CN112224400A - Novel tilt rotor aircraft and working method thereof - Google Patents
Novel tilt rotor aircraft and working method thereof Download PDFInfo
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- CN112224400A CN112224400A CN202011116528.7A CN202011116528A CN112224400A CN 112224400 A CN112224400 A CN 112224400A CN 202011116528 A CN202011116528 A CN 202011116528A CN 112224400 A CN112224400 A CN 112224400A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/28—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft with forward-propulsion propellers pivotable to act as lifting rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C5/00—Stabilising surfaces
- B64C5/10—Stabilising surfaces adjustable
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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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Abstract
The invention discloses a novel tilting rotor aircraft and a working method thereof, belongs to the technical field of aviation, and provides power by adopting three pairs of tilting rotors. In a helicopter mode, vertical ascending and descending are realized by the total pitch control of a main rotor, forward flying and backward flying are realized by the longitudinal cyclic pitch control of the main rotor, side flying is realized by the transverse cyclic pitch control of the main rotor, and reaction torque and yaw are balanced by a deflection rudder; in the fixed wing mode, the yaw control is realized by the deflection ailerons, the pitch control is realized by the deflection elevator and the yaw control is realized by the deflection rudder. The tilting vertical tail type aircraft has the advantages that the tilting vertical tail type aircraft adopts the tilting vertical tail scheme, the problem that the reaction torque of the tilting three rotors is not easy to balance is reasonably solved, the advantages of simple and compact structure, light weight, low comprehensive energy consumption, high-speed cruising, long endurance time and the like of the common tilting three rotor aircraft are inherited, the course stability of the tilting three rotors is improved, and the tilting vertical tail type aircraft has wide application prospect in the field of shipboard aircraft.
Description
Technical Field
The invention belongs to the technical field of aviation, and particularly relates to a novel tilt rotor aircraft and a working method thereof.
Background
The tiltrotor aircraft is a novel aircraft integrating a fixed-wing aircraft and a helicopter, and has the capabilities of taking off and landing vertically and hovering in the air of the common helicopter and the high-speed cruising flight capability of a turboprop aircraft. Most of the development of the tilt rotor aircraft is concentrated on two tilt rotors and four tilt rotors, and the research on the three tilt rotors is relatively less. However, tilt three-rotor aircraft have many advantages over tilt two-rotor aircraft and tilt four-rotor aircraft. Under the prerequisite that satisfies the task demand, three rotor crafts that vert structure is simpler compact, and the weight of taking off increases, and during equal weight, area is more saved than the two rotor crafts that vert, especially is fit for the carrier-borne and uses. Compare four rotor crafts that vert, three rotor crafts that vert have weight lighter, and comprehensive energy consumption is low, can cruise at a higher speed, and the time of endurance also can be longer. At present most research to three rotors that vert, in order to solve the problem of balanced reaction torque, or adopt the scheme of three vice rotor pulling force size of control and direction, or adopt the scheme that the vice rotor of third verts to controlling. However, in the former, the mechanical structure itself causes asymmetry of the reaction torque, so that higher requirements are made on a control system to balance the reaction torque, and it is extremely difficult to satisfy stable flight in various states; for the latter, although the reaction torque can be balanced by the mechanical structure, because the third auxiliary rotor wing just tilts to the left and right, if the rotor shaft is located on the vertical plane, the front thrust cannot be generated, and if the rotor shaft is located on the horizontal plane, the lift cannot be generated, so that the performance of the tilting triple rotor wing is greatly influenced, and the original purpose of the tilting triple rotor wing configuration is not met.
