CN111086631A - Unmanned aircraft and flight control method of unmanned aircraft - Google Patents
Unmanned aircraft and flight control method of unmanned aircraft Download PDFInfo
- Publication number
- CN111086631A CN111086631A CN202010011861.5A CN202010011861A CN111086631A CN 111086631 A CN111086631 A CN 111086631A CN 202010011861 A CN202010011861 A CN 202010011861A CN 111086631 A CN111086631 A CN 111086631A
- Authority
- CN
- China
- Prior art keywords
- engine
- horn
- aerial vehicle
- unmanned aerial
- rotor
- 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.)
- Pending
Links
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000001276 controlling effect Effects 0.000 description 6
- 230000007423 decrease Effects 0.000 description 4
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- 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
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/16—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like specially adapted for mounting power plant
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention relates to the technical field of unmanned planes, in particular to an unmanned plane and a flight control method of the unmanned plane. The application provides an unmanned aerial vehicle, which comprises a vehicle body, a plurality of vehicle arms and a plurality of rotor wings; the multiple machine arms are arranged on the machine body, one ends of the machine arms are connected with the machine body, and the other ends of the machine arms extend in the direction far away from the machine body; be provided with a plurality of engines along the length extending direction of horn, all install the rotor on each engine, all be provided with a plurality of rotors on each horn of unmanned aerial vehicle of this application embodiment promptly. Therefore, when the number of the rotors is fixed, the number of the arms of the unmanned aerial vehicle is reduced, so that the structure of the unmanned aerial vehicle is simplified, the weight of the vehicle body is reduced, and the flight performance is improved. The application also provides a flight control method of the unmanned aerial vehicle, so that the unmanned aerial vehicle can normally fly or stably land under the condition that the engine of the unmanned aerial vehicle has a fault.
Description
Technical Field
The invention relates to the technical field of unmanned planes, in particular to an unmanned plane and a flight control method of the unmanned plane.
Background
The rotors of the existing multi-rotor unmanned aircraft are arranged on the arms in a one-to-one correspondence manner, so that a plurality of rotors are arranged around the fuselage in a circumferential manner, however, the arrangement has the problem of large structural weight. In addition, the unmanned aerial vehicle may have an engine failure during the flight, and the engine failure directly affects the flight performance of the unmanned aerial vehicle.
Disclosure of Invention
The application aims to provide an unmanned aircraft and a flight control method of the unmanned aircraft, so that the weight of the unmanned aircraft is reduced, and the flight performance of the unmanned aircraft is improved.
The application provides an unmanned aerial vehicle, which comprises a vehicle body, a plurality of vehicle arms and a plurality of rotor wings;
the plurality of machine arms are arranged on the machine body, and a plurality of engines are arranged on each machine arm along the length direction of the machine arm;
the rotors are mounted on the engines in a one-to-one correspondence.
In the above technical solution, preferably, two adjacent horn arms of the plurality of horn arms are angularly arranged, and the axes of the two horn arms arranged at an interval of one horn arm are collinear; the number of the engines on each machine arm is the same and the positions of the engines are corresponding.
In any one of the above technical solutions, preferably, the engine that sets up on each horn includes first engine and second engine, first engine is close to the fuselage sets up, just rotor on the first engine is inboard rotor, the second engine is kept away from the fuselage sets up, just rotor on the second engine is the lateral rotor.
In any one of the above technical solutions, preferably, a folding joint is provided on the horn corresponding to a position between the first engine and the second engine, so that the outer rotor can be folded toward the fuselage side.
When one or more engines of the unmanned aircraft have faults, the rotation direction and/or the rotation speed of the other engines are correspondingly adjusted, so that the unmanned aircraft can fly normally or land gradually.
In the above technical solution, preferably, when one engine on one horn of the unmanned aerial vehicle fails, the engine on the horn coaxial with the failed horn at the same position as the failed engine stops rotating, and the remaining engines increase the rotation speed;
when all engines on one horn of the unmanned aerial vehicle fail, all engines on the horn adjacent to the failed horn increase the rotating speed, and all engines on the horn coaxial with the failed horn rotate forwards, reversely or stop rotating according to the inclination condition of the unmanned aerial vehicle.
