-D1302, period
20ms, pulse width adjusting range are 0.5~2.5ms, and pulse width 0.5ms steering engine rotates 0 °, the rotation of pulse width 1ms steering engine
45 °, pulse width 1.5ms steering engine rotates 90 °；Pulse width is proportional with rotational angle.
Please refer to Fig. 4 and Fig. 5, the differential operation schematic diagram of left and right wing, port wing 3 and starboard wing 5 flutter frequency can be with
Individually control realizes that differential function, controller realize port wing 3 and starboard wing 5 by independent control driving unit pulse frequency
It flutters, it can be achieved that unmanned plane roll movement flight；Its specific control method are as follows:
(1) realize the flight of negative roll angle: the frequency of fluttering of starboard wing 5 is fluttered frequency greater than port wing 3, i.e., controller is to the right side
Wing motor driven sends pulse frequency and is greater than left wing's motor driven；
(2) realize the flight of positive roll angle: the frequency of fluttering of starboard wing 5 is fluttered frequency less than port wing 3, i.e., controller is to the right side
Wing motor driven sends pulse frequency and is less than port wing motor driven.
Fig. 6 and Fig. 7 are please referred to, is the rotation schematic diagram of dihedral angle steering engine, passes through dihedral angle steering engine 1 and 6 jiaos of tuning steering engine
The lifting and steering of unmanned plane are realized in degree control；Angle is rotated by dihedral angle steering engine 1, so that the position of centre of gravity of unmanned plane occurs
Variation, and then so that Whole power direction suffered by unmanned plane is changed, it can be achieved that the pitching motion of unmanned plane flies；Its specific side
Method are as follows:
(1) realize negative pitch angle flight: dihedral angle angle, θ (180 ° < θ < 360 °) moves back the center of gravity of unmanned plane, machine
, it can be achieved that negative pitch angle flies when the wing is fluttered；
(2) realize positive pitch angle flight: dihedral angle angle, θ (0 ° < θ < 180 °) makes the center of gravity of unmanned plane move forward, wing
, it can be achieved that positive pitch angle flight, two faces are the horizontal sextant angle of the first upper side frame of angle and second upper side frame when fluttering；
Fig. 8 and Fig. 9 are please referred to, is the rotation schematic diagram of tuning steering engine, angle is rotated by tuning steering engine 6, so that nobody
The wing root axial direction of machine changes, and then makes the resultant force of wing reaction force that Axial changes occur, it can be achieved that unmanned plane
Yaw maneuver flight；Its method particularly includes:
(1) realize positive yaw angle flight: tuning angle γ (- 180 ° < γ < 0 °) makes nothing by rotating tuning steering engine 6
Man-machine wing root rotates γ, and wing is fluttered the reaction force in direction and wing root generates angle, it can be achieved that positive yaw angle flies；
(2) negative yaw angle flight: tuning angle γ (0 ° < γ < 180 °) is realized, tuning angle is the lower frame of fuselage ring
With the upper side frame angle of fuselage ring by rotation tuning steering engine 6, the wing root of unmanned plane is made to rotate γ, wing is fluttered the anti-of direction
Active force and wing root generate angle, it can be achieved that negative yaw angle flies.
Aerofoil profile UAV Flight Control method of the invention, is fluttered using left and right wing and steering engine is cooperated to rotate, can be realized
The six degree of freedom of unmanned plane flies；Two steering engines are interrupted sex work, and consuming energy is less, can combine flight time and flight
Distance.
In control method of the invention, the lifting of unmanned plane is that the frequency fluttered by wing realizes that frequency of fluttering is higher,
Ramp-up rate is faster, and frequency of fluttering more sinking low velocity is faster, and wing frequency of fluttering is by adjusting left wing's motor driven and the right side
The motor-driven pulse frequency of the wing or pulse width are realized；Port wing 3 and starboard wing 5 flutter difference on the frequency, dihedral angle steering engine 1 with
And unmanned plane turning function is realized in the rotation of tuning steering engine 6.Wing flutter frequency be by adjust motor-driven pulse frequency or
Person's pulse width realizes that driving uses two-way MOSFET UCC27524A.Port wing 3 and starboard wing 5 flutter frequency can be independent
Differential function is realized in control.Steering engine uses AFRC-D1302, period 20ms, and pulse width adjusting range is 0.5~2.5ms,
Pulse width 0.5ms steering engine rotates 0 °, and pulse width 1ms steering engine rotates 45 °, and pulse width 1.5ms steering engine rotates 90 °, pulse
Width is proportional with rotational angle.