Disclosure of Invention
In view of the defects of the prior art, the invention aims to provide a novel tilting rotor aircraft and a working method thereof, so as to solve the problem of balancing reaction torque of tilting three rotors in the prior art, and enable three pairs of rotors to balance reaction torque to realize stable flight in various flight states without sacrificing the performance advantages of the three rotors.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a novel tilt rotor aircraft comprises an aircraft body, wherein wings are arranged at the upper end of the aircraft body, and two ends of each wing are provided with a nacelle tilt system; the tail part of the machine body is provided with a horizontal stabilizing surface, and the rear end of the horizontal stabilizing surface is provided with a deflectable elevator; the tail part of the fuselage is also provided with a vertical fin tilting system, and the vertical fin tilting system can tilt relative to the fuselage;
the vertical tail tilting system comprises a vertical tail tilting mechanism, the vertical tail tilting mechanism is connected with a vertical tail tilting shaft, and the vertical tail tilting shaft is arranged on the vertical tail tilting mechanism and can rotate along the axis; then is connected with the vertical stabilizing surface through a vertical tail tilting shaft; the rear end of the vertical stabilizing surface is provided with a rudder, a rear rotor wing system is arranged at the wingtip above the vertical stabilizing surface, and the rear rotor wing system comprises a motor and a transmission mechanism which drive the rear rotor wing to rotate;
the vertical tail tilting mechanism drives the vertical tail tilting shaft to tilt, so as to drive the rear rotor system and the vertical stabilizing surface to tilt up and down; when the rear rotor of the rear rotor system tilts to be vertical to the axis of the helicopter body and upwards, the helicopter mode is adopted; and the rear rotor of the rear rotor system and the axis of the fuselage are in a fixed wing mode when the rear rotor and the axis of the fuselage are in a non-vertical angle. Specifically, in a fixed wing mode, the rear rotor wing and the axis of the fuselage keep a certain angle, and the generated pulling force can be decomposed into forward pushing force and upward lifting force, so that a certain forward pushing force can be supplemented for the main rotor wing, a part of lifting force can be provided to unload wings and a horizontal tail, and the vertical stabilizing plane is positioned in the wake flow of the rear rotor wing, so that the air speed at the vertical tail is increased, and the course stability is improved; in helicopter mode, the rear rotor tilts vertically upwards to generate upward lift, the rudder behind the vertical stabilizer is positioned in the downward wash flow of the rear rotor, and the rudder can deflect to generate lateral force to balance the reaction torque of the rear rotor and perform course control.
Further, the tail part of the machine body is fixedly connected with a tail beam, and the horizontal stabilizing surface is fixedly arranged on the tail beam.
Furthermore, the nacelle tilting system is of a bilateral symmetry structure and comprises a nacelle tilting shaft, the nacelle tilting shaft penetrates through the inside of the wing, two ends of the nacelle tilting shaft extend out of left and right wingtips of the wing, left and right two ends of the nacelle tilting shaft are respectively provided with a left nacelle and a right nacelle, and the front ends of the left nacelle and the right nacelle are respectively provided with a left rotor wing system and a right rotor wing system; the middle part of the nacelle tilting shaft is connected with the nacelle tilting mechanism. The left and right nacelles are respectively arranged at two ends of a tilting shaft of the nacelle, are symmetrical to a plane of symmetry of the fuselage, contain an engine and a transmission mechanism for driving the rotor to rotate in the nacelle, and the left and right rotor systems are respectively positioned in front of the left and right nacelles (in an airplane mode) and connected with the transmission system.
Further, control the nacelle and control rotor system and can vert from top to bottom the wing relatively, specific, by nacelle mechanism of verting drive the nacelle and vert about the axle, and then drive with the nacelle vert the axle be connected about the nacelle with control rotor system's vert from top to bottom. This approach can provide both lift in helicopter mode and forward thrust in fixed wing mode.
Furthermore, the wings are arranged above the middle part of the fuselage, and the upper single wing layout is adopted, so that the ground hitting of the rotor wing in a fixed wing mode can be effectively prevented.
Further, the nacelle tilting mechanism and the vertical tail tilting mechanism both adopt a worm and gear transmission mode, so that the transmission is stable, the noise is low, and the nacelle tilting mechanism has self-locking performance.
Furthermore, the wing empennage adopts the overall arrangement of type of falling T empennage, and the horizontal stabilizer is fixed in and does not incline with the rotor on the tail boom, has lightened structure weight.
