CN112722273A - Gravity-center-adjustable composite propulsion unmanned aerial vehicle and control method thereof - Google Patents
Gravity-center-adjustable composite propulsion unmanned aerial vehicle and control method thereof Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C17/00—Aircraft stabilisation not otherwise provided for
- B64C17/02—Aircraft stabilisation not otherwise provided for by gravity or inertia-actuated apparatus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- 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
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- 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
- B64D27/026—Aircraft characterised by the type or position of power plants comprising different types of power plants, e.g. combination of a piston engine and a gas-turbine
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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
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- Y02T90/40—Application of hydrogen technology to transportation, e.g. using fuel cells
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Abstract
The utility model provides a focus adjustable composite propulsion unmanned aerial vehicle and control method, two power horn of unmanned aerial vehicle and comprehensive fuselage that bears are through four crossbeam parallel articulations, the revolute joint rotates drive horn to the back-and-forth movement, thereby realize unmanned aerial vehicle's focus regulation, unmanned aerial vehicle adopts lift rotor and impels rotor composite propulsion, two propulsion rotor opposite direction rotations are in order to offset the reaction torque moment about controlling, the differential rotation provides the course control moment when unmanned aerial vehicle patrols and navigates, adopt the flight of self-adaptation lift rotor positive angle of attack, adjust unmanned aerial vehicle angle of attack through focus regulation and lift rotor attitude control, thereby adjust rotor lift flight angle of attack, unmanned aerial vehicle is the angle of attack of automatic adjustment under different airspeeds.
Description
Technical Field
The invention relates to an unmanned aerial vehicle, in particular to a composite propulsion unmanned aerial vehicle with adjustable gravity center and a control method thereof.
Background
The field of heavy-duty unmanned aerial vehicles currently has three structural types, namely fixed wings, multiple rotors and helicopters. The large-load fixed-wing unmanned aerial vehicle is mature in technology, high in flying speed and strong in loading capacity. Meanwhile, the fixed-wing unmanned aerial vehicle is complex to use and maintain, high in operation difficulty and required to take off and land on a fixed runway. Big many rotor unmanned aerial vehicle of load all is electronic at present, simple structure, and is easy and simple to handle, can VTOL and hover. The multi-rotor unmanned aerial vehicle is limited by insufficient energy density of the battery, and the large-load multi-rotor unmanned aerial vehicle is short in flight time. The central symmetry of the traditional multi-rotor wing is distributed, the flight resistance is large, and the flight speed is lower. The large-load unmanned helicopter is mature in technology, strong in load-carrying capacity and long in navigation time. However, the heavy-load unmanned helicopter has a complex structure, high operation difficulty and high use and maintenance cost, and cannot be applied on a large scale.
Disclosure of Invention
Aiming at the problems of three existing large-load unmanned aerial vehicles, the invention provides a gravity-center-adjustable composite propulsion unmanned aerial vehicle structure which has the advantages of adjustable gravity center, composite propulsion, multi-energy supply, simple structure, easiness in use and maintenance, capability of vertical take-off and landing, long-time high-speed cruising and the like.
In order to achieve the purpose, the technical scheme of the invention is as follows: a gravity-center-adjustable composite propulsion unmanned aerial vehicle comprises an electric energy generation module, a bearing body, a modular energy cabin, a modular load cabin, a horn, an avionics equipment cabin, a pilot operating seat, a lifting rotor wing, a propulsion rotor wing and an undercarriage, wherein the electric energy generation module comprises a gas turbine electric energy generation module and/or a hydrogen fuel pile electric energy generation module;
the comprehensive bearing machine body is arranged between the two machine arms, the two machine arms are connected through four parallel cross beams, and the longitudinal axes of the two machine arms and the comprehensive bearing machine body are parallel; the comprehensive bearing machine body is horizontally moved relative to the machine arm in the direction of a longitudinal axis, the distance between the machine arm and the comprehensive bearing machine body is adjusted through translation, and the cross beam, the machine arm and the comprehensive bearing machine body are respectively hinged through a rotary joint; two power horn of unmanned aerial vehicle and synthesize and bear the fuselage and pass through four crossbeams parallel hinged, rotary joint rotates drive horn to the back-and-forth movement to realize unmanned aerial vehicle's focus and adjust.
