CN110155316A - A kind of coaxial twin screw vertically taking off and landing flyer of Moving mass control and its control method - Google Patents

A kind of coaxial twin screw vertically taking off and landing flyer of Moving mass control and its control method Download PDF

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Publication number
CN110155316A
CN110155316A CN201910494371.2A CN201910494371A CN110155316A CN 110155316 A CN110155316 A CN 110155316A CN 201910494371 A CN201910494371 A CN 201910494371A CN 110155316 A CN110155316 A CN 110155316A
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China
Prior art keywords
propeller
motor
blade
twin screw
flight
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CN201910494371.2A
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Chinese (zh)
Inventor
邓阳平
高正红
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Northwestern Polytechnical University
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Northwestern Polytechnical University
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Application filed by Northwestern Polytechnical University filed Critical Northwestern Polytechnical University
Priority to CN201910494371.2A priority Critical patent/CN110155316A/en
Publication of CN110155316A publication Critical patent/CN110155316A/en
Priority to GB2008363.0A priority patent/GB2588478B/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
    • B64C11/16—Blades
    • B64C11/20—Constructional features
    • B64C11/28—Collapsible or foldable blades
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C17/00—Aircraft stabilisation not otherwise provided for
    • B64C17/02—Aircraft stabilisation not otherwise provided for by gravity or inertia-actuated apparatus
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02—Aircraft characterised by the type or position of power plants
    • B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D35/00—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions
    • B64D35/04—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions characterised by the transmission driving a plurality of propellers or rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D35/00—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions
    • B64D35/04—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions characterised by the transmission driving a plurality of propellers or rotors
    • B64D35/06—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions characterised by the transmission driving a plurality of propellers or rotors the propellers or rotors being counter-rotating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/24—Coaxial rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U40/00—On-board mechanical arrangements for adjusting control surfaces or rotors; On-board mechanical arrangements for in-flight adjustment of the base configuration
    • B64U40/20—On-board mechanical arrangements for adjusting control surfaces or rotors; On-board mechanical arrangements for in-flight adjustment of the base configuration for in-flight adjustment of the base configuration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/293—Foldable or collapsible rotors or rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Remote Sensing (AREA)
  • Toys (AREA)
  • Transmission Devices (AREA)

Abstract

The invention proposes a kind of coaxial twin screw vertically taking off and landing flyer and control method using Moving mass control, aircraft includes body and coaxial twin screw mechanism；Body is column structure, and inner containment has flight control and communication apparatus, mission payload and power battery；Power battery is mounted in the Moving driving mechanism of internal body, is able to drive power battery and is radially subjected to displacement in body, keeps aircraft center of gravity offset body center axial；Coaxial twin screw mechanism includes double to rotating motor, folding upper propeller and folding lower propeller up and down.Propeller blade of the invention is small and exquisite portable after folding, and carries out flight control by the way of built-in Moving drive dynamic control device dynamic change of flight device mass center, flight opportunity, flight resistance was small in vitro without additional control device.Using power battery as the moving mass body of Moving, without other imposts, steering force needed for mass body is mobile and torque are small, can reduce manipulation steering engine power demand and weight.