The invention also discloses a working method of the novel tilt rotor aircraft, which is characterized by comprising the following steps:
when the left rotor system, the right rotor system and the rear rotor system tilt upwards, the helicopter mode is adopted, at the moment, the three rotors jointly generate upward pulling force to provide upward lifting force for the aircraft, and the helicopter mode can be adopted during taking off, landing and low-speed flight;
in a balanced state, the left rotor and the right rotor of the left rotor system and the right rotor system rotate in opposite directions, the rotating speed and the total distance are the same, the generated reactive torques can be mutually offset, and the reactive torques generated by the rear rotor system can be balanced by generating lateral force through deflecting a rudder, so that the hovering of the aircraft is realized;
in a vertical flight state, the total distance of the left rotor system and the right rotor system and the rotating speed of the rear rotor system can be changed simultaneously to change the tension of the three rotors, so that the vertical ascending and descending of the aircraft are realized;
under the flat flight state, the front flight and the back flight of the aircraft can be realized through the longitudinal cyclic variable pitch of the left and right rotor systems, the side flight of the aircraft can be realized through the transverse cyclic variable pitch of the left and right rotor systems, and the magnitude of the lateral force is changed through the deflection of the rudder, so that the magnitude of the reactive torque is changed to control the yaw of the aircraft;
when the left rotor system, the right rotor system and the rear rotor system tilt forwards, the fixed wing mode is adopted, the three rotors jointly generate forward thrust at the moment to provide speed for the aircraft, so that the wings generate upward lift force, and in addition, the upward tension component generated by the rear rotor can also provide partial lift force;
the fixed wing mode is controlled by the ailerons to realize rolling control, the elevator to realize pitching control and the rudder to realize yawing control.
The invention has the beneficial effects that:
the invention discloses a novel tilting rotor aircraft and a working method thereof. In a helicopter mode, vertical ascending and descending are realized by the total pitch control of a main rotor, forward flying and backward flying are realized by the longitudinal cyclic pitch control of the main rotor, side flying is realized by the transverse cyclic pitch control of the main rotor, and reaction torque and yaw are balanced by a deflection rudder; in the fixed wing mode, the yaw control is realized by the deflection ailerons, the pitch control is realized by the deflection elevator and the yaw control is realized by the deflection rudder. Compared with the existing tilting tri-rotor aircraft, the aircraft adopts the tilting vertical tail scheme, the problem that the tilting tri-rotor counter torque is not easy to balance is reasonably solved, the advantages of simple and compact structure, light weight, low comprehensive energy consumption, high-speed cruising, long endurance time and the like of the common tilting tri-rotor aircraft are inherited, and the course stability of the tilting tri-rotor is increased.
The tilting three-rotor aircraft has the advantages of simple and compact structure, light weight, low comprehensive energy consumption, high-speed cruising, long endurance time and the like, further reasonably solves the problem that the reaction torque of the tilting three-rotor is not easy to balance, increases the course stability of the tilting three-rotor on the basis, and has wide application prospect in the field of shipboard aircrafts.
Drawings
FIG. 1 is a schematic helicopter mode view of a tiltable three rotor aircraft having a tiltable vertical tail according to the present invention;
FIG. 2 is a schematic illustration of a fixed wing mode of the tiltable tri-rotor aircraft of the present invention;
FIG. 3 is a schematic view of a nacelle tilter system;
FIG. 4 is a schematic view of a vertical tail tilting system;
the system comprises a fuselage, wings, a nacelle tilting system, a horizontal stabilizer, a lift rudder, a vertical tail tilting system, a nacelle tilting mechanism, a nacelle tilting shaft, a tail boom, a nacelle tilting shaft.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit 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. The terms "mounted," "connected," and "coupled" are to be construed broadly and may, for example, be fixedly coupled, detachably coupled, or integrally coupled; 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.
As shown in fig. 1 to 4, the novel tilt rotor aircraft and the working method thereof of the present invention comprise a fuselage 1, wings 2, a nacelle tilting system 3, a horizontal stabilizer 4, an elevator 5, a vertical tail tilting system 6, etc.; wherein the wings 2 are arranged above the middle part of the fuselage 1, and two ends of the wings 2 are provided with a nacelle tilting system 3; the tail of the machine body 1 is provided with a horizontal stabilizing surface 4, and the specific horizontal stabilizing surface 4 is fixedly arranged on a tail beam 11 at the tail of the machine body 1. The rear end of the horizontal stabilizing surface 4 is provided with a deflectable elevator 5; fuselage 1 afterbody still be provided with the vertical fin and vert system 6, vertical fin vert system 6 can vert for fuselage 1.