In the above technical solution, preferably, when one engine on one horn of the unmanned aerial vehicle fails and an engine on the same position on the horn coaxial with the failed horn corresponding to the failed engine also fails, the remaining engines increase the rotation speed;
when an engine on an arm of unmanned aerial vehicle breaks down, and also breaks down with the engine that corresponds different positions on the horn of the horn coaxial line that breaks down with the engine that breaks down, the reduction rate of all the other engines on the horn of the inboard rotor that the engine that breaks down corresponds, the increase rate of all the other engines on the horn of the outside rotor that the engine that breaks down corresponds, among all the other horns correspond the less range increase rate of rotation of the engine that corresponds the outside rotor on the horn, among all the other horns correspond the great range increase rate of rotation of the engine that corresponds the inboard rotor on the horn.
In the above technical solution, preferably, when the engines corresponding to the same positions on two adjacent booms of the unmanned aerial vehicle have a fault, if the faulty engine corresponds to the inner rotor, the engine corresponding to the outer rotor on the boom with the fault increases the rotation speed by a small margin, the engine corresponding to the inner rotor on the boom without the fault increases the rotation speed by a large margin, and the engine corresponding to the outer rotor on the boom without the fault decreases the rotation speed; if the engine with the fault corresponds to the outer rotor wing, the rotating speed of the engine corresponding to the inner rotor wing on the horn with the fault is increased in a large range, the rotating speed of the engine corresponding to the inner rotor wing on the horn without the fault is increased in a small range, and the rotating speed of the engine corresponding to the outer rotor wing on the horn without the fault is reduced;
when unmanned aerial vehicle appears corresponding the engine of different positions on two adjacent horn and breaks down, the great range increase rotational speed of outside rotor that trouble engine corresponds the horn of inboard rotor, and the great range increase rotational speed of inboard rotor that trouble engine corresponds the horn of outside rotor, all the other less range increase rotational speeds of all engines.
In the above technical solution, preferably, the rotation speed of the inner rotor of the unmanned aerial vehicle is constant, and the rotation speed of the outer rotor of the unmanned aerial vehicle can be changed.
In the above technical solution, preferably, on the same boom of the unmanned aerial vehicle, the rotation directions of the inner rotor and the outer rotor are opposite.
Compared with the prior art, the invention has the beneficial effects that:
the application provides an unmanned aerial vehicle, which comprises a vehicle body, a plurality of vehicle arms and a plurality of rotor wings; the multiple machine arms are arranged on the machine body, one ends of the machine arms are connected with the machine body, and the other ends of the machine arms extend in the direction far away from the machine body; be provided with a plurality of engines along the length extending direction of horn, all install the rotor on each engine, all be provided with a plurality of rotors on each horn of unmanned aerial vehicle of this application embodiment promptly. Therefore, when the number of the rotors is fixed, the number of the arms of the unmanned aerial vehicle is reduced, so that the structure of the unmanned aerial vehicle is simplified, the weight of the vehicle body is reduced, and the flight performance is improved.
The application provides a flight control method of an unmanned aerial vehicle, which is used for realizing normal flight or stable landing of the unmanned aerial vehicle under the condition that the engine of the unmanned aerial vehicle has a fault.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic overall structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural view of the unmanned aerial vehicle according to the first embodiment of the present invention after folding the arm;
FIG. 3 is an enlarged view taken at A in FIG. 2;
fig. 4 is a schematic view illustrating a rotation direction of a rotor of an unmanned aerial vehicle according to a second embodiment of the present invention;
FIG. 5 is a schematic view of a flight control scheme provided in a third embodiment of the present invention;
FIG. 6 is a schematic view of a flight control scheme provided in a third embodiment of the present invention;
FIG. 7 is a schematic view of a flight control scheme provided in a third embodiment of the present invention;
FIG. 8 is a schematic view of a flight control scheme provided in accordance with a third embodiment of the present invention;
FIG. 9 is a schematic view of a flight control scheme provided in accordance with a third embodiment of the present invention;
FIG. 10 is a schematic view of a flight control scheme provided in accordance with a third embodiment of the present invention;
fig. 11 is a schematic view of a flight control scheme according to a third embodiment of the present invention.
