CN113879524A - Rotor craft and control method - Google Patents
Rotor craft and control method Download PDFInfo
- Publication number
- CN113879524A CN113879524A CN202010625973.XA CN202010625973A CN113879524A CN 113879524 A CN113879524 A CN 113879524A CN 202010625973 A CN202010625973 A CN 202010625973A CN 113879524 A CN113879524 A CN 113879524A
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- Prior art keywords
- rotor
- aerial vehicle
- unmanned aerial
- attitude control
- aircraft
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Classifications
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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
- B64C27/10—Helicopters with two or more rotors arranged coaxially
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
- B64C27/46—Blades
- B64C27/473—Constructional features
- B64C27/50—Blades foldable to facilitate stowage of aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/82—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/82—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
- B64C2027/8227—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft comprising more than one rotor
Abstract
The invention provides a rotor craft and a control method, comprising a rotor, a fuselage, a posture control device, a power cabin and a navigation cabin, wherein the navigation cabin is positioned at the foremost part of the craft, the power cabin is connected with the navigation cabin, rotor turntables are respectively positioned at the upper end surface and the lower end surface of the power cabin and are respectively fixedly connected with two engine rotating shafts in the power cabin, a group of rotors are fixed on each rotor turntable, and the rotors are driven to rotate by the rotor turntables; the aircraft body is connected with the power cabin, and the tail part of the aircraft body is provided with two groups of attitude control devices for controlling the rolling attitude of the aircraft. The invention controls the attitude of the aircraft through the rotating direction of the double-layer rotor and the rotating direction of the paddle of the attitude control device, and has simple structure and low cost.
Description
Technical Field
The invention belongs to the technical field of aircraft design, and particularly relates to a foldable rotor aircraft.
Background
The rotor craft generally has the flight time and the distance is short, and shortcoming such as radius of operation is little adopts big gun to penetrate transmission mode, boosting delivery mode or year carry to put in the mode, can enlarge unmanned aerial vehicle's task use radius. Current collapsible rotor craft divide into multiaxis rotor and unipolar rotor, and the unipolar rotor has great advantage than the multiaxis rotor on flight efficiency, folding space. The common single-shaft rotor craft adopts the rotor wing tilting control, has complex structure and great control difficulty,
the existing foldable single-shaft rotor craft mainly performs roll and pitch control in a variable pitch mode, and is complex in structure and high in cost.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a foldable single-shaft rotor aircraft. The scheme of the invention can solve the problems in the prior art.
The technical solution of the invention is as follows:
a rotor craft comprises a rotor, a fuselage, a posture control device, a power cabin and a navigation cabin, wherein the navigation cabin is positioned at the foremost part of the craft, the power cabin is connected with the navigation cabin, rotor turntables are respectively positioned at the upper end surface and the lower end surface of the power cabin and are respectively fixedly connected with two engine rotating shafts in the power cabin, a group of rotors are fixed on each rotor turntable, and the rotors are driven to rotate by the rotor turntables; the aircraft body is connected with the power cabin, and the tail part of the aircraft body is provided with two groups of attitude control devices for controlling the rolling attitude of the aircraft.
Furthermore, a navigation device is arranged in the navigation cabin, and the navigation cabin can be arranged in the launching device in size.
Furthermore, every side in the fuselage outside set up the recess of placing rotor and attitude control device according to rotor and attitude control device's shape and position after folding, rotor and attitude control device are folded and are followed shape with the appearance of fuselage.
Furthermore, the rotor size of aircraft on the basis that satisfies the lift requirement of aircraft, design the rotor size according to the biggest size of the recess that the fuselage can design to reach the purpose that provides bigger lift.
Furthermore, the middle point of a connecting line of a rotating shaft of a rotor wing of the aircraft and the rotating disc is located at 30% of the front edge of the rotor wing, namely the lift focal point of the blade, and the sizes of the upper layer rotor wing and the lower layer rotor wing are completely the same.
Further, the attitude control device comprises a folding arm, an attitude control motor and a paddle, wherein the folding arm is hinged with the machine body, and the attitude control motor is positioned at the top end of the folding arm and fixedly connected with the paddle through a motor rotating shaft to drive the rotation of the paddle.
Furthermore, the paddle is a two-way driving symmetrical paddle, and can rotate clockwise and anticlockwise according to the rotation of the attitude control motor, so that pulling force in two directions is generated.
Further, the attitude control device is folded outside the aircraft body when the aircraft is stored, the folding arm is bounced open through the torsion spring when the aircraft works, and the attitude control motor drives the paddle to rotate so as to provide attitude control for the aircraft.