The unmanned aerial vehicle adopts the lift rotor wing and the propulsion rotor wing to carry out composite propulsion, so that the unmanned aerial vehicle can vertically take off and land, hover and cruise at high speed; three pairs of coaxial contra-rotating horizontal rotation lift rotors are longitudinally arranged on the horn to provide lift, the tail part vertical rotation propulsion rotor provides the cruising horizontal thrust of the unmanned aerial vehicle, the left propulsion rotor and the right propulsion rotor rotate oppositely to offset the reaction torque, and the differential rotation provides course control torque when the unmanned aerial vehicle patrols and navigates.
A control method of a gravity-center-adjustable composite propulsion unmanned aerial vehicle flies at a positive attack angle by adopting a self-adaptive lift rotor wing, the lift rotor wing and airflow are at the positive attack angle during cruising, and the oncoming flow is coupled with the downwash airflow of the lift rotor wing; the self-adaptive lift rotor wing positive attack angle flying means that the unmanned aerial vehicle automatically adjusts the positive attack angle degree of the lift rotor wing according to the flying airspeed, composite propulsion is adopted in the cruising process, the lift rotor wing is coupled with incoming flow to additionally generate lift force, and the aim of improving the flying efficiency is fulfilled; under different airspeeds, the best flight angle of attack of lift rotor is different, adjusts unmanned aerial vehicle angle of attack through focus regulation and lift rotor attitude control to adjustment lift rotor flight angle of attack, unmanned aerial vehicle automatic adjustment angle of attack under different airspeeds.
The invention has the following beneficial effects compared with the prior art:
the gas turbine electric energy generation module and the hydrogen fuel pile electric energy generation module realize full electric propulsion and long-term navigation of the composite propulsion unmanned aerial vehicle with adjustable gravity center, and reduce the difficulty of simple use and maintenance of the heavy-load unmanned aerial vehicle.
The integrated power horn lift rotor wing and the propulsion rotor wing are in composite propulsion, so that the cross section area and the cruising resistance are reduced, and the cruising speed is increased. The integrated arm can be automatically folded, after the unmanned aerial vehicle falls behind, the horizontal rotor wing rotates to a position parallel to the arm, and the arm is folded towards the direction of the machine body, so that the stopping size of the unmanned aerial vehicle is reduced; the horn bears fuselage parallel connection with synthesizing, has realized unmanned aerial vehicle developments focus and has adjusted, has realized focus pressure center optimal match under the different speed, has improved focus adjustable composite propulsion unmanned aerial vehicle's flight efficiency, and unmanned aerial vehicle can fold after the descending, has reduced and has shut down area of occupation.
The lift rotor power set is uniformly distributed in the longitudinal axis direction of the rotor arms, so that the transverse sectional area of the unmanned aerial vehicle is effectively reduced, and the high-speed flight resistance of the unmanned aerial vehicle is reduced.
According to the invention, a double-propulsion rotor technology is adopted, the cruising horizontal thrust of the unmanned aerial vehicle comes from the propulsion rotor at the tail part of the horn, and the high-speed cruising of the unmanned aerial vehicle is realized. The high-speed course control can be realized through the dual-rotor differential control, and the problem that the course control torque of the large multi-rotor unmanned aerial vehicle is insufficient is solved.
The invention adopts the lift rotor wing positive attack angle flight technology, improves the cruising lift of the unmanned aerial vehicle, and improves the cruising efficiency.
The invention adopts the modularized load cabin and the flight operation seat, realizes the multitask performance of the composite propulsion unmanned aerial vehicle with adjustable gravity center, and realizes various flight states of manned flight, cargo flight and passenger-cargo mixed loading of the unmanned aerial vehicle.
According to the invention, by adopting the self-adaptive lift rotor wing positive attack angle flight technology, when the unmanned aerial vehicle navigates, the lift rotor wing and the airflow are at a positive attack angle, and the incoming flow is coupled with the rotor wing downwash airflow, so that the lift of the unmanned aerial vehicle is improved, the energy consumption of the horizontal rotor wing in the cruise stage is reduced, and the cruise efficiency of the unmanned aerial vehicle is improved.
According to the invention, by adopting a self-adaptive gravity center regulation and control technology, the horn can move in a certain range relative to the fuselage through the hinged cross shaft, so that the gravity center regulation is realized, the gravity center adaptive range of the unmanned aerial vehicle is widened, the problem that the optimal gravity center is inconsistent when the unmanned aerial vehicle cruises at high speed and hovers vertically is realized, and the flight efficiency of the unmanned aerial vehicle is improved.
