CN113173041A - Cross-medium aircraft capable of rapidly discharging water and water discharging control method thereof - Google Patents
Cross-medium aircraft capable of rapidly discharging water and water discharging control method thereof Download PDFInfo
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- 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
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
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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
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
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Abstract
The invention discloses a cross-medium aircraft capable of rapidly discharging water and a water discharging control method thereof, and solves the technical problem that the water discharging posture of the existing cross-medium aircraft is unstable, the whole cross-medium aircraft capable of rapidly discharging water provided by the invention is of a multi-rotor structure, the number N of rotors is an even number, N is more than or equal to 4, a corresponding power system comprises N power units, N is a positive integer, each rotor is provided with N power units, each power unit comprises a propeller and a motor for driving the propeller, and the total power P of each motor in the power system is not less than three times of the hovering power of the whole aircraft; the horizontal dimension t of the cross-medium aircraft and the wavelength lambda of the waves to enter and exit the water area satisfy: t is more than or equal to 4 lambda or less than or equal to 0.25 lambda. The cross-medium aircraft capable of rapidly discharging water provided by the invention solves the serious influence of water surface fluctuation on stable water discharge through size design and power system power design, the water discharge speed can be shortened to within 1s, and the water discharge reliability can reach more than 99.8%.
Description
Technical Field
The application belongs to the technical field of unmanned aerial vehicles, and particularly relates to a cross-medium aircraft capable of rapidly discharging water and a water discharging control method thereof.
Background
The cross-medium aircraft integrates three unmanned working systems of an air aircraft, a surface vehicle and an underwater vehicle, and can have three functions of air flight, surface navigation and underwater navigation on a single platform. The platform is flexible, can better adapt to various environmental conditions, and has certain universality and concealment.
The cross-medium aircraft breaks through the limitation of the traditional single-medium unmanned system platform, has the flight characteristics of the water surface aircraft and the diving characteristics of the underwater vehicle, and has excellent environmental adaptability. Meanwhile, blind areas of various detection devices can be effectively utilized, a target defense system can be rapidly and covertly broken through, and tasks such as remote reconnaissance, attack and the like can be efficiently and conveniently executed.
As the density difference between water and air is about 800 times, the hydrodynamic property difference is very large, the cross-medium aircraft needs dead weight influence in the water outlet process, the water outlet posture is required to be stable, and otherwise the cross-medium aircraft is easy to overturn on a fluctuating water surface. Therefore, the stable control of the water outlet posture of the cross-medium aircraft becomes a great difficulty for the development of the rechargeable cross-medium aircraft, and the problem is urgently needed to be solved.
Disclosure of Invention
In order to solve the technical problems, the invention provides a cross-medium aircraft capable of rapidly discharging water and a water discharge control method thereof.
The technical scheme adopted for achieving the purpose of the invention is that the cross-medium aircraft capable of rapidly discharging water is of a multi-rotor structure, the number N of the rotors is an even number, and N is more than or equal to 4; the power system of the cross-media aircraft comprises N power units, wherein N is a positive integer, N power units are mounted on each rotor wing, each power unit comprises a propeller and a motor for driving the propeller, the total power P of each motor in the power system is not less than 3P1, and P1 is the total power of each motor in the power system required by the cross-media aircraft in a hovering state; the horizontal dimension t of the cross-medium aircraft and the wavelength lambda of the waves to enter and exit the water area satisfy that: t is more than or equal to 4 lambda or less than or equal to 0.25 lambda.
Optionally, the diameter D and the pitch p of the propeller satisfy: d is not less than D1 and not more than D2, p is not less than p1 and not more than p2, wherein D1 and p1 are the corresponding diameter and the corresponding pitch of the marine propeller under the conditions of the same thrust, the same fluid medium density and the same propeller rotating speed respectively; d2 and p2 are the corresponding diameter and the corresponding pitch of the propeller for the airplane under the conditions of the same thrust, the same fluid medium density and the same propeller rotating speed respectively.
