CN110816803A - Small helium balloon double propeller control device and method - Google Patents
Small helium balloon double propeller control device and method Download PDFInfo
- Publication number
- CN110816803A CN110816803A CN201910965601.9A CN201910965601A CN110816803A CN 110816803 A CN110816803 A CN 110816803A CN 201910965601 A CN201910965601 A CN 201910965601A CN 110816803 A CN110816803 A CN 110816803A
- Authority
- CN
- China
- Prior art keywords
- propeller
- thrust
- horizontal
- helium balloon
- generated
- 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.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/40—Balloons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
Abstract
The invention relates to the field of aircraft control, in particular to a device and a method for controlling small helium balloon twin propellers. The device provides power through double propellers and makes limited small-size helium balloon of buoyancy realize flight control, the left and right sides of the fixed axle of helium balloon below is installed to two screws, relative position with the fixed axle has the difference, the orientation of going up the screw is downward, and become 45 degrees with the horizontal direction, the orientation of lower part screw makes progress, and becomes 45 degrees with the vertical direction, carry out the change that corotation reversal realized thrust direction through controlling two screws respectively, the change of thrust size is realized to the rotational speed of controlling two screws respectively, and then realize the rising decline of device, go forward and turn left the right and turn. The double-propeller double-wing helium balloon is suitable for buoyancy and small helium balloons with limited load, and can reduce the load and the overall cost by using double propellers and further install additional devices under the condition of batch production.
Description
Technical Field
The invention relates to the field of aircraft control, in particular to a device and a method for controlling small helium balloon twin propellers.
Background
Along with the development of internet of things, more and more small aircraft are required to complete more and more diversified tasks in social production and life, but most of the small aircraft manually controlled or autonomously controlled at present are based on a four-axis rotor unmanned aerial vehicle, the power consumption speed is high, the dead-time is short, and the observation and internet of things perception tasks cannot be completed in a long-time dead-time mode.
The helium balloon has buoyancy and is safer than a hydrogen balloon, and the control mode of a large helium balloon is various, but for a large number of small helium balloons applied in the internet of things in the future, due to the limited buoyancy, excessive equipment cannot be installed on the whole, the heavier the flight control device is, the fewer other functional devices or power supplies are carried on, the heavier the flight control device means that fewer other devices are carried on or the shorter the dead time is, and the effective flight control of the helium balloon by using the simplified and light device is an important problem for realizing the development of a small helium balloon aircraft.
Disclosure of Invention
The invention aims to overcome the defects that the buoyancy of a helium balloon is limited and excessive equipment cannot be carried, and provides a device and a method for carrying out flight control on the small helium balloon by using double propellers, wherein the double propellers are respectively controlled to rotate forwards and backwards and rotate at the rotating speed to realize the change of the direction and the magnitude of thrust, so that the ascending and descending, the advancing, the left rotation and the right rotation of the device are realized, and the double propellers are used for carrying out flight control on the small helium balloon.
The invention specifically adopts the following technical scheme:
small-size helium balloon double screw controlling means installs in the lower part of helium balloon, including last screw, fixed axle, screw and flight control portion down, flight control portion includes two screw motors, controller, communication module and power module, and the controller receives external equipment's control command through communication module and controls two screw motors, and two screw motors provide power for last screw and screw down respectively, and power module is whole device power supply.
Preferably the upper propeller is oriented downwards and at 45 degrees to the horizontal and the lower propeller is oriented upwards and at 45 degrees to the vertical.
Preferably, the controller can control the upper propeller and the lower propeller to rotate forwards or backwards to change the thrust direction, the thrust of the upper propeller and the lower propeller rotates forwards and backwards to the direction of the fixed shaft, and the thrust of the upper propeller and the lower propeller rotates backwards and backwards to the direction of the fixed shaft.