The modularized unmanned aerial vehicle adopts the modularized load cabin and the pilot operator seat, the load cabin can be replaced quickly to realize the multitasking capability of the unmanned aerial vehicle, the pilot can be carried to realize the manned unmanned aerial vehicle flying, and the modularized unmanned aerial vehicle has various flying states of manned, freight and passenger-cargo mixed loading.
Drawings
FIG. 1 is a front view of a composite propulsion unmanned aerial vehicle with adjustable center of gravity according to the present invention;
FIG. 2 is a side view of the inventive composite-propulsion drone with adjustable center of gravity;
FIG. 3 is a top view of the composite propulsion unmanned aerial vehicle with adjustable center of gravity of the invention;
FIG. 4 is a diagram of a folded state of the composite propulsion unmanned aerial vehicle with adjustable center of gravity for stopping;
FIG. 5 is a self-adaptive gravity center regulating state diagram of the composite propulsion unmanned aerial vehicle with adjustable gravity center according to the present invention;
FIG. 6 is a schematic diagram of the gravity center of the composite propulsion unmanned aerial vehicle with adjustable gravity center in a hovering state according to the present invention;
fig. 7 is a schematic diagram of the gravity center of the composite propulsion unmanned aerial vehicle with the adjustable gravity center in a low-speed state according to the invention;
fig. 8 is a schematic view of the center of gravity of the cruise state of the composite propulsion unmanned aerial vehicle with adjustable center of gravity of the invention;
FIG. 9 is a block diagram of functional modules of the composite propulsion unmanned aerial vehicle with adjustable center of gravity of the invention;
FIG. 10 is a block diagram of the gas turbine power generation module of the present invention;
FIG. 11 is a block diagram of a hydrogen-fueled stack electrical power generation module according to the present invention;
FIG. 12 is a block diagram of the integrated power management module of the present invention;
FIG. 13 is a structural diagram of a composite propulsion unmanned aerial vehicle with adjustable center of gravity according to the present invention;
FIG. 14 is a view of the articulation structure of the rotary joint of the present invention;
FIG. 15 is a view of the pilot operator's seat of the inventive adjustable center of gravity hybrid propulsion unmanned aerial vehicle;
FIG. 16 is a schematic view of differential propulsion of the inventive hybrid propulsion unmanned aerial vehicle with adjustable center of gravity;
FIG. 17 is a schematic view of the gravity center adjustable hybrid propulsion unmanned aerial vehicle of the present invention in hovering, forward, backward, low-speed forward, medium-speed cruise, and high-speed cruise states;
in the figure: 1. the aircraft comprises a propelling rotor 2, an electric energy generation module 3, a comprehensive bearing fuselage 4, a modular energy cabin 5, a modular load cabin 6, a horn 7, an avionics equipment cabin 8, a pilot operator seat 9 and a lifting rotor 10 undercarriage; 11. unmanned aerial vehicle controller 12, navigation parameter display screen
Detailed Description
The invention is further described with reference to the following figures and examples.
As shown in fig. 9 and 13, a composite propulsion unmanned aerial vehicle with adjustable gravity center comprises an electric energy generation module, a bearing fuselage, a modular energy cabin, a modular load cabin, a horn, an avionics equipment cabin, a pilot operating seat, a lifting rotor, a propulsion rotor and a landing gear, wherein the electric energy generation module comprises a gas turbine electric energy generation module and/or a hydrogen fuel stack electric energy generation module, the modular energy cabin comprises a fuel cabin and/or a high-pressure hydrogen tank fuel cabin, electric energy generated by the electric energy generation module provides energy for equipment such as navigation equipment and task computers through a comprehensive power management module of the avionics equipment cabin, and the electric energy generated simultaneously provides energy for the lifting rotor and the propulsion rotor installed in the horn;
the electric energy generation module and the modularized energy cabin are both in modularized design so as to adapt to long-term flight of the unmanned aerial vehicle in different application environments. The conventional fossil fuel unmanned aerial vehicle or the hydrogen fuel unmanned aerial vehicle can be changed by replacing different electric energy generation modules (the gas turbine uses conventional fossil fuel kerosene or diesel oil, and the hydrogen fuel pile uses hydrogen) and the corresponding modular energy cabin.