Reference numerals:
1-fuselage, 2-horn, 21-inboard horn, 22-outboard horn, 3-first engine, 31-inboard rotor, 4-second engine, 41-outboard rotor, 5-folding joint, 6-avionic module, 7-battery, 8-landing gear.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention.
The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention.
All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The unmanned aircraft and the flight control method of the unmanned aircraft according to some embodiments of the present invention are described below with reference to fig. 1 to 11.
Example one
Referring to fig. 1 to 3, the present application provides an unmanned aerial vehicle including a fuselage 1, a plurality of booms 2, and a plurality of rotors; the plurality of the horn 2 are arranged on the machine body 1, one end of the horn 2 is connected with the machine body 1, and the other end of the horn 2 extends in the direction far away from the machine body 1; be provided with a plurality of engines along the length extending direction of horn 2, all install the rotor on each engine, all be provided with a plurality of rotors on each horn 2 of unmanned aerial vehicle of this application embodiment promptly. Therefore, the unmanned aerial vehicle of the embodiment of the application reduces the number of the arms 2 when the number of the rotors is fixed, thereby simplifying the structure of the unmanned aerial vehicle and reducing the weight of the fuselage 1.
In addition, the rotors on the arms 2 are controlled independently, so that a part of the rotors on one arm 2 (for example, a single arm 2) can be selected as driving rotors, namely, the rotors are used for providing lift for the unmanned aerial vehicle, the other part of the rotors are used as control rotors, namely, the rotors are used for controlling the flight direction of the unmanned aerial vehicle during the flight of the unmanned aerial vehicle, no conversion is needed between the driving rotors and the control rotors, and mutual interference is avoided, so that the corresponding engines of the driving rotors and the control rotors can work continuously at the optimal rotating speed, and the driving rotors can generate the maximum available lift.
It should be noted that the rotation speed of the engine for driving the rotor for providing lift is constant to provide stable lift, and the rotation speed of the engine for controlling the rotor for controlling the direction is variable to control the flight direction of the unmanned aerial vehicle.
In the embodiment of the present application, preferably, the multiple booms 2 are located on the same plane, and in order to improve the balance and stability of the flight of the unmanned aerial vehicle, two adjacent booms 2 of the multiple booms 2 are disposed at an angle, the axes of the two booms 2 disposed at an interval (i.e., across) one boom 2 are collinear, and the number of the engines on each boom 2 is the same and the positions thereof are corresponding. For example, as shown in fig. 1 and 2, in the case where the number of the plurality of booms 2 is four, assuming that the four booms 2 are a first boom, a second boom, a third boom, and a fourth boom arranged in the circumferential direction, the first boom is arranged at an angle with the second boom and the fourth boom, respectively, the third boom is arranged at an angle with the second boom and the fourth boom, respectively, the first boom is arranged at an opposite angle with the third boom and the axis is collinear, and the second boom is arranged at an opposite angle with the fourth boom and the axis is collinear.
Furthermore, in the embodiment of the present application, it is preferable that the engine provided on each horn 2 includes a first engine 3 and a second engine 4, wherein the first engine 3 is provided close to the fuselage 1, that is, on the inner side of the horn 2, so that the rotor mounted on the first engine 3 is an inner rotor 31, and the inner rotor 31 is a lift rotor for providing lift to the unmanned aircraft; second engine 4 is located far from fuselage 1, i.e. outside horn 2, so that the rotor mounted on second engine 4 is outer rotor 41, and outer rotor 41 is the control rotor, for controlling the flight direction of the drone. Because the arm of force that sets up the engine in the horn 2 outside corresponding is longer, and the arm of force that sets up the engine in the horn 2 inboard corresponding is shorter, consequently set up the second engine 4 in the horn 2 outside and can reduce the influence to total lift when producing great control moment to control unmanned aerial vehicle's flight better.
