CN112849411B - Throwing method of solar unmanned aerial vehicle - Google Patents
Throwing method of solar unmanned aerial vehicle Download PDFInfo
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- CN112849411B CN112849411B CN202110189063.6A CN202110189063A CN112849411B CN 112849411 B CN112849411 B CN 112849411B CN 202110189063 A CN202110189063 A CN 202110189063A CN 112849411 B CN112849411 B CN 112849411B
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- unmanned aerial
- aerial vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D5/00—Aircraft transported by aircraft, e.g. for release or reberthing during flight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/38—Adjustment of complete wings or parts thereof
- B64C3/54—Varying in area
- B64C3/546—Varying in area by foldable elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D17/00—Parachutes
- B64D17/80—Parachutes in association with aircraft, e.g. for braking thereof
Abstract
The invention discloses a throwing method of a solar unmanned aerial vehicle, which belongs to the technical field of unmanned aerial vehicles and comprises the following steps: s10, carrying the solar unmanned aerial vehicle by a carrying device to enter a stratosphere; s20, when the flying height of the carrying device reaches the preset throwing height, the carrying device releases the solar unmanned aerial vehicle to throw; and S30, the solar unmanned aerial vehicle starts cruising or climbing flight. According to the throwing method of the solar unmanned aerial vehicle, the carrying device quickly climbs to the stratosphere, the success rate of entering the stratosphere is greatly improved, meanwhile, the method is not influenced by factors such as time, place and weather, the climbing section of the conventional solar unmanned aerial vehicle is omitted, and the solar unmanned aerial vehicle can enter a task state more quickly.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a throwing method of a solar unmanned aerial vehicle.
Background
Throughout the development history of solar aircrafts, not all the solar aircrafts which fly successfully are put into application, some projects are taken down after years of development, and some unmanned aerial vehicles continuously encounter accidents in test flight.
The Helios unmanned plane encounters strong turbulence when flying in 6 months in 2003, so that the whole wing induces severe pitching oscillation, the structure distortion limit is exceeded, and the unmanned plane is disintegrated; in 2016, the 'Aquila' unmanned aerial vehicle breaks down and crashes when trying to fly in a desert area, and then the Facebook stops the research and development plan of the Aquila unmanned aerial vehicle; the Zephyr unmanned plane encounters turbulence when trying to fly in Australia in 2019 and 9 months, and the plane breaks away from controlled flight and crashes. However, investigations have shown that these unmanned aerial vehicle accidents all stem from the same category of causes: the structure is damaged by sudden wind during the flight.
The aspect ratio solar unmanned aerial vehicle needs to pass through the troposphere in the taking-off and landing process, can receive strong gust influence, causes great additional overload, and threatens flight safety. Research shows that the size of the gust is directly related to the turbulence intensity, and the stronger the turbulence, the larger the gust coefficient. The wind field becomes progressively more stable as the height increases, since the turbulence exchange is more severe closer to the ground and the gust coefficient at the ground is the greatest. The gust model shows that the gust coefficient basically shows negative exponential change along with the height change; in addition, the lower the altitude, the lower the cruising speed of the solar unmanned aerial vehicle, the more significant the aerodynamic disturbance of the aircraft by the gust. By integrating the two points, the solar unmanned aerial vehicle is most easily interfered by turbulence effect and gust to generate safety problems in the take-off and landing stages. Through meteorological prediction, select that the wind speed is little, the weather that turbulence intensity is weak as the window period of taking off and land, can reduce the accident rate that the torrent arouses by a wide margin, however, take meteorological guarantee measures and can not ensure completely that the stage of taking off and land can not meet the torrent, solar unmanned aerial vehicle meets the torrent and the incident of crash still frequently takes place.
Disclosure of Invention
In order to solve the technical problem, the invention adopts the following technical scheme:
a throwing method of a solar unmanned aerial vehicle comprises the following steps:
s10, carrying the solar unmanned aerial vehicle by a carrying device to enter a stratosphere;
s20, when the flying height of the carrying device reaches a preset throwing height, the carrying device releases the solar unmanned aerial vehicle to throw;
and S30, the solar unmanned aerial vehicle starts cruising or climbing flight.
Further, in step S10, the vehicle is one of a transporter, a hot air balloon or an airship, and carries the solar unmanned aerial vehicle to enter the high altitude with an altitude of 12000m or more.
