CN110949658A - Miniature shaftless ducted rotor craft and flight control method thereof - Google Patents
Miniature shaftless ducted rotor craft and flight control method thereof Download PDFInfo
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- CN110949658A CN110949658A CN201911282843.4A CN201911282843A CN110949658A CN 110949658 A CN110949658 A CN 110949658A CN 201911282843 A CN201911282843 A CN 201911282843A CN 110949658 A CN110949658 A CN 110949658A
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- 229910001285 shape-memory alloy Inorganic materials 0.000 claims description 11
- 239000002131 composite material Substances 0.000 claims description 10
- 238000005452 bending Methods 0.000 claims description 8
- 230000003313 weakening effect Effects 0.000 claims description 3
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- 201000009482 yaws Diseases 0.000 claims description 2
- 238000013461 design Methods 0.000 abstract description 7
- 230000007246 mechanism Effects 0.000 abstract description 5
- 230000003044 adaptive effect Effects 0.000 description 8
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
- B64C27/14—Direct drive between power plant and rotor hub
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C9/00—Adjustable control surfaces or members, e.g. rudders
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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Abstract
The invention provides a miniature shaftless ducted rotor craft and a flight control method thereof, wherein the miniature shaftless ducted rotor craft comprises a duct, and a plurality of paddle wing structures and self-adaptive control surface structures which are arranged in the duct, wherein each paddle wing structure comprises an upper fixed bearing and a lower fixed bearing which are fixed on the inner wall of the duct, a motor, a stator, a rotor, a paddle and a rotating ring are arranged between the upper fixed bearing and the lower fixed bearing, an air gap is formed between the stator and the rotor, and the paddle and the rotating ring are connected into a whole so as to be connected with the stator; the self-adaptive control surface structure is distributed below the paddle wing structure. Compared with the traditional ducted rotor, the invention generates larger lift force and consumes less energy, the integrated design of the motor, the duct and the rotor ensures that no gap exists between the blade and the motor, the influence of the small deformation of the duct on the overall aerodynamic efficiency and safety is reduced, and meanwhile, the operation mechanism is simple, light in weight and easy to operate, thereby being more suitable for a micro aircraft.
Description
Technical Field
The invention relates to the field of rotor crafts, in particular to a miniature shaftless ducted rotor craft and a flight control method thereof.
Background
Micro-aircraft are of interest for particular applications. One important application is military reconnaissance, which can be equipped to soldier shifts for enemy reconnaissance and surveillance. It can also be used for war danger estimation, target search, communication relay, monitoring chemical, nuclear or biological weapons, and reconnaissance of the internal conditions of buildings. It is suitable for various war environments such as city, jungle, etc. Because of the advantages of convenient carrying, simple operation and good safety, the utility model can be equipped in large quantities in troops. In the non-military field, micro-aircraft equipped with corresponding sensors can be used to search for disaster survivors, sources of toxic gases or chemicals, to exterminate crop pests, and the like.
The micro-aircraft under study are mainly of three types, one is a fixed wing model like an airplane, the second is a flapping wing model like insects and birds, and the third is a rotor wing model like a helicopter. However, the existing miniature rotor craft generally has the defects that the size of the craft is large due to the complexity of the operating mechanism, and the operating efficiency of the operating mechanism is low.
Disclosure of Invention
The invention provides a micro non-axial duct rotor craft and a flight control method thereof for solving the problems of the prior art, wherein a non-axial duct rotor power system is used as main power, servo flaps made of intelligent piezoelectric composite materials are used for controlling pitching and yawing motion, a self-adaptive control surface is used for balancing rotor counter torque and controlling rolling motion, the non-axial duct rotor craft generates larger lift force and consumes less energy than the traditional duct rotor craft, the motor-duct-rotor craft integrated design ensures that no gap exists between a blade and a motor, the influence of the small deformation of a duct body on the overall aerodynamic efficiency and safety is reduced, and meanwhile, an operating mechanism is simple, light in weight and easy to operate and is more suitable for the micro craft.
The invention comprises a duct, a plurality of paddle wing structures and a self-adaptive control surface structure, wherein the paddle wing structures and the self-adaptive control surface structure are arranged in the duct; the self-adaptive control surface structure is distributed below the paddle wing structure and comprises a plurality of control surfaces connected with the duct through fixing blocks, the tail edges of the control surfaces are a plurality of thin plates connected through crossed elastic sheets, and the thin plates are connected with shape memory alloys.
