CN113928551A - Novel-structure combined type unmanned helicopter in near space and flight control method thereof - Google Patents

Novel-structure combined type unmanned helicopter in near space and flight control method thereof Download PDF

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Publication number
CN113928551A
CN113928551A CN202111098562.0A CN202111098562A CN113928551A CN 113928551 A CN113928551 A CN 113928551A CN 202111098562 A CN202111098562 A CN 202111098562A CN 113928551 A CN113928551 A CN 113928551A
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China
Prior art keywords
rotor
wing
aircraft
unmanned helicopter
new configuration
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CN202111098562.0A
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Chinese (zh)
Inventor
高亚东
徐阳
余欣宇
徐孟雨
刘雪芸
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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Application filed by Nanjing University of Aeronautics and Astronautics filed Critical Nanjing University of Aeronautics and Astronautics
Priority to CN202111098562.0A priority Critical patent/CN113928551A/en
Publication of CN113928551A publication Critical patent/CN113928551A/en
Priority to GB2209371.0A priority patent/GB2611149A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
    • B64C27/28—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft with forward-propulsion propellers pivotable to act as lifting rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/25—Fixed-wing aircraft
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
    • B64C27/26—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft characterised by provision of fixed wings
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
    • B64C29/0008—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded
    • B64C29/0016—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers
    • B64C29/0033—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers the propellers being tiltable relative to the fuselage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
    • B64C29/02—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis vertical when grounded
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C3/00—Wings
    • B64C3/30—Wings comprising inflatable structural components
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/20—Vertical take-off and landing [VTOL] aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/296—Rotors with variable spatial positions relative to the UAV body
    • B64U30/297—Tilting rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/40—Empennages, e.g. V-tails
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • B64U50/34—In-flight charging
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
    • H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/20—UAVs specially adapted for particular uses or applications for use as communications relays, e.g. high-altitude platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B64U2101/31—UAVs specially adapted for particular uses or applications for imaging, photography or videography for surveillance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/10—Wings
    • B64U30/12—Variable or detachable wings, e.g. wings with adjustable sweep
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/80—Vertical take-off or landing, e.g. using rockets
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/40—Weight reduction

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Remote Sensing (AREA)
  • Power Engineering (AREA)
  • Toys (AREA)

Abstract

The invention provides a novel configuration combined type unmanned helicopter in near space and a flight control method thereof. The wings comprise inflatable flat wings and lower-hanging type tiltable rotors, two pairs of lower hanging beams are arranged at the lower sides of the single-side wings and are connected with four tiltable rotors, and each rotor is provided with four inflatable blades; the rotor can accomplish predetermined action of verting under different flight condition through the mechanism that verts. When the aircraft vertically takes off and lands, the rotors are in a coaxial state, so that the pneumatic interference between the rotors connected with the single pair of lower suspension beams can be reduced; on the other hand, the machine body can be inclined to a vertical state through differential pneumatic moment, and the projection area of the machine body is reduced, so that the machine body resistance is reduced. According to the aircraft, the aircraft body returns to the horizontal position when flying in the air, the rotor tilts to the state of the tension propeller, and the shock waves generated by pneumatic superposition at the tip of the rotor blade can be effectively avoided, so that the forward flying speed is improved.