Optionally, the diameter D of the propeller is 6-8 inches, and the pitch p of the propeller is less than D; the motor is a large-torque brushless motor, and the torque range of the large-torque brushless motor is 0.1-10 N.m.
Optionally, the blades of the propeller are provided with wingtip winglets, the inclination angle of each wingtip winglet is 10 degrees to 30 degrees, and the installation angle of each wingtip winglet is-40 degrees to 0 degrees.
Optionally, the horizontal dimension t of the cross-medium aircraft and the wavelength λ of the waves to enter and exit the water area satisfy: t is more than or equal to 10 lambda or less than or equal to 0.1 lambda.
Optionally, the horizontal dimension t of the cross-media aircraft is a diagonal center-to-center distance.
Optionally, the signal line and the circuit board of the cross-medium aircraft are coated with sealant.
Optionally, the specification of the wire of the power line of the cross-medium aircraft is more than 18 AWG; and the joint of the power electric circuit is coated with a protective layer.
Optionally, the gap of the mechanical moving part of the cross-medium aircraft is coated with grease.
Based on the same inventive concept, the invention also correspondingly provides a water outlet control method applied to the rapid water outlet cross-medium aircraft, a power type water outlet control strategy is adopted, parameters of a motor and a propeller in the power system are adjusted, so that the thrust of the power unit in the air is smaller than that in the water, and the motor of the power system is controlled to rotate simultaneously, so that the cross-medium aircraft gradually approaches to the water surface until the cross-medium aircraft goes out of water.
According to the technical scheme, the cross-medium aircraft capable of rapidly discharging water has a multi-rotor structure, the number N of the rotors is even, N is more than or equal to 4, and the self-rotating torque is not generated when a power system works. The corresponding power system comprises N power units, wherein N is a positive integer, the N power units are arranged on each rotor wing, each power unit comprises a propeller and a motor used for driving the propeller, the total power P of each motor in the power system is not less than 3 times of hovering power, the water outlet power is as strong as possible, and the water outlet time is shortened to within 1 s. The horizontal dimension t of the cross-medium aircraft and the wavelength lambda of the waves to enter and exit the water area satisfy: t is more than or equal to 4 lambda or less than or equal to 0.25 lambda, namely the size of the cross-medium aircraft is designed to be far smaller than the wavelength of local waves or far larger than the wavelength of the local waves.
For the cross-medium aircraft, the attitude stability control of the water outlet process is a control difficulty, and on one hand, the size of the cross-medium aircraft provided by the invention is designed to be far smaller than the wavelength of local waves or far larger than the wavelength of the local waves, so that the fluctuating water surface is approximately a plane relative to the cross-medium aircraft; on the other hand, by setting the hovering power of not less than 3 times of the total power P of each motor in the power system, the water outlet power is provided as strong as possible, the water outlet time is shortened to within 1s, and water can be discharged in a very short time without obvious change on the water surface. The serious influence of water surface fluctuation on stable water outlet of the cross-medium aircraft is solved through the two aspects, and the water outlet reliability can reach more than 99.8%.
The multi-rotor unmanned aerial vehicle is applied to the field of cross-medium flight, belongs to the current mature technology, and is low in implementation difficulty. And adjusting parameters of a motor and a propeller in the power system to enable the thrust of the power unit in the air to be smaller than the thrust in the water, and controlling the motor of the power system to rotate simultaneously to enable the cross-medium aircraft to gradually approach the water surface until the water comes out.
When the cross-medium aircraft capable of rapidly discharging water is in water or on the water surface, the whole aircraft is subjected to a plurality of forces: gravity, buoyancy and the pulling force of a plurality of motors; the whole machine is subjected to N × N moments, namely, the moment caused by the back torque of the motor. Unmanned aerial vehicle of many rotors overall arrangement, complete machine structure symmetry, consequently the focus is located the center of aircraft. Generally, the overall density of the cross-medium unmanned aerial vehicle is higher than that of water, and compared with other acting forces, buoyancy is an unimportant influence factor. The differential tension of the motors is therefore the source of the moment that causes the pitch and roll maneuver of the multi-rotor drone. The torque differential of each motor is the source of the torque that causes the multi-rotor drone to yaw.