Description

A kind of coaxial twin screw vertically taking off and landing flyer of Moving mass control and its control method
Technical field
The present invention relates to vertical take-off and landing drone technical field, specially a kind of coaxial twin screw of Moving mass control is vertical Landing aircraft and its control method.
Background technique
In recent years, with the development of micro electronmechanical control technology, Multi-axis aircraft is simply and cheap etc. because of its structure Feature has obtained extensive development and application.To avoid interfering with each other between multiple propellers and providing enough control forces Square, Multi-axis aircraft layout it is upper by multiple propellers motor-driven it is outside it is separated by a distance be arranged, therefore, Although aircraft body is little, because being equipped with motor and the horn of propeller flexes outward, to cause aircraft whole Volume is larger, brings great inconvenience to packaging.
Patent 201611021801.1 discloses a kind of miniature drone of column coaxial double-oar layout, utilizes top motor The twin screw of the coaxial reverse rotation of driving provides lift, is mounted on driving motor progress posture on cardan mounting by verting Control.Propeller blade can be folded down, and unmanned plane can be stored in transmitting tube, but the biggish motor of weight of verting and spiral Paddle etc. and overcome the gyrocontrol torque of motor and propeller there is still a need for have compared with large driving force steering engine.
Summary of the invention
Vertical take-off and landing drone volume to solve the problems, such as existing multiaxis and the driving of other propellers is big inconvenient to carry, The invention proposes a kind of coaxial twin screw vertically taking off and landing flyer and control method using Moving mass control.
The technical solution of the present invention is as follows:
A kind of coaxial twin screw vertically taking off and landing flyer using Moving mass control, it is characterised in that: including machine Body and coaxial twin screw mechanism；
The body is column structure, and internal body is accommodated including flight control and communication apparatus, mission payload and moved Power battery；The power battery is mounted in the Moving driving mechanism of internal body, is able to drive power battery on body edge Radial direction is subjected to displacement, and keeps aircraft center of gravity offset body center axial；
The coaxial twin screw mechanism includes double to rotating motor, folding upper propeller and folding lower spiral shell up and down Revolve paddle；It is described it is double up and down rotating motor is fixedly mounted at the top of body, up and down it is double under on rotating motor along the coaxial cloth of body axis It sets, direction of rotation is on the contrary, revolving speed can be controlled individually；Propeller hub head with radome fairing, lower part electricity are installed in upper motor Propeller installation hinge is installed on the rotational shell of machine；Folding upper propeller and folding lower propeller are all made of more Piece folding blade, upper propeller blade inner end and propeller hub head hinge cooperate, and lower propeller blade inner end and lower motor are revolved Turn the cooperation of shell hinge, upper propeller blade and lower propeller blade interlaced arrangement in the circumferential；In carrying process, upper spiral Paddle blade and lower propeller blade be folded down to body parallel position, upper motor and lower motor respectively drive when work Upper propeller blade and lower propeller blade rotate, and upper propeller blade and lower propeller blade are unfolded and are maintained to hang down with body Straight operating position.
Further preferred embodiment, a kind of coaxial twin screw vertically taking off and landing flyer using Moving mass control, It is characterized by: the blade hinge diameter of blade hinge radially installed position in propeller hub head than lower motor rotational shell Outer to installation site, when blade is folded down, lower propeller blade has setting away from body close to body, upper propeller blade Distance.
Further preferred embodiment, a kind of coaxial twin screw vertically taking off and landing flyer using Moving mass control, It is characterized by: in internal body, flight control and communication apparatus are arranged close to upper and lower double under rotating motor at the top of body Power battery is installed by Moving driving mechanism in side, flight control and communication apparatus lower part, and organism bottom installs mission payload.
Further preferred embodiment, a kind of coaxial twin screw vertically taking off and landing flyer using Moving mass control, It is characterized by: the Moving driving mechanism includes battery installing rack, sliding rail, straight-line displacement steering engine, rotating disk, rotating servo Steering engine and the fixed bracket of rotating servo steering engine；The fixed bracket of rotating servo steering engine is fixedly mounted on internal body to support installation Rotating servo steering engine；Rotating disk is mounted on rotating servo steering engine, and rotating servo steering engine is able to drive rotating disk around body axis Rotation；Sliding rail is installed, battery installing rack is installed on the slide rail, and can be in straight-line displacement servo driving lower edge inside rotating disk Sliding rail movement.
Further preferred embodiment, a kind of coaxial twin screw vertically taking off and landing flyer using Moving mass control, It is characterized by: the weight of power battery is not less than the 30% of aircraft overall weight.
The control method of the above-mentioned coaxial twin screw vertically taking off and landing flyer using Moving mass control, it is characterised in that:
In carrying process, upper propeller blade and lower propeller blade be folded down to body parallel position；
In take-off process, aircraft is upright, upper motor first starts, and propeller blade rotates in drive, upper spiral Paddle blade is expanded under the influence of centrifugal force and is maintained at the operating position vertical with body, and then lower motor starts, band Dynamic lower propeller blade rotation, lower propeller blade are expanded under the influence of centrifugal force and are maintained at the work vertical with body Position increases the revolving speed of upper motor and lower motor, improves propeller pulling force, drives the liftoff flight of aircraft；