The lifting device used in the invention is different from other ducted lifting systems, and the fixed bearings are positioned at two sides of the rotating ring and used for determining the axial position of the rotating ring and transmitting the thrust generated by the rotation of the blades. The motor part is positioned between 2 fixed bearings, the rotor blades are connected with the motor rotor through a rotating ring to replace axial connection through radial connection, so that the rotor and the motor become an inseparable integrated whole, the multi-magnetic-pole stator is fixed between the bearings at two ends, and when the motor works, the rotor drives the rotor blades to rotate relative to the multi-magnetic-pole stator. The shaftless ducted rotor lift device adopts an integrated design of a motor, a duct and a rotor, so that the structure of a lift body is more compact, the shaftless ducted rotor lift device removes a supporting rotor shaft system and related accessories thereof, the flow area of the part in the duct is increased, the flow resistance is reduced, the distribution of the chord length of the blade of the shaftless ducted rotor lift device is opposite to that of the traditional ducted rotor, the chord length of the part with high rotating speed of the blade of the shaftless ducted rotor lift device is longer, and the rotating speed of the part with low rotating speed is lower, so that the shaftless ducted rotor lift device can generate larger lift force than the traditional ducted rotor, and the gap between the duct and the rotor in the traditional ducted rotor is not provided, so that the pneumatic performance of the whole ducted rotor. Meanwhile, a speed reducer and a transmission shaft system are removed from the motor, so that compared with the traditional ducted rotor wing, the noise and vibration generated by the shaftless ducted rotor wing lift device are lower, the power density and efficiency of the motor are improved, and the energy loss can be reduced by 15% -20% compared with the traditional ducted rotor wing.
The intelligent piezoelectric material rotor wing mainly comprises four variable camber blades with trailing edges made of coarse fiber piezoelectric composite Materials (MFC). The change of the camber of the blade is realized by changing the electrified current of the MFC, the aerodynamic force of the blade is changed by changing the camber, and the pitching and rolling control is realized by controlling the aerodynamic force of the four blades at different azimuth angles to provide pitching and rolling moments. Compared with the traditional ducted rotor control system, the ducted rotor control system has the advantages that the automatic tillers are eliminated, the size is reduced, and the structural weight is greatly reduced.
The self-adaptive control surface structure mainly comprises a control surface, Shape Memory Alloy (SMA) and an elastic sheet. The rudder surface is externally sleeved with a covering made of flexible materials, the rear edge structure of the rudder surface is composed of 5 thin plates which are sequentially connected, and elastic sheets are arranged among the thin plates in a crossed mode. The thin sheet and the SMA form a driving system, can change the geometric shape and can bear certain load. The SMA is heated to change phase and contract to drive the thin plate to deflect around a rotation center, so that the trailing edge of the whole control surface moves relatively, the aerodynamic lift force of the control surface is changed to change the torque of the whole adaptive control surface, and the counteracting or rolling operation of the reactive torque is realized. The self-adaptive control surface has no traditional mechanical control mechanism, simple structure and light weight, and is suitable for the design of a micro aircraft.
The invention also provides a flight control method of the miniature shaftless ducted rotor craft, which comprises the following flight control processes:
1) when the aircraft needs to lower the head, the electrified voltage of the rear edge of the piezoelectric composite material blade in the blade is weakened at the upper part, the bending degree of the rear edge of the blade at the position is reduced, so that the lift force is reduced, the electrified voltage of the rear edge of the piezoelectric composite material blade in the blade is increased at the lower part, so that the bending degree of the rear edge of the blade at the position is increased, the lift force is increased, a head-lowering moment is generated, and the aircraft raises the head;
2) when the aircraft needs to raise the head, the aircraft flies in a raising way by increasing the upper lifting force and weakening the lower lifting force in the same way as the step 1);
3) when the aircraft needs to yaw left, the left lift force is weakened in the same way as the step 1), and the right lift force is increased, so that the aircraft yaws left;
4) when the aircraft needs right yaw, increasing left lift force in the same way as the step 1), and reducing right lift force to yaw rightwards;
5) when the aircraft rolls, the downwash flow of the rotor wing hits on the control surface to enable the control surface to generate aerodynamic force, the magnitude of the force on the same direction of the plurality of control surfaces is changed by adjusting the current magnitude of the shape memory alloy, so that the magnitude of the torque generated by the self-adaptive control surface is adjusted, when the torque is equal to the torque of the rotor wing, the aircraft does not roll, when the torque is larger than the torque of the rotor wing, the aircraft rolls clockwise, and when the torque is smaller than the torque of the rotor wing, the aircraft rolls anticlockwise.
