CN114735215A - Control method of insect-imitating aircraft with flapping wing and rotor wing hybrid power - Google Patents
Control method of insect-imitating aircraft with flapping wing and rotor wing hybrid power Download PDFInfo
- Publication number
- CN114735215A CN114735215A CN202210326159.7A CN202210326159A CN114735215A CN 114735215 A CN114735215 A CN 114735215A CN 202210326159 A CN202210326159 A CN 202210326159A CN 114735215 A CN114735215 A CN 114735215A
- Authority
- CN
- China
- Prior art keywords
- rotor
- motion
- aircraft
- flapping wing
- wing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 46
- 230000033001 locomotion Effects 0.000 claims abstract description 103
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 58
- 238000005096 rolling process Methods 0.000 claims abstract description 36
- 230000008878 coupling Effects 0.000 claims abstract description 5
- 238000010168 coupling process Methods 0.000 claims abstract description 5
- 238000005859 coupling reaction Methods 0.000 claims abstract description 5
- 230000009471 action Effects 0.000 claims abstract description 4
- 239000011664 nicotinic acid Substances 0.000 claims description 16
- 230000005484 gravity Effects 0.000 claims description 12
- 239000012528 membrane Substances 0.000 claims description 8
- 230000001174 ascending effect Effects 0.000 claims description 3
- 230000000737 periodic effect Effects 0.000 claims description 3
- 230000009467 reduction Effects 0.000 claims description 3
- 201000009482 yaws Diseases 0.000 claims description 3
- 239000013642 negative control Substances 0.000 claims 2
- 239000013641 positive control Substances 0.000 claims 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 11
- 229910052799 carbon Inorganic materials 0.000 description 11
- 239000000306 component Substances 0.000 description 9
- 239000003292 glue Substances 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 238000010146 3D printing Methods 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000007935 neutral effect Effects 0.000 description 2
- 238000000016 photochemical curing Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 241000272878 Apodiformes Species 0.000 description 1
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 241000238633 Odonata Species 0.000 description 1
- 241000256626 Pterygota <winged insects> Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 238000001723 curing Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
-
- 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
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/068—Fuselage sections
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/10—All-wing aircraft
- B64C2039/105—All-wing aircraft of blended wing body type
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a flight control method of an insect-like aircraft with flapping wing and rotor wing hybrid power, which comprises six actuators, namely a left flapping wing power set, a right flapping wing power set, a head rotor wing power set, a tail rotor wing power set, a head vector steering engine and a tail vector steering engine; the flight of the flapping wing rotor hybrid insect-imitating aircraft can be decomposed into basic motions with four degrees of freedom: lifting motion, pitching motion, rolling motion and yawing motion; under the action of motion coupling, pitching motion further influences longitudinal motion in the front and back direction, rolling motion further influences transverse motion in the left and right direction, and control of motion of each degree of freedom of the aircraft is achieved through cooperative control of the six actuators. The dual-mode backup redundant flight control method of the flapping wing and rotor wing hybrid insect-imitating aircraft enables an operator to independently select the opening and closing of the flapping wings and can also ensure that the aircraft safely flies and lands under dangerous conditions.
Description
Technical Field
The invention relates to the technical field of bionics, aviation and control, in particular to a flight control method of an insect-like aircraft with flapping wing and rotor wing hybrid power.
Background
Modern wars have higher and higher requirements for reconnaissance and concealment of battlefield personnel, and the unmanned aerial vehicle as a low-cost aircraft capable of carrying reconnaissance equipment can realize the reconnaissance before and during the battle covertly and provide rich information for decision-making of battle and personnel protection. According to different lift force generation modes, the unmanned aerial vehicle can be divided into a fixed wing aircraft, a rotor wing aircraft, a flapping wing aircraft and the like. In contrast, ornithopters have lower flight noise and higher lift efficiency, and are visually distracting in appearance. Wherein the insect-imitating flapping wing aircraft has small volume and high concealment, and is more suitable for scenes such as concealed investigation and the like. Various types of design researches are carried out on the insect-imitating flapping wing aircraft at home and abroad by taking the Daerfurt university as the first place, and similarly, nano hummingbirds developed by American aviation environment companies, bionic dragonfly aircrafts and bionic butterfly aircrafts of Germany Fissiston companies, insect-imitating flapping wing aircraft of Korea institute university, machine winged insects of Harvard university and bionic flapping wing micro aircrafts of Nanjing aerospace university are also provided. The current research situation at home and abroad shows that the insect-imitating flapping wing aircraft technology is still under vigorous development, but the flapping wing aircraft still has many problems and disadvantages such as incomplete controllable freedom, unfavorable control coupling, unstable flight, incapability of hovering and flying, small flapping wing lifting force, limited capability of carrying task load and the like, so the working space and the task time of the flapping wing aircraft are limited to a certain extent.