The comprehensive bearing machine body is arranged between the two machine arms, the two machine arms are connected through four parallel cross beams, and the longitudinal axes of the two machine arms and the comprehensive bearing machine body are parallel; the horn, the two crossbeams and the comprehensive bearing machine body form a parallelogram, the comprehensive bearing machine body is translated relative to the horn in the direction of the longitudinal axis, the distance between the horn and the comprehensive bearing machine body is adjusted by translation, and as shown in figure 14, the crossbeams are hinged with the horn and the comprehensive bearing machine body respectively through rotary joints; two power horn of unmanned aerial vehicle and synthesize and bear the fuselage and pass through four crossbeams parallel hinged, rotary joint rotates drive horn to the back-and-forth movement to realize unmanned aerial vehicle's focus and adjust.
As shown in fig. 5-8, during the flight of the unmanned aerial vehicle, the arm extends the parallel beam to move in a small range, so that the overall gravity center of the unmanned aerial vehicle is adjusted, the gravity center of the whole unmanned aerial vehicle is adjusted in a stepless manner within a certain range, the unmanned aerial vehicle is suitable for the gravity centers of the unmanned aerial vehicles in different task states, the optimal key positions of the unmanned aerial vehicle in flight are compositely propelled by adjusting the gravity centers at different speeds, and the flight efficiency is improved.
The unmanned aerial vehicle adopts the lift rotor wing and the propulsion rotor wing to carry out composite propulsion, so that the unmanned aerial vehicle can vertically take off and land, hover and cruise at high speed; three pairs of coaxial contra-rotating horizontal rotation lift rotors are longitudinally arranged on the horn to provide lift, the tail part vertical rotation propulsion rotor provides the cruising horizontal thrust of the unmanned aerial vehicle, the left propulsion rotor and the right propulsion rotor rotate oppositely to offset the reaction torque, and the differential rotation provides course control torque when the unmanned aerial vehicle patrols and navigates.
The unmanned aerial vehicle provided by the invention has the same pitching, rolling and hovering steering as a traditional multi-rotor unmanned aerial vehicle. The difference lies in when flying forward, unmanned aerial vehicle course control mainly has two propulsion rotor differential controls to realize.
The gas turbine electric energy generation module generates electricity by using fossil fuel kerosene or diesel oil in a fuel cabin, and the hydrogen fuel pile electric energy generation module generates electricity by using hydrogen in a high-pressure hydrogen tank fuel cabin.
As shown in fig. 6, when the gas turbine electric energy generation module is mounted, the energy cabin is fossil fuel kerosene or diesel oil, and the gas turbine operates to drive the generator to generate electricity. When the hydrogen fuel pile electric energy generation module is carried, the energy cabin is a high-pressure hydrogen storage tank.
The electric energy generation module uses the electric energy generation module carrying the gas turbine and/or the hydrogen fuel pile, two new energy electric energy generation modules are adopted to realize the long-distance navigation of the unmanned aerial vehicle, and the corresponding energy cabin (the gas turbine uses the traditional fossil fuel kerosene or diesel oil, and the hydrogen fuel pile uses hydrogen) is changed into the new energy unmanned aerial vehicle which generates electricity by using the conventional fossil fuel or generates electricity by using the pollution-free hydrogen fuel.
As shown in fig. 10, the gas turbine electric power generation module includes a gas turbine, a high-speed permanent magnet brushless generator, a three-phase rectifier bridge, and a gas turbine electric power generation controller. The gas turbine drives the high-speed permanent magnet brushless generator to rotate and generate power after working, and the generated three-phase alternating current is rectified by the three-phase rectifier bridge and then outputs stable direct current. The gas turbine electric energy generation controller detects the rotating speed and the output direct current voltage of the gas turbine, adjusts the rotating speed of the gas turbine according to voltage feedback, and keeps the gas turbine electric energy generation module to output stable direct current electric energy.
As shown in fig. 11, the hydrogen fuel stack power generation module is a proton exchange membrane hydrogen fuel cell, and includes a flow control valve, a hydrogen fuel cell stack, a voltage stabilizer, an air compressor and a hydrogen fuel stack power generation control module, high-pressure hydrogen enters the hydrogen fuel cell stack after passing through the flow control valve, air enters the hydrogen fuel cell stack after passing through a pressurizing and filtering device and the air compressor, the hydrogen and oxygen in the air undergo an oxidation-reduction reaction under the action of a catalyst to convert chemical energy into electric energy, the produced pure water is discharged from the hydrogen fuel cell stack in a vapor form, a hydrogen fuel stack power generation controller detects feedback of output of the electric energy, and the hydrogen fuel stack power generation module is accurately controlled by adjusting the flow control valve and the air compressor.
