CN110595293A - Working method of integrated flying patrol of aircraft - Google Patents
Working method of integrated flying patrol of aircraft Download PDFInfo
- Publication number
- CN110595293A CN110595293A CN201910692724.XA CN201910692724A CN110595293A CN 110595293 A CN110595293 A CN 110595293A CN 201910692724 A CN201910692724 A CN 201910692724A CN 110595293 A CN110595293 A CN 110595293A
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- connecting rod
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B10/00—Means for influencing, e.g. improving, the aerodynamic properties of projectiles or missiles; Arrangements on projectiles or missiles for stabilising, steering, range-reducing, range-increasing or fall-retarding
- F42B10/02—Stabilising arrangements
- F42B10/14—Stabilising arrangements using fins spread or deployed after launch, e.g. after leaving the barrel
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Chemical & Material Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Combustion & Propulsion (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The invention relates to a working method of an integrated flying patrol bomb of an aircraft, which comprises the following steps: the multi-mode switch has the capability of quickly tracking and attacking the aerial target and hovering and striking the ground target. The working method of the integrated patrol missile of the aircraft provided by the invention integrates various functions of cruise detection, attack tracking, hovering striking and the like.
Description
Technical Field
The invention relates to a working method of an integrated flying patrol bomb of an aircraft, and belongs to the technical field of unmanned aerial vehicles.
Background
Along with rotor unmanned aerial vehicle technique promotes, unmanned aerial vehicle can carry on equipment weight and promote, can play more and more important effect in the modernization war. However, the existing rotor unmanned aerial vehicle flies by using a rotor, the speed of the existing rotor unmanned aerial vehicle is extremely low, and the existing rotor unmanned aerial vehicle cannot effectively meet the requirement of hitting a maneuvering target, namely, the existing rotor unmanned aerial vehicle hits a ground target, and because the speed of the existing rotor unmanned aerial vehicle is too low, a long reaction time is formed for an opponent, so that attack failure is caused.
Disclosure of Invention
The invention aims to solve the technical problems that: the defects of the technology are overcome, and the working method of the integrated flying patrol bomb of the aircraft, which integrates multiple functions of cruise detection, tracking attack, hovering striking and the like, is provided.
In order to solve the technical problems, the technical scheme provided by the invention is as follows: an operation method of an integrated flying patrol bomb of an aircraft, which is used by the method, comprises the following steps: a bullet, a bullet body and a bullet tail; the warhead comprises a housing and a camera and a shaped jet warhead disposed within the housing; the projectile body is provided with wings and a projectile body rotor wing; the bullet tail is provided with an energy-gathering EFP warhead part, an empennage and a tail rotor wing; the wings can be unfolded and retracted, and when the wings are unfolded, the wings are perpendicular to the projectile body; when the span is retracted, the wing is parallel to the projectile body; the tail wing can be unfolded and folded, and when the wing is unfolded, the tail wing is perpendicular to the missile tail; when the span is retracted, the tail extends rearward of the tail and parallel to the projectile tail; the projectile body rotor wing is connected with the projectile body through a first connecting rod; the first connecting rod can be unfolded and retracted; when the first connecting rod is unfolded, the first connecting rod is perpendicular to the projectile body; when the first connecting rod is retracted, the first connecting rod is accommodated in the elastic body and can rotate by taking the axis of the first connecting rod as an axis; a first vector control mechanism is arranged between the projectile body rotor wing and the first connecting rod; the first vector control mechanism comprises a first bracket hinged with the first connecting rod and a second bracket hinged with the first bracket; the hinge shafts of the first bracket and the second bracket are vertical to each other, and the hinge shaft of the first bracket is also vertical to the axis of the first connecting rod; the second bracket is provided with a first driving shaft for driving the elastomer rotor, the elastomer rotor is hinged on the first driving shaft and can move between positions parallel and vertical to the axis of the first connecting rod; the tail rotor wing is connected with the missile tail through a second connecting rod; the second connecting rod can be unfolded and retracted; when the second connecting rod is unfolded, the second connecting rod is vertical to the bullet tail; when the second connecting rod is retracted, the second connecting rod extends towards the rear part of the bullet tail; a second vector control mechanism is arranged between the tail rotor and the second connecting rod; the second vector control mechanism comprises a third bracket hinged with the second connecting rod and a fourth bracket hinged with the third bracket; the hinge shafts of the third bracket and the fourth bracket are vertical to each other, and the hinge shaft of the third bracket is also vertical to the axis of the second connecting rod; the fourth bracket is provided with a second driving shaft for driving the tail rotor, the tail rotor is hinged on the second driving shaft, and the tail rotor can move between positions parallel and vertical to the axis of the second connecting rod;
