CN114619815B - Efficient water-air amphibious unmanned aerial vehicle and control method thereof - Google Patents
Efficient water-air amphibious unmanned aerial vehicle and control method thereof Download PDFInfo
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- CN114619815B CN114619815B CN202210072362.6A CN202210072362A CN114619815B CN 114619815 B CN114619815 B CN 114619815B CN 202210072362 A CN202210072362 A CN 202210072362A CN 114619815 B CN114619815 B CN 114619815B
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- 238000000034 method Methods 0.000 title claims abstract description 17
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 43
- 230000005540 biological transmission Effects 0.000 claims abstract description 26
- 230000033001 locomotion Effects 0.000 claims description 14
- 238000006243 chemical reaction Methods 0.000 claims description 6
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/005—Flying-boats; Seaplanes with propellers, rudders or brakes acting in the water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/006—Flying-boats; Seaplanes with lift generating devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/008—Amphibious sea planes
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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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- 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
- B64D35/00—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions
- B64D35/04—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions characterised by the transmission driving a plurality of propellers or rotors
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- 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
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Abstract
The invention discloses a high-efficiency water-air amphibious unmanned aerial vehicle and a control method thereof, wherein the unmanned aerial vehicle adopts a 4+2 power layout, uses 2 motors forwards and uses 4 motors longitudinally. The unmanned aerial vehicle is assisted to float in a submerged mode through the vector thrust device, the problem that the water inlet and outlet power of the unmanned aerial vehicle is unstable is solved through the power transmission device, stable water inlet and outlet and underwater work which can be achieved through a large number of devices are replaced through a small number of mechanical structures, meanwhile, the working efficiency of the unmanned aerial vehicle in the air and in the water is guaranteed, and underwater free navigation is achieved. Has important innovative significance for underwater biological monitoring, resource exploration and sea area safety maintenance.
Description
Technical Field
The invention relates to the technical field of water-air amphibious unmanned aerial vehicles, in particular to a simple and efficient water-air amphibious unmanned aerial vehicle, a control method thereof and an innovative design concept thereof.
Background
The water-air amphibious unmanned aerial vehicle is an unmanned aerial vehicle which can fly in the air and navigate in water, and organically combines the advantages of the unmanned aerial vehicle and the submarine. In unmanned aerial vehicle field research, water-air amphibious unmanned aerial vehicle is an important research direction, and the unmanned aerial vehicle has more possibility in wider space, and has great potential in aspects of marine rescue, reconnaissance and the like. The technical key of the water-air amphibious unmanned aerial vehicle is that the water-air amphibious unmanned aerial vehicle can work normally in the air and underwater, and meanwhile, the water-air amphibious unmanned aerial vehicle can be stably switched between two modes of air flight and underwater navigation. At present, related researches on amphibious unmanned aerial vehicles are lacking, schemes for effectively outputting and inputting water and efficiently working are lacking, and the existing schemes cannot effectively give consideration to air flight and underwater navigation. The existing amphibious unmanned aerial vehicle lacks effective researches on design of water inlet and water outlet schemes, lacks schemes capable of considering both air flight performance and underwater navigation performance, is large in difference of power devices working in two working mediums due to physical difference of the two working mediums, is generally low in slender solidity and wide in underwater paddles, and is required to be equipped with two sets of power equipment if two power devices are carried at the same time, so that load of the unmanned aerial vehicle is increased intangibly, and the working efficiency of the unmanned aerial vehicle is extremely low when one set of devices is always in an idle state, and the underwater paddles cannot realize flying.
Disclosure of Invention
Aiming at the defects of the existing water-air amphibious unmanned aerial vehicle technology, the invention aims to provide the efficient water-air amphibious unmanned aerial vehicle and the control method thereof, which can take into account air flight and underwater navigation, have high working efficiency and good stability, can freely output and input water, and improve the applicability of the unmanned aerial vehicle.