Description

Novel-structure combined type unmanned helicopter in near space and flight control method thereof
Technical Field
The invention relates to the field of aircrafts, in particular to a novel-configuration combined type unmanned helicopter in a near space.
Background
The international aviation union determines the range of the adjacent space to be 23km-100km, but most experts tend to determine the range of the adjacent space to be 20km-100km, which is between the highest flight altitude of the existing aviation and the lowest orbit altitude of the spacecraft, and belongs to the transition region between 'empty' and 'sky'.
Compared with the existing aviation and aerospace systems, the low-speed adjacent space aircraft has very remarkable advantages in flying height, continuous working time, response capability, cost and viability. The flight height of the aircraft is moderate and the continuous working time is long, the flight height of the near space aircraft is between that of an aircraft and that of a satellite, so that the current most ground attacks can be avoided, the accuracy of military reconnaissance and ground attack can be improved, and the aircraft has important significance for information collection, reconnaissance monitoring, communication guarantee, air-to-ground combat support and the like; meanwhile, compared with a satellite, the near space aircraft has good quick response capability, the launching process is simple, complex and expensive launching facilities are not needed, space reinforcement and protection are not needed, the requirement on ground supporting equipment is low, most parts and effective loads can be recycled, and therefore the cost efficiency is high.
Different from a common near space aircraft, compared with a common captive balloon and an airship, the helicopter has better maneuverability, and the maximum forward flying speed reaches the basic requirement of a helicopter with a conventional configuration; compared to rocket engine propelled high speed fixed wing aircraft, the advantage is that it is possible to hover over a target for longer observation times.
Disclosure of Invention
The invention provides a novel structure combined type unmanned helicopter in the near space and a flight control method thereof in order to solve the problems of the prior art, wherein the aircraft has different structures to meet different aerodynamic environment requirements when taking off and landing vertically and flying forwards horizontally by arranging a tilting rotor and a differential aerodynamic torque, and the largest lift-drag ratio is obtained by coaxial double rotors connected with each pair of lower suspension beams when taking off and landing vertically; when the aircraft flies forwards horizontally, the maximum forward flying speed is obtained through the tension propellers connected with the lower suspension beams.
The invention provides a novel structure combined type unmanned helicopter in a near space, which comprises a helicopter body, wherein the tail part of the helicopter body is provided with an empennage, the side part of the helicopter body is provided with wings, the wings are inflatable wings, the single-side wings are connected with a plurality of auxiliary lower hanging beams through a plurality of lower hanging beam connecting pieces, two ends of each auxiliary lower hanging beam are provided with tilting mechanisms, the tilting mechanisms are provided with rotor wing systems, the wing sections of the rotor wing systems arranged at different positions are different in directions, and the different posture changes of the helicopter body are realized through the cooperation of differential pneumatic torque and the tilting mechanisms.
In a further improvement, the two rotor systems on the single-pair lower suspension beam have opposite rotating directions so as to balance the torque on the beam.
The rotor system on the same side of two adjacent lower suspension beams has opposite rotating directions so as to balance the torque on the wing.
Further improve, single pair hang down two tilting mechanism rotation direction opposite that connect on the roof beam, rotation range is 90 in order to prevent that the rotor from excessively tilting and leading to paddle damage hang down the roof beam under.
The improved structure has the advantages that the machine body is of an integrated structure of carbon fiber woven cloth, a light wood partition frame and an aluminum alloy skin, so that the weight is reduced, and the cruising ability is enhanced.
Further improved, the upper surfaces of the fuselage and the wings are paved with gallium antimonide-based high-conversion-rate solar panels so as to improve the endurance of the aircraft; the solar panel is made of flexible thin film materials.
The improved V-shaped tail wing has V-shaped structure, has the functions of vertical tail and horizontal tail, can reduce the interference resistance between the tail wings and between the tail wing and the fuselage with less parts, and has the advantage of small tail wing processing amount.
The invention also provides a flight control method of the novel configuration combined type unmanned helicopter in the near space, which comprises the following processes:
1) when the aircraft vertically takes off and lands, the aircraft body tilts through differential torque generated by the front rotor and the rear rotor connected with each pair of lower hanging beams due to different rotating speeds, the rotating speed of the front rotor is higher than that of the rear rotor, the aircraft is in a vertical state at the moment, and the front rotor and the rear rotor connected with the lower hanging beams synchronously tilt by 90 degrees and are switched to a coaxial double-rotor state;
2) when the aircraft ascends to reach a preset height, the airframe tilts through differential torque generated by the front rotor and the rear rotor connected with each auxiliary lower hanging beam due to different rotating speeds, the rotating speed of the rear rotor is higher than that of the front rotor, at the moment, the aircraft hovers in a horizontal state, and the front rotor and the rear rotor connected with the lower hanging beams synchronously tilt by 90 degrees and are switched to a longitudinal double-rotor state;