the integrated flying patrol bomb of the aircraft can be switched among a full-folding mode, a front flying mode and a hovering mode; when the integrated patrol missile of the aircraft is in a fully-folded mode, the wings are retracted and are in a position parallel to the missile body; the first connecting rod retracts to be accommodated in the projectile body, and the projectile body rotor wing retracts to be in a position parallel to the axis of the first connecting rod; the second connecting rod is retracted to a position extending towards the rear of the projectile tail; the tail rotor wing is retracted and is in a position parallel to the axis of the second connecting rod;
when the integrated patrol missile of the aircraft is in a forward flight mode, the wings are unfolded and are in a position vertical to the missile body; the first connecting rod is unfolded and is positioned at a position vertical to the projectile body, and the projectile body rotor wing is unfolded and is positioned at a position vertical to the axis of the first connecting rod; the second connecting rod is unfolded and is in a position vertical to the bullet tail; the tail rotor is unfolded and is in a position perpendicular to the axis of the second connecting rod; the first connecting rod and the first vector control mechanism drive the projectile rotor wing to face forwards, and the second vector control mechanism drives the tail rotor wing to face backwards;
when the integrated cruise missile of the aircraft is in a hovering mode, the wings are unfolded and are in a position vertical to the missile body; the first connecting rod is unfolded and is positioned at a position vertical to the projectile body, and the projectile body rotor wing is unfolded and is positioned at a position vertical to the axis of the first connecting rod; the second connecting rod is unfolded and is in a position vertical to the bullet tail; the tail rotor is unfolded and is in a position perpendicular to the axis of the second connecting rod; the first connecting rod and the first vector control mechanism drive the projectile rotor to face upwards, and the second vector control mechanism drives the tail rotor to face upwards.
The scheme is further improved in that: the integrated flying patrol of the aircraft is of a cylindrical structure with the caliber of 180mm and the length of 1200 mm.
The scheme is further improved in that: the wing span is 1600 mm.
The scheme is further improved in that: the length range of the blades of the missile rotor and the tail rotor is 180-220 mm, and the torsion angle of the blades is reduced from 15 degrees to 4 degrees from the root to the tip.
The scheme is further improved in that: the energy-concentrating EFP warhead includes a hemispherical shroud and a cylindrical charge.
The scheme is further improved in that: the energy-gathering jet warhead comprises a horn-shaped medicine cover and a cylindrical medicine charge.
The working method of the integrated patrol missile of the aircraft provided by the invention integrates various functions of cruise detection, attack tracking, hovering striking and the like. The integrated ammunition-aircraft system comprehensively utilizes a fixed wing aircraft technology, a rotor unmanned aerial vehicle technology, a vector propulsion technology based on accurate control of the rotation angular speed and direction of a rotor, an energy-gathering ammunition design technology, an image rapid disposal and identification technology and the like, realizes the integration of ammunition-aircraft, and can complete various functions of cruise detection, tracking attack, hovering attack and the like.
Drawings
The invention will be further explained with reference to the drawings.
Fig. 1 is a schematic structural diagram of an integrated cruise missile of an aircraft used in a preferred embodiment of the invention.
Fig. 2 is a schematic view of the fully folded mode structure of fig. 1.
Fig. 3 is a schematic structural view of the front fly mode of fig. 1.
Fig. 4 is a schematic diagram of the first and second vector control mechanisms of fig. 1.
Detailed Description
Examples
The working method of the integrated flying patrol aircraft of the embodiment uses the integrated flying patrol aircraft, which includes, as shown in fig. 1: a bullet head 1, a bullet body 2 and a bullet tail 3; the warhead 1 comprises a shell, a 360-degree panoramic camera arranged in the shell and an energy-gathering jet fighting part; the projectile body 2 is provided with wings 4 and a projectile body rotor wing 5; the bullet tail 3 is provided with an energy-gathering EFP warhead 8, a tail wing 7 and a tail rotor wing 9.