As shown in fig. 3, the nacelle tilter system 3 includes: nacelle tilting mechanism 7, nacelle tilting shaft 8, control nacelle 9, control rotor system 10, wherein, nacelle tilting mechanism 7 is installed in the middle of wing 2 and fuselage 1 junction, nacelle tilting shaft 8 passes wing 2, the wingtip about wing 2 is stretched out at both ends, the middle part is connected with nacelle tilting mechanism 7, control nacelle 9 and install respectively in nacelle tilting shaft 8 both ends, be symmetrical in fuselage 1 symmetry plane, the inside contains rotatory engine of drive rotor and drive mechanism, control rotor system 10 and be located respectively about, nacelle 9 the place ahead links to each other with transmission system.
As shown in fig. 4, the vertical tail tilting system 6 includes: the vertical tail tilting mechanism 12, the vertical tail tilting shaft 13, the vertical stabilizing surface 14, the rudder 15 and the rear rotor system 16, wherein the vertical tail tilting mechanism 12 is installed on the tail beam 11 at the tail part of the fuselage 1, the vertical tail tilting shaft 13 is installed on the vertical tail tilting mechanism 12 and can rotate along the axis, the vertical stabilizing surface 14 is fixedly installed on the vertical tail tilting shaft 13, the rear rotor system 16 is fixedly installed at the wingtip above the vertical stabilizing surface 14, and the inside contains a motor and a transmission mechanism for driving the rear rotor to rotate.
Wing 2 install in fuselage 1 middle part top, adopt the single wing overall arrangement, can effectively prevent rotor under the fixed wing mode and beat ground.
The nacelle tilting mechanism 7 and the vertical tail tilting mechanism 12 adopt a worm and gear transmission mode, are stable in transmission, low in noise and have self-locking performance.
Left and right nacelle 9 and left and right rotor system 10 accessible nacelle vert axle 8 and by nacelle vert mechanism 7 drive vert from top to bottom, can provide the lift under the helicopter mode, also can provide forward thrust for the fixed wing mode.
The empennage adopts the overall arrangement of type of falling T empennage, horizontal stabilizer 4 is fixed in and does not vert along with the rotor on the tail boom 11, has lightened structure weight.
The rear rotor system 16 and the vertical stabilizing surface 14 can be driven by the vertical tail tilting mechanism 12 to tilt up and down through the vertical tail tilting shaft 13. In the fixed wing mode, the rear rotor wing and the axis of the fuselage keep a certain angle, the generated pulling force can be decomposed into forward pushing force and upward lifting force, not only can supplement certain forward pushing force for the main rotor wing, but also can provide a part of lifting force to unload wings and a horizontal tail, and the vertical stabilizing plane 14 is positioned in the wake flow of the rear rotor wing, so that the air speed at the vertical tail is increased, and the course stability is improved; in helicopter mode, the rear rotor is tilted vertically upwards, creating an upward lift, and the rudder 15 behind the vertical stabilizer 14 is in the lower wash stream of the rear rotor, which can be used to balance the back torque of the rear rotor and to steer the course by deflecting the rudder 15 to create a lateral force.
The working method of the invention is as follows:
when controlling rotor and the equal time upwards that verts of back rotor, for the helicopter mode, three pairs of rotors produced ascending pulling force jointly this moment, provide ascending lift for the aircraft. Helicopter mode can be adopted during taking off, landing and low-speed flight.
Under the balanced state, the rotating directions of the left rotor and the right rotor are opposite, the rotating speed and the total distance are the same, the generated reactive torques can be mutually offset, and the reactive torque generated by the rear rotor can be balanced by generating lateral force through the deflection rudder, so that the hovering of the aircraft is realized.