3) when the aircraft flies before the level, the lifting surface is changed into the wing by the rotor wing action disk, and the rotor wing tilts 90 degrees and is switched to the state of the tension propeller, so that the forward flying speed is improved.
The aircraft is further improved, the tilting speed of the rotor wing acting disc in the tilting process of the aircraft body is required to enable the lift direction to be vertically upward all the time, the differential aerodynamic moment meets the requirement of the tilting direction, and when the aircraft flies in front of the horizontal direction, the aircraft body is kept at the maximum lift-drag ratio of the airfoil profile of the aircraft wing and corresponds to the attack angle so as to ensure the flight performance.
In a further improvement, in the step 3), in order to ensure the lift force of the horizontal forward flight, the rotor wing can be selectively in a rotor wing lifting surface state or a tension propeller state.
The invention has the beneficial effects that:
1. compared with the traditional helicopter, the invention enables the aircraft to have different configurations to meet different aerodynamic environment requirements when taking off and landing vertically and flying horizontally forwards by arranging the rotor wings capable of tilting and the differential aerodynamic moment, and obtains the maximum lift-drag ratio by the coaxial double rotor wings connected with the auxiliary lower suspension beams when taking off and landing vertically; when the aircraft flies forwards horizontally, the maximum forward flying speed is obtained through the tension propellers connected with the lower suspension beams.
2. Compared with the existing adjacent space aircraft, the invention can obtain better maneuverability than a captive balloon or an airship by arranging the tiltable rotor wing, and meanwhile, the rotatable rotor wing aircraft has hovering capability in a designated area and can stay in a small area for a long time.
3. The aircraft structurally adopts an integrated manufacturing mode, and compared with the stringers and the partition frames in the traditional fuselage structure, the weight of the aircraft is reduced under the condition of ensuring the strength. Simultaneously, wing and rotor blade all adopt inflatable structure.
4. The aircraft can obtain the longest time illumination condition in the height of the near space, and the endurance of the aircraft can be optimized by matching the gallium antimonide-based high-conversion-rate solar panels paved on the upper surfaces of the aircraft body and the wings with the battery with high energy storage ratio in the aircraft body.
Drawings
FIG. 1 is a side view of the present invention in a vertical take-off and landing position;
FIG. 2 is a hover state axis side view of the present invention;
FIG. 3 is a schematic axial view of the horizontal forward flight condition of the present invention;
FIG. 4 is a transition state isometric view of the present invention;
FIG. 5 is a three view of the horizontal forward flight state of the present invention;
FIG. 6 is a three view of the horizontal hover state of the present invention;
FIG. 7 is a schematic view of the direction of rotation of a rotor to which the single-sided wing of the present invention is attached;
figure 8 is a schematic view of the tilt direction of the rotor to which the single set of underslung beams of the present invention are attached;
figure 9 is a schematic view of the rotor differential aerodynamic moment principle to which the single set of lower suspension beams of the present invention are connected;
FIG. 10 is an enlarged elevational view in section of a rotor airfoil to which a single set of lower suspension beams according to the present invention are attached;
FIG. 11 is a schematic view of the inflatable airfoil (blade) of the present invention;
FIG. 12 is a cut-away, schematic cross-sectional view of a fuselage shell integral fabrication of the present invention;
figure 13 is a schematic view of the solar panel installation position of the present invention;
in the figure, a fuselage 1, an inflatable wing 2, a tail wing 3, a lower hanging beam 4, a lower hanging beam connecting piece 5, a tilting mechanism 6, a rotor system 7, a tilting drive 8, a tilting connecting piece 9, a hub 10, an inflatable blade (installation direction (r)) 11, an inflatable blade (installation direction (r)) 12, a wing airfoil 13, a blade airfoil 14, an outer-layer adhesive tape 15, a brace 16, a skin 17, a spacer frame 18 and a solar panel 19.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The invention comprises a machine body 1, wherein the tail part of the machine body 1 is provided with a V-shaped empennage 3 which has the functions of vertical tails and horizontal tails, can reduce the interference resistance between the empennages and the machine body by less total number of parts, and has the advantage of small processing amount of the empennages. The wing is arranged on the side of the fuselage and comprises an inflatable wing 2, the wing on one side is connected with two pairs of lower hanging beams 4 through 4 lower hanging beam connecting pieces 5, a tilting mechanism 6 is installed at two ends of each pair of lower hanging beams, and a rotor system 7 is installed on the tilting mechanism. The wing system installed at different positions has different wing section directions, and different posture changes of the engine body are realized through the differential pneumatic torque matching tilting mechanism.
FIG. 1 is a vertical takeoff and landing configuration of the aircraft of the present invention in which lift is provided by the rotor system in each of the secondary coaxial configurations, and in which the projected area of the body is minimized and drag is minimized.
FIG. 2 is a diagram of the hover state of the aircraft of the present invention in which lift is provided by the rotor system in each secondary column state.