The application realizes the above effects by the following technical scheme:
the unmanned aerial vehicle is of a symmetrical structure and comprises a machine body, a plurality of power transmission devices are symmetrically distributed around the machine body by taking the machine body as a center, the power transmission devices are connected to the machine body through a host arm, and a power screw is connected to the power transmission devices;
A group of vector thrust devices are symmetrically distributed around the machine body by taking the machine body as a center, the vector thrust devices are connected to the machine body through auxiliary machine arms, and the vector thrust devices are connected with an air-water dual-purpose propeller.
Further, the machine body is provided with four main machine arms and an auxiliary machine arm, the auxiliary machine arm penetrates through the middle of the machine body, and the main machine arms are respectively connected in four directions of the machine body.
Further, the power transmission device comprises a main gear, a main motor, a plurality of planetary gears, an output shaft and a driven gear; wherein,
An output gear is connected to the output shaft of the main motor, and the output gear is meshed with the main gear;
The two sides of the main gear are respectively provided with a first output shaft and a second output shaft, the tail end of the first output shaft is connected with a first propeller, and the tail end of the second output shaft is connected with a second propeller;
the upper surface of the main gear is connected with a planetary gear, the first output shaft is provided with a driven gear at the position of the planetary gear, and the driven gear is in meshed connection with the planetary gear;
the main gear is coaxially connected with the first output shaft through a bearing;
The driven gear is fixedly connected with the output shaft coaxially and meshed with the planetary gear, wherein the first driven gear is arranged above the planetary gear and fixedly connected with the upper output shaft, and the second driven gear is arranged above the main gear and fixedly connected with the main gear through the lower output shaft; the output shaft is fixed on the horn through the bearing and the other end is connected with the paddle.
Further, the planetary gears are fixed on a plane perpendicular to the rotation plane of the main gear through bearings, the planetary gears are circumferentially distributed at 120 degrees, the planetary gears have two degrees of freedom, rotate around the axis of the main gear when the main gear rotates, and rotate around the axis of the main gear under the drive of the driven gear.
Furthermore, unmanned aerial vehicle contains 4 main motors, and every main motor is transversely fixed in on four host arms respectively, and main motor drives power conversion device's main gear rotation, and the power that provides is transmitted to on the screw through power conversion device.
As a preferred embodiment of the application, a stepping motor is arranged in the machine body, and the stepping motor is connected with the auxiliary arm through a stepping motor transmission gear set to drive the auxiliary arm to rotate.
Further, the auxiliary arm is connected with the air-water dual-purpose propeller through an auxiliary motor, the auxiliary motor is a double-output shaft motor, the auxiliary motor is transversely arranged on the auxiliary arm, the axis points to the direction of the machine head, and the two shafts are respectively connected with the two air-water dual-purpose propellers.
The application also provides a control method of the efficient water-air amphibious unmanned aerial vehicle, which comprises two working modes:
Flight mode, in the flight mode, unmanned aerial vehicle can realize the motion of 4 directions through the rotational speed of adjusting different motors, is respectively: vertical, roll, pitch and yaw; taking the forward direction of the unmanned aerial vehicle as the positive direction of the y axis, taking a main motor at the right front of the machine body as a first main motor, numbering the main motors in a anticlockwise manner, and respectively taking a second main motor, a third main motor and a fourth main motor as the other main motors, wherein the first main motor and the third main motor of the unmanned aerial vehicle rotate clockwise, and the second main motor and the fourth main motor rotate anticlockwise; when the unmanned aerial vehicle moves vertically, the rotating speed of the 4 motors is increased, so that the total lifting force generated by the rotation of the rotor wing is increased, and when the lifting force is greater than the dead weight of the unmanned aerial vehicle, the unmanned aerial vehicle rises vertically; conversely, the rotation speed of the 4 motors is reduced simultaneously, so that the total lift force generated by rotation of the rotor wing is reduced, and when the lift force is smaller than the dead weight of the unmanned aerial vehicle, the unmanned aerial