In the cross-medium aircraft provided by the invention, the thrust of the power unit in the air is smaller than that in the water, even if the attitude of the cross-medium aircraft on the water surface is unstable, a higher-position motor drives the rotating propeller to firstly leave the water surface due to the unstable attitude, and after the motor leaves the water medium, the buoyancy and the propeller tension are both instantaneously reduced under the influence of the density difference between water and air, so that the horn is subjected to a moment action and has a downward movement tendency and a balance recovery tendency. At the moment, the other three motors which do not leave the water surface are still in the water, and the motor tension is greater than that of the motor which leaves the water surface, so that the three arms in the water are also under the action of a moment and move upwards and restore the balance trend. By superimposing the two analyzed movement patterns, the aircraft will eventually tend to be in a steady attitude and gradually leave the water surface.
Compared with the prior art, the invention has the following advantages:
1. the cross-medium aircraft capable of rapidly discharging water provided by the invention adopts a multi-rotor structure, avoids the inherent contradiction of fixed wing layout, effectively improves the compatibility of the cross-medium aircraft to two working environments, and can rapidly discharge water.
2. According to the cross-medium aircraft capable of rapidly discharging water, the size of the cross-medium aircraft is far smaller or far larger than the wavelength of local waves, the hovering power of the total power P of each motor in the power system is not smaller than 3 times, the serious influence of water surface fluctuation on stable water discharge of the cross-medium aircraft is jointly solved, the water discharge speed can be shortened to within 1s, and the water discharge reliability can reach more than 99.8%.
3. The water outlet control method provided by the invention adopts a power type water outlet control strategy, the whole water outlet process is controllable, and the cross-medium aircraft can automatically correct the self attitude in the water outlet process, so that the attitude is ensured to be stable, and the overturning is avoided.
Drawings
FIG. 1 is a schematic structural diagram of a cross-media aircraft with rapid water outflow according to an embodiment of the invention;
FIG. 2 is a schematic structural view of a power system blade in the fast water-discharging cross-media aircraft of FIG. 1;
description of reference numerals: 1-rotor wing, 2-propeller, 3-motor, 4-blade, 41-wingtip winglet.
Detailed Description
In order to make the present application more clearly understood by those skilled in the art to which the present application pertains, the following detailed description of the present application is made with reference to the accompanying drawings by way of specific embodiments.
As the density difference between water and air is about 800 times, the hydrodynamic property difference is very large, the cross-medium aircraft needs dead weight influence in the water outlet process, the water outlet posture is required to be stable, and otherwise the cross-medium aircraft is easy to overturn on a fluctuating water surface.
If the water surface fluctuates and the cross-medium aircraft is in fluctuating water, the propeller can generate a new state that one part of the propeller disc is immersed in the water and the other part of the propeller disc is in the air. At this time, the rotating speed of the propeller is not greatly different from the rotating speed in water, but the generated thrust is not as large as in water. Since the water-air density differs by a factor of about 800, the thrust in water is about 800 times that in air for all other propellers operating in a consistent condition. Since the area of the paddle disk immersed in water is possible from 0 to 100%, the propeller thrust in the state cannot be quantized, so that the fluctuating water surface can seriously affect the stable water outlet of the cross-medium aircraft, and the cross-medium aircraft topples over and cannot discharge water when discharging water.
The above reasons cause the stable attitude control of the cross-medium aircraft water outlet to be very difficult to solve.
In order to solve the technical problems, the invention provides a design idea, a multi-rotor unmanned aerial vehicle is applied to the field of cross-medium flight, the multi-rotor unmanned aerial vehicle belongs to the mature technology at present, the implementation difficulty is low, the multi-rotor unmanned aerial vehicle is provided with a plurality of power units, and the whole flight process is controllable, so that a power type water outlet mode can be adopted, and the serious influence of water surface fluctuation on stable water outlet is jointly solved through size design and power system power design.