The control method of the small helium balloon double propellers comprises the steps that the small helium balloon double propeller control device is adopted, a helium balloon is selected to enable buoyancy of the helium balloon to be offset with self weight and weight of a flight control part, external equipment sends a control command to a communication module, a controller obtains the control command through the communication module to control rotation directions and rotation speeds of two propeller motors, and ascending, descending, advancing, left turning and right turning are achieved through control;
the lifting is realized in the process that when the upper propeller rotates reversely and the thrust direction is far away from the fixed shaft, component forces in the vertical upward direction and the horizontal backward direction are generated, the lower propeller rotates forwards, the thrust direction faces the fixed shaft, component forces in the vertical upward direction and the horizontal forward direction are generated, when the thrust generated by the upper propeller and the lower propeller are the same, the component forces of the thrust in the horizontal direction of the two propeller motors are mutually offset, resultant force is generated in the vertical upward direction, and the lifting of the device is realized;
the descending process is that when the upper propeller rotates forwards and rotates backwards and the thrust generated by the two propellers is the same, the upper propeller generates component force in the vertical downward direction and the horizontal advancing direction, the lower propeller generates component force in the vertical downward direction and the horizontal backward direction, the component force of the two propellers in the horizontal direction are mutually offset, resultant force is formed in the vertical downward direction, and the descending of the device is realized;
the advancing realization process is that when the upper propeller and the lower propeller rotate forwards, the upper propeller generates component force in the vertical downward direction and the horizontal advancing direction, the lower propeller generates component force in the vertical upward direction and the horizontal advancing direction, the component force generated by the two propellers in the vertical mode is mutually offset, and resultant force is generated in the horizontal advancing direction to realize the advancing of the device;
the right turn is realized by the device, when the upper propeller and the lower propeller rotate forwards and the thrust is different, and the thrust of the upper propeller is greater than that of the lower propeller, the component force of the upper propeller in the horizontal advancing direction is greater than that of the lower propeller in the horizontal advancing direction, the propelling speed of the left side is greater than that of the right side, and the device realizes right turn;
the left turn is realized by the device, when the upper propeller and the lower propeller rotate forwards and the thrust is different, and the thrust of the lower propeller is greater than that of the upper propeller, the component force of the lower propeller in the horizontal advancing direction is greater than that of the upper propeller in the horizontal advancing direction, the propelling speed of the right side is greater than that of the left side, and the device realizes the left turn.
The invention has the following beneficial effects:
the flight control of the small helium balloon is realized by only using the two propeller motors, compared with the scheme of using three or more propeller motors, the load of the small helium balloon can be reduced, more power supply modules can be configured by using the spare load of the two propeller motors, more power supplies are used for supplying less propeller motors, and longer dead time can be realized. The flight control is realized by using fewer propeller motors, so that the cost is effectively reduced for a large number of deployed small helium balloon aircrafts.
Drawings
FIG. 1 is a three-dimensional schematic diagram of a fixed shaft and two propellers of a small helium balloon double-propeller control device;
FIG. 2 is a schematic diagram of the overall structure of a small helium balloon double-propeller control device matched with a small helium balloon;
FIG. 3 is a top view of a small helium balloon twin-propeller control device;
FIG. 4 is a side view of a small helium balloon twin-propeller control device;
in fig. 1 to 4, 1 is an upper propeller, 2 is a fixed shaft, and 3 is a lower propeller.
FIG. 5 is a schematic diagram of the force applied in the ascending process of a small helium balloon double-propeller control device;
FIG. 6 is a force-bearing schematic diagram of a small helium balloon twin-propeller control device in the process of right turning;
FIG. 7 is a force-bearing diagram of a left-turning process of a small-sized helium balloon twin-propeller control device;
FIG. 8 is a schematic diagram showing the connection of the constituent modules of a small helium balloon twin-propeller control device.
The device comprises an upper propeller 1, a fixed shaft 2, a lower propeller 3, an upper propeller thrust direction 4, a side-view fixed shaft position 5, a lower propeller thrust direction 6, a resultant force direction of the two propellers 7, a controller 8 and other module installation positions 8, a controller 9, a power supply module 10, a communication module 11, a helium balloon 12 and a flight control part 13.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings:
as shown in figures 1-4, the small-size helium balloon double-propeller control device is arranged at the lower part of a helium balloon 12, the helium balloon 12 is an aluminum film balloon, so that the longer dead time can be realized, the size of the helium balloon is not less than 18 inches, and the buoyancy of the helium balloon filled with helium can offset the self weight and the weight of the flight control device.
The device includes screw 1, fixed axle 2, lower screw 3 and flight control portion 13, flight control portion includes two screw motors, controller, communication module and power module, and the control command that the controller received external equipment through communication module is controlled two screw motors, and two screw motors provide power for last screw and lower screw respectively, and power module is whole device power supply. The installation frame of the device can be stably hung below the helium balloon, the frame is made of carbon fiber and other materials which are high in strength, not prone to bending and light in weight, the propeller is selected to be of a size which ensures that the propeller cannot touch other devices and the helium balloon when rotating, the motor driving the propeller is made of a hollow cup motor and other motors which are light in weight, small in size and high in rotating speed, the controller can use but is not limited to STM32 series chips, 8051 series chips, raspberry groups and the like, the controller can change the rotating speed and the rotating direction of the propeller motor through an MOS (metal oxide semiconductor) tube or other modes, the communication module can use but is not limited to Bluetooth, WiFi and the like, the communication module is directly connected with the controller, other control equipment can be used for sending commands to the controller to achieve flight control, the power module can use but is not limited to a lithium battery, The communication module and the power supply module are arranged at the positions of the controller and other module mounting positions 8, and the fixed shaft 2 is connected with the helium balloon 12, the controller 9, the upper propeller 1 and the lower propeller 3.