Fig. 3 is a diagram of a horizontal forward flight condition of the aircraft of the present invention with the rotor system in a lag rotor mode via the tilt mechanism and increased speed. The wing now provides lift at a favorable angle of attack range.
Fig. 4 is a diagram of a transition state of the aircraft of the present invention, in which the fuselage is tilted by the differential aerodynamic moment of the rotor system connected to each secondary lower suspension beam, and the rotor system is connected to the tilt driver 8 through the tilt connector 9 and is tilted synchronously, so as to keep the lift force generated by the rotor vertically upward.
Fig. 7 is a schematic view of the direction of rotation of rotors connected to a single-sided wing, with the rotors connected to each pair of lower suspension spars being in opposite directions of rotation, and the rotors connected to different lower suspension spars on the same side being in opposite directions of rotation, which eliminates torque on the lower suspension spars and the wings. Meanwhile, in the rotor system in the coaxial double-rotor mode connected with the single-pair lower hanging beam as shown in the attached drawing 1, the rotors with opposite rotating directions eliminate torque, and a reverse torque tail rotor of a conventional helicopter is not required to be configured.
Fig. 8 is a schematic view of the tilt direction of the rotor connected to a single-pair lower-suspension beam of the present invention, the tilt drive outputs torque through an internal motor, and the rotor system tilts as desired through a tilt connection. The tilting angle should not exceed 90 degrees, and the driving directions of the tilting drives of the two ends of the single-pair lower hanging beam should be consistent.
FIG. 9 is a schematic diagram of the principle of the differential aerodynamic moment of the rotor connected with a single pair of lower suspension beams of the present invention, wherein the rotor at the front side of the wing has high rotation speed and large lift force, the rotor at the rear side of the wing has low rotation speed and small lift force, the inconsistent lift force generates differential aerodynamic moment, and the moment is transmitted to the wing from the rotor system through the lower suspension beams and then transmitted to the fuselage through the wing, so that the fuselage is tilted from a horizontal state to a vertical state. If the fuselage needs to be tilted to the horizontal state from the vertical state, the rotating speed of the front-side rotor of the wing is low, the rotating speed of the rear-side rotor of the wing is high, the direction of differential torque is opposite to that of the attached drawing, and the transmission rule is consistent with that of the attached drawing.
In order to ensure that the lift force is always vertical and upward, the rotors with opposite rotation directions should be provided with blades in different directions, as shown in fig. 10, each rotor system is composed of a hub 10 and inflatable blades, the rotor rotating clockwise should be provided with inflatable blades (installation direction (r)) 11, and the rotor rotating counterclockwise should be provided with inflatable blades (installation direction (r)) 12.
Fig. 11 is a schematic view of the principle of the present invention, in which the bending stiffness of the present invention is increased with the increase of the internal inflation pressure, i.e. the present invention can be applied to a rigid wing with a very good bending stiffness as long as the internal pressure is sufficiently high. A series of inscribed circle outlines of the circle center on the mean camber line of the wing (blade) airfoil approximately meet the airfoil outline, a straight line segment of each circle passing through the circle center in the vertical direction is a brace 16, adjacent brace endpoints are connected through a camber line, the camber line is tangent to the airfoil outline, the made camber line segment is an outer layer adhesive plaster 15, the volume surrounded by the outer layer adhesive plaster is divided into a plurality of independent air bags by the brace and jointly forms an inflatable wing (blade), and the leakage of a single air bag cannot influence the structural strength of other air bags. The brace and the outer layer adhesive tape are made of Thermoplastic Polyurethane (TPU) adhesive tape materials. The inflatable wings (blades) have different load strengths, the inflation density is considered, and the end deformation of the one-dimensional beam is 0.001m/N under the condition that the unit length is 33.34kpa of inflation pressure.
Fig. 12 is a cross-sectional schematic view of the integrated manufacturing of the fuselage shell of the invention, the individual layer thicknesses of the skin 17 and the intermediate frame 18 both being 0.002 m. The skin adopts carbon fiber woven cloth and aluminum alloy composite laying layers, and the partition frame adopts a honeycomb-shaped balsa structure.
The integrated manufacturing mode of the inflatable wing (paddle) and the fuselage shell is a weight-reducing design under the condition of limited lift force in the adjacent space.
FIG. 13 is a schematic view of the solar panel installation position of the present invention, which is primarily located on the upper surfaces of the fuselage and inflatable wings. The selected position is illuminated for a long time, and the transition is smooth and easy to lay. The solar panel material is gallium antimonide based thin film material assembled into a stacked structure, like a screen for filtering sunlight, each layer has special material to absorb energy of specific wavelength. This stacking process uses so-called transfer printing technology, so that these small devices can be assembled together in a precise three-dimensional manner. The effective thickness per unit volume of the material at the normal surface only needs to be 3.26 x 10-6m, without causing excessive additional loads on the aircraft.
While the invention has been described in terms of its preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.