As shown in fig. 12, the integrated power management module is used to stabilize input power, ensure stable power supply of the avionics device, and have a standby power function and a wide voltage stabilization function of the super capacitor. The system comprises a standby battery, a power management part and a super capacitor.
The task state comprises a shutdown state, a hovering state, a low-speed cruising state and a high-speed cruising state. As shown in figure 4, in the shutdown state, the machine arm is close to the machine body and folded, the lifting rotor rotates to be parallel to the machine arm, and the machine arm is inwards folded to be tightly attached to the machine body, so that the shutdown space is saved. As shown in fig. 6, in the hovering state, the drone is kept horizontal, and the optimal center of gravity is located at the geometric center; as shown in fig. 7, in the low-speed cruising state, the unmanned aerial vehicle flies at a negative attack angle, and the optimal center of gravity is located in front of the geometric center of gravity; as shown in fig. 8, in the high-speed cruising state, the unmanned aerial vehicle keeps flying at a positive attack angle, and the optimal center of gravity is located in front of and behind the geometric center of gravity.
Two horn about the unmanned aerial vehicle adopts and synthesizes the sandwich structure that bears the weight of the fuselage and constitute, and the horn all prolongs the unmanned aerial vehicle axis of ordinates with synthesizing and puts to the distribution, and overall structure is simple, the cross-sectional area is little, the cross-sectional change is even, flight resistance is little, and the whole sectional area of unmanned aerial vehicle is minimum, and unmanned aerial vehicle ground parks occupation space less.
Unmanned aerial vehicle lift rotor vertically distributes, and is little for other configuration unmanned aerial vehicle forward sectional area, and the resistance of cruising is little.
The aircraft comprises a power set, a power set and a power system, wherein three pairs of coaxial contra-rotating horizontally-rotating lift rotors are uniformly distributed and mounted on a longitudinal axis of one aircraft arm, the power set comprises an upper lift rotor and a lower lift rotor which are respectively mounted on the upper part and the lower part of the aircraft arm, a propelling rotor with a rotating shaft coincident with the longitudinal axis is mounted at the tail part of one aircraft arm, and the rotating directions of the propelling rotor and the lift rotor at the corresponding positions of the left and right aircraft arms are opposite; the integrated power horn provides lift and horizontal forward thrust in the vertical direction, the dual-propulsion rotor provides opposite rotation and provides cruise horizontal thrust of the unmanned aerial vehicle together, and as shown in fig. 16, differential control of the dual-propulsion rotor provides cruise heading control moment of the unmanned aerial vehicle.
As shown in fig. 15, the top of the comprehensive bearing fuselage is provided with an avionics equipment cabin and an electric energy generation module, the middle of the comprehensive bearing fuselage is provided with a pilot operator seat in front, the rear of the comprehensive bearing fuselage is provided with a modular energy cabin, the lower part of the comprehensive bearing fuselage is provided with a modular load cabin, and the bottom of the comprehensive bearing fuselage and the lower part of the modular load cabin are provided with non-retractable nose-slip type undercarriage;
synthesize and bear the fuselage and integrated unmanned aerial vehicle energy, control, load equipment, provide flight control, electric energy and task load for unmanned aerial vehicle.
Wherein, unmanned aerial vehicle carries on pilot's operation seat, and pilot's operation seat has integrateed unmanned aerial vehicle controller navigation and has joined in marriage the parameter display screen, can carry on the pilot under the special condition and realize someone operation unmanned aerial vehicle flight, possesses manned, freight and the multiple flight state of passenger-cargo mixed loading.
Unmanned aerial vehicle carries on different loads through changing modularization load cabin and accomplishes different personalities or carries on the goods and realize the long-distance freight, is located to synthesize the anterior operator seat of bearing the fuselage and carries on the pilot and realize that unmanned aerial vehicle manned flies.
The unmanned aerial vehicle adopts the modularization load cabin, changes different load modules and can carry out different tasks.