The invention has the beneficial effects that:
(1) the shaftless ducted rotor lift device has the advantages that the motor-ducted-rotor integrated design is adopted, the structure is compact, no other structure is adopted in the middle of the ducted structure except for the blades, the flow field of the rotor is not interfered by an additional structure, the pneumatic efficiency is improved, the blade chord length distribution is opposite to that of the traditional ducted rotor, the partial chord length with high rotating speed of the blades is longer, and the partial chord length with low rotating speed is shorter, so that the shaftless ducted rotor lift device can generate larger lift force compared with the traditional ducted rotor, no gap exists between the blades and the motor, and the influence of the small deformation of the ducted body on the overall.
(2) The paddle and the motor are combined into a whole, a speed reducer and a transmission shaft system of a traditional ducted rotor lifting body are not needed, energy transmission loss is reduced, and energy utilization rate is improved.
(3) Bear the biggest department of aerodynamic load and be located the duct wall, the structure itself is just strong, does not have axle duct rotor lift device moreover and does not need reduction gear and transmission shafting, therefore noise and vibration that its during operation produced are compared traditional duct rotor and will be littleer.
(4) The paddle is made of piezoelectric materials, so that the control of the aircraft is realized while the lift force is generated, the structural weight of the aircraft is reduced, and the control efficiency is improved.
(5) The self-adaptive control surface has the advantages of simple structure, high operation efficiency and no redundant mechanical structure, and reduces the volume and weight of the aircraft.
In the military aspect:
(1) the maneuverability is unique, and the duct improves the anti-interference capability of the micro aircraft, and is suitable for investigation work in complex environment.
(2) Low noise and good concealment. The culvert is placed in the edge in the rotor, has cancelled noise such as traditional culvert rotor reduction gear and transmission shafting simultaneously, vibration main production source, has reduced the noise to the culvert has reduced the heat radiation nature of complete machine, has improved the disguise.
(3) The design of full electrification, intelligent rotor and self-adaptation control surface alleviates aircraft structure weight, improves aircraft and flies reliability, maintainability and maneuverability.
In the civil aspect:
(1) by means of its small volume, police reconnaissance tasks can be performed.
(2) In the aspect of movie and television production, a video shooting task in a narrow environment can be performed.
(3) The method can be used for detecting cracks in factory buildings and chimneys, detecting harmful gases in chemical plants and the like.
Drawings
FIG. 1 is a general view of a miniature shaftless ducted rotary wing aircraft;
figure 2 is a cross-sectional view of a shaftless ducted rotor power plant;
FIG. 3 is a schematic diagram of a smart piezoelectric material paddle;
FIG. 4 is a schematic diagram of an adaptive control surface structure;
FIG. 5 is a schematic diagram of the structure of an adaptive control surface;
FIG. 6 is a schematic view of the pitch and yaw maneuvers of a miniature shaftless ducted rotorcraft;
figure 7 is a schematic view of a roll maneuver for a miniature, non-axial ducted rotary wing aircraft.
In the figure, a duct-1, an upper fixed bearing-2, a stator-3, an air gap-4, a rotor-5, a blade-6, a rotating ring-7, a lower fixed bearing-8, a blade trailing edge-9, an adaptive control surface structure-10, an undercarriage-11, a control surface-12, a fixed block-13, an elastic sheet-14, a thin plate-15 and a shape memory alloy-16.
Detailed Description
The invention will be further explained with reference to the drawings.
The general structure of the invention is shown in fig. 1, and as can be seen from fig. 1, the rotor consists of four blades 6, the blades 6 are connected with a rotating ring 7, and no air gap exists between the rotor and the duct 1.