vehicle vertically descends; when the external disturbance quantity is zero, the rotation speeds of the 4 motors are adjusted simultaneously, so that when the total lift force generated by rotation of the rotor wing is equal to the self weight of the unmanned aerial vehicle, the unmanned aerial vehicle maintains a hovering state; when in rolling movement, the rotating speeds of the first main motor and the fourth main motor are increased, so that the total lifting force generated by rotation of the rotor wing is increased, the unmanned aerial vehicle rolls right around the y axis, and conversely, the rotating speeds of the second main motor and the third main motor are increased, and the unmanned aerial vehicle rolls left around the y axis; during pitching movement, the rotating speeds of the first main motor and the second main motor are increased, so that the total lifting force generated by rotation of the rotor wing is increased, the unmanned aerial vehicle moves forwards around the x axis, and conversely, the rotating speeds of the third main motor and the fourth main motor are increased, and the unmanned aerial vehicle moves backwards around the x axis;
During yaw movement, the rotation speed of the auxiliary first main motor is increased through the power difference of the left auxiliary motor and the right auxiliary motor, so that the lift force generated by rotation of the rotor wing is increased, the unmanned aerial vehicle yaw rightwards around the z-axis, and otherwise, the rotation speed of the auxiliary second main motor is increased, and the unmanned aerial vehicle yaw leftwards around the z-axis;
A submerged mode, in which the auxiliary motor is started, and the unmanned aerial vehicle underwater thrust is generated by 2 auxiliary motors; controlling the main motor to run at a low speed to generate lifting force for balancing the gravity of the machine body and adjusting the submerging depth of the unmanned plane; when the unmanned aerial vehicle needs to submerge, the thrust direction of the auxiliary motor is adjusted downwards, the rotating speed of the auxiliary motor is increased, the current transmitted to the main motor by the power supply is reduced, the rotating speed of the main motor is slowed down, and therefore the thrust generated by rotation of the blade is reduced; when the unmanned aerial vehicle floats, the auxiliary motor is driven by the stepping motor to rotate around the central shaft of the auxiliary motor to drive the auxiliary motor to rotate, the thrust direction of the auxiliary motor is adjusted to be upward, the current transmitted to the main motor by the power supply is increased, the rotating speed of the main motor is increased, and therefore the thrust generated by rotation of the paddles is increased.
Further, when the unmanned aerial vehicle is out water, the auxiliary motor is driven by the stepping motor to rotate around the central shaft of the auxiliary motor to drive the auxiliary motor to rotate, the thrust direction is adjusted to be upward, meanwhile, the current of the power supply for the main motor is increased, the lifting force of the main motor is increased, the buoyancy of the whole machine is increased, after the first propeller of the unmanned aerial vehicle floats out of the water, the current of the power supply for the auxiliary motor is reduced, the current of the power supply for the main motor is continuously increased, at the moment, the mediums of the first blade and the second blade are different, the main motor generates power and is mostly supplied to the first blade, the first blade generates great lifting force to help the unmanned aerial vehicle to go out water, and the auxiliary motor stops working after the unmanned aerial vehicle goes out water completely.
Compared with the prior art, the invention has the following advantages:
1. According to the simple and efficient water-air amphibious unmanned aerial vehicle and the control method thereof, when water entering and exiting is excessive, the novel power transmission device is adopted, the resistance of the first blade and the resistance of the second blade are different (the resistance of the second blade is larger), the second driven gear can receive larger resistance, at the moment, the planetary gear can roll along the second driven gear, so that the first driven gear is driven to rotate, more power is distributed to the blades with small resistance to generate larger thrust, water entering and exiting is stably and excessively controlled, and water impact caused by power reduction due to water contact of the unmanned aerial vehicle is effectively prevented.
2. According to the simple and efficient water-air amphibious unmanned aerial vehicle and the control method thereof, the concept of vector thrust is integrated into the amphibious unmanned aerial vehicle, and the stable and reliable vector thrust is generated by adjusting the rotation angle of the auxiliary arm, so that the unmanned aerial vehicle is assisted to realize the submerged function, and has higher flexibility.