In flight course, propeller pulling force and driving reaction torque are changed by the revolving speed of propeller above and below coordinated control: when When the driving reaction torque of upper and lower motor is identical, body is not rotated around own axes；When a certain motor speed of increase, while coordinating to subtract When small another motor speed, propeller entirety pulling force can be made constant, but the driving reaction torque difference of motor up and down, to make machine Body is rotated to a direction, realizes the yaw control of aircraft；
In flight course, power battery is mobile to a direction under the drive of Moving driving mechanism, makes entirely to fly The mass center of device is also mobile to correspondingly this direction, and the line of pull and mass center of propeller form a certain distance, so generate around The torque of mass center tilts aircraft to the mobile direction of mass center, then to this under the action of propeller tension level component Direction flight.
Beneficial effect
Compared to Multi-axis aircraft, propeller blade of the invention is small and exquisite portable after folding.It is driven using built-in Moving The mode of dynamic control device dynamic change of flight device mass center carries out flight control, and flight opportunity flies without additional control device in vitro Row resistance is small.Using power battery as the moving mass body of Moving, without other imposts, manipulation needed for mass body is mobile Power and torque are small, can reduce manipulation steering engine power demand and weight.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures Obviously and it is readily appreciated that, in which:
Fig. 1 embodiment aircraft each section composition schematic diagram；
State of flight schematic diagram is unfolded in Fig. 2 embodiment aircraft propeller；
Fig. 3 embodiment aircraft propeller collapses portable status diagram；
Fig. 4 embodiment aircraft Moving mobile device structural schematic diagram；
Wherein: 1, body；2, the foldable propeller in upper layer；3, the foldable propeller of lower layer；4, double to rotating motor up and down；5, Top commutation cover and propeller hub；6, flight control and communication apparatus；7, power battery；8, Moving mobile device；9, light Electric loading；10, rotating servo steering engine；11, the fixed bracket of rotating servo steering engine；12, rotating disk；13, sliding rail；14, straight-line displacement Steering engine；15, battery installing rack.
Specific embodiment
A kind of foldable coaxial twin screw vertically taking off and landing flyer of use proposed by the present invention can be divided into cylindric body With two parts of coaxial twin screw mechanism.
The coaxial twin screw mechanism includes double to rotating motor, folding upper propeller and folding lower spiral shell up and down Revolve paddle.It is described it is double up and down rotating motor is fixedly mounted at the top of body, up and down it is double under on rotating motor along the coaxial cloth of body axis It sets, direction of rotation is on the contrary, revolving speed can be controlled individually；Propeller hub head with radome fairing, lower part electricity are installed in upper motor Propeller installation hinge is installed on the rotational shell of machine；Folding upper propeller and folding lower propeller are all made of more Piece folding blade, upper propeller blade inner end and propeller hub head hinge cooperate, and lower propeller blade inner end and lower motor are revolved Turn the cooperation of shell hinge, upper propeller blade and lower propeller blade interlaced arrangement in the circumferential.Paddle in propeller hub head Leaf hinge radially installed position is more outer than the blade hinge radially installed position of lower motor rotational shell, is folded down in blade When, lower propeller blade has set distance away from body close to body, upper propeller blade.In this way when upper motor starts, The lower propeller that will not be driven with lower motor during the upper propeller rotary expansion driven is touched.
In carrying process, upper propeller blade and lower propeller blade be folded down to body parallel position, work When upper motor and lower motor respectively drive propeller blade and lower propeller blade and rotate, upper propeller blade and lower spiral shell Rotation paddle blade is unfolded and is maintained at the operating position vertical with body.
The body be cylindrical-shaped structure, internal body accommodate including flight control and communication apparatus, mission payload and Power battery；In internal body, flight control and communication apparatus be arranged close to it is upper and lower double on the downside of rotating motor at the top of body, By Moving driving mechanism installation power battery, organism bottom installs mission payload for flight control and communication apparatus lower part.
The power battery is mounted in the Moving driving mechanism of internal body, is able to drive power battery on body edge Radial direction is subjected to displacement, and keeps aircraft center of gravity offset body center axial.
The Moving driving mechanism includes battery installing rack, sliding rail, straight-line displacement steering engine, rotating disk, rotating servo rudder Machine and the fixed bracket of rotating servo steering engine；The fixed bracket of rotating servo steering engine is fixedly mounted on internal body to support installation to revolve Turn Servo-controller；Rotating disk is mounted on rotating servo steering engine, and rotating servo steering engine is able to drive rotating disk and turns around body axis It is dynamic；Sliding rail is installed, battery installing rack is installed on the slide rail, and can be sliding in straight-line displacement servo driving lower edge inside rotating disk Rail movement.
Rotating servo steering engine and straight-line displacement servo driving can drive power battery mobile by polar coordinates, since electric drive flies Row device, the weight of power battery is up to the 30% of aircraft overall weight, and therefore, the movement of power battery can change by a relatively large margin Become the centroid position of entire aircraft.
In carrying process, upper propeller blade and lower propeller blade be folded down to body parallel position, at this moment Entire aircraft is a tubbiness, occupies small in size, method storage and carrying.