Referring to fig. 8, the double-propeller motor, the communication module 11, and the power module 10 are directly connected to the controller 9, but not limited to, using a wire or the like, the power module 10 supplies power to the controller, the communication module, and the two propeller motors, the communication module receives an external control command and sends the command to the controller, and the controller changes the thrust direction and the rotation speed of the two propeller motors according to the command.
The orientation of going up the screw is downward, and becomes 45 degrees with the horizontal direction, and the orientation of lower part screw is upwards, and becomes 45 degrees with the vertical direction, and the controller can control to go up the screw and carry out corotation or reversal with lower screw, realizes the change of thrust direction, and thrust orientation fixed axle place direction is kept away from during the corotation to last screw and lower screw thrust when rotating, reversal.
The control method of the small helium balloon double propellers adopts the small helium balloon double propeller control device, the helium balloon is selected to enable buoyancy of the helium balloon to be offset with self weight and weight of a flight control part, the external equipment sends a control command to the communication module, the controller obtains the control command through the communication module to control rotation directions and rotation speeds of two propeller motors, and ascending, descending, advancing, left turning and right turning are controlled.
Ascending and descending: referring to fig. 1, the upper propeller is installed at an angle of 45 degrees with respect to the horizontal direction, and generates a component force having the same magnitude in the horizontal direction and the vertical direction when generating a thrust, the lower propeller is installed at an angle of 45 degrees with respect to the vertical direction when generating a thrust, and generates a component force having the same magnitude in the horizontal direction and the vertical direction when generating a thrust, and generates a component force advancing vertically upward and horizontally when the lower propeller rotates forward and the thrust moves toward the frame fixed axis, and generates a component force moving horizontally rearward and a component force moving vertically upward when the upper propeller rotates backward and the thrust moves away from the frame fixed axis.
Referring to fig. 5, when the upper propeller rotates reversely, the thrust direction is 4, the lower propeller rotates normally, the thrust direction is 6, and the rotating speeds of the two propellers are the same, the component forces generated in the horizontal direction by the thrust are cancelled, and the resultant force 7 generated in the vertical direction by the two propellers rises; in the same way, when the lower propeller rotates reversely, the upper propeller rotates forwards and the thrust is the same, the component force in the horizontal advancing direction generated by the upper propeller and the component force in the horizontal backward direction generated by the lower propeller are offset, and the component forces of the upper propeller and the lower propeller in the vertical downward direction form resultant force to realize the descending of the device.
Advancing: when the thrust of the two propellers is the same, the two component forces in the vertical direction are offset, and the two component forces in the horizontal advancing direction form resultant force to realize horizontal advancing.
Turning left and turning right: as shown in fig. 6, in a top view direction, when the thrust of the upper propeller 1 is greater than the thrust of the lower propeller 3, the left propulsion speed is greater than the right propulsion speed, and the flying device realizes a right turn, and as shown in fig. 7, in a top view direction, when the thrust of the lower propeller 3 is greater than the thrust of the upper propeller 1, the flying device realizes a left turn, and meanwhile, because the two propellers have different thrusts, component forces generated in a vertical direction are different, and downward resultant force is generated when the flying device rotates right, the flying device descends while rotating right, and when the flying device rotates left, upward resultant force is generated, so the flying device ascends while rotating left.
The lifting is realized in the process that when the upper propeller rotates reversely and the thrust direction is far away from the fixed shaft, component forces in the vertical upward direction and the horizontal backward direction are generated, the lower propeller rotates forwards and the thrust direction faces the fixed shaft, component forces in the vertical upward direction and the horizontal forward direction are generated, and when the thrust generated by the upper propeller and the lower propeller are the same, the component forces of the thrust in the horizontal direction of the two propeller motors are mutually offset, resultant force is generated in the vertical upward direction, and the lifting of the device is realized.