In conclusion the invention discloses a kind of aerofoil profile unmanned plane and its flight control methods, comprising: driving unit, control
Unit processed, feedback unit, wireless communication unit.Specifically include: master controller part, motor driven part, servo driving part,
Gesture feedback part, Radio reception section, power unit, debugging interface and LED section.Aerofoil profile unmanned plane include: port wing and
Starboard wing, flapping motion mechanism, dihedral angle mechanism, adjusted device, posture perception mechanism, wireless telecommunications mechanism, power management machine
Structure.Master controller is connected with gesture feedback part, left wing's motor driven, right flank motor driven, tuning steering engine, dihedral angle steering engine,
For realizing the feedback and the close loop maneuver of control of UAV Attitude；Left wing's motor and right flank motor respectively with left wing's motor driven
Be connected with right flank motor driven, for realizing motor rotation speed adjusting, and then realize wing flutter frequency adjusting；Dihedral angle
Steering engine and tuning steering engine are connected with controller, adjust for realizing unmanned plane pitching and yaw angle；Power management section with
Other each sections are connected, and adjust and convert for realizing voltage；Communicating portion is connected with controller, for realizing ground
The reception of face station information.Unmanned plane and flight control method of the invention, it can be achieved that aerofoil profile unmanned plane lifting and steering, and
The six degree of freedom of unmanned plane flies.
The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof, although referring to above-described embodiment pair
The present invention is described in detail, those of ordinary skill in the art still can to a specific embodiment of the invention into
Row modification perhaps equivalent replacement these without departing from any modification of spirit and scope of the invention or equivalent replacement, applying
Within pending claims of the invention.
Claims (10)
1. a kind of aerofoil profile unmanned plane characterized by comprising fuselage ring, port wing (3), starboard wing (5), left wing's motor
(2), right flank motor (4), dihedral angle steering engine (1), tuning steering engine (6), posture perception module, controller and power module；
The left frame of fuselage ring is equipped with the port wing (3) of left wing's motor (2) and flapping wings type, and left wing's motor (2) is for driving
Port wing (3) is fluttered；
The left frame of fuselage ring is equipped with the starboard wing (5) of right flank motor (4) and flapping wings type, and right flank motor (4) is for driving
Starboard wing (5) is fluttered；
The upper side frame of fuselage ring includes isometric the first upper side frame and the second upper side frame；One end of first upper side frame passes through
The upper end of the left frame of first articulated shaft and fuselage ring is hinged, the other end of first upper side frame by the second articulated shaft with
One end of second upper side frame is hinged, and the other end of second upper side frame passes through the right of third articulated shaft and fuselage ring
The upper end of frame is hinged；First articulated shaft, the second articulated shaft, third articulated shaft are each perpendicular to horizontal plane；First top
The hinged place of frame and second upper side frame is equipped with dihedral angle steering engine (1)；First upper side frame and second upper side frame
Horizontal sextant angle be dihedral angle, dihedral angle steering engine (1) is used to adjust the size of dihedral angle angle；
The both ends of the lower frame of fuselage ring pass through the 4th articulated shaft respectively and the 5th articulated shaft is hinged on the left side of fuselage ring
The lower end of frame and left frame；4th articulated shaft and the 5th articulated shaft are each perpendicular to horizontal plane；Fuselage ring it is following
Tuning steering engine (6) are installed at the center of frame, for adjusting tuning angle angular dimension, tuning angle be fuselage ring lower frame with
The upper side frame angle of fuselage ring；
Posture perception module includes: airborne sensor, accelerometer, magnetometer and gyroscope；Posture perception module is for obtaining
The pitch angle of unmanned plane, roll angle, yaw angle and with geographical north angle；
Controller includes: wireless communication unit, control unit, feedback unit and driving unit；The letter of the wireless communication unit
Number input terminal is used for and external realizes telecommunication, the signal output end of the wireless communication unit and the letter of described control unit
Number input terminal is connected；The signal output end of the posture perception module is connected with the signal input part of the feedback unit,
The signal output end of the feedback unit is connected with the signal input part of described control unit, and the signal of described control unit is defeated
Outlet is connected with the signal input part of the driving unit；The driving unit includes left wing's electric-motor drive unit and right flank electricity
Machine driving unit；The signal output end of left wing's electric-motor drive unit is connected with the signal receiving end of left wing's motor (2), institute
The signal output end for stating right flank electric-motor drive unit is connected with the signal receiving end of right flank motor (4)；
Power module, for being left wing's motor (2), right flank motor (4), dihedral angle steering engine (1), tuning steering engine (6), posture perception
Module and controller power supply.