The technical scheme of the invention is described in detail by combining the specific embodiments as follows:
example 1:
the embodiment provides a cross-medium aircraft capable of rapidly discharging water, and referring to fig. 1, the cross-medium aircraft is of a multi-rotor structure, the number N of rotors 1 is an even number, and N is greater than or equal to 4, such as four rotors, six rotors, eight rotors, and the like. The power system of the cross-medium aircraft comprises N × N power units, wherein N is a positive integer, N power units are mounted on each rotor 1, for example, a six-rotor unmanned aerial vehicle, and each rotor is provided with double power, so that the total number of the power units is 12. The even number design of the power unit ensures that the power system can not generate spin torque when working.
The power unit comprises a propeller 2 and a motor 3 for driving the propeller 2, the total power P of each motor in the power system is more than or equal to 3P1, and P1 is the total power of each motor in the power system required by the cross-media aircraft in a hovering state, which is also called hovering power. Since the total power of the power system is generally evenly distributed to each motor, the power p of a single motor is equal to or greater than 3p1, and p1 is the hovering power of the motor and can be directly inquired. The total power P of the power system is set to be not less than 3 times of hovering power, so that the power system can provide as strong water outlet power as possible, the water outlet time of the power system is shortened to within 1s, and water can be discharged in a very short time without obvious change on the water surface.
For the complete machine, the horizontal dimension t of the cross-medium aircraft and the wavelength lambda of the waves to enter and exit the water area satisfy: t is more than or equal to 4 lambda or less than or equal to 0.25 lambda, namely the size of the cross-medium aircraft is designed to be far smaller than the wavelength of local waves or far larger than the wavelength of the local waves, so that the fluctuating water surface is approximately a plane relative to the cross-medium aircraft.
Preferably, the horizontal dimension t of the cross-medium aircraft and the wavelength λ of the waves to enter and exit the water area should satisfy: t is more than or equal to 10 lambda or less than or equal to 0.1 lambda. I.e. the difference between the horizontal dimension t of the cross-media craft and the wavelength lambda of the waves to enter and exit the water. In this embodiment, the horizontal dimension t of the cross-medium aircraft is the diagonal center-to-center distance, i.e., the center-to-center distance between two propellers located at opposite corners.
Of course, in other embodiments, the center distance between any two propellers may also be taken as the horizontal dimension t of the cross-medium aircraft, taking the most common four-rotor structure as an example, any two propellers may be two propellers on the same side or two propellers at opposite angles, and the center distance between any two corresponding propellers may be the center distance between two propellers on the same side or the center distance between two propellers at opposite angles.
In other embodiments, the distance between the edges of the disks of any two propellers can be used as the horizontal dimension t of the cross-medium aircraft, and the most common four-rotor structure is also taken as an example, and the definitions of any two propellers are the same, which is not described herein again. The distance between any point on the propeller disc of the two propellers and any point on the propeller disc of the other propeller is different along with the point selection, when two image limit points at the outermost side are selected, the distance between the edges of the propeller discs of the two propellers is the largest, and when two image limit points at the innermost side are selected, the distance between the edges of the propeller discs of the two propellers is the smallest. For the case where the difference between the horizontal dimension t of the cross-media craft and the wavelength λ of the waves to enter and exit the water is an order of magnitude or more, any of the above-mentioned spacings can be taken as the horizontal dimension t of the cross-media craft, and the choice of different spacing forms has a negligible effect on the stability of the cross-media craft.
In the cross-medium aircraft, the power unit comprises a propeller and a motor for driving the propeller, and the diameter D and the pitch p of the propeller 2 meet the following requirements because the cross-medium operation is carried out: d is not less than D1 and not more than D2, p is not less than p1 and not more than p2, wherein D1 and p1 are the corresponding diameter and the corresponding pitch of the marine propeller under the conditions of the same thrust, the same fluid medium density and the same propeller rotating speed respectively; d2 and p2 are the corresponding diameter and the corresponding pitch of the propeller for the airplane under the conditions of the same thrust, the same fluid medium density and the same propeller rotating speed respectively. Thus, the set of power can provide stable power output in both water and air. The motor outputs high torque in water, and the rotating speed is low; the motor outputs low torque in the air, and the rotating speed is high.