The wings 4 can be unfolded and retracted, and when the wings 4 are unfolded, the wings 4 are perpendicular to the projectile body 2; when the wing 4 is retracted, the wing 4 is parallel to the projectile body 2.
The tail wing 7 can be unfolded and retracted, and when the tail wing 7 is unfolded, the tail wing 7 is perpendicular to the missile tail 3; when the tail 7 is retracted, the tail 7 extends rearward of the tail 3 and parallel to the tail 3.
The projectile body rotor wing 5 is connected with the projectile body 2 through a first connecting rod 6; the first connecting rod 6 can be deployed and retracted; when the first connecting rod 6 is unfolded, the first connecting rod 6 is perpendicular to the projectile body 2; when the first connecting rod 6 is retracted, the first connecting rod 6 is accommodated in the elastic body 2, and the first connecting rod 6 can rotate by taking the axis of the first connecting rod 6 as a shaft; a first vector control mechanism is arranged between the elastic rotor wing 5 and the first connecting rod 6. The projectile wings 5 and the connecting structure are symmetrically arranged on both sides of the projectile body 2.
The tail rotor wing 9 is connected with the bullet tail 3 through a second connecting rod 10; the second connecting rod 10 can be deployed and retracted; when the second connecting rod 10 is unfolded, the second connecting rod 10 is vertical to the bullet tail 3; when the second connecting rod 10 is retracted, the second connecting rod 10 extends towards the rear of the tail 3; a second vector control mechanism is arranged between the tail rotor 9 and the second connecting rod.
The first and second vector control mechanisms are identical in structure, and thus, referring to fig. 4, the first vector control mechanism is described as an example, and includes a first bracket 11 hinged to the first connecting rod and a second bracket 12 hinged to the first bracket; the hinge shafts of the first bracket 11 and the second bracket 12 are vertical to each other, and the hinge shaft of the first bracket 11 is also vertical to the axis of the first connecting rod 6; the second carriage 12 is provided with a drive shaft 13 for driving the elastomeric rotor 5, the elastomeric rotor 5 being hinged to the drive shaft 13, the elastomeric rotor 5 being able to move between a position parallel and perpendicular to the axis of the first connecting rod 6.
Similarly, the second vector control mechanism comprises a third bracket hinged with the second connecting rod and a fourth bracket hinged with the third bracket; the hinge shafts of the third bracket and the fourth bracket are mutually vertical, and the hinge shaft of the third bracket is also vertical to the axis of the bullet tail; the fourth bracket is provided with a driving shaft for driving the tail rotor 9, the tail rotor 9 is hinged on the driving shaft 13, and the tail rotor 9 can move between the positions parallel and vertical to the axis of the second connecting rod 10.
The integrated flying patrol of the aircraft is in a cylindrical structure with the caliber of 180mm and the length of 1200 mm.
The wingspan of the wing 4 is 1600mm, and the design of two pairs of wings is adopted in the embodiment, and other number and layout can be designed according to actual needs.
The blades of the projectile rotor 5 and the tail rotor 9 adopt large-pitch blades; the length ranges from 180mm to 220mm, and the blade torsion angle decreases from 15 degrees to 4 degrees from the root to the tip. The motor with the maximum output working condition of 8000RPM is adopted for driving.
The energy-gathered EFP warhead 8 includes a hemispherical shaped charge shroud and a cylindrical shaped charge.
The energy-gathering jet warhead comprises a horn-shaped medicine cover and a cylindrical medicine charge.
The integrated flying patrol of the aircraft can be switched among a full-folding mode, a forward flying mode and a hovering mode.
When the integrated patrol missile of the aircraft is in a fully-folded mode, as shown in fig. 2, the wings 4 are retracted and are positioned parallel to the missile body 2; the first connecting rod 6 is retracted and is accommodated in the projectile body 2, and the projectile body rotor wing 5 is retracted and is positioned parallel to the axis of the first connecting rod 6; the second connecting rod 10 is retracted in a position extending towards the rear of the tail 3; the tail rotor 9 is retracted in a position parallel to the axis of the second connecting rod 10. At this point, the projectile may be launched through a tube-shooting weapons platform.