In take-off process, aircraft is upright, body axis is close to vertically.Upper motor first starts, spiral in drive The rotation of paddle blade, upper propeller blade are expanded under the influence of centrifugal force and are maintained at the operating position vertical with body, so Rear lower electric motor starting, drives lower propeller blade rotation, and lower propeller blade is expanded to and keeps under the influence of centrifugal force In the operating position vertical with body, increase the revolving speed of upper motor and lower motor, improve propeller pulling force, drives aircraft Liftoff flight.
In flight course, propeller pulling force and driving reaction torque are changed by the revolving speed of propeller above and below coordinated control: when When the driving reaction torque of upper and lower motor is identical, body is not rotated around own axes；When a certain motor speed of increase, while coordinating to subtract When small another motor speed, propeller entirety pulling force can be made constant, but the driving reaction torque difference of motor up and down, to make machine Body is rotated to a direction, realizes the yaw control of aircraft.
In flight course, power battery is mobile to a direction under the drive of Moving driving mechanism, makes entirely to fly The mass center of device is also mobile to correspondingly this direction, and the line of pull and mass center of propeller form a certain distance, so generate around The torque of mass center tilts aircraft to the mobile direction of mass center, then to this under the action of propeller tension level component Direction flight.Flight control system, can be according to certain flight control by two servo motors of control Moving driving mechanism System rule controls the movement of power battery, and then controls the stabilized flight of aircraft.
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " up time The orientation or positional relationship of the instructions such as needle ", " counterclockwise " is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of The description present invention and simplified description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with spy Fixed orientation construction and operation, therefore be not considered as limiting the invention.
The present embodiment upper layer propeller 2 and lower layer's propeller 3 are two panels, and when work is coaxially counter-rotation, after expansion Diameter is 480mm.Upper and lower double tops that body 1 is mounted on to rotating motor 4 of driving propeller, general power 0.6kW, under Flight control and communication apparatus 6 are installed.It is double to being equipped with top commutation cover and spiral in the upper motor in rotating motor 4 up and down Paddle propeller hub 5, upper layer propeller 2 thereon are horizontally mounted hinge compared to outside more prominent 10mm in lower motor.Body 1 is Cylindrical type, outer diameter 90mm are highly 240mm, and it is Moving mobile device 8, power thereon that bottom, which is equipped with photoelectricity load 9, Battery 7 is fixed in Moving mobile device 8, can be mobile in 1 inner horizontal of body.
The Moving mobile device 8 of the present embodiment is by rotating servo steering engine 10, rotating disk 12, sliding rail 13, straight-line displacement rudder Machine 14 and battery installing rack 15 form.Rotating servo steering engine 10 is mounted on the rotating servo steering engine being connected with 1 shell of body and installs On frame 11, it is co-axially mounted rotating disk 12 thereon, under the driving of rotating servo steering engine 10, rotating disk 12 can 360 degree rotation.Two 13 horizontal parallel of diameter 6mm cylindrical type sliding rail is installed on the rotating pan, and spacing 50mm is all 25mm at a distance from rotation axis. 15 lower part of battery installing rack is passed through by sliding rail 13, can be moved linearly on sliding rail 13.Between sliding rail 13, battery installing rack 15 Straight-line displacement steering engine 14 is fixedly mounted in lower part, and telescopic bar one end of steering engine 14 is fixed on the rotating pan, and pull rod is flexible to be driven Steering engine 14 and battery installation 15 are moved on sliding rail 13.Power battery 7 is 60mm long, width 35mm, high 100mm, is fixedly mounted on electricity The center of pond mounting rack 15.Any polar coordinate position instruction provided according to flight control system, rotating servo steering engine 10 drive rotation Disk 12 rotates, and bonding lines are displaced the flexible drive of pull rod of steering engine 14, can move 7 specified level position of power battery, maximum Displacement is away from body axis 15mm.
The present embodiment maximum flying weight is 2kg, and under portable state, upper layer propeller 2 and lower layer's propeller 3 are downwards Be folded to 1 axis parallel position of body, at this moment entire aircraft be tubbiness.In use, it is first that aircraft is upright, body 1 Axis is close to vertically.It is double up and down that the top driving motor of rotating motor 4 is first started, drive upper layer propeller 2 in the work of centrifugal force Horizontal position is expanded under；Then lower part driving motor starts, and lower layer's propeller 3 is driven to be expanded to horizontal position.In increase The revolving speed of lower driving motor improves propeller pulling force, can drive the liftoff flight of aircraft.In flight course, controlled by coordinating The revolving speed of upper layer propeller 2 and lower layer's propeller 3 processed can carry out the lifting and yaw control of aircraft.In flight course, fly Row control and communication apparatus 6 provide control instruction, rotation and straight line by the rotating servo steering engine 10 of Moving mobile device 8 The pull rod for being displaced steering engine 14 is flexible, moves horizontally power battery 7 to certain orientation, make the mass center of entire aircraft also to correspondingly This direction is mobile, and the line of pull of propeller and aircraft mass center form a certain distance at this time, and then generate the power around mass center Square tilt aircraft can to the mobile direction of mass center, then fly under the action of propeller tension level component to this direction Row.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective In the case where can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.