3. The amphibious unmanned aerial vehicle can realize stable and free switching between two modes of diving and flying, does not need devices similar to a submarine, such as a pressurized cabin and the like, has two purposes, and simplifies the structure of the amphibious unmanned aerial vehicle.
Drawings
Fig. 1 is a schematic diagram of the overall layout of a water-air amphibious unmanned aerial vehicle;
FIG. 2 is a connection diagram of a main motor and a power transmission device;
FIG. 3 is a schematic diagram of a sub-motor vector propulsion device;
FIG. 4 is a detail view of the power transmission device;
In the drawings, 1, the main body, 2, the first main motor, 3, the second main motor, 4, the third main motor, 5, the fourth main motor, 6, the input shaft, 7, the input gear, 8, the main gear, 9, the planetary gear, 10, the planetary gear fixed bearing, 11, the first driven wheel, 12, the second driven wheel, 13, the first output shaft, 14, the second output shaft, 15, the first output shaft fixed bearing, 16, the second output shaft fixed bearing, 17, the first propeller, 18, the second propeller, 19, the step motor, 20, the step motor drive gear set, 21, the auxiliary arm fixed bearing, 22, the first auxiliary motor, 23, the second auxiliary motor, 24, the empty water dual-purpose propeller.
Detailed Description
The technical scheme of the application will be further described in detail below with reference to the accompanying drawings in the examples of the application. As shown in figure 1, the application designs a novel power transmission system through a simple and efficient water-air amphibious unmanned aerial vehicle and a control method thereof.
Example 1
The embodiment is a high-efficiency water-air amphibious unmanned aerial vehicle, the unmanned aerial vehicle is of a symmetrical structure and comprises a machine body, a plurality of power transmission devices are symmetrically distributed around the machine body by taking the machine body as a center, the power transmission devices are connected to the machine body through host arms, and a power screw propeller is connected to the power transmission devices;
A group of vector thrust devices are symmetrically distributed around the machine body by taking the machine body as a center, the vector thrust devices are connected to the machine body through auxiliary machine arms, and the vector thrust devices are connected with an air-water dual-purpose propeller.
Further, the machine body is provided with four main machine arms and an auxiliary machine arm, the auxiliary machine arm penetrates through the middle of the machine body, and the main machine arms are respectively connected in four directions of the machine body.
Further, the power transmission device comprises a main gear, a main motor, a plurality of planetary gears, an output shaft and a driven gear; wherein,
An output gear is connected to the output shaft of the main motor, and the output gear is meshed with the main gear;
The two sides of the main gear are respectively provided with a first output shaft and a second output shaft, the tail end of the first output shaft is connected with a first propeller, and the tail end of the second output shaft is connected with a second propeller;
the upper surface of the main gear is connected with a planetary gear, the first output shaft is provided with a driven gear at the position of the planetary gear, and the driven gear is in meshed connection with the planetary gear;
the main gear is coaxially connected with the first output shaft through a bearing;
The driven gear is fixedly connected with the output shaft coaxially and meshed with the planetary gear, wherein the first driven gear is arranged above the planetary gear and fixedly connected with the upper output shaft, and the second driven gear is arranged above the main gear and fixedly connected with the main gear through the lower output shaft; the output shaft is fixed on the horn through the bearing and the other end is connected with the paddle.
Further, the planetary gears are fixed on a plane perpendicular to the rotation plane of the main gear through bearings, the planetary gears are circumferentially distributed at 120 degrees, the planetary gears have two degrees of freedom, rotate around the axis of the main gear when the main gear rotates, and rotate around the axis of the main gear under the drive of the driven gear.
Furthermore, unmanned aerial vehicle contains 4 main motors, and every main motor is transversely fixed in on four host arms respectively, and main motor drives power conversion device's main gear rotation, and the power that provides is transmitted to on the screw through power conversion device.
As a preferred embodiment of the application, a stepping motor is arranged in the machine body, and the stepping motor is connected with the auxiliary arm through a stepping motor transmission gear set to drive the auxiliary arm to rotate.