The descending process is realized by that when the upper propeller rotates forwards and rotates backwards and the thrust generated by the two propellers is the same, the upper propeller generates component forces in the vertical downward direction and the horizontal advancing direction, the lower propeller generates component forces in the vertical downward direction and the horizontal backward direction, the component forces of the two propellers in the horizontal direction are mutually offset, resultant force is formed in the vertical downward direction, and the descending of the device is realized.
The advancing realization process is that when the upper propeller and the lower propeller rotate forwards, component forces are generated by the upper propeller in the vertical downward direction and the horizontal advancing direction, component forces are generated by the lower propeller in the vertical upward direction and the horizontal advancing direction, the component forces generated by the two propellers in the vertical mode are mutually offset, and the advancing of the resultant force realization device is generated in the horizontal advancing direction.
The right turn is realized by the device, when the upper propeller and the lower propeller rotate forwards and the thrust is different, and the thrust of the upper propeller is greater than that of the lower propeller, the component force of the upper propeller in the horizontal advancing direction is greater than that of the lower propeller in the horizontal advancing direction, the propelling speed of the left side is greater than that of the right side, and the device realizes right turn.
The left turn is realized by the device, when the upper propeller and the lower propeller rotate forwards and the thrust is different, and the thrust of the lower propeller is greater than that of the upper propeller, the component force of the lower propeller in the horizontal advancing direction is greater than that of the upper propeller in the horizontal advancing direction, the propelling speed of the right side is greater than that of the left side, and the device realizes the left turn.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.
Claims (4)
1. A small-size helium balloon double-propeller control device is installed on the lower portion of a helium balloon and is characterized by comprising an upper propeller, a fixed shaft, a lower propeller and a flight control portion, wherein the flight control portion comprises two propeller motors, a controller, a communication module and a power supply module, the controller receives a control command of external equipment through the communication module to control the two propeller motors, the two propeller motors respectively provide power for the upper propeller and the lower propeller, and the power supply module supplies power for the whole device.
2. A compact helium balloon twin propeller control as claimed in claim 1 where the upper propeller is oriented downwards at 45 degrees to the horizontal and the lower propeller is oriented upwards at 45 degrees to the vertical.
3. The small helium balloon twin screw control device according to claim 1, wherein the controller is capable of controlling the upper and lower screws to rotate forward or backward to change the direction of the thrust, the thrust of the upper and lower screws moving forward is directed toward the fixed shaft, and the thrust of the upper and lower screws moving backward is directed away from the fixed shaft.
4. A small helium balloon double-propeller control method adopts a small helium balloon double-propeller control device according to any one of claims 1 to 3, and is characterized in that a helium balloon is selected to enable buoyancy of the helium balloon to be offset with self weight and weight of a flight control part, an external device sends a control command to a communication module, a controller obtains the control command through the communication module to control rotation directions and rotation speeds of two propeller motors, and ascending, descending, advancing, left-turning and right-turning are controlled;
the lifting is realized in the process that when the upper propeller rotates reversely and the thrust direction is far away from the fixed shaft, component forces in the vertical upward direction and the horizontal backward direction are generated, the lower propeller rotates forwards, the thrust direction faces the fixed shaft, component forces in the vertical upward direction and the horizontal forward direction are generated, when the thrust generated by the upper propeller and the lower propeller are the same, the component forces of the thrust in the horizontal direction of the two propeller motors are mutually offset, resultant force is generated in the vertical upward direction, and the lifting of the device is realized;
the descending process is that when the upper propeller rotates forwards and rotates backwards and the thrust generated by the two propellers is the same, the upper propeller generates component force in the vertical downward direction and the horizontal advancing direction, the lower propeller generates component force in the vertical downward direction and the horizontal backward direction, the component force of the two propellers in the horizontal direction are mutually offset, resultant force is formed in the vertical downward direction, and the descending of the device is realized;