A control method of a composite propulsion unmanned aerial vehicle with adjustable gravity center,
the self-adaptive lift rotor wing is adopted to fly at a positive attack angle, the lift rotor wing and airflow are at the positive attack angle during cruising, and the oncoming inflow is coupled with the downwash airflow of the lift rotor wing;
the whole lift of unmanned aerial vehicle has been improved, has reduced the horizontal rotor energy resource consumption of stage of cruising, has improved unmanned aerial vehicle efficiency of cruising.
The self-adaptive lift rotor wing positive attack angle flying means that the unmanned aerial vehicle automatically adjusts the positive attack angle degree of the lift rotor wing according to the flying airspeed, composite propulsion is adopted in the cruising process, the lift rotor wing is coupled with incoming flow to additionally generate lift force, and the aim of improving the flying efficiency is fulfilled; under different airspeeds, the best flight angle of attack of lift rotor is different, adjusts unmanned aerial vehicle angle of attack through focus regulation and lift rotor attitude control to adjustment lift rotor flight angle of attack, unmanned aerial vehicle automatic adjustment angle of attack under different airspeeds realize the purpose of the efficiency of optimally cruising.
Wherein, unmanned aerial vehicle automatic adjustment angle of attack under different airspeeds indicates that the forward angle of attack degree of lift rotor is adjusted according to flight airspeed, and unmanned aerial vehicle is at the compound state of cruising that impels, and the unmanned aerial vehicle angle of attack reaches best flight efficiency according to airspeed automatically regulated. When the unmanned aerial vehicle flies at low speed, medium speed and high speed, the flying angle of attack of the unmanned aerial vehicle is correspondingly adjusted.
As shown in fig. 17, when the unmanned aerial vehicle takes off, hovers, lands, and flies at a low speed and a short distance, the unmanned aerial vehicle flies in a normal multi-rotor mode, the propulsion rotor is supplemented as a yaw moment only when the heading is continuously changed, and the lift force is completely provided by the rotation of the lift rotor.
When unmanned aerial vehicle was flown at low-speed cruising, adopted compound propulsion mode flight, unmanned aerial vehicle kept 0 angle of attack, impeld the rotor and provides whole thrust forward, and the lift rotor provides whole lift.
When unmanned aerial vehicle was flown at the intermediate speed cruise, adopted big angle of attack complex propulsion mode flight, unmanned aerial vehicle kept great angle of attack, impeld the rotor and provides whole thrust forward. The output of the front lifting rotor wing is larger than that of the rear rotor wing, the unmanned aerial vehicle keeps a large attack angle state, and the vertical component of the lifting rotor wing provides a part of lifting force. The propulsion rotor pushes the unmanned aerial vehicle to fly forwards, and the airflow and the downwash airflow of the lift rotor are coupled to additionally generate a part of lift.
Unmanned aerial vehicle is when the flight that cruises at a high speed, and the thrust rotor continues with higher speed, and the airspeed increases gradually, and the lift that comes to flow and lift rotor downwash air current coupling production is bigger and bigger, and anterior lift rotor output reduces gradually, and the unmanned aerial vehicle angle of attack reduces thereupon, and unmanned aerial vehicle flight resistance also reduces gradually, and unmanned aerial vehicle keeps less angle of attack to carry out high-speed cruises.
The above-described embodiment merely represents one embodiment of the present invention, but is not to be construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Claims (10)
1. A gravity-center-adjustable composite propulsion unmanned aerial vehicle comprises an electric energy generation module, a bearing body, a modular energy cabin, a modular load cabin, a horn, an avionics equipment cabin, a pilot operating seat, a lifting rotor wing, a propulsion rotor wing and an undercarriage, wherein the electric energy generation module comprises a gas turbine electric energy generation module and/or a hydrogen fuel pile electric energy generation module;
the comprehensive bearing machine body is arranged between the two machine arms, the two machine arms are connected through four parallel cross beams, and the longitudinal axes of the two machine arms and the comprehensive bearing machine body are parallel; the comprehensive bearing machine body is horizontally moved relative to the machine arm in the direction of a longitudinal axis, the distance between the machine arm and the comprehensive bearing machine body is adjusted through translation, and the cross beam, the machine arm and the comprehensive bearing machine body are respectively hinged through a rotary joint; two power arms of the unmanned aerial vehicle are hinged with the comprehensive bearing body in parallel through four cross beams, and the rotating joint rotates to drive the arms to move forwards and backwards, so that the gravity center of the unmanned aerial vehicle is adjusted to adapt to the gravity centers of the unmanned aerial vehicles in different task states;
the unmanned aerial vehicle adopts the lift rotor wing and the propulsion rotor wing to carry out composite propulsion, so that the unmanned aerial vehicle can vertically take off and land, hover and cruise at high speed; three pairs of coaxial contra-rotating horizontal rotation lift rotors are longitudinally arranged on the horn to provide lift, the tail part vertical rotation propulsion rotor provides the cruising horizontal thrust of the unmanned aerial vehicle, the left propulsion rotor and the right propulsion rotor rotate oppositely to offset the reaction torque, and the differential rotation provides course control torque when the unmanned aerial vehicle patrols and navigates.