Specifically, the diameter D of the propeller 2 is 6-8 inches, the pitch p of the propeller is less than D, and the pitch p is 3.8-4.0 inches in the embodiment. The diagonal wheelbase of the whole aircraft is 250-550 mm, and the takeoff weight is 0.5-2 Kg. Taking the takeoff weight of 1.4Kg as an example, the diagonal wheelbase of the cross-medium aircraft provided by the embodiment is only 450mm, while the span of the fixed wing unmanned aerial vehicle with the same weight is usually more than 600mm, so that the overall size is smaller compared with that of the fixed wing type cross-medium aircraft with the same weight. The motor 3 is a high-torque motor, the output torque range of the motor is 0.1-10N · m, the torque of the motor in the embodiment is 0.5-10N · m, preferably more than twice the output torque of the motor corresponding to the aircraft propeller, for example, for an aircraft propeller with a certain parameter, the torque of the motor in the embodiment is more than or equal to 2a, and the specific value is determined according to the actual use requirement. For the type selection of the motor, the brushless motor is specifically adopted in the embodiment, and the large-torque brushless motor can withstand larger current and is suitable for two media of water and air. And when the water-cooled motor works in water, the motor can directly radiate heat through an aqueous medium, the efficiency is higher, and the damage probability can be reduced.
Referring to fig. 2, in the present embodiment, the blades 4 of the propeller 2 have wingtip winglets 41, the wingtip winglets 41 are arranged at an angle to the blades 4, and the specific parameters of the wingtip winglets 41 are as follows: a) the inclination angle is 10 degrees to 30 degrees, the included angle between the chord plane of the winglet and the ground plane is defined as the inclination angle, and the inclination angle is 15 degrees to 20 degrees in the embodiment; b) the installation angle is-40 degrees to 0 degrees, and the installation angle of the winglet is the included angle between the root chord and the wing tip chord of the wing. The mounting angle is generally negative, i.e. the leading edge of the winglet faces outwards, also called the outer skimming angle, and in this embodiment the mounting angle is-20 to 0. The small-diameter propeller with the wingtip winglet 41 is adopted, so that the aerodynamic performance and the dynamic characteristic are improved, the induced resistance generated during underwater diving can be effectively reduced, and the efficiency is improved; the influence of the turbulent flow on the wing tip of the propeller is reduced, and the control performance and the stability of the aircraft in underwater navigation and medium crossing processes are improved.
Because the cross-medium aircraft provided by the invention needs to sail underwater, the waterproof treatment can not be ignored absolutely. For a submersible vehicle with a closed shape, a pressurizing treatment is usually performed on a machine body to resist underwater pressure, and meanwhile, the submersible vehicle also has good sealing performance to prevent water seepage so as to ensure the safety of electronic equipment. However, the air craft generally only has a thin skin to maintain the aerodynamic shape and cannot bear underwater pressure. Meanwhile, a plurality of instruments and equipment cannot be directly exposed in an underwater environment, and waterproof treatment is difficult. The general solution is to install the sealed shell additional, but has brought extra weight, is unfavorable for air flight.
In this embodiment, in order to balance the waterproof performance and other troubles caused by the waterproof measure, a physical isolation method is adopted, which mainly handles the waterproofing of the circuit and the waterproofing of the mechanical moving part.
The whole machine circuit is mainly divided into a signal circuit with small current and a power circuit with large current, the electric elements related to the signal circuit are mainly a signal circuit and a circuit board, and the electric elements related to the power circuit are mainly a power circuit and a power element. In this embodiment, the signal line and the circuit board of the cross-medium aircraft are both coated with sealant. The specification of a wire of a power circuit of the cross-medium aircraft is more than 18 AWG; the joint of the power line is coated with a protective layer. Lubricating grease is coated in gaps of mechanical moving parts of the cross-medium aircraft.