After the aircraft is launched by the tube-shooting weapon platform and reaches a certain height and speed, the integrated patrolling missile of the aircraft is unfolded to enter a forward flight mode; as shown in fig. 3, when the integrated cruise missile of the aircraft is in the forward flight mode, the wings 4 are unfolded and are in a position perpendicular to the projectile body 2; the first connecting rod 6 is unfolded and is positioned at a position vertical to the projectile body 2, and the projectile body rotor wing 5 is unfolded and is positioned at a position vertical to the axis of the first connecting rod 6; the second connecting rod 10 is unfolded and is positioned perpendicular to the bullet tail 3; the tail rotor 9 is deployed in a position perpendicular to the axis of the second connecting rod 10; the first connecting rod 6 and the first vector control mechanism drive the projectile rotor 5 to face forwards, and the second vector control mechanism drives the tail rotor 9 to face backwards. In the forward flying mode, when a 360-degree panoramic camera installed on the warhead detects an aerial or ground target, the control system controls to adjust the angular speed and direction of the projectile rotor 5 and the tail rotor 9, the projectile is quickly and accurately close to the target, and the energy-gathering charge warhead at the head of the projectile is detonated to strike the target. For more stable flight, the tail wings may be installed in 4 pieces, forming a cross shape when deployed.
When the camera detects a ground target (such as a tank and the like), the control system adjusts the state of the rotor wing to convert the flying patrol into a hovering state, the energy-gathered EFP warhead 8 at the tail 3 position of the bullet is detonated, and the formed explosion-formed bullet attacks the top armor of the ground target of the enemy to achieve the purpose of destroying the enemy target. As shown in fig. 1, when the integrated cruise missile of the aircraft is in a hovering mode, the wings 4 are unfolded and are in a vertical position with respect to the missile body 2; the first connecting rod 6 is unfolded and is positioned at a position vertical to the projectile body 2, and the projectile body rotor wing 5 is unfolded and is positioned at a position vertical to the axis of the first connecting rod 6; the second connecting rod 10 is unfolded and is positioned perpendicular to the bullet tail 2; the tail rotor 9 is deployed in a position perpendicular to the axis of the second connecting rod 10; the first connecting rod 6 and the first vector control mechanism drive the projectile rotor 5 to face upwards, and the second vector control mechanism drives the tail rotor 9 to face upwards. The hovering mode can be used as a starting flight state, namely, the vertical takeoff and landing are directly carried out by the rotor wing without using a launching platform.
After the integrated patrol missile of the aircraft of the embodiment enters the combat flight state, a battlefield environment reconnaissance task can be carried out through the equipped 360-degree panoramic camera, the tracking attack on the air maneuvering target can be implemented through the equipped modularized energy-gathering warhead, and hovering striking is implemented on the ground maneuvering target. When a reconnaissance task is carried out, the control system accurately controls the rotating angular speed and the rotating direction of the tail rotor wing to realize stable cruising flight, and a camera system arranged on the warhead part is used for battlefield environment reconnaissance and target identification and capture; when an airborne maneuvering target of an enemy is found, the control system accurately controls the rotating angular speed and the rotating angular speed of the two rotors arranged on the projectile body section and the rotating angular speed of the rotors at the tail part of the projectile body, the power of the three rotors is utilized to realize vector propulsion, and the enemy is accurately and quickly received and detonated and arranged on the energy-gathering warhead of the projectile head to attack the enemy target; when a ground maneuvering target is found, the control system accurately controls three rotor postures of the full projectile, the projectile body is suspended, and the energy-gathering warhead mounted at the tail of the projectile is detonated to strike an enemy target.
This embodiment is based on army and local design demand actual, it is important to grasp the match, it is ingenious to hold the structure, the function is various, the characteristics of layering portablely, refer to and patrol missile and rotor type, seek a large amount of data, tightly around unmanned aerial vehicle design and missile design rule, confirm whole thinking, prejudge to the finished product, set for the battle skill index, purposefully remove to select fixed wing section, design propeller blade, design whole fuselage, decision-making control system and design gather can fight portion, under the prerequisite that theoretical support, application computer numerical simulation technique, do a global optimization to whole organism, can reduce the test number of times for later production finished product like this, avoid unnecessary expenditure loss.