2. The unmanned aerial vehicle with adjustable gravity center of claim 1, wherein: the gas turbine electric energy generation module generates electricity by using fossil fuel kerosene or diesel oil in a fuel cabin, and the hydrogen fuel pile electric energy generation module generates electricity by using hydrogen in a high-pressure hydrogen tank fuel cabin; when the gas turbine electric energy generation module is carried, the energy cabin is fossil fuel kerosene or diesel oil, and the gas turbine works to drive the generator to generate electricity; when the hydrogen fuel pile electric energy generation module is carried, the energy cabin is a high-pressure hydrogen storage tank.
3. The unmanned aerial vehicle with adjustable gravity center of claim 2, wherein: the gas turbine electric generating module comprises a gas turbine, a high-speed permanent magnet brushless generator, a three-phase rectifier bridge and a gas turbine electric energy generating controller; the gas turbine drives the high-speed permanent magnet brushless generator to rotate and generate power after working, and the generated three-phase alternating current is rectified by the three-phase rectifier bridge and then outputs stable direct current; the gas turbine electric energy generation controller detects the rotating speed and the output direct current voltage of the gas turbine, adjusts the rotating speed of the gas turbine according to voltage feedback, and keeps the gas turbine electric energy generation module to output stable direct current electric energy.
4. The unmanned aerial vehicle with adjustable gravity center of claim 2, wherein: the hydrogen fuel pile electric energy generating module is a proton exchange membrane hydrogen fuel cell, and comprises a flow control valve, a hydrogen fuel pile, a voltage stabilizer, an air compressor and a hydrogen fuel pile electric energy generating control module, wherein high-pressure hydrogen enters the hydrogen fuel pile after passing through the flow control valve, air enters the hydrogen fuel pile after passing through a pressurizing and filtering device and the air compressor, the hydrogen and oxygen in the air generate oxidation-reduction reaction under the action of a catalyst to convert chemical energy into electric energy, the produced purified water is discharged from the hydrogen fuel pile in a water vapor form, the hydrogen fuel pile electric energy generating controller detects feedback of electric energy output, and the hydrogen fuel pile electric energy generating rate is accurately controlled by adjusting the flow control valve and the air compressor, so that the hydrogen fuel pile electric energy generating module is accurately controlled.
5. The unmanned aerial vehicle with adjustable gravity center of claim 1, wherein: the task state comprises a shutdown state, a hovering state, a low-speed cruising state and a high-speed cruising state; when the aircraft is in a shutdown state, the aircraft arms are folded close to the aircraft body, the lift rotor rotates to be parallel to the aircraft arms, and the aircraft arms are retracted inwards and cling to the bearing aircraft body; in a hovering state, the unmanned aerial vehicle is kept horizontal, and the optimal gravity center is located at the geometric center; in a low-speed cruising state, the unmanned aerial vehicle flies at a negative attack angle, and the optimal gravity center is positioned in front of the geometric gravity center; high-speed cruising state, unmanned aerial vehicle keep the flight of positive angle of attack, and the best focus is located around the geometry focus.
6. The unmanned aerial vehicle with adjustable gravity center of claim 1, wherein: the top of the comprehensive bearing fuselage is provided with an avionics equipment cabin and an electric energy generation module, the middle part of the comprehensive bearing fuselage is provided with a pilot operating seat in front, the rear part of the comprehensive bearing fuselage is provided with a modular energy cabin, the lower part of the comprehensive bearing fuselage is provided with a modular load cabin, and the bottom of the comprehensive bearing fuselage and the lower part of the modular load cabin are provided with non-retractable nose-and-slip type undercarriage; the comprehensive bearing machine body integrates unmanned aerial vehicle energy, control and load equipment, and provides flight control, electric energy and task load for the unmanned aerial vehicle;
unmanned aerial vehicle carries on pilot's operation seat, and pilot's operation seat has integrateed unmanned aerial vehicle controller navigation and has joined in marriage the parameter display screen, can carry on the pilot under the special circumstances and realize someone operation unmanned aerial vehicle flight, possesses manned, freight and many flight states of passenger-cargo mixed loading.