Further, the auxiliary arm is connected with the air-water dual-purpose propeller through an auxiliary motor, the auxiliary motor is a double-output shaft motor, the auxiliary motor is transversely arranged on the auxiliary arm, the axis points to the direction of the machine head, and the two shafts are respectively connected with the two air-water dual-purpose propellers.
The power transmission system comprises a main motor power transmission device and an auxiliary motor vector propulsion device which are connected together through a main arm and an auxiliary arm respectively. The main motor power transmission device mainly comprises a first main motor 2, a second main motor 3, a third main motor 4, a fourth main motor 5, an input shaft 6, an input gear 7, a main gear 8, a planetary gear 9, a planetary gear fixed bearing 10, a first driven wheel 11, a second driven wheel 12, a first output shaft 13, a second output shaft 14, a first output shaft fixed bearing 15, a second output shaft fixed bearing 16, a first propeller 17 and a second propeller 18; further, the main motor drives the input gear 7 to rotate through the input shaft 6, and the input gear is meshed with the main gear 8, so that the main gear is driven to rotate. Further, the planetary gear 9 is fixedly connected to the main gear through a bearing and is meshed with the first driven wheel 11 and the second driven wheel 12, and the planetary gear is driven to rotate along with the rotation of the main gear, and then the first driven wheel and the second driven wheel are driven to rotate. Furthermore, the first output shaft 13 and the second output shaft 14 are mounted on the first driven wheel and the second driven wheel, and are fixed on the arm through the first output shaft fixed bearing 15 and the second output shaft fixed bearing 16, and the first propeller 17 and the second propeller 18 are driven to rotate to generate power through the rotation of the first output shaft and the second output shaft.
The auxiliary motor vector propulsion device mainly comprises a stepping motor 19, a stepping motor transmission gear set 20, an auxiliary arm fixed bearing 21, a first auxiliary motor 22, a second auxiliary motor 23 and a water-free dual-purpose propeller 24, wherein an auxiliary arm transversely penetrates through the middle of the machine body on the basis of the X-shaped layout of the machine body, the auxiliary arm is fixed on the machine body by the auxiliary arm fixed bearing 21, two ends of the auxiliary arm are connected with the first auxiliary motor 22 and the second auxiliary motor 23, and the auxiliary motor can be driven by the stepping motor 19 to rotate around the central shaft of the machine arm to adjust the thrust direction of the auxiliary motor.
The application also provides a control method of the efficient water-air amphibious unmanned aerial vehicle, which comprises two working modes:
Flight mode, in the flight mode, unmanned aerial vehicle can realize the motion of 4 directions through the rotational speed of adjusting different motors, is respectively: vertical, roll, pitch and yaw; taking the forward direction of the unmanned aerial vehicle as the positive direction of the y axis, taking a main motor at the right front of the machine body as a first main motor, numbering the main motors in a anticlockwise manner, and respectively taking a second main motor, a third main motor and a fourth main motor as the other main motors, wherein the first main motor and the third main motor of the unmanned aerial vehicle rotate clockwise, and the second main motor and the fourth main motor rotate anticlockwise; when the unmanned aerial vehicle moves vertically, the rotating speed of the 4 motors is increased, so that the total lifting force generated by the rotation of the rotor wing is increased, and when the lifting force is greater than the dead weight of the unmanned aerial vehicle, the unmanned aerial vehicle rises vertically; conversely, the rotation speed of the 4 motors is reduced simultaneously, so that the total lift force generated by rotation of the rotor wing is reduced, and when the lift force is smaller than the dead weight of the unmanned aerial vehicle, the unmanned aerial vehicle vertically descends; when the external disturbance quantity is zero, the rotation speeds of the 4 motors are adjusted simultaneously, so that when the total lift force generated by rotation of the rotor wing is equal to the self weight of the unmanned aerial vehicle, the unmanned aerial vehicle maintains a hovering state; when in rolling movement, the rotating speeds of the first main motor and the fourth main motor are