Claims (6)

1. a kind of coaxial twin screw vertically taking off and landing flyer using Moving mass control, it is characterised in that: including body and altogether Axis twin screw mechanism；
The body is column structure, and internal body is accommodated including flight control and communication apparatus, mission payload and power electric Pond；The power battery is mounted in the Moving driving mechanism of internal body, be able to drive power battery body radially It is subjected to displacement, keeps aircraft center of gravity offset body center axial；
The coaxial twin screw mechanism includes double to rotating motor, folding upper propeller and folding lower spiral up and down Paddle；It is described it is double up and down rotating motor is fixedly mounted at the top of body, it is double to coaxially arranged along body axis under on rotating motor up and down, Direction of rotation is on the contrary, revolving speed can be controlled individually；Propeller hub head with radome fairing is installed in upper motor, lower motor Propeller installation hinge is installed on rotational shell；Folding upper propeller and folding lower propeller are all made of multi-disc can Collapsible blade, upper propeller blade inner end and propeller hub head hinge cooperate, and lower propeller blade inner end and lower motor rotation are outer The cooperation of shell hinge, upper propeller blade and lower propeller blade interlaced arrangement in the circumferential；In carrying process, upper propeller paddle Leaf and lower propeller blade be folded down to body parallel position, upper motor and lower motor respectively drive spiral shell when work It revolves paddle blade and lower propeller blade rotates, upper propeller blade is unfolded with lower propeller blade and is maintained at vertical with body Operating position.
2. a kind of coaxial twin screw vertically taking off and landing flyer using Moving mass control according to claim 1, feature It is: the blade hinge radially installed of blade hinge radially installed position in propeller hub head than lower motor rotational shell Position is outer, and when blade is folded down, lower propeller blade has set distance away from body close to body, upper propeller blade.
3. a kind of coaxial twin screw vertically taking off and landing flyer using Moving mass control according to claim 1, feature Be: in internal body, flight control and communication apparatus are arranged close to upper and lower double on the downside of rotating motor at the top of body, flight By Moving driving mechanism installation power battery, organism bottom installs mission payload for control and communication apparatus lower part.
4. a kind of coaxial twin screw vertically taking off and landing flyer using Moving mass control according to claim 1, feature Be: the Moving driving mechanism include battery installing rack, sliding rail, straight-line displacement steering engine, rotating disk, rotating servo steering engine with And the fixed bracket of rotating servo steering engine；The fixed bracket of rotating servo steering engine is fixedly mounted on internal body to support installation rotation to watch Take steering engine；Rotating disk is mounted on rotating servo steering engine, and rotating servo steering engine is able to drive rotating disk and rotates around body axis；Rotation Sliding rail is installed, battery installing rack is installed on the slide rail, and can be transported under straight-line displacement servo driving along sliding rail inside turntable It is dynamic.
5. a kind of coaxial twin screw vertically taking off and landing flyer using Moving mass control according to claim 1, feature Be: the weight of power battery is not less than the 30% of aircraft overall weight.
6. special using the control method of the coaxial twin screw vertically taking off and landing flyer of Moving mass control described in claim 1 Sign is:
In carrying process, upper propeller blade and lower propeller blade be folded down to body parallel position；
In take-off process, aircraft is upright, upper motor first starts, and propeller blade rotates in drive, upper propeller paddle Leaf is expanded under the influence of centrifugal force and is maintained at the operating position vertical with body, and then lower motor starts, under drive Propeller blade rotation, lower propeller blade are expanded under the influence of centrifugal force and are maintained at the working position vertical with body It sets, increases the revolving speed of upper motor and lower motor, improve propeller pulling force, drive the liftoff flight of aircraft；
In flight course, propeller pulling force and driving reaction torque are changed by the revolving speed of propeller above and below coordinated control: when upper and lower When the driving reaction torque of motor is identical, body is not rotated around own axes；When a certain motor speed of increase, while coordinating to reduce another When one motor speed, propeller entirety pulling force can be made constant, but the driving reaction torque of motor up and down is different, thus make body to The yaw control of aircraft is realized in a direction rotation；
In flight course, power battery is mobile to a direction under the drive of Moving driving mechanism, makes entire aircraft Mass center is also mobile to correspondingly this direction, and the line of pull and mass center of propeller form a certain distance, and then generate around mass center Torque, tilt aircraft to the mobile direction of mass center, then to this direction under the action of propeller tension level component Flight.
CN201910494371.2A 2019-06-09 2019-06-09 A kind of coaxial twin screw vertically taking off and landing flyer of Moving mass control and its control method Pending CN110155316A (en)