The present invention is not limited to the above-described embodiments. All technical solutions formed by equivalent substitutions fall within the protection scope of the claims of the present invention.
Claims (6)
1. The working method of the integrated flying patrol bomb of the aircraft is characterized by comprising the following steps of: a bullet, a bullet body and a bullet tail; the warhead comprises a housing and a camera and a shaped jet warhead disposed within the housing; the projectile body is provided with wings and a projectile body rotor wing; the bullet tail is provided with an energy-gathering EFP warhead part, an empennage and a tail rotor wing; the wings can be unfolded and retracted, and when the wings are unfolded, the wings are perpendicular to the projectile body; when the span is retracted, the wing is parallel to the projectile body; the tail wing can be unfolded and folded, and when the wing is unfolded, the tail wing is perpendicular to the missile tail; when the span is retracted, the tail extends rearward of the tail and parallel to the projectile tail; the projectile body rotor wing is connected with the projectile body through a first connecting rod; the first connecting rod can be unfolded and retracted; when the first connecting rod is unfolded, the first connecting rod is perpendicular to the projectile body; when the first connecting rod is retracted, the first connecting rod is accommodated in the elastic body and can rotate by taking the axis of the first connecting rod as an axis; a first vector control mechanism is arranged between the projectile body rotor wing and the first connecting rod; the first vector control mechanism comprises a first bracket hinged with the first connecting rod and a second bracket hinged with the first bracket; the hinge shafts of the first bracket and the second bracket are vertical to each other, and the hinge shaft of the first bracket is also vertical to the axis of the first connecting rod; the second bracket is provided with a first driving shaft for driving the elastomer rotor, the elastomer rotor is hinged on the first driving shaft and can move between positions parallel and vertical to the axis of the first connecting rod; the tail rotor wing is connected with the missile tail through a second connecting rod; the second connecting rod can be unfolded and retracted; when the second connecting rod is unfolded, the second connecting rod is vertical to the bullet tail; when the second connecting rod is retracted, the second connecting rod extends towards the rear part of the bullet tail; a second vector control mechanism is arranged between the tail rotor and the second connecting rod; the second vector control mechanism comprises a third bracket hinged with the second connecting rod and a fourth bracket hinged with the third bracket; the hinge shafts of the third bracket and the fourth bracket are vertical to each other, and the hinge shaft of the third bracket is also vertical to the axis of the second connecting rod; the fourth bracket is provided with a second driving shaft for driving the tail rotor, the tail rotor is hinged on the second driving shaft, and the tail rotor can move between positions parallel and vertical to the axis of the second connecting rod;
the integrated flying patrol bomb of the aircraft can be switched among a full-folding mode, a front flying mode and a hovering mode; when the integrated patrol missile of the aircraft is in a fully-folded mode, the wings are retracted and are in a position parallel to the missile body; the first connecting rod retracts to be accommodated in the projectile body, and the projectile body rotor wing retracts to be in a position parallel to the axis of the first connecting rod; the second connecting rod is retracted to a position extending towards the rear of the projectile tail; the tail rotor wing is retracted and is in a position parallel to the axis of the second connecting rod;
when the integrated patrol missile of the aircraft is in a forward flight mode, the wings are unfolded and are in a position vertical to the missile body; the first connecting rod is unfolded and is positioned at a position vertical to the projectile body, and the projectile body rotor wing is unfolded and is positioned at a position vertical to the axis of the first connecting rod; the second connecting rod is unfolded and is in a position vertical to the bullet tail; the tail rotor is unfolded and is in a position perpendicular to the axis of the second connecting rod; the first connecting rod and the first vector control mechanism drive the projectile rotor wing to face forwards, and the second vector control mechanism drives the tail rotor wing to face backwards;
when the integrated cruise missile of the aircraft is in a hovering mode, the wings are unfolded and are in a position vertical to the missile body; the first connecting rod is unfolded and is positioned at a position vertical to the projectile body, and the projectile body rotor wing is unfolded and is positioned at a position vertical to the axis of the first connecting rod; the second connecting rod is unfolded and is in a position vertical to the bullet tail; the tail rotor is unfolded and is in a position perpendicular to the axis of the second connecting rod; the first connecting rod and the first vector control mechanism drive the projectile rotor to face upwards, and the second vector control mechanism drives the tail rotor to face upwards.