Under the vertical flight state, the total distance of the left rotor and the right rotor and the rotating speed of the rear rotor can be changed simultaneously to change the tension of the three rotors, so that the vertical ascending and descending of the aircraft are realized.
Under the flat flight state, the front flight and the back flight of the aircraft can be realized through the longitudinal cyclic variable pitch of the left rotor and the right rotor, the side flight of the aircraft can be realized through the transverse cyclic variable pitch of the left rotor and the right rotor, the side force is changed through the deflection of the rudder, and therefore the magnitude of the reactive torque is changed to control the yaw of the aircraft.
When controlling rotor and back rotor all to vert forward, for the fixed wing mode, three pairs of rotors produced forward thrust jointly this moment, provide speed for the aircraft to make the wing produce ascending lift, the ascending pulling force component that the back rotor produced in addition also can provide partial lift.
The fixed wing mode is controlled almost the same as that of a common fixed wing airplane, roll control is realized through ailerons, pitch control is realized through elevators, and yaw control is realized through rudders.
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 (8)
1. A novel tilt rotor aircraft comprises an aircraft body (1), and is characterized in that the upper end of the aircraft body (1) is provided with a wing (2), and two ends of the wing (2) are provided with a nacelle tilt system (3); a horizontal stabilizing surface (4) is arranged at the tail part of the machine body (1), and a deflectable elevator (5) is arranged at the rear end of the horizontal stabilizing surface (4); the tail part of the fuselage (1) is also provided with a vertical fin tilting system (6), and the vertical fin tilting system (6) can tilt relative to the fuselage (1);
the vertical tail tilting system (6) comprises a vertical tail tilting mechanism (12), the vertical tail tilting mechanism (12) is connected to a vertical tail tilting shaft (13), and the vertical tail tilting shaft (13) is arranged on the vertical tail tilting mechanism (12) and can rotate along an axis; then is connected with a vertical stabilizing surface (14) through a vertical tail tilting shaft (13); a rudder (15) is arranged at the rear end of the vertical stabilizing surface (14), and a rear rotor system (16) is arranged at the wingtip above the vertical stabilizing surface (14);
the vertical tail tilting mechanism (12) drives the vertical tail tilting shaft (13) to tilt, and then drives the rear rotor system (16) and the vertical stabilizing surface (14) to tilt up and down; the rear rotor of the rear rotor system (16) is in a helicopter mode when tilting to be vertical to the axis of the fuselage and upwards; and the rear rotor of the rear rotor system (16) is in a fixed wing mode when the rear rotor and the axis of the aircraft body are in a non-vertical angle.
2. The novel tilt rotor aircraft according to claim 1, wherein the tail of the fuselage (1) is fixedly connected with a tail boom (11), and the horizontal stabilizer (4) is fixedly mounted on the tail boom (11).
3. The novel tilt rotor aircraft according to claim 1, wherein the nacelle tilt system (3) is of a bilateral symmetry structure and comprises a nacelle tilt shaft (8), the nacelle tilt shaft (8) passes through the inside of the wing (2), two ends of the nacelle tilt shaft (8) extend out of left and right wingtips of the wing (2), left and right end portions of the nacelle tilt shaft (8) are respectively provided with a left nacelle (9) and a right nacelle (9), and the front ends of the left nacelle (9) and the right nacelle (9) are respectively provided with a left rotor system (10) and a right rotor system (10); the middle part of the nacelle tilting shaft (8) is connected with the nacelle tilting mechanism (7).
4. The novel tilt rotor aircraft according to claim 1, wherein the left and right nacelles (9) and the left and right rotor systems (10) can tilt up and down relative to the wing (2), and specifically, the nacelle tilting mechanism (7) drives the nacelle tilting shaft (8) to tilt up and down, thereby driving the left and right nacelles (9) connected with the nacelle tilting shaft (8) and the left and right rotor systems (10) to tilt up and down.
5. A new tiltrotor aircraft according to claim 1, wherein said wings (2) are mounted above the middle of the fuselage (1) in a single wing configuration.