Further preferably, referring to fig. 1 to 3, the drawings of the embodiment of the present application show that the booms 2 of the unmanned aerial vehicle are arranged in a four-arm structure, for example (however, the number is not limited thereto, and eight-arm structures may be used as required), and as described above, two opposite-angle booms 2 of the four booms 2 are coaxial, two engines are respectively arranged on each boom 2, and respectively are the first engine 3 and the second engine 4, and the corresponding rotors are the inner rotor 31 and the outer rotor 41, the rotation speed of the inner rotor 31 is constant for providing lift force to the unmanned aerial vehicle, and the rotation speed of the outer rotor 41 is variable for controlling the flight direction of the unmanned aerial vehicle, i.e., obtaining an eight-rotor unmanned aerial vehicle with four booms 2.
Furthermore, preferably, referring to fig. 2 and 3, in order to reduce the space occupied when the unmanned aerial vehicle is parked, the booms 2 of the unmanned aerial vehicle according to the embodiment of the present application are foldable, and each of the booms 2 is provided with a folding joint 5, the folding joint 5 divides the boom 2 into an inner boom 21 and an outer boom 22, and the folding joint 5 is provided to enable the outer boom 22 to be folded close to the body 1, so that the extension length of the folded boom 2 is reduced, thereby reducing the space occupied when the unmanned aerial vehicle is parked.
Further preferably, as shown in fig. 2 and 3, the folding joint 5 is disposed between the first engine 3 and the second engine 4, i.e., the first engine 3 is disposed on the inner boom 21 and the second engine 4 is disposed on the outer boom 22. When the unmanned aerial vehicle takes off, the unmanned aerial vehicle can take off under light load, namely, when the unmanned aerial vehicle takes off and in the flying process, the horn 2 keeps a folding state, at the moment, the second engine 4 on the outer horn 22 does not work, and the first engine 3 on the inner horn 21 drives and controls simultaneously, namely, the first engine 3 can provide lift force for the unmanned aerial vehicle and control the direction of the unmanned aerial vehicle simultaneously, namely, the original unmanned aerial vehicle is changed into a smaller unmanned aerial vehicle, the space required by taking off and landing is reduced, and the manpower and the time required by folding the horn 2 are reduced.
It should be noted that the folding joint 5 for folding on the arm 2 is a structural member in the prior art, for example, similar to the structure on a folding bicycle, a folding baby carriage, etc., and therefore, the specific structure of the folding joint 5 will not be described in detail. In addition, in order to avoid the mutual interference between the outer arms 22 during the folding process of the arms 2, it is preferable that each outer arm 22 is folded along the same direction, so that the folded outer arm 22 can be folded to the gap between the two adjacent inner arms 21, thereby avoiding the mutual interference between the outer arms 22.
Furthermore, an avionics module 6 and a battery 7 are provided on the fuselage 1, both the avionics module 6 and the battery 7 being provided at a central location on the fuselage 1, as shown in fig. 1, the battery 7 being provided on top of the avionics module 6, the avionics module 6 being used in an embodiment for controlling the flight of the unmanned aircraft, the battery 7 being used for supplying power to the avionics module 6. The undercarriage 8 is arranged below the machine body 1, the support arms 2 are respectively connected with the undercarriage 8, and the undercarriage 8 is used for stably supporting the machine body 1 and the support arms.
Example two
The embodiment of the application provides a flight control method of an unmanned aerial vehicle, so that stable flight of the unmanned aerial vehicle is realized.