Further, step S30 includes the following steps:
s31, after the solar unmanned aerial vehicle is released and thrown away, the solar unmanned aerial vehicle descends in a free state deceleration buffer mode;
s32, when the solar unmanned aerial vehicle reaches a stable state on a stratosphere, guiding the landing device to be started; the guiding landing device is used for enabling the solar unmanned aerial vehicle to be separated from a free-falling body state and enter a deceleration state in the vertical direction;
s33, when the solar unmanned aerial vehicle descends at a constant speed under the guidance of the guiding landing device and the horizontal flying speed is zero or close to zero, starting the gliding device; the gliding device is used for gradually converting the falling speed of the solar unmanned aerial vehicle into the flat flying speed;
s34, when the forward sliding speed and the falling speed of the solar unmanned aerial vehicle reach preset values, the solar unmanned aerial vehicle is separated from the guiding and landing device and the gliding device; the solar unmanned aerial vehicle starts cruising or climbing flight.
Further, the solar unmanned aerial vehicle is provided with 2 symmetrical and foldable wings; the upper end of the solar unmanned aerial vehicle is provided with the guide landing device and the gliding device which are arranged up and down and can be separated; the upper end of the wing of the solar unmanned aerial vehicle is provided with a fixed support for providing rigid support; the fixed support and the wings are folded through a folding mechanism; wherein, in step S10, step S20, step S31, step S32 and step S33, the solar drone is in a state of being folded by the folding mechanism wing.
Further, the guiding and descending device is a guiding umbrella bag, and the gliding device is a gliding umbrella bag.
Further, in step S34, before the solar unmanned aerial vehicle breaks away from the guiding and landing device and the gliding device, the folding mechanism drives the fixed support, the fixed support drives the folding wing of the solar unmanned aerial vehicle to unfold, and the folding mechanism fixes the wing structure state of the solar unmanned aerial vehicle.
Further, the steady state in step S32 means when the falling speed and the level flight speed of the solar unmanned aerial vehicle both reach preset values.
Has the advantages that:
1) the invention greatly improves the success rate of the solar unmanned aerial vehicle entering the stratosphere, and the throwing flight mode or method in the prior art has low success rate.
2) The method is not influenced by factors such as time, place and weather, the throwing mode in the prior art has strict requirements on the weather of the time and the place, and a proper time window does not exist for a year.
3) When a certain area needs to be continuously detected, the unmanned aerial vehicle can quickly climb to a stratosphere through the aerial vehicle and then be released, so that a climbing section of a conventional solar unmanned aerial vehicle is omitted, and the unmanned aerial vehicle can enter a mission state more quickly.
4) When the battle area changes, the aerial coordinate system can quickly arrive at the battle airspace through the aerial carrier and then be released, and aerial coordinate transfer is not needed, so that the safety and the practicability are higher.
5) When the solar unmanned aerial vehicle flies, the ground takeoff condition does not need to be considered, and the solar unmanned aerial vehicle can be carried by a carrier to arrive at a flying airspace after flying from a remote airport.
6) The invention can be put in a fixed-point multi-platform mode and can construct an 'high-altitude pseudosatellite network' through strategic cooperation.
Drawings
FIG. 1 is an overall structural diagram of an initial folded state of a solar unmanned aerial vehicle during release and throwing flight
FIG. 2 is a schematic structural diagram of a solar unmanned aerial vehicle in the throwing flight process when opening a guide umbrella and a paraglider
FIG. 3 is a schematic view showing the wing unfolding structure of the solar unmanned aerial vehicle after the guiding umbrella and the paraglider are opened
FIG. 4 is a schematic structural diagram of the state that the solar unmanned aerial vehicle and the paraglider are separated
FIG. 5 is a table of forward flight speed and drop speed of a solar drone over time
Detailed Description
Example 1
A throwing method of a solar unmanned aerial vehicle comprises the following steps:
s10, carrying the solar unmanned aerial vehicle by the carrying device to enter the stratosphere.
In this embodiment, the carrying device is one of a transporter, a hot air balloon or an airship, and carries the solar unmanned aerial vehicle to enter the high altitude with the altitude of 12000m or more.
And S20, when the flying height of the carrying device reaches the preset throwing height, the carrying device releases the solar unmanned aerial vehicle to throw.
The solar unmanned aerial vehicle is released by the carrying device to be thrown and flown inside the carrying device, and the solar unmanned aerial vehicle can be thrown and flown outside the carrying device.
And S30, the solar unmanned aerial vehicle starts cruising or climbing flight.