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Application Number Priority Date Filing Date Title
CN201910494371.2A CN110155316A (en) 2019-06-09 2019-06-09 A kind of coaxial twin screw vertically taking off and landing flyer of Moving mass control and its control method
GB2008363.0A GB2588478B (en) 2019-06-09 2020-06-03 A coaxial double-propeller vertical take-off and landing aircraft using moving mass control and a control method thereof

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CN201910494371.2A CN110155316A (en) 2019-06-09 2019-06-09 A kind of coaxial twin screw vertically taking off and landing flyer of Moving mass control 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
CN112277551A (en) * 2020-10-28 2021-01-29 北京航空航天大学 Variable structure multi-mode mobile robot
CN113200145A (en) * 2021-07-05 2021-08-03 南京傲宁数据科技有限责任公司 Portable micro coaxial double-propeller unmanned aerial vehicle and control method thereof
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CN114180056A (en) * 2021-12-06 2022-03-15 南京航空航天大学 Cross-medium unmanned aerial vehicle variant device
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CN114348237A (en) * 2021-12-31 2022-04-15 洛阳瑞极光电科技有限公司 Closing and locking mechanism for ejection port of folding wing surface of small aircraft
CN114476045A (en) * 2022-04-07 2022-05-13 西安工业大学 Variable-centroid coaxial dual-rotor aircraft and control method thereof

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CN110427043B (en) * 2019-09-04 2021-09-28 福州大学 Pose controller design method based on gravity center offset of operation flying robot
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
EP3919372A1 (en) * 2020-06-01 2021-12-08 Textron Innovations Inc. Single motor single actuator rotorcraft
US11524766B2 (en) 2020-06-01 2022-12-13 Textron Innovations Inc. Single motor single actuator rotorcraft
CN112277551A (en) * 2020-10-28 2021-01-29 北京航空航天大学 Variable structure multi-mode mobile robot
CN112277551B (en) * 2020-10-28 2022-04-15 北京航空航天大学 Variable structure multi-mode mobile robot
CN113200145A (en) * 2021-07-05 2021-08-03 南京傲宁数据科技有限责任公司 Portable micro coaxial double-propeller unmanned aerial vehicle and control method thereof
CN113200145B (en) * 2021-07-05 2021-10-01 南京傲宁数据科技有限责任公司 Portable micro coaxial double-propeller unmanned aerial vehicle and control method thereof
CN113656920A (en) * 2021-10-20 2021-11-16 中国空气动力研究与发展中心计算空气动力研究所 Missile rudder surface hinge moment design method capable of reducing power redundancy of steering engine
CN114180056A (en) * 2021-12-06 2022-03-15 南京航空航天大学 Cross-medium unmanned aerial vehicle variant device
CN114291254A (en) * 2021-12-28 2022-04-08 中南大学 A barycenter control system and stamp rotor craft for stamp rotor craft
CN114348237A (en) * 2021-12-31 2022-04-15 洛阳瑞极光电科技有限公司 Closing and locking mechanism for ejection port of folding wing surface of small aircraft
CN114476045A (en) * 2022-04-07 2022-05-13 西安工业大学 Variable-centroid coaxial dual-rotor aircraft and control method thereof

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Application publication date: 20190823