6. The novel tilt rotor aircraft according to claim 1, wherein the nacelle tilting mechanism (7) and the vertical tail tilting mechanism (12) both adopt a worm and gear transmission mode.
7. The aircraft of claim 1, wherein the wing empennage is of an inverted-T type, and the horizontal stabilizer (4) is fixed on the tail boom (11) and does not tilt with the rotor.
8. The working method of the novel tilt rotor aircraft is characterized by specifically comprising the following steps:
when the left rotor system (10), the right rotor system (10) and the rear rotor system (16) tilt upwards, the helicopter mode is adopted, at the moment, the three rotors jointly generate upward pulling force to provide upward lifting force for the aircraft, and the helicopter mode can be adopted during take-off, landing and low-speed flight;
in a balanced state, the rotating directions of a left rotor and a right rotor of the left rotor system and the right rotor system (10) are opposite, the rotating speed and the total distance are the same, the generated reactive torques can be mutually offset, and the reactive torque generated by the rear rotor system (16) can be balanced by generating a lateral force through a steering rudder, so that the hovering of the aircraft is realized;
in a vertical flight state, the total distance of the left rotor system (10) and the right rotor system (10) and the rotating speed of the rear rotor system (16) can be changed simultaneously to change the tension of the three rotors, so that the vertical ascending and descending of the aircraft are realized;
under the flat flight state, the front flight and the back flight of the aircraft can be realized through the longitudinal cyclic variable pitch of the left and right rotor systems (10), the side flight of the aircraft can be realized through the transverse cyclic variable pitch of the left and right rotor systems (10), the side force is changed through the deflection of the rudder (15), and the yaw of the aircraft is controlled through changing the magnitude of the reactive torque;
when the left rotor system (10), the right rotor system (10) and the rear rotor system (16) are tilted forwards, the fixed wing mode is adopted, at the moment, the three rotors jointly generate forward thrust to provide speed for the aircraft, so that the wings generate upward lift force, and in addition, the upward tension component generated by the rear rotor can also provide partial lift force;
the fixed wing mode is controlled by the ailerons to realize rolling control, the elevator to realize pitching control and the rudder to realize yawing control.
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| CN202011116528.7A CN112224400B (en) | 2020-10-19 | 2020-10-19 | Novel tilt rotor aircraft and working method thereof |
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| CN202011116528.7A CN112224400B (en) | 2020-10-19 | 2020-10-19 | Novel tilt rotor aircraft and working method thereof |
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| CN113277077A (en) * | 2021-06-30 | 2021-08-20 | 广州极飞科技股份有限公司 | Aircraft with a flight control device |
| CN114348252A (en) * | 2022-03-01 | 2022-04-15 | 成都纵横大鹏无人机科技有限公司 | Multi-rotor aircraft |
| CN114802710A (en) * | 2022-04-21 | 2022-07-29 | 中国航空工业集团公司沈阳飞机设计研究所 | V-shaped tail structure of airplane |
| CN114987753A (en) * | 2022-06-20 | 2022-09-02 | 南京航空航天大学 | Longitudinal dynamics decoupling tilt rotor aircraft and flight control method thereof |
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| CN111232196A (en) * | 2020-03-30 | 2020-06-05 | 南京智飞航空科技有限公司 | Three-tilting aircraft |
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| CN114348252A (en) * | 2022-03-01 | 2022-04-15 | 成都纵横大鹏无人机科技有限公司 | Multi-rotor aircraft |
| CN114348252B (en) * | 2022-03-01 | 2023-12-01 | 成都纵横大鹏无人机科技有限公司 | Multi-rotor aircraft |
| CN114802710A (en) * | 2022-04-21 | 2022-07-29 | 中国航空工业集团公司沈阳飞机设计研究所 | V-shaped tail structure of airplane |
| CN114987753A (en) * | 2022-06-20 | 2022-09-02 | 南京航空航天大学 | Longitudinal dynamics decoupling tilt rotor aircraft and flight control method thereof |
| CN114987753B (en) * | 2022-06-20 | 2024-04-16 | 南京航空航天大学 | Longitudinal dynamics decoupling tilt rotor aircraft and flight control method thereof |
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