In the present embodiment, step S30 includes the following steps:
and S31, after the solar unmanned aerial vehicle is released and thrown, the solar unmanned aerial vehicle is decelerated and buffered to land in a free state.
S32, when the solar unmanned aerial vehicle reaches a stable state in a stratosphere, guiding the landing device to be started; the guiding landing device is used for enabling the solar unmanned aerial vehicle to be separated from a free-falling body state and enter a deceleration state in the vertical direction;
wherein, the steady state means when solar energy unmanned aerial vehicle's falling speed and flat speed all reach the default.
S33, when the solar unmanned aerial vehicle descends at a constant speed under the guidance of the guiding and landing device and the horizontal flying speed is zero or close to zero, starting the gliding device; the gliding device is used for gradually converting the falling speed of the solar unmanned aerial vehicle into the flat flying speed.
S34, when the forward sliding speed and the falling speed of the solar unmanned aerial vehicle reach preset values, the solar unmanned aerial vehicle is separated from the guiding landing device and the gliding device; the solar unmanned aerial vehicle starts to cruise or climb flight.
In this embodiment, the solar drone is provided with 2 symmetrical and foldable wings; the upper end of the solar unmanned aerial vehicle is provided with a guide landing device and a gliding device which are arranged up and down and can be separated; the upper end of the wing of the solar unmanned aerial vehicle is provided with a fixed support for providing rigid support; wherein, the fixed support and the wings are folded through a folding mechanism.
In step S10, step S20, step S31, step S32, and step S33, the solar drone is in a state of being folded by the folding mechanism.
In step S34, before the solar unmanned aerial vehicle is separated from the guiding landing device and the gliding device, the folding mechanism drives the fixing bracket, the fixing bracket drives the folding wings of the solar unmanned aerial vehicle to unfold, and the folding mechanism fixes the structural state of the wings of the solar unmanned aerial vehicle.
Wherein, the fixed bolster of fixed package aircraft need fly whole in-process for solar energy unmanned aerial vehicle provides sufficient structural rigidity support throwing.
In this embodiment, the fixing and separating actions of the airplane on the hanger are realized by adsorbing the separable hook between the fixing support and the wing through the electromagnet.
Wherein the fixed support is attached to the upper surface of the wing. A sleeve is arranged on the fixed bracket, and an electromagnet is arranged in the sleeve; the lower ends of the first wing and the second wing are provided with fixing bolts, and steel connectors are arranged at the suction matching ends of the fixing bolts and the electromagnets 9.
In this embodiment, the folding mechanism should ensure both simplicity and reliability and stability of the overall structure. Meanwhile, in order to reduce the weight of the airplane, the drive control of the unfolding action of the wings is generated by driving the wings by the fixed support, and only the folding mechanism is arranged on the wings.
Each of the 2 foldable wings comprises a wing body and a foldable wing, wherein each foldable mechanism comprises a rotating shaft hinge and a driving mechanism, and the wing body is rotatably connected with the foldable wing through the rotating shaft hinge;
the driving mechanism comprises a connecting rod rocker arm component and a worm linear motor, the worm linear motor is arranged on the wing body, the connecting rod rocker arm component comprises a connecting rod and a rocker arm, one end of the connecting rod is rotatably connected with the folding wing through a rotating shaft, and the other end of the connecting rod is rotatably connected with the rocker arm through a pin shaft; the other end of the rocker arm is fixedly connected with the worm linear motor.
In this embodiment, the folding mechanism has no protruding member and no snap-back feature during operation, and can maintain a constant transmission torque.
When the whole fixing support is completely unfolded, an electromagnetic bolt locks the fixing frame at the hinge of the fixing support. The drive motor does not participate in the stress in the locked state. Two sets of driving mechanisms are installed on each side, and the driving motors are simultaneously started through the driving plates.
In this embodiment, the guidance parachute kit and the paraglider are one or more parachute packs.
In the embodiment, in the throwing process, the drag coefficient of the guide umbrella is 3, the falling speed is 10m/s, the weight of the solar unmanned aerial vehicle (comprising the parachute landing system and the folding mechanism) is 120kg, and the diameter of the guide umbrella is 6.43m through a drag formula.
In the embodiment, the height of the solar unmanned aerial vehicle released by the transporter is 13000m, the horizontal flying speed during releasing is 130m/s, and further analysis and prediction can be carried out on the state of the system in the air.