2. The working method of the integrated patrol missile of the aircraft according to claim 1, characterized in that: the integrated flying patrol of the aircraft is of a cylindrical structure with the caliber of 180mm and the length of 1200 mm.
3. The working method of the integrated patrol missile of the aircraft according to claim 1, characterized in that: the wing span is 1600 mm.
4. The working method of the integrated patrol missile of the aircraft according to claim 1, characterized in that: the length range of the blades of the missile rotor and the tail rotor is 180-220 mm, and the torsion angle of the blades is reduced from 15 degrees to 4 degrees from the root to the tip.
5. The working method of the integrated patrol missile of the aircraft according to claim 1, characterized in that: the energy-concentrating EFP warhead includes a hemispherical shroud and a cylindrical charge.
6. The working method of the integrated patrol missile of the aircraft according to claim 1, characterized in that: the energy-gathering jet warhead comprises a horn-shaped medicine cover and a cylindrical medicine charge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910692724.XA CN110595293B (en) | 2019-07-30 | 2019-07-30 | Working method of fixed wing-rotor wing composite unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910692724.XA CN110595293B (en) | 2019-07-30 | 2019-07-30 | Working method of fixed wing-rotor wing composite unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
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| CN110595293A true CN110595293A (en) | 2019-12-20 |
| CN110595293B CN110595293B (en) | 2020-08-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910692724.XA Expired - Fee Related CN110595293B (en) | 2019-07-30 | 2019-07-30 | Working method of fixed wing-rotor wing composite unmanned aerial vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111176315A (en) * | 2020-01-19 | 2020-05-19 | 西北工业大学 | Variant patrol missile control method based on L1 adaptive control |
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| US5780766A (en) * | 1996-04-30 | 1998-07-14 | Diehl Gmbh & Co. | Guided missile deployable as mortar projectile |
| CN103043214A (en) * | 2012-12-19 | 2013-04-17 | 天津全华时代航天科技发展有限公司 | Folding type unmanned plane |
| CN107150803A (en) * | 2017-06-07 | 2017-09-12 | 天津科技大学 | Mixed layout unmanned plane and its control method |
| CN108482635A (en) * | 2018-03-16 | 2018-09-04 | 中国人民解放军国防科技大学 | Inflator wing type aircraft capable of being parked |
| CN208412123U (en) * | 2018-05-02 | 2019-01-22 | 常州华奥航空科技有限公司 | A kind of fixes sleeve of unmanned plane propeller |
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2019
- 2019-07-30 CN CN201910692724.XA patent/CN110595293B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5780766A (en) * | 1996-04-30 | 1998-07-14 | Diehl Gmbh & Co. | Guided missile deployable as mortar projectile |
| CN103043214A (en) * | 2012-12-19 | 2013-04-17 | 天津全华时代航天科技发展有限公司 | Folding type unmanned plane |
| CN107150803A (en) * | 2017-06-07 | 2017-09-12 | 天津科技大学 | Mixed layout unmanned plane and its control method |
| CN108482635A (en) * | 2018-03-16 | 2018-09-04 | 中国人民解放军国防科技大学 | Inflator wing type aircraft capable of being parked |
| CN208412123U (en) * | 2018-05-02 | 2019-01-22 | 常州华奥航空科技有限公司 | A kind of fixes sleeve of unmanned plane propeller |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111176315A (en) * | 2020-01-19 | 2020-05-19 | 西北工业大学 | Variant patrol missile control method based on L1 adaptive control |
| CN111176315B (en) * | 2020-01-19 | 2022-09-30 | 西北工业大学 | Variant cruise missile control method based on L1 adaptive control |
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| Publication number | Publication date |
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| CN110595293B (en) | 2020-08-18 |
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Granted publication date: 20200818 Termination date: 20210730 |