7. The unmanned aerial vehicle with adjustable gravity center of claim 1, wherein: three pairs of coaxial contra-rotating horizontally-rotating lift rotor power sets are uniformly distributed on a longitudinal axis of a horn, each lift rotor power set comprises an upper lift rotor and a lower lift rotor which are respectively arranged on the upper part and the lower part of the horn, a propelling rotor with a rotating shaft coincident with the longitudinal axis is arranged at the tail part of the horn, and the rotating directions of the propelling rotors and the lift rotors at the corresponding positions of the left horn and the right horn are opposite; the integrated power horn provides lift and horizontal forward thrust including the vertical direction, and two propulsion rotors provide the opposite direction rotation and provide unmanned aerial vehicle horizontal thrust that cruises together, and two propulsion rotor differential controls provide unmanned aerial vehicle course control moment that cruises.
8. The control method of the gravity center adjustable compound propulsion unmanned aerial vehicle as claimed in any one of claims 1 to 7, characterized in that: the self-adaptive lift rotor wing is adopted to fly at a positive attack angle, the lift rotor wing and airflow are at the positive attack angle during cruising, and the oncoming inflow is coupled with the downwash airflow of the lift rotor wing; the self-adaptive lift rotor wing positive attack angle flying means that the unmanned aerial vehicle automatically adjusts the positive attack angle degree of the lift rotor wing according to the flying airspeed, composite propulsion is adopted in the cruising process, and the lift rotor wing is coupled with incoming flow to additionally generate lift force; under different airspeeds, the best flight angle of attack of lift rotor is different, adjusts unmanned aerial vehicle angle of attack through focus regulation and lift rotor attitude control to adjustment lift rotor flight angle of attack, unmanned aerial vehicle automatic adjustment angle of attack under different airspeeds.
9. The control method according to claim 8, characterized in that: the unmanned aerial vehicle automatically adjusts the attack angle at different airspeeds means that the forward attack angle degree of the lift rotor wing is adjusted according to the flight airspeed, the unmanned aerial vehicle is in a composite propulsion cruise state, and the attack angle of the unmanned aerial vehicle is automatically adjusted according to the airspeed to achieve the optimal flight efficiency; when the unmanned aerial vehicle flies at low speed, medium speed and high speed, the flying angle of attack of the unmanned aerial vehicle is correspondingly adjusted.
10. The control method according to claim 8, characterized in that: when the unmanned aerial vehicle takes off, hovers, lands and flies at low speed and short distance, the unmanned aerial vehicle flies in a common multi-rotor mode, the propulsion rotor wing is only used as yaw moment supplement when the course is continuously changed, and the lift force is completely provided by the rotation of the lift rotor wing; when the unmanned aerial vehicle flies at low speed in a cruising mode, the unmanned aerial vehicle flies in a composite propulsion mode, the attack angle of the unmanned aerial vehicle is kept at 0 degrees, the propulsion rotor wing provides all forward thrust, and the lift rotor wing provides all lift;
when the unmanned aerial vehicle flies in a medium-speed cruising mode, the unmanned aerial vehicle flies in a large attack angle composite propulsion mode, the unmanned aerial vehicle keeps a large attack angle, the propulsion rotor wing provides all forward thrust, the output of the front lifting force rotor wing is greater than that of the rear lifting force rotor wing, the unmanned aerial vehicle keeps a large attack angle state, and the vertical component force of the lifting force rotor wing provides a part of lifting force; the propulsion rotor wing pushes the unmanned aerial vehicle to fly forwards, and airflow is coupled with downwash airflow of the lift rotor wing to additionally generate a part of lift force;
unmanned aerial vehicle is when the flight that cruises at a high speed, and the thrust rotor continues with higher speed, and the airspeed increases gradually, and the lift that comes to flow and lift rotor downwash air current coupling production is bigger and bigger, and anterior lift rotor output reduces gradually, and the unmanned aerial vehicle angle of attack reduces thereupon, and unmanned aerial vehicle flight resistance also reduces gradually, and unmanned aerial vehicle keeps less angle of attack to carry out high-speed cruises.
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