According to another aspect of the present invention, there is provided a method of controlling a rotary-wing aircraft, comprising the steps of:
when the rotating speed of the upper and lower rotary wings is increased simultaneously, the lift force is greater than the gravity of the unmanned aerial vehicle, and the unmanned aerial vehicle starts to accelerate to rise; when the rotating speed of the upper rotor wing and the lower rotor wing is reduced simultaneously, the lifting force generated by the rotor wings is smaller than the gravity of the unmanned aerial vehicle, and the unmanned aerial vehicle starts to accelerate and descend;
meanwhile, the folding arm loses external restraint and pops out, the attitude control motor drives the paddle to rotate, and the paddle is matched with the rotor wing in a rotating mode to adjust the attitude of the aircraft
Further, the attitude adjustment method of the aircraft comprises the following steps: when unmanned aerial vehicle is hovering state, the direction of rotation of upper and lower layer rotor is opposite, and the difference in rotation speed of upper and lower rotor provides the yawing moment.
The upper rotor turns to for just, and lower floor's rotor turns to for the burden, and when upper rotor rotational speed improved, lower floor's rotor rotational speed reduced, unmanned aerial vehicle produced negative yawing moment, and when upper rotor rotational speed reduced, when lower floor's rotor rotational speed improved, unmanned aerial vehicle produced positive yawing moment.
When unmanned aerial vehicle hovers, when the attitude control motor among unmanned aerial vehicle's the attitude control device is rotatory in the positive direction, drive paddle machine and produce reverse moment, unmanned aerial vehicle rolls over left, and when the attitude control motor among unmanned aerial vehicle's the attitude control device is rotatory in the negative direction, drive paddle machine and produce positive moment, unmanned aerial vehicle rolls over right.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, through the design of the double-layer rotor and the attitude control device, the attitude of the aircraft is controlled through the rotating direction of the double-layer rotor and the rotating direction of the paddle of the attitude control device, the structure is simple, and the cost is low.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Figure 1 shows a schematic view of a rotorcraft deployed state architecture provided in accordance with an embodiment of the present invention;
figure 2 illustrates a schematic structural view of a rotorcraft in a folded configuration provided in accordance with an embodiment of the present invention;
figure 3 illustrates a schematic structural view of a rotor disk of a rotorcraft provided in accordance with an embodiment of the present invention.
The figures contain the following reference numerals:
1-a navigation pod, 2-rotor shaft, 3-upper rotor, 4-lower rotor, 5-fuselage, 6-rotor folding slots, 7-attitude motor folding slots, 8-attitude propellers, 9-pitch motors, 10-upper rotor turntable, 11-power motor pod, 12-attitude motor folding arms, 13-roll motor, 14-connection fixed block, 15-lower rotor turntable drive motor and gear, 16-lower rotor turntable, 17-upper rotor turntable drive motor and gear, 18-balls.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
As shown in fig. 1, a rotary wing aircraft according to an embodiment of the present invention includes a rotary wing, an airframe, an attitude control device, a power cabin and a navigation cabin, wherein the navigation cabin is located at a foremost part of the aircraft, the power cabin is connected to the navigation cabin, rotary wing turntables are respectively located at upper and lower end surfaces of the power cabin and are fixedly connected to a rotating shaft of an engine in the power cabin, a set of rotary wings is fixed to each rotary wing turntable, and the power cabin drives the rotary wing to rotate through the rotary wing turntables; the aircraft body is connected with the power cabin, and two groups of attitude control devices are arranged at the tail part of the aircraft body and respectively control the pitching attitude and the rolling attitude of the aircraft.
In this embodiment, the aircraft is shaped like a cuboid in the folded state, which is more convenient for the folded rotor blades to be placed, and other shapes like a cylinder and a hexahedron can be adopted in other embodiments.
In this embodiment, the navigation device is placed in the navigation cabin, the navigation cabin is made of wave-transparent material, so that the navigation signal can be conveniently transmitted and received, the shape of the head of the navigation device is not limited, and the navigation device can be placed in the transmitting device as long as the size is proper.
In this embodiment, the rotor is divided into an upper layer and a lower layer, each layer of rotor has two wings, and the two wings are connected with the rotor turntable through the rotor rotating shaft, and the rotors are distributed on different two sides of the fuselage in a folded state; in this embodiment, in order to reduce the occupied space of the aircraft in the folded state, a groove for placing the rotor and the attitude control device is arranged on each side surface outside the fuselage according to the shape and position of the folded rotor and attitude control device, and the folded rotor and attitude control device follow the shape of the fuselage.
In the embodiment, the rotor wing of the aircraft is rectangular and is convenient to fold, the length of the rotor wing is lengthened as much as possible in the foldable space so as to obtain higher hovering driving efficiency, and the width of the rotor wing is the same as that of the aircraft body so as to obtain larger lift force.