the advancing realization process is that when the upper propeller and the lower propeller rotate forwards, the upper propeller generates component force in the vertical downward direction and the horizontal advancing direction, the lower propeller generates component force in the vertical upward direction and the horizontal advancing direction, the component force generated by the two propellers in the vertical mode is mutually offset, and resultant force is generated in the horizontal advancing direction to realize the advancing of the device;
the right turn is realized by the device, when the upper propeller and the lower propeller rotate forwards and the thrust is different, and the thrust of the upper propeller is greater than that of the lower propeller, the component force of the upper propeller in the horizontal advancing direction is greater than that of the lower propeller in the horizontal advancing direction, the propelling speed of the left side is greater than that of the right side, and the device realizes right turn;
the left turn is realized by the device, when the upper propeller and the lower propeller rotate forwards and the thrust is different, and the thrust of the lower propeller is greater than that of the upper propeller, the component force of the lower propeller in the horizontal advancing direction is greater than that of the upper propeller in the horizontal advancing direction, the propelling speed of the right side is greater than that of the left side, and the device realizes the left turn.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910965601.9A CN110816803B (en) | 2019-10-12 | 2019-10-12 | Device and method for controlling small helium balloon double propellers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910965601.9A CN110816803B (en) | 2019-10-12 | 2019-10-12 | Device and method for controlling small helium balloon double propellers |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110816803A true CN110816803A (en) | 2020-02-21 |
| CN110816803B CN110816803B (en) | 2023-05-02 |
Family
ID=69548935
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910965601.9A Active CN110816803B (en) | 2019-10-12 | 2019-10-12 | Device and method for controlling small helium balloon double propellers |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110816803B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050279880A1 (en) * | 2004-06-18 | 2005-12-22 | Mutsuro Bundo | Multi-purpose airship |
| US20130146703A1 (en) * | 2010-08-27 | 2013-06-13 | Hipersfera D.O.O. | Autonomous stratospheric unmanned airship |
| CN204642143U (en) * | 2015-01-15 | 2015-09-16 | 深圳光启空间技术有限公司 | Propeller arrangement, vector propulsion system and aircraft |
| CN205239886U (en) * | 2015-12-21 | 2016-05-18 | 深圳光启空间技术有限公司 | Aerostatics |
| CN206171785U (en) * | 2016-11-09 | 2017-05-17 | 申子路 | Helium balloon unmanned aerial vehicle |
-
2019
- 2019-10-12 CN CN201910965601.9A patent/CN110816803B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050279880A1 (en) * | 2004-06-18 | 2005-12-22 | Mutsuro Bundo | Multi-purpose airship |
| US20130146703A1 (en) * | 2010-08-27 | 2013-06-13 | Hipersfera D.O.O. | Autonomous stratospheric unmanned airship |
| CN204642143U (en) * | 2015-01-15 | 2015-09-16 | 深圳光启空间技术有限公司 | Propeller arrangement, vector propulsion system and aircraft |
| CN205239886U (en) * | 2015-12-21 | 2016-05-18 | 深圳光启空间技术有限公司 | Aerostatics |
| CN206171785U (en) * | 2016-11-09 | 2017-05-17 | 申子路 | Helium balloon unmanned aerial vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110816803B (en) | 2023-05-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR102018970B1 (en) | Rotorcraft | |
| CN202319771U (en) | Air-land dual-purpose aircraft | |
| CN203318676U (en) | Coaxial double-wing aircraft with moving centre-of-gravity ball | |
| CN110182352B (en) | Air-floating unpowered long-endurance aircraft and control method thereof | |
| CN110015415B (en) | Double-shaft tilting four-rotor aircraft | |
| CN113954592B (en) | Six-rotor amphibious unmanned aerial vehicle based on FOC power system capable of tilting | |
| CN108177766A (en) | Multi-rotor unmanned aerial vehicle | |
| CN106956773A (en) | Tilting rotor formula VUAV and its control method | |
| CN105775122A (en) | Tilt rotor type aircraft | |
| CN107651184B (en) | Non-variable-pitch helicopter | |
| CN107953987B (en) | Series hybrid power vector propulsion sea-air detection carrying platform | |
| CN110816803A (en) | Small helium balloon double propeller control device and method | |
| CN110844039A (en) | Electric airship | |
| CN115771364A (en) | Water-air amphibious vector multi-rotor aircraft based on synchronous belt transmission structure and control method | |
| CN108973561A (en) | A kind of electronic hovercar | |
| CN113928068A (en) | Underwater aerial cross-domain aircraft and cross-domain navigation method thereof | |
| CN212022972U (en) | Vertical take-off and landing aircraft | |
| CN210191823U (en) | Shoulder-back type electric vertical take-off and landing aircraft and vertical electric vertical take-off and landing aircraft | |
| CN211494448U (en) | Coaxial double-rotor unmanned aerial vehicle | |
| CN113086216A (en) | Gyro battery aircraft | |
| CN106741932A (en) | A kind of axle unmanned plane of mixed type nine based on VTOL | |
| CN111959755A (en) | Tilt rotor type balloon unmanned aerial vehicle | |
| CN105151285A (en) | Novel multi-axis unmanned aerial vehicle achieving low cruising energy consumption | |
| US20240051643A1 (en) | Water vehicle | |
| CN210882614U (en) | Novel vertical take-off and landing fixed wing aircraft |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |