CN110127047A - The VTOL Fixed Wing AirVehicle and its control method of four-vector control - Google Patents
The VTOL Fixed Wing AirVehicle and its control method of four-vector control Download PDFInfo
- Publication number
- CN110127047A CN110127047A CN201910466856.0A CN201910466856A CN110127047A CN 110127047 A CN110127047 A CN 110127047A CN 201910466856 A CN201910466856 A CN 201910466856A CN 110127047 A CN110127047 A CN 110127047A
- Authority
- CN
- China
- Prior art keywords
- rotor
- rotor assemblies
- control
- slide
- fixed wing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
- B64C27/14—Direct drive between power plant and rotor hub
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/26—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft characterised by provision of fixed wings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
Abstract
It include fuselage the invention discloses a kind of VTOL Fixed Wing AirVehicle of four-vector control and its control method, aircraft body, body, fuselage two sides are respectively provided with a flank；A rotor assemblies are respectively provided on each flank, and the tail portion of body is equipped with two groups of rotor assemblies, the pitch of rotor assemblies is variable；Every group of rotor assemblies are mounted on body by the first steering engine respectively, and the first steering engine can drive rotor assemblies integrally to make pitching movement.The VTOL Fixed Wing AirVehicle and its control method of four-vector control of the invention, pass through the rotor assemblies of pitch regulation Fixed Wing AirVehicle, the VTOL of Fixed Wing AirVehicle can be achieved, by keeping the pitch of rotor assemblies adjustable, so that user can carry out precision vector control to the driving force of rotor assemblies, be conducive to promote the accuracy to flying vehicles control, and the rotary driving force of rotor assemblies can be promoted by adjusting pitch, gives full play to the power of motor.
Description
Technical field
The present invention relates to vehicle technology fields, fly more particularly to a kind of VTOL fixed-wing of four-vector control
Device and its control method.
Background technique
Unmanned vehicle is the not manned vehicle using radio robot and the presetting apparatus provided for oneself manipulation.
Unmanned vehicle mainly includes more rotor unmanned aircrafts and two kinds of fixed-wing unmanned vehicle, in general more rotors nobody
Aircraft can carry out VTOL, and transverse shifting efficiency is lower, and fixed-wing unmanned vehicle can not VTOL, but laterally
Movement is high-efficient.At present regardless of the unmanned vehicle of type, rotor assemblies mainly include motor and two, propeller
Point, in use process, the driving force size that rotor assemblies entirety is controlled by adjusting motor speed changes the driving of rotor assemblies
Power realizes landing or the transverse translation of aircraft, and this rotor assemblies structure is simple, but since its propeller is integrally formed
, limited capacity is unable to give full play the power of motor.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides a kind of the vertical of four-vector control
Landing Fixed Wing AirVehicle and its control method, it is intended to so that Fixed Wing AirVehicle can VTOL, and can be to its rotor assemblies
Precision vector control is carried out, power of motor is given full play to.
Technical solution: to achieve the above object, the VTOL Fixed Wing AirVehicle of four-vector control of the invention, including
Body, the body include fuselage, and the fuselage two sides are respectively provided with a flank；
A rotor assemblies are respectively provided on each flank, and the tail portion of body is equipped with two groups of rotor assemblies, the rotor assemblies
Pitch it is variable；
Rotor assemblies described in every group are mounted on the body by the first steering engine respectively, and first steering engine can drive
The rotor assemblies integrally make pitching movement.
Further, upper flange is provided on the upside of the fuselage, upper flange is by two sides inclined plate and connects two sides inclined plate
Transverse slat is constituted；
The end of two inclined plates passes through the end that a riser connects two flanks, and the transverse slat and the fuselage tail respectively
It is connected between portion by another riser；
Rotor assemblies set on afterbody are mounted on the transverse slat.