Specifically, referring to fig. 4, the unmanned aerial vehicle includes a plurality of arms, each arm having a plurality of engines disposed along a length direction thereof, for example, in the embodiment shown in the figure, each arm has two engines disposed along a length direction thereof, and each engine has a rotor mounted thereon; on the same horn, the rotor close to the fuselage is an inner rotor, and the engine corresponding to the inner rotor is a first engine; the rotor wing far away from the fuselage is an outer rotor wing, and the engine corresponding to the outer rotor wing is a second engine; the rotating speed of the first engine is constant, so that the rotating speed of the inner rotor wing is constant, and the first engine is used for providing lift force for the unmanned aircraft; the second engine is variable in speed so that the outer rotor is variable in speed for changing the direction of flight of the drone. Need not between inboard rotor and the outside rotor and change and mutual noninterference to guaranteed that the engine that inboard rotor and outside rotor correspond can both continuously work at best rotational speed, and the inboard rotor can produce the biggest available lift.
In the embodiment of the present application, referring to fig. 4, preferably, on the same horn, the rotation directions of the inner rotor and the outer rotor are opposite, that is, the rotation directions of the corresponding first engine and second engine are opposite, so that the torques generated by the engines on the same horn can at least partially cancel each other, thereby reducing the stress on the horn, enhancing the flight stability of the unmanned aerial vehicle, and improving the life of the unmanned aerial vehicle.
EXAMPLE III
The embodiment of the application also provides a flight control method (namely a propeller-breaking protection scheme) of the unmanned aerial vehicle, so that the fault condition which possibly occurs to each engine of the unmanned aerial vehicle can be solved, and the normal flight or the stable landing of the unmanned aerial vehicle can be ensured.
When the controller of the unmanned aerial vehicle detects that one or more engines have faults, the controller controls the other engines to correspondingly adjust the rotating direction and/or the rotating speed so as to ensure the normal flight or the stable landing of the unmanned aerial vehicle.
It should be noted that the engine failure means that the engine cannot rotate or the rotation speed cannot be regulated, and when the engine failure is unable to rotate, the engine failure is controlled according to the following flight control method; when the rotating speed of the fault engine cannot be regulated, the controller of the unmanned aerial vehicle firstly controls the fault engine to stop rotating and then controls the fault engine according to the following flight control method.
Referring now to fig. 4 to 11, a four-arm eight-rotor unmanned aircraft is taken as an example to specifically describe a possible engine failure condition of the unmanned aircraft and a corresponding engine and flight control method, in the figures, a cross mark represents an engine failure, a prohibition symbol represents an engine shutdown, a double-headed arrow represents that the engine enters a double-headed control state (forward rotation or reverse rotation as the case may be), an upward solid-line arrow represents a large increase in rotation speed, an upward dotted-line arrow represents a small increase in rotation speed, and a downward arrow represents a decrease in rotation speed.
Specifically, referring to fig. 5, when one engine on one horn fails, the engine on the horn coaxial with the failed horn at the same position corresponding to the failed engine stops rotating to maintain the balance of the unmanned aerial vehicle, and all the other engines increase the rotating speed to avoid the single engine bearing excessive load, so as to ensure that the unmanned aerial vehicle can fly normally and stably at or close to the original speed. In this case, the engine that has failed on one horn may be an engine for the inner rotor or an engine for the outer rotor.
Specifically, referring to fig. 6, when all the engines on one horn fail, all the engines on the horn adjacent to the failed horn increase the rotation speed, and all the engines on the horn coaxial with the failed horn rotate forward, rotate backward, or stop rotating according to the inclination of the drone. When the fault occurs, if the unmanned aerial vehicle can keep a basic level, all engines on the horn coaxial with the horn with the fault stop rotating (namely are in a closed state) so as to keep the stable flight of the unmanned aerial vehicle; if the inclination angle of the unmanned aerial vehicle is too large, all the engines on the horn coaxial with the horn with the fault rotate forwards or backwards for a short time to enable the unmanned aerial vehicle to rotate forwards (the engines can only rotate forwards in a normal state), and the unmanned aerial vehicle cannot normally fly in the process and can only gradually land.