Fig. 2 is a cross-sectional view of a shaftless ducted rotor lift device, which is mainly characterized in that a stator 3, a rotor 5 and a blade 6 are installed between an upper fixed bearing 2 and a lower fixed bearing 8, the upper fixed bearing 2 and the lower fixed bearing 8 play roles in fixing and limiting, and thrust generated by rotation of the blade 6 can be transmitted. An air gap 6 is formed between the stator 3 and the rotor 5, the blades 6 are connected with the rotating ring 7 so as to be connected with the stator 3 into a whole, and the axial connection of the traditional ducted rotor is replaced by radial connection, so that the rotor and the motor become an inseparable integrated whole.
Fig. 3 is a schematic diagram of an intelligent piezoelectric material blade, and in fig. 3, the intelligent piezoelectric material rotor mainly includes four identical blades 6 and a piezoelectric composite material blade trailing edge 9. The torsion angle of the trailing edge 9 of the piezoelectric composite material blade can be changed by changing the electrified voltage, so that the lift force of the blade 6 is changed.
Fig. 4 and 5 show the adaptive control surface structure 10, the adaptive control surface 10 mainly comprises 8 control surfaces 12, the control surfaces 12 are fixed on a fixing block 13, and the fixing block 13 is connected with the duct 1. The structure of the tail edge of the control surface 12 is shown in fig. 5, 5 thin plates 15 are connected through crossed elastic sheets 14, the thin plates 15 are connected with shape memory alloys 16, the shape memory alloys 16 are heated and changed in phase to shrink, the thin plates 15 are driven to deflect around a rotation center, and therefore the tail edge of the whole control surface 12 moves relatively, the aerodynamic lift force of the control surface 12 is changed, the torque of the whole adaptive control surface 10 is changed, and counteracting or rolling operation of reaction torque is achieved.
Fig. 6 is a schematic view of pitching and yawing operations of a miniature shaftless ducted rotorcraft, which is mainly characterized in that the miniature shaftless ducted rotorcraft mainly comprises four directions, namely, up, down, left and right directions in the figure, when the miniature rotorcraft needs to lower the head, the magnitude of the power-on voltage of the rear edge 9 of the piezoelectric composite material blade in the blade 6 is weakened at the upper part, the bending degree of the rear edge of the blade at the position is reduced, the lift force is reduced due to the reduction of the bending degree of the rear edge of the blade at the position, the bending degree of the rear edge of the blade at the position is increased, the lift force is increased due to the increase of the bending degree of the rear edge of the blade at the position, a head-lowering moment is generated, the miniature rotorcraft is raised, and similarly.
Fig. 7 is a schematic diagram of the roll operation of a miniature non-axial ducted rotor aircraft, wherein the downwash of the rotor hitting the control surfaces 12 will cause aerodynamic forces on the control surfaces 12, and the magnitude of the force in the direction shown in fig. 7 on the control surfaces 12 of the 8 pieces can be changed by adjusting the magnitude of the current of the shape memory alloy 16, so as to adjust the magnitude of the torque generated by the adaptive control surfaces 10, when the torque is equal to the torque of the rotor, the aircraft will not roll, when the torque is greater than the torque of the rotor, the aircraft will roll clockwise, and when the torque is less than the torque of the rotor, the aircraft will roll counterclockwise.
The power device adopted by the invention mainly comprises a fixed bearing, a stator, a rotor, a duct, a rotor wing and the like. Stator 3, rotor 5 and paddle 6 are installed between last fixed bearing 2 and lower fixed bearing 8, go up fixed bearing 2 and play fixed and spacing effect with lower fixed bearing 8, can transmit the rotatory thrust that produces of paddle 6 simultaneously. An air gap 6 is formed between the stator 3 and the rotor 5, the blades 6 are connected with the rotating ring 7 so as to be connected with the stator 3 into a whole, the axial connection of the traditional ducted rotor is replaced by radial connection, the rotor and the motor are integrated into an inseparable whole, and the motor-ducted-rotor integrated design is realized. When the shaftless ducted rotor lift device works, power is supplied from the outside, and the rotor 5 drives the blades 6 to rotate relative to the stator 3. The main parameters of the shaftless ducted lift device are shown in the following table. The shaftless ducted rotor lift device with the same size in the hovering state is measured by tests and theoretical calculation to have the lift higher than that of the traditional ducted rotor lift device by 18.1 percent, the required power is reduced by 4.2 percent, and the result shows that the aerodynamic performance of the shaftless ducted rotor lift device is superior to that of the traditional ducted rotor lift device.