Further, the rotor assemblies include:
Assembly frame；
Main shaft is fixedly mounted relative to the assembly frame；
Motor is mounted in the assembly frame, and it is drivingly connected with the main shaft；
Rotor structure comprising the rotor seat fixed relative to the main shaft and be symmetrically mounted on the rotor seat
The rotor ontology of two sides, the rotor ontology are rotatablely installed relative to the rotor seat；And
Propeller hub structure comprising slide, the slide can slide axially and circumferentially rotate relative to the main shaft；
Be respectively provided with a connecting rod between the slide and each rotor ontology, the both ends of the connecting rod be respectively hinged at the slide with
And on rotor ontology；The propeller hub structure further includes driving the slide along the driving group of the axial movement of the main shaft
Part.
Further, the driving component includes:
Drive seat is mounted on the main shaft and can axially slide, and it is in the axial direction of main shaft
Relative position relative to the slide is constant always；
Fixing seat is fixedly mounted in the assembly frame；
Second steering engine is fixedly mounted in the assembly frame, and it is with output rod；And
Kinematic link, middle part are hinged in the fixing seat, are provided with transiting rod between one end and the output rod,
Its other end connects the drive seat.
Further, the drive seat can be rotated relative to the slide simultaneously；
One end of the connection drive seat of the kinematic link has circular through hole, has stretching in the drive seat
Cylindrical portion, the end of the cylindrical portion have the spherical portion being placed in the circular through hole.
Further, the slide is mounted on the main shaft by sliding sleeve, and the slide is solid relative to sliding sleeve
Fixed, the drive seat is rotatably installed on the sliding sleeve.
The control method of the VTOL Fixed Wing AirVehicle of four-vector control is applied to control system, the control system
All dynamical elements of the VTOL Fixed Wing AirVehicle of system connection four-vector control, which comprises
Control signal is received, judges to control signal type；
When the control signal includes speed-raising signal, the second steering engine of control increases the pitch of rotor assemblies；
When the control signal includes reduce-speed sign, the second steering engine of control reduces the pitch of rotor assemblies.
Further, the method also includes:
When the control signal includes climb command, the first steering engine of control increases the inclination angle of rotor assemblies；
When the control signal includes decline instruction, the first steering engine of control reduces the inclination angle of rotor assemblies.
The utility model has the advantages that VTOL Fixed Wing AirVehicle and its control method that the four-vector of the invention controls, by bowing
Face upward adjust Fixed Wing AirVehicle rotor assemblies, it can be achieved that Fixed Wing AirVehicle VTOL, by making the rotor assemblies
Pitch it is adjustable so that user can carry out precision vector control to the driving force of rotor assemblies, be conducive to be promoted to aircraft
The accuracy of control, and the rotary driving force of rotor assemblies can be promoted by adjusting pitch, the power of motor is given full play to, same
On the basis of the electric power of sample, the efficiency of aircraft is promoted, so that the performance of aircraft becomes strong.
Detailed description of the invention
Attached drawing 1 is the outline drawing of the VTOL Fixed Wing AirVehicle of four-vector control；
Attached drawing 2 is the outline drawing of rotor assemblies；
Attached drawing 3 is the concrete structure diagram of rotor assemblies；
Attached drawing 4 is the partial enlarged view for irising out part in attached drawing 2 in rotor assemblies.
Specific embodiment
The present invention will be further explained with reference to the accompanying drawing.
The VTOL Fixed Wing AirVehicle (hereinafter referred to as " aircraft ") of four-vector control as shown in Fig. 1, including
Body 2, the body 2 include fuselage 21, and 21 two sides of fuselage are respectively provided with a flank 22；A rotation is respectively provided on each flank 22
Wing component 1, and the tail portion of body 2 is equipped with two groups of rotor assemblies 1, the pitch of the rotor assemblies 1 is variable.The rotor assemblies 1
It is mounted on the body 2 by the first steering engine 3, first steering engine 3 can drive the rotor assemblies 1 are whole to make pitching fortune
It is dynamic.
Upper flange 23 is provided on the upside of the fuselage 21, upper flange 23 is by two sides inclined plate 231 and connection two sides inclined plate 231
Transverse slat 232 constitute；The end of two inclined plates 231 passes through the end that a riser 24 connects two flanks 22, and the cross respectively
It is connected between 21 tail portion of plate 232 and the fuselage by another riser 24.Rotor assemblies set on 2 tail portion of body are mounted on described
On transverse slat 232.The structure design of upper flange 23 can promote aircraft traveling comfort.
Based on the structure of Fixed Wing AirVehicle, the pitch by adjusting rotor assemblies 1 can be promoted winged above-mentioned aircraft
The performance of row device, so that under same motor speed vector control can be carried out to the driving force of rotor assemblies 1 by control pitch
System, rotor assemblies 1 have biggish motive force variation space, are conducive to give full play to electric power efficiency, power utilization rate is more traditional
Multi-rotor aerocraft is high, and since aircraft is based on the structure of Fixed Wing AirVehicle, is displaced sideways the more rotor of efficiency
Aircraft is high, since rotor assemblies 1 are mounted on the body 2 by the first steering engine 3, when aircraft needs VTOL,
The shafts of rotor assemblies 1 is set upward, to achieve the effect that similar multi-rotor aerocraft VTOL vertically using the first steering engine 3.
As illustrated in figs. 2-3, rotor assemblies 1 include assembly frame 11, main shaft 12, rotor structure 13 and propeller hub structure
14。
Main shaft 12 is fixedly mounted relative to the assembly frame 11；Rotor structure 13 includes relative to the main shaft
12 fixed rotor seats 131 and the rotor ontology 132 for being symmetrically mounted on 131 two sides of rotor seat, the rotor ontology 132
It is rotatablely installed relative to the rotor seat 131；Propeller hub structure 14 includes slide 141, and the slide 141 can be relative to the main biography
Moving axis 12 slides axially and circumferentially rotates；A connecting rod is respectively provided between the slide 141 and each rotor ontology 132
142, the both ends of the connecting rod 142 are respectively hinged on the slide 141 and rotor ontology 132；The propeller hub structure 14 is also
Driving assembly including driving axial movement of the slide 141 along the main shaft 12.
Using the above structure, when slide 141 slides axially relative to main shaft 12, since the linkage of connecting rod 142 is made
With rotor ontology 132 can be rotated relative to rotor seat 131, so that the angle that rotor ontology 132 rotates plane increases or subtracts
It is small, thus play the role of adjusting pitch, in this way, in the case of the revolving speed of main shaft 12 is constant, by driving slide
141 adjust the pitch of rotor ontology 132, can play the role of changing rotor assemblies driving force size.
The driving relationship between connecting rod 142 and rotor ontology 132 is established for convenience, and the rotor ontology 132 passes through company
Joint chair 133 connects the rotor seat 131, and the rotor ontology 132 is fixedly mounted relative to attachment base 133, the attachment base 133
Upper to have the axle portion 1331 for deflecting away from the relative rotation of Yu Qiyu rotor seat 131 center, the both ends of the connecting rod 142 are respectively hinged at institute
It states in slide 141 and axle portion 1331.Specifically, notch 1332 is provided on the attachment base 133, the rotor ontology 132
One end is embedded in the notch 1332, and is connected between attachment base 133 and rotor ontology 132 by screw 34.
The driving component includes drive seat 143, fixing seat 144, the second steering engine 145 and kinematic link 146, drive seat
143 are mounted on the main shaft 12 and can axially slide, and its in main shaft 12 axially with respect to described
The relative position of slide 141 is constant always；Fixing seat 144 is fixedly mounted in the assembly frame 11；The fixed peace of second steering engine 145
In the assembly frame 11, and it is with output rod 1451；The middle part of kinematic link 146 is hinged in the fixing seat 144,
Transiting rod 147 is provided between one end and the output rod 1451, the other end connects the drive seat 143.
Using the structure of above-mentioned driving assembly, its output rod 1451 can be made to generate rotation by controlling the second steering engine 145, by
In the transmission effect of transiting rod 147 and kinematic link 146, position of the drive seat 143 in the axial direction of main shaft 12 may make
It changes, and then plays the role of adjusting the position of slide 141, i.e., can indirectly control rotation by controlling the second steering engine 145
The pitch of wing ontology 132.