increased, so that the total lifting force generated by rotation of the rotor wing is increased, the unmanned aerial vehicle rolls right around the y axis, and conversely, the rotating speeds of the second main motor and the third main motor are increased, and the unmanned aerial vehicle rolls left around the y axis; during pitching movement, the rotating speeds of the first main motor and the second main motor are increased, so that the total lifting force generated by rotation of the rotor wing is increased, the unmanned aerial vehicle moves forwards around the x axis, and conversely, the rotating speeds of the third main motor and the fourth main motor are increased, and the unmanned aerial vehicle moves backwards around the x axis;
During yaw movement, the rotation speed of the auxiliary first main motor is increased through the power difference of the left auxiliary motor and the right auxiliary motor, so that the lift force generated by rotation of the rotor wing is increased, the unmanned aerial vehicle yaw rightwards around the z-axis, and otherwise, the rotation speed of the auxiliary second main motor is increased, and the unmanned aerial vehicle yaw leftwards around the z-axis;
A submerged mode, in which the auxiliary motor is started, and the unmanned aerial vehicle underwater thrust is generated by 2 auxiliary motors; controlling the main motor to run at a low speed to generate lifting force for balancing the gravity of the machine body and adjusting the submerging depth of the unmanned plane; when the unmanned aerial vehicle needs to submerge, the thrust direction of the auxiliary motor is adjusted downwards, the rotating speed of the auxiliary motor is increased, the current transmitted to the main motor by the power supply is reduced, the rotating speed of the main motor is slowed down, and therefore the thrust generated by rotation of the blade is reduced; when the unmanned aerial vehicle floats, the auxiliary motor is driven by the stepping motor to rotate around the central shaft of the auxiliary motor to drive the auxiliary motor to rotate, the thrust direction of the auxiliary motor is adjusted to be upward, the current transmitted to the main motor by the power supply is increased, the rotating speed of the main motor is increased, and therefore the thrust generated by rotation of the paddles is increased.
Further, when the unmanned aerial vehicle enters water from the air, the unmanned aerial vehicle slowly drops to the water surface firstly, because the gravity of the unmanned aerial vehicle body is larger than the buoyancy, under the condition that the main motor does not work, the unmanned aerial vehicle can naturally sink into the water by the gravity, the thrust in the water of the unmanned aerial vehicle is mainly generated by the auxiliary motor vector propulsion device, and the lifting force generated by the main motor and the power transmission device running in the water at a low speed is used for balancing the gravity of the unmanned aerial vehicle body; when the unmanned aerial vehicle does the submerged movement, the auxiliary arm rotates around the central shaft of the arm to drive the auxiliary motor to rotate, the thrust direction is adjusted to be downward, meanwhile, the current which is transmitted to the main motor by the power supply is reduced, the lifting force of the main motor is reduced, and when the unmanned aerial vehicle does the floating movement, the auxiliary arm adjusts the thrust direction to be upward, meanwhile, the current which is transmitted to the main motor by the power supply is increased, and the lifting force of the main motor is increased.
Further, when the unmanned aerial vehicle is out water, the auxiliary motor is driven by the stepping motor to rotate around the central shaft of the auxiliary motor to drive the auxiliary motor to rotate, the thrust direction is adjusted to be upward, meanwhile, the current of the power supply for the main motor is increased, the lifting force of the main motor is increased, the buoyancy of the whole machine is increased, after the first propeller of the unmanned aerial vehicle floats out of the water, the current of the power supply for the auxiliary motor is reduced, the current of the power supply for the main motor is continuously increased, at the moment, the mediums of the first blade and the second blade are different, the main motor generates power and is mostly supplied to the first blade, the first blade generates great lifting force to help the unmanned aerial vehicle to go out water, and the auxiliary motor stops working after the unmanned aerial vehicle goes out water completely.