2. a kind of aerofoil profile unmanned plane according to claim 1, which is characterized in that by yaw zero angle with geographical north angle due to same
Direction, gesture feedback use angle fusion method:
In formula, θ*To merge angle,For yaw angle, γ is yaw angle weight, be geographical north angle γ value is 0 to 1；
Controller will merge pulse width needed for angular transition is calculated as tuning steering engine (6) rotation, real by tuning steering engine (6)
The control of existing heading.
3. a kind of aerofoil profile unmanned plane according to claim 1, which is characterized in that dihedral angle steering engine (1) and tuning steering engine (6)
It is all made of AFRC-D1302, period 20ms, pulse width adjusting range is 0.5~2.5ms, and pulse width 0.5ms steering engine turns
0 ° dynamic, pulse width 1ms steering engine rotates 45 °, and pulse width 1.5ms steering engine rotates 90 °；
Wherein, pulse width and rotational angle are proportional.
4. a kind of aerofoil profile unmanned plane according to claim 1, which is characterized in that the value range of dihedral angle angle, θ is
At 180 ° 360 ° of < θ <, the center of gravity of unmanned plane is moved back；When the value range of dihedral angle angle, θ is 0 ° 180 ° of < θ <, unmanned plane
Center of gravity Forward.
5. a kind of aerofoil profile unmanned plane according to claim 1, which is characterized in that the driving unit of the controller is using double
Road MOSFET UCC27524A is fluttered the independent control of frequency for realizing port wing (3) and starboard wing (5).
6. a kind of aerofoil profile unmanned plane according to claim 1, which is characterized in that the specific structure of left/right wing includes:
One wing, the second wing, first connecting rod and second connecting rod；
First wing and second wing are hinged by the 6th articulated shaft, the axis and left/right of the 6th articulated shaft
The axis of frame is overlapped；
The left/right wing motor is fixedly mounted on left/right frame, the output end installation of the left/right wing motor by mounting rack
There is the first transmission gear；The second transmission gear and third transmission gear are also equipped on the mounting rack, the first transmission gear is same
When be meshed with the second transmission gear and third transmission gear；
One end of the first connecting rod is hinged on the first wing, and the other end is hinged on the end face of the second transmission gear；It is described
One end of second connecting rod is hinged on the second wing, and the other end is hinged on the end face of third transmission gear；
Wherein, the first wing and the second wing can be driven to flutter by left/right wing motor.
7. a kind of flight control method of aerofoil profile unmanned plane described in any one of claims 1 to 6 characterized by comprising
Using there is a mode flight mode, that is, there is a direction mode, always using fixed direction as forward direction when unmanned plane during flying；
Zero angle will be yawed and geographical north angle schedules same direction；
Gesture feedback uses angle fusion method:
Merge angle=yaw angle * yaw angle weight+geographical north angle * (1- yaw angle weight)；
Controller will merge pulse width needed for angular transition is calculated as tuning steering engine (6) rotation, real by tuning steering engine (6)
The control of existing heading.
8. a kind of flight control method of aerofoil profile unmanned plane according to claim 7, which is characterized in that pass through left wing's motor
(2) driving unit and right flank motor (4) driving unit individually control the frequency of fluttering of port wing (3) and starboard wing (5), and it is poor to realize
Speed, and then realize unmanned plane roll movement flight.
9. a kind of flight control method of aerofoil profile unmanned plane according to claim 7, which is characterized in that pass through dihedral angle rudder
Machine (1) adjusts dihedral angle angle, and drone center of unmanned aerial vehicle position is made to change, and then realizes the pitching motion flight of unmanned plane.
10. a kind of flight control method of aerofoil profile unmanned plane according to claim 7, which is characterized in that pass through tuning rudder
Machine (6) adjusts steering angle, and the wing root axial direction of unmanned plane is made to change, and then realizes the yaw maneuver flight of unmanned plane.
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