CN112173069A - Unmanned aerial vehicle attitude control system with variable-angle fan blade control surface - Google Patents
Unmanned aerial vehicle attitude control system with variable-angle fan blade control surface Download PDFInfo
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- CN112173069A CN112173069A CN202010877435.XA CN202010877435A CN112173069A CN 112173069 A CN112173069 A CN 112173069A CN 202010877435 A CN202010877435 A CN 202010877435A CN 112173069 A CN112173069 A CN 112173069A
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- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 229920000049 Carbon (fiber) Polymers 0.000 claims abstract description 11
- 239000004917 carbon fiber Substances 0.000 claims abstract description 11
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims abstract description 11
- 241000883990 Flabellum Species 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 4
- 238000012423 maintenance Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000009977 dual effect Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 210000003781 tooth socket Anatomy 0.000 description 1
- 230000004580 weight loss Effects 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an unmanned aerial vehicle attitude control system with variable-angle fan blade control surfaces, which comprises a main body and control surface systems arranged on two sides of the main body, wherein the main body comprises a carbon fiber base, a brushless motor and a rotor wing, the control surface systems comprise a support, a control surface group, a connecting rod and a steering engine mechanism, and the invention relates to the technical field of aircraft attitude control. Compared with the variable-pitch regulation, the unmanned aerial vehicle attitude control system with the variable-angle fan blade control surface has the advantages of simple structure, small axial size, low production and maintenance difficulty and low cost; the interference of the buffeting steering on the system stability is inhibited, the stability and the rapidity are better than those of vector adjustment, the requirement on the output torque of the steering engine is not high, namely the small steering engine can realize control, and the weight is reduced; compared with the adjustment of a slipstream rudder, the adjustment effect is strong, the windward side is small, and the anti-interference capability is stronger; the high-efficient stable control of fixed bispin wing has been realized, and the flexibility is higher, and stability is better, more is applicable to VTOL and STOVL aircraft's the control of taking off and landing.
Description
Technical Field
The invention relates to the technical field of aircraft attitude control, in particular to an unmanned aerial vehicle attitude control system with variable-angle fan blade control surfaces.
Background
The VTOL and STOVL aircrafts are an important research subject of the modern aviation industry, the schemes adopted in the field of unmanned aerial vehicles at present are tailstock type vertical take-off and landing, tilt rotor aircraft and compound wing type vertical take-off and landing unmanned aerial vehicles, and the mainstream scheme is that the aerodynamic layout of four rotors is adopted in the vertical take-off and landing process, which means that the weight loss, the volume and the air resistance in the flying process are increased. Therefore, there is a need to develop dual rotor drones. Aiming at the problems, the layout that the lift force fan is blended into the wing can be adopted to reduce the air resistance during flat flight, and because the control surface efficiency of the VTOL and STOVL unmanned aerial vehicles is insufficient at the stage of low transition speed, a stable and smooth transition and strong controllability droop control scheme is needed. Therefore, there is a need to develop dual rotor drones.
The control mode of the existing dual-rotor unmanned aerial vehicle has the following modes:
(1) the variable pitch regulation has strong regulation force and good rapidity, but has complex structure, large volume and high production and maintenance cost.
(2) Vector thrust is adjusted, simple structure, and the regulation dynamics is strong, but the output torque to the steering wheel requires great, and the response rapidity is poor, and because the small deflection of steering wheel all can produce obvious every single move control effect for vector control's stability is relatively poor, and the aircraft takes place to shake easily.
(3) The slipstream rudder is used for adjusting, the structure is simple, the rapidity is good, but the adjusting capacity is weak, and enough control force can be generated only by a large control surface, so that the windward side is enlarged and is easily interfered by air flow.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an unmanned aerial vehicle attitude control system with a variable-angle fan blade control surface, which solves the problems that in the control mode of the existing double-rotor unmanned aerial vehicle: (1) the variable pitch adjustment has complex structure, large volume and high production and maintenance cost; (2) vector thrust adjustment has high requirement on the output torque of a steering engine, response rapidity is poor, and due to the fact that tiny deflection of the steering engine can generate an obvious pitching control effect, vector control stability is poor, and an aircraft is prone to shaking; (3) the slipstream rudder has weak adjusting capability, and can generate enough control force only by a large control surface, so that the windward side is enlarged and is easily interfered by air flow.