Specifically, referring to fig. 7, when one engine on one horn fails and an engine on the same position on the horn coaxial with the failed horn corresponding to the failed engine also fails, the rotational speeds of the remaining engines are increased to maintain the lift force of the unmanned aerial vehicle, thereby ensuring smooth flight of the unmanned aerial vehicle. In this case, the engine that has failed on one horn may be an engine for the inner rotor or an engine for the outer rotor.
Specifically, referring to fig. 8, when one engine on one boom fails and the engines at different positions corresponding to the failed engine on the boom coaxial with the failed boom also fail, in order to maintain the torque balance between the two booms coaxial with the failed boom, the failed engine corresponds to the reduced rotation speed of the remaining engines on the boom of the inner rotor, the failed engine corresponds to the increased rotation speed of the remaining engines on the boom of the outer rotor, while the engines corresponding to the outer rotors on some of the remaining booms increase the rotation speed to a smaller extent and the engines corresponding to the inner rotors on some of the remaining booms increase the rotation speed to a larger extent.
Specifically, when the engines corresponding to the same positions on two adjacent booms have faults, for example, as shown in fig. 9, if the faulty engine corresponds to the outer rotor, the engine corresponding to the inner rotor on the faulty boom increases the rotation speed by a large margin, the engine corresponding to the inner rotor on the non-faulty boom increases the rotation speed by a small margin, and the engine corresponding to the outer rotor on the non-faulty boom decreases the rotation speed.
Further, referring to fig. 10, if the failed engine corresponds to the inner rotor, the engine corresponding to the outer rotor on the failed horn increases the rotation speed by a small amount, the engine corresponding to the inner rotor on the non-failed horn increases the rotation speed by a large amount, and the engine corresponding to the outer rotor on the non-failed horn decreases the rotation speed.
Referring to fig. 11, when the engines corresponding to different positions on two adjacent booms have faults, the outer rotor of the boom corresponding to the inner rotor of the faulty engine has a large rotation speed increase, the inner rotor of the boom corresponding to the outer rotor has a large rotation speed increase, and all the other engines have a small rotation speed increase.
While the possible engine failure conditions and corresponding engine and rotor control methods of the drone have been described above with reference to fig. 5-11, it should be noted that concepts similar to those described above also fall within the scope of the present application.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An unmanned aerial vehicle is characterized by comprising a vehicle body, a plurality of vehicle arms and a plurality of rotor wings;
the plurality of machine arms are arranged on the machine body, and a plurality of engines are arranged on each machine arm along the length direction of the machine arm;
the rotors are mounted on the engines in a one-to-one correspondence.
2. The drone of claim 1, wherein adjacent two of the plurality of arms are angularly disposed, and the axes of two of the arms disposed one spaced apart from the other are collinear; the number of the engines on each machine arm is the same and the positions of the engines are corresponding.
3. The drone of claim 2, wherein the engine disposed on each of the booms includes a first engine disposed proximate to the fuselage and having a rotor on the first engine being an inboard rotor and a second engine disposed distal to the fuselage and having a rotor on the second engine being an outboard rotor.
4. The drone of claim 3, wherein a folding joint is provided on the horn between the first and second engines to enable the outboard rotor to fold toward the fuselage side.
5. The flight control method of the unmanned aircraft is characterized in that when one or more engines of the unmanned aircraft are in failure, the rotation direction and/or the rotation speed of the other engines are correspondingly adjusted so as to enable the unmanned aircraft to fly normally or land gradually.
6. The flight control method of an unmanned aerial vehicle according to claim 5,
when one engine on one horn of the unmanned aerial vehicle breaks down, the engine on the horn coaxial with the broken-down horn and at the same position corresponding to the broken-down engine stops rotating, and the rotating speed of all the other engines is increased;
when all engines on one horn of the unmanned aerial vehicle fail, all engines on the horn adjacent to the failed horn increase the rotating speed, and all engines on the horn coaxial with the failed horn rotate forwards, reversely or stop rotating according to the inclination condition of the unmanned aerial vehicle.