Preferably, the drive seat 143 can be rotated relative to the slide 141 simultaneously；The connection of the kinematic link 146
One end of the drive seat 143 has circular through hole, as shown in Fig. 4, has the cylindrical portion stretched out in the drive seat 143
1431, the end of the cylindrical portion 1431 has the spherical portion 1432 being placed in the circular through hole.In this way, working as kinematic link
146 relative to fixing seat 144 rotate when, since spherical portion 1432 is placed in circular through hole, drive seat 143 can be driven along main biography
The axial movement of moving axis 12, meanwhile, certain circumferential deflection occurs for drive seat 143 to compensate transmission and connect relative to main shaft 12
Displacement (the motion profile of the end of kinematic link 146 that 146 end of bar generates on perpendicular to 12 axially direction of main shaft
For camber line).
The slide 141 is mounted on the main shaft 12 by sliding sleeve 147, and the slide 141 is relative to sliding sleeve
147 is fixed, and the drive seat 143 is rotatably installed on the sliding sleeve 147.Drive seat 143 can be facilitated to drive 141 phase of slide in this way
Main shaft 12 is moved.
Further, further include motor 15, the motor 15 is mounted in the assembly frame 11, the main shaft 12 by
The output shaft of the motor 15 driving rotation or itself and the motor 15 is wholely set.Motor 15 can drive rotor structure 13 in this way
Rotation.
The control method of the VTOL Fixed Wing AirVehicle of four-vector control is applied to control system, the control system
All dynamical elements (motor 15 and the second steering engine 145 including all rotor assemblies 1 and all of system connection aircraft
First steering engine 3), described method includes following steps S401-S402:
Step S401 receives control signal, judges to control signal type；
Step S402, when the control signal includes speed-raising signal, the second steering engine of control increases the pitch of rotor assemblies 1
Greatly；
Step S403, when the control signal includes reduce-speed sign, the second steering engine of control subtracts the pitch of rotor assemblies 1
It is small.
The pitch parameter that rotor assemblies 1 can be adjusted by the second steering engine through the above steps, so that rotor assemblies 1 are same
Motive force under revolving speed generates variation, achievees the purpose that acceleration-deceleration.
Further, the method also includes following steps S404-S405:
Step S404, when the control signal includes climb command, the first steering engine of control increases the inclination angle of rotor assemblies
Greatly；
Step S405, when the control signal includes decline instruction, the first steering engine of control subtracts the inclination angle of rotor assemblies
It is small.
Through the above steps, the pitch angle for changing rotor assemblies by adjusting the first steering engine, may make aircraft fast
Speed lifting, realizes the lifting efficiency to match in excellence or beauty with multi-rotor aerocraft.
The VTOL Fixed Wing AirVehicle and its control method of four-vector control of the invention, are fixed by pitch regulation
The rotor assemblies of rotor aircraft, it can be achieved that Fixed Wing AirVehicle VTOL, by keeping the pitch of the rotor assemblies adjustable
Section is conducive to be promoted to the accurate of flying vehicles control so that user can carry out precision vector control to the driving force of rotor assemblies
Degree, and the rotary driving force of rotor assemblies can be promoted by adjusting pitch, the power of motor is given full play to, in same electric power base
On plinth, the efficiency of aircraft is promoted, so that the performance of aircraft becomes strong.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (8)
1. the VTOL Fixed Wing AirVehicle of four-vector control, which is characterized in that including body, the body includes fuselage,
The fuselage two sides are respectively provided with a flank；
A rotor assemblies are respectively provided on each flank, and the tail portion of body is equipped with two groups of rotor assemblies, the paddle of the rotor assemblies
Away from variable；
Rotor assemblies described in every group are mounted on the body by the first steering engine respectively, and first steering engine can drive described
Rotor assemblies integrally make pitching movement.
2. the VTOL Fixed Wing AirVehicle controlled by the four-vector described in claim 1, which is characterized in that on the fuselage
Side is provided with upper flange, and upper flange is made of the transverse slat of two sides inclined plate and connection two sides inclined plate；
The end of two inclined plates passes through the end that a riser connects two flanks respectively, and the transverse slat and the afterbody it
Between connected by another riser；
Rotor assemblies set on afterbody are mounted on the transverse slat.