In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides an unmanned aerial vehicle attitude control system of variable angle flabellum rudder face, includes the rudder face system that main part and both sides set up, the main part includes carbon fiber base, brushless motor and rotor, the rudder face system includes support, rudder face group, connecting rod and steering wheel mechanism.
The support is fixedly connected to the two sides of the carbon fiber base, the control surface group is rotatably connected to the front side and the rear side of the top of the support through an optical axis, the steering gear mechanism is fixedly connected to the top of the support, and the front side and the rear side of the steering gear mechanism are connected with the control surface group through connecting rods.
Preferably, the steering engine mechanism comprises a servo motor fixedly connected to the top of the support, and a gear is fixedly connected to the top end of an output shaft of the servo motor.
Preferably, the top of the support is fixedly connected with a limiting frame outside the fixing seat, and the top end of the output shaft of the servo motor is rotatably connected with the inner side of the limiting frame.
Preferably, a connecting rod is connected to one side of the gear inside the limiting frame in a sliding manner, and a tooth groove meshed with the gear is formed in one side of the connecting rod.
Preferably, both ends of the connecting rod respectively penetrate through the control surface groups on both sides.
Preferably, the round rods penetrate through the connecting rod and the two sides of the control surface group, and the sliding groove connected with the connecting rod in a sliding mode is formed in the control surface group.
Preferably, the control surface group consists of two control surfaces, and the two control surfaces are parallel to each other.
Preferably, brushless motor and rotor all are provided with two sets ofly, and brushless motor symmetry fixed connection is in the left and right sides at carbon fiber base top, rotor fixed connection is on the top of brushless motor output shaft.
Advantageous effects
The invention provides an unmanned aerial vehicle attitude control system with a variable-angle fan blade control surface. Compared with the prior art, the method has the following beneficial effects:
(1) compared with the variable-pitch regulation, the unmanned aerial vehicle attitude control system with the variable-angle fan blade control surface has the advantages of simple structure, small axial size, and low production and maintenance difficulty and cost.
(2) This unmanned aerial vehicle attitude control system of variable angle flabellum rudder face has restrained and has shaken the interference that the rudder brought system stability, compares stability and rapidity better than vector control, and does not have high expectations to steering wheel output torque, and small steering wheel can realize controlling promptly, weight reduction.
(3) This unmanned aerial vehicle attitude control system of variable angle flabellum rudder face compares the slipstream rudder regulation and compares that the regulating effect is strong and the windward side is little, and the interference killing feature is stronger.
(4) This unmanned aerial vehicle attitude control system of variable angle flabellum control surface has realized the high-efficient stable control of fixed bispin wing, and the flexibility is higher, and stability is better, more is applicable to VTOL and STOVL aircraft's the control of taking off and land.
Drawings
FIG. 1 is a perspective view of the overall structure of the present invention;
FIG. 2 is a top view of the rudder surface system of the present invention;
fig. 3 is a perspective view of the control surface set of the present invention.
In the figure: the system comprises a main body 1, a carbon fiber base 11, a brushless motor 12, a rotor 13, a control surface system 2, a support 21, a control surface group 22, a connecting rod 23, a steering engine mechanism 24, a servo motor 241, a gear 242, a limiting frame 243, a tooth socket 244, a fixing seat 245, a round rod 25 and a sliding groove 26.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Referring to fig. 1-3, the present invention provides a technical solution: the utility model provides an unmanned aerial vehicle attitude control system of variable angle flabellum rudder, rudder system 2 including main part 1 and both sides setting, main part 1 includes carbon fiber base 11, brushless motor 12 and rotor 13 all are provided with two sets ofly, and the left and right sides at 11 tops of carbon fiber base is fixed connection to brushless motor 12 symmetry, rotor 13 fixed connection is on the top of brushless motor 12 output shaft, rudder system 2 includes support 21, rudder group 22, connecting rod 23 and steering wheel mechanism 24, rudder group 22 comprises two rudders, and be parallel to each other between two rudders.
And those not described in detail in this specification are well within the skill of those in the art.