7. The flight control method of an unmanned aerial vehicle according to claim 5,
when one engine on one horn of the unmanned aerial vehicle fails and the engine on the same position on the horn coaxial with the failed horn corresponding to the failed engine also fails, increasing the rotating speed of the rest engines;
when an engine on an arm of unmanned aerial vehicle breaks down, and also breaks down with the engine that corresponds different positions on the horn of the horn coaxial line that breaks down with the engine that breaks down, the reduction rate of all the other engines on the horn of the inboard rotor that the engine that breaks down corresponds, the increase rate of all the other engines on the horn of the outside rotor that the engine that breaks down corresponds, among all the other horns correspond the less range increase rate of rotation of the engine that corresponds the outside rotor on the horn, among all the other horns correspond the great range increase rate of rotation of the engine that corresponds the inboard rotor on the horn.
8. The flight control method of an unmanned aerial vehicle according to claim 5,
when the engines at the same positions on two adjacent arms of the unmanned aerial vehicle fail, if the failed engine corresponds to the inner rotor, the rotating speed of the engine corresponding to the outer rotor on the failed arm is increased in a small range, the rotating speed of the engine corresponding to the inner rotor on the arm without the failure is increased in a large range, and the rotating speed of the engine corresponding to the outer rotor on the arm without the failure is reduced; if the engine with the fault corresponds to the outer rotor wing, the rotating speed of the engine corresponding to the inner rotor wing on the horn with the fault is increased in a large range, the rotating speed of the engine corresponding to the inner rotor wing on the horn without the fault is increased in a small range, and the rotating speed of the engine corresponding to the outer rotor wing on the horn without the fault is reduced;
when unmanned aerial vehicle appears corresponding the engine of different positions on two adjacent horn and breaks down, the great range increase rotational speed of outside rotor that trouble engine corresponds the horn of inboard rotor, and the great range increase rotational speed of inboard rotor that trouble engine corresponds the horn of outside rotor, all the other less range increase rotational speeds of all engines.
9. The flight control method of the unmanned aerial vehicle according to claim 5, wherein the rotation speed of an inner rotor of the unmanned aerial vehicle is constant, and the rotation speed of an outer rotor of the unmanned aerial vehicle can be changed.
10. The method of claim 5, wherein the inboard and outboard rotors rotate in opposite directions on the same boom of the drone.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010011861.5A CN111086631A (en) | 2020-01-06 | 2020-01-06 | Unmanned aircraft and flight control method of unmanned aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010011861.5A CN111086631A (en) | 2020-01-06 | 2020-01-06 | Unmanned aircraft and flight control method of unmanned aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111086631A true CN111086631A (en) | 2020-05-01 |
Family
ID=70400156
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010011861.5A Pending CN111086631A (en) | 2020-01-06 | 2020-01-06 | Unmanned aircraft and flight control method of unmanned aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111086631A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106628107A (en) * | 2016-12-08 | 2017-05-10 | 天津中翔腾航科技股份有限公司 | Folding four-rotor unmanned aerial vehicle |
| CN108357674A (en) * | 2018-04-17 | 2018-08-03 | 山东农业大学 | It can small more rotor unmanned aircrafts of paddle outside big paddle in tilted propeller |