Specifically, for signal electricity, all the leads are sealed by liquid silica gel and then are solidified by cooling to form a layer of compact protective surface. Silica gel is a highThe active adsorption material belongs to an amorphous substance and has a chemical molecular formula of mSiO2·nH2And O. Except strong alkali and hydrofluoric acid, the paint does not react with any substance, is insoluble in water and any solvent, is nontoxic and tasteless, and has stable chemical properties. Different types of silica gel form different microporous structures due to different manufacturing methods. The chemical components and physical structure of silica gel determine that the silica gel has the characteristics of difficult substitution of other similar materials: high adsorption performance, good thermal stability, stable chemical property, higher mechanical strength and the like. Therefore, the sealing material can exhibit excellent barrier protection and stability. The silica gel is single-component glue which is liquid when stored and can be coated at normal temperature, and during preparation, the silica gel is directly coated on the outer surface of a signal electric lead of the circuit assembly and is solidified by absorbing water vapor in air to form a compact waterproof sealing film.
Silicone gel-cured seals are also used for all circuit boards, such as flight control chips and electronic governors, which provides a compromise between weight and water resistance. The meter body of circuit board has many exposed wire metal terminals, whether the electric conductivity that needs test circuit board before coating through silica gel is normal, then evenly coats silica gel in the surface of circuit board, should test again after the silica gel solidifies whether normal work can be done to the circuit board, if normal then can put into operation, if take place short circuit or circuit break-make, then need inspect the local circular telegram condition of circuit board again.
For the power electricity, as the current is large and the voltage is high, only a high-quality lead with small resistance is adopted, and even if the joint is completely exposed in water, the current only flows through the lead because of large water flow resistance, so that the joint part of the power electricity only needs to be simply sealed. The resistivity of copper at 20 ℃ is about 1.85 x 10-8Omega, and even seawater, resistivity is as high as 3.3 x 104Europe rice. Therefore, even if the connector is completely exposed to water, there is no problem as long as the conductor is a conductor having a wire gauge selected appropriately according to the current. In this embodiment, the current of the minimum power supply line of the whole machine is 3A, so the power supply line enables the minimum power supply line to supply powerWith 18AWG wire, the corresponding resistance value is about 21 Ω/Km. In order to ensure the normal use of the unmanned aerial vehicle, the specification of the power electric lead of the whole unmanned aerial vehicle is above 18AWG, namely the AWG value of the power electric lead is less than or equal to 18, and the smaller the number is, the higher the wire gauge is, and the lower the resistance of the lead is.
Since the cross-medium aircraft of the invention needs to be in contact with water during operation, such as operation in seawater, and a part of the power line is inevitably exposed to seawater, electrochemical corrosion of the seawater on the lead and the connector needs to be considered. In this embodiment, the exposed wires of the connector, the socket connector, and the like are plated with gold to avoid corrosion, but the above-mentioned silicone gel solidification sealing may also be used.
For other mechanical moving parts on the machine, such as a steering engine, etc., the gear gaps are coated with grease with excellent waterproof performance, and in this embodiment, lithium grease, specifically lithium grease containing 12-hydroxystearic acid, is used. The 12-hydroxystearic acid has stronger thickening capability to mineral oil or synthetic oil, so that the thickening amount of the lithium-based grease can be reduced by about 1/3 compared with that of the calcium-sodium-based grease, the service life can be prolonged by more than one time, after the antioxidant, the antirust agent and the extreme pressure agent are added, the multi-effect long-life universal grease is formed, the multi-effect long-life universal grease can replace the calcium-based grease and the sodium-based grease, and the universal lithium-based grease (GB7324-1994) is divided into 1#, 2#, and 3# according to the consistency grade. The 12-hydroxystearic acid has good water resistance, mechanical stability, corrosion resistance and oxidation stability, and has good corrosion resistance when being applied to the coating of the cross-medium aircraft. The 12-hydroxystearic acid has extremely strong hydrophobicity, can effectively protect the steering engine from water flow and can normally work.