When the flying robot is used, the brushless motor 12 and the servo motor 241 are controlled to work through a program, and the brushless motor 12 drives the rotor wing 13 to rotate at a high speed to form downward airflow so as to realize flying; when the control surface group 22 is to be controlled, the servo motor 241 is controlled to work, the servo motor 241 drives the gear 242 to rotate, the connecting rod 23 is further driven to move towards one side, the round rod 25 is matched to pull the control surface group 22 to swing towards one side, the angle of the control surface group 22 is adjusted, part of the propeller downwash air flow is guided, a thrust vector is generated, an attitude control moment is generated, and attitude control of an aircraft is achieved.
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. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides an unmanned aerial vehicle attitude control system of variable angle flabellum rudder face, includes main part (1) and rudder face system (2) that both sides set up, its characterized in that: the main body (1) comprises a carbon fiber base (11), a brushless motor (12) and a rotor wing (13), and the control surface system (2) comprises a bracket (21), a control surface group (22), a connecting rod (23) and a steering engine mechanism (24);
support (21) fixed connection is in the both sides of carbon fiber base (11), control surface group (22) rotate through the optical axis and connect both sides around support (21) top, steering wheel mechanism (24) fixed connection is at the top of support (21), and steering wheel mechanism (24) around both sides pass through connecting rod (23) and are connected with control surface group (22).
2. The system of claim 1, wherein the system comprises: steering wheel mechanism (24) include servo motor (241) at support (21) top through fixing base (245) fixed connection, the top fixedly connected with gear (242) of servo motor (241) output shaft.
3. The system of claim 2, wherein the system comprises: the top of the support (21) is fixedly connected with a limiting frame (243) outside the fixed seat (245), and the top end of the output shaft of the servo motor (241) is rotatably connected with the inner side of the limiting frame (243).
4. The system of claim 3, wherein the system comprises: the connecting rod (23) is connected to one side, located on the gear (242), of the inner portion of the limiting frame (243) in a sliding mode, and a tooth groove (244) meshed with the gear (242) is formed in one side of the connecting rod (23).
5. The system of claim 3, wherein the system comprises: two ends of the connecting rod (23) respectively penetrate through the control surface groups (22) on the two sides.
6. The system of claim 1, wherein the system comprises: round rods (25) penetrate through the connecting rod (23) and the two sides of the control surface group (22), and sliding grooves (26) connected with the connecting rod (23) in a sliding mode are formed in the control surface group (22).
7. The system of claim 1, wherein the system comprises: the control surface group (22) consists of two control surfaces which are parallel to each other.
8. The system of claim 1, wherein the system comprises: brushless motor (12) and rotor (13) all are provided with two sets ofly, and brushless motor (12) symmetry fixed connection is in the left and right sides at carbon fiber base (11) top, rotor (13) fixed connection is on the top of brushless motor (12) output shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010877435.XA CN112173069A (en) | 2020-08-27 | 2020-08-27 | Unmanned aerial vehicle attitude control system with variable-angle fan blade control surface |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010877435.XA CN112173069A (en) | 2020-08-27 | 2020-08-27 | Unmanned aerial vehicle attitude control system with variable-angle fan blade control surface |
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| Publication Number | Publication Date |
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| CN112173069A true CN112173069A (en) | 2021-01-05 |
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| CN202010877435.XA Pending CN112173069A (en) | 2020-08-27 | 2020-08-27 | Unmanned aerial vehicle attitude control system with variable-angle fan blade control surface |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204415729U (en) * | 2015-01-26 | 2015-06-24 | 吉林大学 | Culvert type vertically taking off and landing flyer |
| CN106882361A (en) * | 2017-03-27 | 2017-06-23 | 上海珞鹏航空科技有限公司成都研发分公司 | A kind of attitude coutrol mechanism of DCB Specimen unmanned plane |
| CN107215454A (en) * | 2017-04-26 | 2017-09-29 | 北京理工大学 | A kind of NEW TYPE OF COMPOSITE roll attitude control system and method |
-
2020
- 2020-08-27 CN CN202010877435.XA patent/CN112173069A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204415729U (en) * | 2015-01-26 | 2015-06-24 | 吉林大学 | Culvert type vertically taking off and landing flyer |
| CN106882361A (en) * | 2017-03-27 | 2017-06-23 | 上海珞鹏航空科技有限公司成都研发分公司 | A kind of attitude coutrol mechanism of DCB Specimen unmanned plane |
| CN107215454A (en) * | 2017-04-26 | 2017-09-29 | 北京理工大学 | A kind of NEW TYPE OF COMPOSITE roll attitude control system and method |
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