When unmanned aerial vehicle expandes, the equal free rotation of upper and lower two-layer rotor reaches the purpose of adjustment aircraft speed and driftage gesture through the rotational speed of adjusting two-layer rotor. In this embodiment, when the rotation speed of the upper and lower rotor wings increases simultaneously, the lift force is greater than the gravity of the unmanned aerial vehicle, and the unmanned aerial vehicle starts to accelerate to rise; when the rotating speed of the upper rotor wing and the lower rotor wing is reduced simultaneously, the lifting force generated by the rotor wings is smaller than the gravity of the unmanned aerial vehicle, and the unmanned aerial vehicle starts to accelerate and descend; the upper rotor turns to for just, and lower floor's rotor turns to for the burden, and when upper rotor rotational speed improved, lower floor's rotor rotational speed reduced, unmanned aerial vehicle produced negative yawing moment, and when upper rotor rotational speed reduced, when lower floor's rotor rotational speed improved, unmanned aerial vehicle produced positive yawing moment.
In this embodiment, as shown in fig. 2, the installation diagram of the rotor turntable and the power cabin is shown, in which the connection fixing blocks connect and fix the components outside the upper and lower layers of rotor turntables, four connection fixing blocks are arranged on each layer of turntable to ensure the fixing strength, and a gear is installed on the inner side of the rotor turntable and engaged with a gear fixed on the rotating shaft of the engine in the power cabin; on the contact surface of the upper and lower faces of the rotor turntable, the navigation cabin, the power cabin and the engine body, annular grooves are dug in a matched mode, balls are placed in the annular grooves, a plane bearing is formed, and friction force when the rotor turntable rotates is reduced.
In this embodiment, the attitude control device includes a folding arm, an attitude control motor and a paddle, the folding arm is hinged with the body through a rotating shaft and is located at two ends of a diagonal line of the cross section of the body, the attitude control motor is located at the top end of the folding arm and is fixedly connected with the paddle through a rotating shaft of the motor to drive the paddle to rotate; the paddle is a two-way driving symmetrical paddle, and can rotate clockwise and anticlockwise according to the rotation of the motor, so that pulling force in two directions is generated. In the present embodiment, the attitude control motors include a pitch motor and a roll motor, which control the pitch attitude control and the roll attitude control of the aircraft, respectively.
In this embodiment, the attitude control device has two, is located the afterbody of aircraft, is located the both ends of the diagonal of aircraft cross section respectively, and folding in the fuselage outside when the aircraft is deposited, and when the aircraft during operation, folding arm bounces through the torsional spring, and the motor drives the paddle and rotates, provides two attitude control of every single move and roll to the aircraft.
In one embodiment, the length of the paddle driven by the attitude motor is smaller than that of the folding arm, so that the paddle can be folded better, stable hovering capacity can be obtained by relying on upper and lower rotors in an ideal state of the unmanned aerial vehicle, the distance between the position of the attitude motor of the unmanned aerial vehicle and the center of gravity is larger, and sufficient driving torque can be generated only by small force, so that the size of the paddle, the length of the folding arm and the selection of the motor are further calculated and selected according to the control flexibility, which is a known technology in the field and is not described herein again.
According to another aspect of the present invention, there is provided a method of controlling a rotary-wing aircraft, comprising the steps of:
step one, the aircraft is separated from external restraint, the rotor wing is unfolded, the power motor works to drive the rotor wing to rotate, and the aircraft enters a hovering state;
and step two, simultaneously, the folding arm pops up, and the attitude motor drives the paddle to rotate, so as to adjust the attitude of the aircraft.
Further, the attitude adjustment method of the aircraft comprises the following steps:
when unmanned aerial vehicle is hovering state, the direction of rotation of upper and lower layer rotor is opposite, and the difference in rotation speed of upper and lower rotor provides the yawing moment.
The upper rotor turns to for just, and lower floor's rotor turns to for the burden, and when upper rotor rotational speed improved, lower floor's rotor rotational speed reduced, unmanned aerial vehicle produced negative yawing moment, and when upper rotor rotational speed reduced, when lower floor's rotor rotational speed improved, unmanned aerial vehicle produced positive yawing moment.
When unmanned aerial vehicle hovers, when the gesture motor among unmanned aerial vehicle's the gesture control device is rotatory in the positive direction, drive paddle machine and produce reverse moment, unmanned aerial vehicle rolls over left, and when the gesture motor among unmanned aerial vehicle's the gesture control device is rotatory in the negative direction, drive paddle machine and produce positive moment, unmanned aerial vehicle rolls over right.