When the unmanned aerial vehicle is thrown, the change of the forward flying speed and the falling speed of the solar unmanned aerial vehicle in the air along with time is shown in fig. 5.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the technical scope of the present invention, so that any minor modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention will still fall within the technical scope of the present invention.
Claims (6)
1. A throwing method of a solar unmanned aerial vehicle is characterized by comprising the following steps:
s10, carrying the solar unmanned aerial vehicle by a carrying device to enter a stratosphere;
s20, when the flying height of the carrying device reaches a preset throwing height, the carrying device releases the solar unmanned aerial vehicle to throw;
s30, the solar unmanned aerial vehicle starts cruising or climbing flight;
wherein, step S30 includes the following steps:
s31, after the solar unmanned aerial vehicle is released and thrown away, the solar unmanned aerial vehicle descends in a free state deceleration buffer mode;
s32, when the solar unmanned aerial vehicle reaches a stable state on a stratosphere, guiding the landing device to be started; the guiding landing device is used for enabling the solar unmanned aerial vehicle to be separated from a free-falling body state and enter a deceleration state in the vertical direction;
s33, when the solar unmanned aerial vehicle descends at a constant speed under the guidance of the guiding landing device and the horizontal flying speed is zero or close to zero, starting the gliding device; the gliding device is used for gradually converting the falling speed of the solar unmanned aerial vehicle into the flat flying speed;
s34, when the forward sliding speed and the falling speed of the solar unmanned aerial vehicle reach preset values, the solar unmanned aerial vehicle is separated from the guiding and landing device and the gliding device; the solar unmanned aerial vehicle starts cruising or climbing flight.
2. The throwing method of a solar unmanned aerial vehicle as claimed in claim 1, wherein the carrying device in step S10 is one of a transporter, a hot air balloon or an airship, and carries the solar unmanned aerial vehicle into the high altitude of 12000m or more.
3. The method of flying a solar drone of claim 1, wherein the solar drone is provided with 2 symmetrical and foldable wings; the upper end of the solar unmanned aerial vehicle is provided with the guide landing device and the gliding device which are arranged up and down and can be separated; the upper end of the wing of the solar unmanned aerial vehicle is provided with a fixed support for providing rigid support; the fixed support and the wings are folded through a folding mechanism; wherein, in the steps S10, S20, S31, S32 and S33, the solar unmanned aerial vehicle is in a state of being folded by the folding mechanism.
4. The throwing method of the solar unmanned aerial vehicle as claimed in claim 3, wherein the guiding and landing device is a guiding parachute bag, and the gliding device is a gliding parachute bag.
5. The throwing method of the solar unmanned aerial vehicle as claimed in claim 4, wherein in step S34, before the solar unmanned aerial vehicle is separated from the guiding and landing device and the gliding device, the folding mechanism drives the fixed bracket, the fixed bracket drives the folded wings of the solar unmanned aerial vehicle to unfold, and the folding mechanism fixes the wing structure state of the solar unmanned aerial vehicle.
6. The throwing method of a solar unmanned aerial vehicle according to claim 1, wherein the steady state in step S32 is when the falling speed and the level flight speed of the solar unmanned aerial vehicle reach preset values.
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| CN202110189063.6A CN112849411B (en) | 2021-02-19 | 2021-02-19 | Throwing method of solar unmanned aerial vehicle |
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| CN112849411B true CN112849411B (en) | 2022-09-27 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| GB0312353D0 (en) * | 2003-05-30 | 2003-07-02 | Qinetiq Ltd | Launching aerial vehicles |
| US20150183520A1 (en) * | 2012-07-20 | 2015-07-02 | Andrew Charles Elson | Unmanned aerial vehicle and method for launching |
| US10974809B2 (en) * | 2016-06-23 | 2021-04-13 | Sierra Nevada Corporation | Air-launched unmanned aerial vehicle |
| CN109808891A (en) * | 2019-01-26 | 2019-05-28 | 智飞智能装备科技东台有限公司 | A kind of multi-rotor unmanned aerial vehicle throws fixed-wing in the air and takes off mechanism |
| CN110712742A (en) * | 2019-10-15 | 2020-01-21 | 中国人民解放军陆军工程大学 | Unmanned aerial vehicle with foldable fixed wings converted from controllable umbrella wings and conversion method |
| CN112078801A (en) * | 2020-10-22 | 2020-12-15 | 中国工程物理研究院总体工程研究所 | Folding wing flying patrol device air-drop throwing cylinder and throwing method |
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