Besides the steering engine, the lithium-based lubricating grease can be coated on a connecting member of the mechanical assembly, wherein the connecting member comprises a connecting piece for connecting individual parts on a cross-medium aircraft, and the connecting piece specifically comprises but is not limited to a bolt, a clamping member and other metal products which are easy to rust.
In the cross-medium aircraft with rapid water outlet of the embodiment, other structures which are not described in detail can refer to relevant disclosures in the prior art, and the invention is not explained in detail.
Example 2:
based on the same inventive concept, the embodiment provides a water outlet control method applied to the rapid water outlet cross-medium aircraft, a power type water outlet control strategy is adopted, parameters of a motor and a propeller in a power system are adjusted, so that the thrust of a power unit in the air is smaller than that in water, the motor of the power system is controlled to rotate simultaneously, the cross-medium aircraft is enabled to gradually approach the water surface until the cross-medium aircraft is discharged with water, the speed is increased when the water is discharged, the kinetic energy is increased, and the water outlet success rate is improved by means of inertia.
On the basis of the control mode of a power system, the basic control schemes are only three, namely a gyroscopic precession type, a multi-motor differential type and a rudder surface type. At present, all control schemes of airplanes, ships and submerging devices use three modes or a combination of several modes. Gyroscopic precession is commonly used in helicopters and is characterized by periodic pitch variation. Multi-power differential versions are commonly used in multi-rotor aircraft. The rudder surface type is commonly used for fixed wing aircrafts, ships and underwater vehicles and is represented as a rudder surface. Since the rotational speeds of the aircraft propellers in water and air differ greatly and are very low in water, gyroscopic precession cannot be used because the control moment is greatly influenced by the rotational speed. Since the flying speeds of an aircraft in water and in air are very different, the rudder type cannot be used because the control moment is greatly affected by the flow velocity of the fluid, particularly at the moment of water emergence, the speed of the aircraft approaches the speed in water, while the aircraft is in an air medium, and the rudder surface can hardly provide the control moment. Therefore, a multi-power differential mode is selected. The multi-power differential control scheme of the multi-rotor unmanned aerial vehicle is mature prior art, specific contents can refer to relevant disclosures of the prior art, and the invention is not explained in a spreading way.
The multi-power differential type underwater speed regulation device has enough and controllable control torque in a speed regulation range because all the working states of the motors are similar in an underwater state and an air state. Thus, if all motors can simultaneously go out and in water, the water outlet control is not problematic.
Suppose that the cross-medium aircraft has a part of the motor in the air and a part of the motor under water. According to the water outlet control method of the cross-medium aircraft, the thrust of the power unit in the air is smaller than that in the water by adjusting the parameters of the motor and the propeller in the power system, even if the attitude of the cross-medium aircraft on the water surface is unstable, the unstable attitude leads to that a motor at a higher position drives the rotating propeller to firstly leave the water surface, and after the motor leaves the water medium, the buoyancy and the propeller pulling force are both reduced instantly under the influence of the density difference between water and air, so that the horn is acted by a moment and moves downwards and restores the balance trend. At the moment, the other three motors which do not leave the water surface are still in the water, and the motor tension is greater than that of the motor which leaves the water surface, so that the three arms in the water are also under the action of a moment and move upwards and restore the balance trend. By superimposing the two analyzed movement patterns, the aircraft will eventually tend to be in a steady attitude and gradually leave the water surface. Because the density of water is 800 times of that of air, the thrust of the same set of motor propeller combined under water is higher than that in air can be realized.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. A cross-medium aircraft capable of rapidly discharging water is characterized in that: the medium-crossing aircraft is of a multi-rotor structure, the number N of the rotors is even, and N is more than or equal to 4; the power system of the cross-media aircraft comprises N power units, wherein N is a positive integer, N power units are mounted on each rotor wing, each power unit comprises a propeller and a motor for driving the propeller, the total power P of each motor in the power system is not less than 3P1, and P1 is the total power of each motor in the power system required by the cross-media aircraft in a hovering state; the horizontal dimension t of the cross-medium aircraft and the wavelength lambda of the waves to enter and exit the water area satisfy that: t is more than or equal to 4 lambda or less than or equal to 0.25 lambda.