Value of parameter
Rotor radius (mm) 8;
the disc solidity is 0.12;
rotor wing profile NACA 2412;
a duct aerofoil NACA 0019;
the number of blades is 4;
duct spread angle/(°) 8;
blade negative twist/(°) -28;
paddle height (mm) 5;
duct height (mm) 7.5;
central aperture (mm) 1.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
While the invention has been described in terms of its preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (6)
1. The utility model provides a miniature shaftless duct rotor craft which characterized in that: the self-adaptive control system comprises a duct, a plurality of paddle wing structures and a self-adaptive control surface structure, wherein the paddle wing structures and the self-adaptive control surface structure are arranged in the duct, the paddle wing structures comprise an upper fixed bearing and a lower fixed bearing which are fixed on the inner wall of the duct, a motor, a stator, a rotor, paddles and a rotating ring are arranged between the upper fixed bearing and the lower fixed bearing, an air gap is formed between the stator and the rotor, and the paddles are connected with the rotating ring so as to be connected with the stator into a; the self-adaptive control surface structure is distributed below the paddle wing structure and comprises a plurality of control surfaces connected with the duct through fixing blocks, the tail edges of the control surfaces are a plurality of thin plates connected through crossed elastic sheets, and the thin plates are connected with shape memory alloys.
2. The miniature shaftless ducted rotary wing aircraft according to claim 1, wherein: the paddle wing structure comprises four paddles, and the rear edges of the paddles are made of piezoelectric composite materials.
3. The miniature shaftless ducted rotary wing aircraft according to claim 1 or 2, wherein: the part of the blade with high rotating speed has longer chord length, and the part with low rotating speed has shorter chord length.
4. The miniature shaftless ducted rotary wing aircraft according to claim 1, wherein: the self-adaptive control surface structure consists of 8 control surfaces, and the tail edges of the control surfaces are connected by 5 thin plates through crossed elastic sheets.
5. A flight control method of a miniature shaftless ducted rotor craft is characterized by comprising the following flight control processes:
1) when the aircraft needs to lower the head, the electrified voltage of the rear edge of the piezoelectric composite material blade in the blade is weakened at the upper part, the bending degree of the rear edge of the blade at the position is reduced, so that the lift force is reduced, the electrified voltage of the rear edge of the piezoelectric composite material blade in the blade is increased at the lower part, so that the bending degree of the rear edge of the blade at the position is increased, the lift force is increased, a head-lowering moment is generated, and the aircraft raises the head;
2) when the aircraft needs to raise the head, the aircraft flies in a raising way by increasing the upper lifting force and weakening the lower lifting force in the same way as the step 1);
3) when the aircraft needs to yaw left, the left lift force is weakened in the same way as the step 1), and the right lift force is increased, so that the aircraft yaws left;
4) and when the aircraft needs to yaw to the right, increasing the left lift force and weakening the right lift force to yaw to the right in the same way as the step 1).
6. The method of claim 5 wherein the method comprises: when the aircraft rolls, the downwash flow of the rotor wing hits on the control surface to enable the control surface to generate aerodynamic force, the magnitude of the force on the same direction of the plurality of control surfaces is changed by adjusting the current magnitude of the shape memory alloy, so that the magnitude of the torque generated by the self-adaptive control surface is adjusted, when the torque is equal to the torque of the rotor wing, the aircraft does not roll, when the torque is larger than the torque of the rotor wing, the aircraft rolls clockwise, and when the torque is smaller than the torque of the rotor wing, the aircraft rolls anticlockwise.
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| CN114030602A (en) * | 2021-11-19 | 2022-02-11 | 中国直升机设计研究所 | Active coaxial high-efficiency rotor system |
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|---|---|---|---|---|
| CN112193406A (en) * | 2020-10-10 | 2021-01-08 | 车欣 | Novel aircraft power device |
| CN114030602A (en) * | 2021-11-19 | 2022-02-11 | 中国直升机设计研究所 | Active coaxial high-efficiency rotor system |
| CN114030602B (en) * | 2021-11-19 | 2023-09-05 | 中国直升机设计研究所 | Rotor system capable of actively adjusting coaxiality |
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