Claims (10)

1. The utility model provides a close on unmanned helicopter of new configuration combined type under space, includes the fuselage, and the afterbody of fuselage is provided with the fin, and side is provided with wing, its characterized in that: the wing be inflatable wing, the unilateral wing is through a plurality of pairs of lower hanging beam connecting pieces connection of hanging the roof beam under a plurality of, every pair of lower hanging beam both ends installation mechanism of verting installs rotor system on the mechanism of verting, rotor system is different at the wing section direction that different positions were installed, it changes to realize the different gestures of organism through differential aerodynamic moment cooperation mechanism of verting.
2. The new configuration compound unmanned helicopter in the near space of claim 1, further comprising: and the two rotor systems on the single-pair lower hanging beam have opposite rotating directions.
3. The new configuration compound unmanned helicopter in the near space of claim 1, further comprising: and the rotating directions of the rotor systems on the same side on the two adjacent lower hanging beams are opposite.
4. The new configuration compound unmanned helicopter in the near space of claim 1, further comprising: the two tilting mechanisms connected to the single-pair lower hanging beam have opposite rotating directions and the rotating range is 90 degrees.
5. The new configuration compound unmanned helicopter in the near space of claim 1, further comprising: the machine body adopts an integrated structure of carbon fiber woven cloth, a light wood partition frame and an aluminum alloy skin.
6. The new configuration compound unmanned helicopter in the near space of claim 1, further comprising: gallium antimonide-based high-conversion-rate solar panels are laid on the upper surfaces of the fuselage and the wings; the solar panel is made of flexible thin film materials.
7. The new configuration compound unmanned helicopter in the near space of claim 1, further comprising: the empennage is of a V-shaped structure.
8. A flight control method of a new configuration combined type unmanned helicopter in an adjacent space is characterized by comprising the following steps:
1) when the aircraft vertically takes off and lands, the aircraft body tilts through differential torque generated by the front rotor and the rear rotor connected with each pair of lower hanging beams due to different rotating speeds, the rotating speed of the front rotor is higher than that of the rear rotor, the aircraft is in a vertical state at the moment, and the front rotor and the rear rotor connected with the lower hanging beams synchronously tilt by 90 degrees and are switched to a coaxial double-rotor state;
2) when the aircraft ascends to reach a preset height, the airframe tilts through differential torque generated by the front rotor and the rear rotor connected with each auxiliary lower hanging beam due to different rotating speeds, the rotating speed of the rear rotor is higher than that of the front rotor, at the moment, the aircraft hovers in a horizontal state, and the front rotor and the rear rotor connected with the lower hanging beams synchronously tilt by 90 degrees and are switched to a longitudinal double-rotor state;
3) when the aircraft flies before the level, the lifting surface is changed into the wing by the rotor wing action disk, and the rotor wing tilts 90 degrees and is switched to the state of the tension propeller, so that the forward flying speed is improved.
9. The flight control method of the new configuration compound unmanned helicopter in the near space of claim 8, characterized in that: the tilting speed of the rotor wing acting disc in the tilting process of the fuselage is required to enable the lift direction to be vertical and upward all the time, the differential aerodynamic moment meets the requirement of the tilting direction, and when the aircraft flies in front of the horizontal direction, the fuselage is kept at the maximum lift-drag ratio of wing airfoil and corresponds to the attack angle so as to ensure the flight performance.
10. The flight control method of the new configuration compound unmanned helicopter in the near space of claim 8, characterized in that: and 3) enabling the rotor to be in a rotor lifting surface or a tension propeller state.
CN202111098562.0A 2021-09-18 2021-09-18 Novel-structure combined type unmanned helicopter in near space and flight control method thereof Pending CN113928551A (en)

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