| CN109455298A (en) * | 2018-12-25 | 2019-03-12 | 拓攻（南京）机器人有限公司 | A kind of plant protection drone |
| US20190176986A1 (en) * | 2016-08-03 | 2019-06-13 | Stealth Air Corp | Multi-craft uav carrier system and airframe |
| CN110171566A (en) * | 2019-06-04 | 2019-08-27 | 北京韦加无人机科技股份有限公司 | A kind of more rotor unmanned aircrafts of inclination paddle |
| CN110329512A (en) * | 2019-06-21 | 2019-10-15 | 北京韦加智能科技股份有限公司 | The more rotor plant protection drones of six axis heterogeneous of one kind and its rotor-hub configuration and control method |
| CN211336429U (en) * | 2020-01-06 | 2020-08-25 | 尚良仲毅(沈阳)高新科技有限公司 | Unmanned aerial vehicle and flight system |
-
2020
- 2020-01-06 CN CN202010011861.5A patent/CN111086631A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190176986A1 (en) * | 2016-08-03 | 2019-06-13 | Stealth Air Corp | Multi-craft uav carrier system and airframe |
| CN106628107A (en) * | 2016-12-08 | 2017-05-10 | 天津中翔腾航科技股份有限公司 | Folding four-rotor unmanned aerial vehicle |
| CN108357674A (en) * | 2018-04-17 | 2018-08-03 | 山东农业大学 | It can small more rotor unmanned aircrafts of paddle outside big paddle in tilted propeller |
| CN109455298A (en) * | 2018-12-25 | 2019-03-12 | 拓攻（南京）机器人有限公司 | A kind of plant protection drone |
| CN110171566A (en) * | 2019-06-04 | 2019-08-27 | 北京韦加无人机科技股份有限公司 | A kind of more rotor unmanned aircrafts of inclination paddle |
| CN110329512A (en) * | 2019-06-21 | 2019-10-15 | 北京韦加智能科技股份有限公司 | The more rotor plant protection drones of six axis heterogeneous of one kind and its rotor-hub configuration and control method |
| CN211336429U (en) * | 2020-01-06 | 2020-08-25 | 尚良仲毅(沈阳)高新科技有限公司 | Unmanned aerial vehicle and flight system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112262075B (en) | Electric tilting rotor aircraft | |
| EP2084055B1 (en) | Rotor system with pitch flap coupling | |
| CN110316370B (en) | Layout and control method of distributed power tilting wing aircraft | |
| CN108163193B (en) | A kind of active main rotor vertically taking off and landing flyer | |
| CN111907698A (en) | Vertical take-off and landing (VTOL) aircraft | |
| CN110979653A (en) | Three-steering-engine coaxial dual-rotor system and control strategy thereof | |
| CN211336429U (en) | Unmanned aerial vehicle and flight system | |
| CN115158654A (en) | Rhombic composite wing aircraft | |
| CN110422339A (en) | A kind of assemble method of coaxial double-rotary wing formula unmanned plane | |
| CN111003167B (en) | Two-steering engine coaxial dual-rotor system and control strategy | |
| CN116101478B (en) | Single-layer variable-pitch structure for miniature coaxial double-oar unmanned aerial vehicle and control method | |
| CN116215852B (en) | Vertical take-off and landing aircraft and control method thereof | |
| CN116080900B (en) | Vertical take-off and landing aircraft and control method thereof | |
| CN111086631A (en) | Unmanned aircraft and flight control method of unmanned aircraft | |
| CN211336467U (en) | Multi-rotor unmanned aerial vehicle | |
| EP0944522B1 (en) | Hovering aircraft | |
| CN218142105U (en) | Multi-rotor unmanned aerial vehicle | |
| CN115973412A (en) | Dual-mode take-off and landing four-tilting rotorcraft | |
| CN212766736U (en) | Tilt wing mechanism and have unmanned aerial vehicle of tilt wing mechanism | |
| CN113443134B (en) | Vertical take-off and landing aircraft with lift force blades capable of being folded and unfolded variably and with tail seat | |
| CN112009674A (en) | Tilt wing mechanism and have unmanned aerial vehicle of tilt wing mechanism | |
| WO2021124211A1 (en) | Convertiplane and associated folding method | |
| CN110667837A (en) | Novel vector thrust dislocation double-wing tailstock type vertical take-off and landing unmanned aerial vehicle | |
| CN109263901A (en) | A kind of suspension type folding rotor craft | |
| CN112722261B (en) | Tilt rotation mechanism for linkage of wing flap and rotor wing |
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 |