In summary, compared with the prior art, the invention has at least the following advantages: according to the invention, through the design of the double-layer rotor and the attitude control device, the attitude of the aircraft is controlled through the rotating direction of the double-layer rotor and the rotating direction of the paddle of the attitude control device, the structure is simple, and the cost is low.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A rotor craft is characterized by comprising rotors, a fuselage, a posture control device, a power cabin and a navigation cabin, wherein the navigation cabin is positioned at the foremost part of the craft, the power cabin is connected with the navigation cabin, rotor turntables are respectively positioned at the upper end surface and the lower end surface of the power cabin and are fixedly connected with two engine rotating shafts in the power cabin respectively, a group of rotors are fixed on each rotor turntable, and the rotors are driven to rotate by the rotor turntables; the aircraft body is connected with the power cabin, and the tail part of the aircraft body is provided with two groups of attitude control devices for controlling the rolling attitude of the aircraft.
2. A rotary wing aircraft according to claim 1, wherein each side of the outside of the fuselage is provided with a recess for holding the rotor and the attitude control device according to the shape and position of the rotor and the attitude control device after being folded, and the rotor and the attitude control device after being folded follow the shape of the fuselage.
3. A rotary wing aircraft according to claim 2, wherein the rotor dimensions of the aircraft are such that the rotor dimensions are designed according to the maximum size of the fuselage-capable recess on the basis of meeting the lift requirements of the aircraft.
4. A rotary wing aircraft according to claim 2 or claim 3, wherein the mid-point of the line connecting the rotors of the aircraft and the axis of rotation of the turntable is located at 30% of the leading edge of the rotor, and the rotors on the upper and lower tiers are of substantially the same size.
5. A rotary-wing aircraft according to claim 1, wherein said attitude control means comprises a folding arm, an attitude control motor and a blade, said folding arm being hinged to the fuselage, said attitude control motor being located at the top end of the folding arm and being fixedly connected to the blade via a motor shaft to drive the rotation of the blade.
6. A rotary wing aircraft according to claim 5, wherein said blades are bi-directionally driven symmetrical blades which are capable of producing both clockwise and counter-clockwise rotational directions in response to rotation of the attitude control motor, thereby producing tension in both directions.
7. A rotorcraft control method according to any one of claims 1 to 6, said method comprising the steps of:
when the rotating speed of the upper and lower rotary wings is increased simultaneously, the lift force is greater than the gravity of the unmanned aerial vehicle, and the unmanned aerial vehicle starts to accelerate to rise; when the rotating speed of the upper rotor wing and the lower rotor wing is reduced simultaneously, the lifting force generated by the rotor wings is smaller than the gravity of the unmanned aerial vehicle, and the unmanned aerial vehicle starts to accelerate and descend;
meanwhile, the folding arm is popped out, and the attitude control motor drives the paddle to rotate and is matched with the rotor wing in a rotating way to adjust the attitude of the aircraft.
8. A method of controlling a rotary-wing aircraft according to claim 7, wherein the attitude of the aircraft is adjusted by: when unmanned aerial vehicle is hovering state, the direction of rotation of upper and lower layer rotor is opposite, and the difference in rotation speed of upper and lower rotor provides the yawing moment.
The upper rotor turns to for just, and lower floor's rotor turns to for the burden, and when upper rotor rotational speed improved, lower floor's rotor rotational speed reduced, unmanned aerial vehicle produced negative yawing moment, and when upper rotor rotational speed reduced, when lower floor's rotor rotational speed improved, unmanned aerial vehicle produced positive yawing moment.
When unmanned aerial vehicle hovers, when the attitude control motor among unmanned aerial vehicle's the attitude control device is rotatory in the positive direction, drive paddle machine and produce reverse moment, unmanned aerial vehicle rolls over left, and when the attitude control motor among unmanned aerial vehicle's the attitude control device is rotatory in the negative direction, drive paddle machine and produce positive moment, unmanned aerial vehicle rolls over right.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010625973.XA CN113879524A (en) | 2020-07-02 | 2020-07-02 | Rotor craft and control method |
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| CN202010625973.XA CN113879524A (en) | 2020-07-02 | 2020-07-02 | Rotor craft and control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114906320A (en) * | 2022-05-24 | 2022-08-16 | 江苏新扬新材料股份有限公司 | Barrel type folding four-rotor unmanned aerial vehicle |
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| CN110626495A (en) * | 2019-08-30 | 2019-12-31 | 祖亚军 | Small coaxial double-rotor type unmanned aerial vehicle |
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| CN114906320A (en) * | 2022-05-24 | 2022-08-16 | 江苏新扬新材料股份有限公司 | Barrel type folding four-rotor unmanned aerial vehicle |
| CN114906320B (en) * | 2022-05-24 | 2023-11-03 | 江苏新扬新材料股份有限公司 | Four rotor unmanned vehicles are folded to cylinder |
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