2. The fast water-egress cross-media aircraft according to claim 1, wherein: the diameter D and the pitch p of the propeller satisfy that: d is not less than D1 and not more than D2, p is not less than p1 and not more than p2, wherein D1 and p1 are the corresponding diameter and the corresponding pitch of the marine propeller under the conditions of the same thrust, the same fluid medium density and the same propeller rotating speed respectively; d2 and p2 are the corresponding diameter and the corresponding pitch of the propeller for the airplane under the conditions of the same thrust, the same fluid medium density and the same propeller rotating speed respectively.
3. The fast water-egress cross-media aircraft according to claim 2, wherein: the diameter D of the propeller is 6-8 inches, and the pitch p of the propeller is less than D; the motor is a large-torque brushless motor, and the torque range of the large-torque brushless motor is 0.1-10 N.m.
4. The fast water-egress cross-media aircraft according to claim 2, wherein: the propeller blades are provided with wingtip winglets, the inclination angle of each wingtip winglet is 10-30 degrees, and the installation angle of each wingtip winglet is-40-0 degrees.
5. The fast water-egress cross-media aircraft according to claim 1, wherein: the horizontal dimension t of the cross-medium aircraft and the wavelength lambda of the waves to enter and exit the water area satisfy that: t is more than or equal to 10 lambda or less than or equal to 0.1 lambda.
6. The fast water-egress cross-media aircraft according to claim 5, wherein: the horizontal dimension t of the cross-media aircraft is the diagonal center-to-center distance.
7. The fast water-egress cross-media aircraft according to any one of claims 1-6, wherein: and the signal circuit and the circuit board of the cross-medium aircraft are coated with sealant.
8. The fast water-egress cross-media aircraft according to any one of claims 1-6, wherein: the specification of a wire of a power circuit of the cross-medium aircraft is more than 18 AWG; and the joint of the power electric circuit is coated with a protective layer.
9. The fast water-egress cross-media aircraft according to any one of claims 1-6, wherein: lubricating grease is coated in gaps of mechanical moving parts of the cross-medium aircraft.
10. A water outlet control method applied to the cross-medium aircraft capable of rapidly discharging water according to any one of claims 1 to 9, is characterized in that: and adjusting parameters of a motor and a propeller in the power system by adopting a power type water outlet control strategy so as to enable the thrust of the power unit in the air to be smaller than the thrust in the water, and controlling the motor of the power system to rotate simultaneously so as to enable the medium-crossing aircraft to gradually approach the water surface until the medium-crossing aircraft goes out of the water.
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| CN202110656457.8A CN113173041A (en) | 2021-06-11 | 2021-06-11 | Cross-medium aircraft capable of rapidly discharging water and water discharging control method thereof |
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| CN202110656457.8A CN113173041A (en) | 2021-06-11 | 2021-06-11 | Cross-medium aircraft capable of rapidly discharging water and water discharging control method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114323552A (en) * | 2021-11-18 | 2022-04-12 | 厦门大学 | Method for judging stability of water entering and exiting from cross-medium navigation body |
| CN117775282A (en) * | 2024-02-27 | 2024-03-29 | 中国空气动力研究与发展中心空天技术研究所 | Water surface overturning mechanism and aircraft comprising same |
-
2021
- 2021-06-11 CN CN202110656457.8A patent/CN113173041A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114323552A (en) * | 2021-11-18 | 2022-04-12 | 厦门大学 | Method for judging stability of water entering and exiting from cross-medium navigation body |
| CN117775282A (en) * | 2024-02-27 | 2024-03-29 | 中国空气动力研究与发展中心空天技术研究所 | Water surface overturning mechanism and aircraft comprising same |
| CN117775282B (en) * | 2024-02-27 | 2024-05-14 | 中国空气动力研究与发展中心空天技术研究所 | Water surface overturning mechanism and aircraft comprising same |
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