When the unmanned aerial vehicle goes out water, at first, rotate around the horn center pin through the vice horn and drive vice motor rotation, adjust thrust direction upwards, increase the power simultaneously and carry the electric current that gives the main motor, increase the lift of main motor, increase the buoyancy of complete machine, treat that unmanned aerial vehicle's last screw and partial fuselage float out the surface of water after, because unmanned aerial vehicle main motor and power transmission device go up first, the second screw be in respectively among these two different mediums of air and water, first, the rotation resistance that the second paddle received is different (the second paddle is obstructed more), the action that the action wheel drove the power that the planetary gear produced is more on first driven wheel, result in second driven wheel rotational speed for first driven gear rotational speed greatly reduced, first driven gear drives first screw and produces enough big lift, thereby realize unmanned aerial vehicle's play water process.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (4)
1. A control method of an efficient water-air amphibious unmanned aerial vehicle is characterized by comprising the following steps: the control method is used for controlling the following underwater air amphibious unmanned aerial vehicle:
the unmanned aerial vehicle is of a symmetrical structure and comprises a machine body, four groups of power transmission devices are symmetrically distributed around the machine body by taking the machine body as a center, the power transmission devices are connected to the machine body through a main machine arm, and a power propeller is connected to the power transmission devices;
A group of vector thrust devices are symmetrically distributed around the machine body by taking the machine body as a center, the vector thrust devices are connected to the machine body through auxiliary machine arms, and the vector thrust devices are connected with an air-water dual-purpose propeller;
the machine body is provided with four main machine arms and one auxiliary machine arm, the auxiliary machine arm penetrates through the middle part of the machine body, and the main machine arms are respectively connected in the four directions of the machine body;
the power transmission device comprises a main gear, a main motor, a plurality of planetary gears, an output shaft and a driven gear; wherein,
An output gear is connected to the output shaft of the main motor, and the output gear is meshed with the main gear;
The two sides of the main gear are respectively provided with a first output shaft and a second output shaft, the tail end of the first output shaft is connected with a first propeller, and the tail end of the second output shaft is connected with a second propeller;
the upper surface of the main gear is connected with a planetary gear, the first output shaft is provided with a driven gear at the position of the planetary gear, and the driven gear is in meshed connection with the planetary gear;
the main gear is coaxially connected with the first output shaft through a bearing;
The driven gear is fixedly connected with the output shaft coaxially and meshed with the planetary gear, wherein the first driven gear is arranged above the planetary gear and fixedly connected with the upper output shaft, and the second driven gear is arranged above the main gear and fixedly connected with the main gear through the lower output shaft;
The output shaft is fixed on the horn through a bearing, and the other end of the output shaft is connected with the blade;
The machine body is internally provided with a stepping motor, the stepping motor is connected with the auxiliary machine arm through a stepping motor transmission gear set to drive the auxiliary machine arm to rotate, and the auxiliary machine arm is driven by the stepping motor to rotate around a machine arm central shaft;
The planetary gears are fixed on a plane perpendicular to the rotation plane of the main gear through bearings, the planetary gears are circumferentially distributed at 120 degrees, the planetary gears have two degrees of freedom, rotate around the axis of the main gear when the main gear rotates, and rotate around the axis of the main gear under the drive of the driven gear;
The control method comprises two working modes:
Flight mode, in the flight mode, unmanned aerial vehicle can realize the motion of 4 directions through the rotational speed of adjusting different motors, is respectively: vertical, roll, pitch and yaw; taking the forward direction of the unmanned aerial vehicle as the positive direction of the y axis, taking a main motor at the right front of the machine body as a first main motor, numbering the main motors in a anticlockwise manner, and respectively taking a second main motor, a third main motor and a fourth main motor as the other main motors, wherein the first main motor and the third main motor of the unmanned aerial vehicle rotate clockwise, and the second main motor and the fourth main motor rotate anticlockwise; when the unmanned aerial vehicle moves vertically, the rotating speed of the 4 motors is increased, so that the total lifting force generated by the rotation of the rotor wing is