3. the VTOL Fixed Wing AirVehicle controlled by the four-vector described in claim 1, which is characterized in that the rotor group
Part includes:
Assembly frame；
Main shaft is fixedly mounted relative to the assembly frame；
Motor is mounted in the assembly frame, and it is drivingly connected with the main shaft；
Rotor structure comprising the rotor seat fixed relative to the main shaft and be symmetrically mounted on rotor seat two sides
Rotor ontology, the rotor ontology is rotatablely installed relative to the rotor seat；And
Propeller hub structure comprising slide, the slide can slide axially and circumferentially rotate relative to the main shaft；It is described
It is respectively provided with a connecting rod between slide and each rotor ontology, the both ends of the connecting rod are respectively hinged at the slide and rotation
On wing ontology；The propeller hub structure further includes driving the slide along the driving assembly of the axial movement of the main shaft.
4. the VTOL Fixed Wing AirVehicle controlled by the four-vector as claimed in claim 3, which is characterized in that the driving group
Part includes:
Drive seat is mounted on the main shaft and can axially slide, and it is opposite in the axial direction of main shaft
It is constant always in the relative position of the slide；
Fixing seat is fixedly mounted in the assembly frame；
Second steering engine is fixedly mounted in the assembly frame, and it is with output rod；And
Kinematic link, middle part are hinged in the fixing seat, are provided with transiting rod between one end and the output rod, another
One end connects the drive seat.
5. the VTOL Fixed Wing AirVehicle controlled by the four-vector as claimed in claim 4, which is characterized in that the drive seat
It can be rotated simultaneously relative to the slide；
One end of the connection drive seat of the kinematic link has circular through hole, has the cylindricality stretched out in the drive seat
Portion, the end of the cylindrical portion have the spherical portion being placed in the circular through hole.
6. the VTOL Fixed Wing AirVehicle of the control of the four-vector as described in claim 5, which is characterized in that the slide is logical
It crosses sliding sleeve to be mounted on the main shaft, and the slide is fixed relative to sliding sleeve, the drive seat is rotatably installed in described
On sliding sleeve.
7. the control method of the VTOL Fixed Wing AirVehicle of four-vector control, is applied to control system, which is characterized in that institute
State all dynamical elements of the VTOL Fixed Wing AirVehicle of control system connection four-vector control, which comprises
Control signal is received, judges to control signal type；
When the control signal includes speed-raising signal, the second steering engine of control increases the pitch of rotor assemblies；
When the control signal includes reduce-speed sign, the second steering engine of control reduces the pitch of rotor assemblies.
8. the VTOL Fixed Wing AirVehicle control method controlled by the four-vector as claimed in claim 7, which is characterized in that institute
State method further include:
When the control signal includes climb command, the first steering engine of control increases the inclination angle of rotor assemblies；
When the control signal includes decline instruction, the first steering engine of control reduces the inclination angle of rotor assemblies.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910466856.0A CN110127047A (en) | 2019-05-31 | 2019-05-31 | The VTOL Fixed Wing AirVehicle and its control method of four-vector control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910466856.0A CN110127047A (en) | 2019-05-31 | 2019-05-31 | The VTOL Fixed Wing AirVehicle and its control method of four-vector control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110127047A true CN110127047A (en) | 2019-08-16 |
Family
ID=67583183
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910466856.0A Pending CN110127047A (en) | 2019-05-31 | 2019-05-31 | The VTOL Fixed Wing AirVehicle and its control method of four-vector control |
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| Country | Link |
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| CN (1) | CN110127047A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114056548A (en) * | 2021-12-17 | 2022-02-18 | 广东汇天航空航天科技有限公司 | Method and device for controlling propeller pitch of aerocar and aerocar |
| CN114104267A (en) * | 2021-12-17 | 2022-03-01 | 广东汇天航空航天科技有限公司 | Variable pitch control method and device for aircraft and aircraft |
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