increased, and when the lifting force is greater than the dead weight of the unmanned aerial vehicle, the unmanned aerial vehicle rises vertically; conversely, the rotation speed of the 4 motors is reduced simultaneously, so that the total lift force generated by rotation of the rotor wing is reduced, and when the lift force is smaller than the dead weight of the unmanned aerial vehicle, the unmanned aerial vehicle vertically descends; when the external disturbance quantity is zero, the rotation speeds of the 4 motors are adjusted simultaneously, so that when the total lift force generated by rotation of the rotor wing is equal to the self weight of the unmanned aerial vehicle, the unmanned aerial vehicle maintains a hovering state; when in rolling movement, the rotating speeds of the first main motor and the fourth main motor are increased, so that the total lifting force generated by rotation of the rotor wing is increased, the unmanned aerial vehicle rolls right around the y axis, and conversely, the rotating speeds of the second main motor and the third main motor are increased, and the unmanned aerial vehicle rolls left around the y axis; during pitching movement, the rotating speeds of the first main motor and the second main motor are increased, so that the total lifting force generated by rotation of the rotor wing is increased, the unmanned aerial vehicle moves forwards around the x axis, and conversely, the rotating speeds of the third main motor and the fourth main motor are increased, and the unmanned aerial vehicle moves backwards around the x axis;
During yaw movement, the rotation speed of the auxiliary first main motor is increased through the power difference of the left auxiliary motor and the right auxiliary motor, so that the lift force generated by rotation of the rotor wing is increased, the unmanned aerial vehicle yaw rightwards around the z-axis, and otherwise, the rotation speed of the auxiliary second main motor is increased, and the unmanned aerial vehicle yaw leftwards around the z-axis;
A submerged mode, in which the auxiliary motor is started, and the unmanned aerial vehicle underwater thrust is generated by 2 auxiliary motors; controlling the main motor to run at a low speed to generate lifting force for balancing the gravity of the machine body and adjusting the submerging depth of the unmanned plane; when the unmanned aerial vehicle needs to submerge, the thrust direction of the auxiliary motor is adjusted downwards, the rotating speed of the auxiliary motor is increased, the current transmitted to the main motor by the power supply is reduced, the rotating speed of the main motor is slowed down, and therefore the thrust generated by rotation of the blade is reduced; when the unmanned aerial vehicle floats, the auxiliary motor is driven by the stepping motor to rotate around the central shaft of the auxiliary motor to drive the auxiliary motor to rotate, the thrust direction of the auxiliary motor is adjusted to be upward, the current transmitted to the main motor by the power supply is increased, the rotating speed of the main motor is increased, and therefore the thrust generated by rotation of the paddles is increased.
2. The control method according to claim 1, characterized in that: when the unmanned aerial vehicle goes out water, at first, drive the auxiliary motor through step motor and rotate around the horn center pin and drive auxiliary motor rotation, adjust thrust direction upwards, increase power supply simultaneously and give the electric current of main motor, thereby increase the buoyancy of main motor increase complete machine, treat that unmanned aerial vehicle's first screw is out of the water surface after, reduce the electric current that the power was given auxiliary motor, continue to increase the electric current that the power was given main motor, at this moment, first, second paddle is located the medium different, main motor produces power most supply and gives first paddle, first paddle produces very big lifting force, helps unmanned aerial vehicle go out water after the whole water that goes out of unmanned aerial vehicle, auxiliary motor stops work.
3. The control method according to claim 1, characterized in that: the unmanned aerial vehicle contains 4 main motors, and every main motor is transversely fixed in on four host arms respectively, and main motor drives power conversion device's main gear rotation, and the power that provides is transmitted to on the screw through power conversion device.
4. The control method according to claim 1, characterized in that: the auxiliary arm is connected with the air-water dual-purpose propeller through an auxiliary motor, the auxiliary motor is a double-output shaft motor, the auxiliary motor is transversely arranged on the auxiliary arm, the axis points to the direction of the machine head, and the two shafts are respectively connected with the two air-water dual-purpose propeller.
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| CN207808952U (en) * | 2018-01-18 | 2018-09-04 | 浙江大学 | It is a kind of based on bionics principle three dwell movement quadrotor drone |
| CN108656885A (en) * | 2018-05-07 | 2018-10-16 | 中国科学院沈阳自动化研究所 | Tilting rotor air-sea amphibious robot |
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