Disclosure of Invention
The invention aims to solve the problems in the prior art, provides a flight control method of an insect-imitating aircraft with flapping wing and rotor wing hybrid power, aims to improve the flight lift force, improve the load capacity and accelerate the flight speed while taking into account the performance characteristics of the aircraft such as beautiful bionic appearance, strong visual disordering, stable flight performance, compact and small size, capability of hovering and flying and the like, and provides a dual-mode flight control method which is more suitable for scenes such as hidden reconnaissance, police evidence collection, assault combat and the like in the future.
The invention provides an insect-imitating aircraft with flapping wing and rotor wing hybrid power, which comprises an aircraft body, a flapping wing power set, a vector rotor wing power set and a flight control set.
The machine body comprises a main cabin, a machine head, a machine tail, a bottom cover of the cabin, side supporting pieces, a carbon rod, a base, corners and batteries. The main cabin is a core part and is used for installing and fixing most parts such as a flapping wing power group, a vector rotor wing power group and a flight control group required by the whole aircraft. The structure and the appearance of the machine head and the machine tail are completely consistent, the machine head and the machine tail can be quickly positioned on the front interface and the rear interface of the main machine cabin through the positioning pins and the positioning holes during installation, and the machine head and the machine tail are fixed by using double-sided adhesive or glue. The engine room bottom cover is also fixed on the lower interface of the main engine room through a positioning pin and glue. At the moment, the machine head, the main engine room, the bottom cover of the machine room and the machine tail form a complete machine body with a bionic curved surface shape. The upper end of the carbon rod is inserted into a carbon rod groove below the main cabin, and the lower end of the carbon rod is inserted into a carbon rod groove of the base. The upper end laminating of collateral branch stay is in the main engine compartment left and right sides, and the lower extreme inserts in the collateral branch stay groove of base for paste flapping wing membrane, and take off and land the in-process and support the aircraft with the carbon-point jointly taking off. The battery is fixed on the upper surface or the lower surface of the base. The horns are directly adhered to the upper surface of the nose and used for protecting the rotor wing from collision, and meanwhile, the bionic characteristic of imitating the unicorn is formed, so that the visual confusion is enhanced.
The flapping wing power set comprises a motor, a driving gear, a first-stage double-layer gear, a second-stage eccentric gear, a connecting rod, a rocker arm, a small pin, a main shaft pin, a front edge rod and a flapping wing film. The main engine cabin simultaneously belongs to core parts of the flapping wing power set, and the upper surface of the main engine cabin is provided with a series of holes and bosses which are symmetrically distributed left and right and are used for mounting various parts required by the left and right flapping wing power sets. The motor is inserted into a larger motor mounting hole from the inside of the main cabin, and the inner diameter of the driving gear is slightly smaller than the outer diameter of a motor spindle and is used for being mounted on a motor spindle in an interference fit mode. The primary double-layer gear is fixed on the main engine room through a small pin, and a lower fluted disc of the primary double-layer gear is meshed with the driving gear. The two-stage eccentric gears are symmetrically arranged on two sides of each flapping wing power set and are also fixed on the main cabin through small pins, and upper gear discs of the same-stage double-layer gear are meshed with each other. Each group of the rocker arms is two and is stacked and fixed on the main engine room through a main shaft pin. And two connecting rods are arranged in each group, one end of each connecting rod is fixed in an eccentric hole of the second-stage eccentric gear by using a small pin, and the other end of each connecting rod is fixed on the rocker arm, so that the front edge rod and the flapping wing membrane are driven to flap in the air. The side supporting pieces are attached to the left side and the right side of the main engine room, and the roots of the flapping wing membranes are smoothly adhered to the side supporting pieces. The power of the motor is subjected to two-stage speed reduction through the driving gear, the first-stage double-layer gear and the second-stage eccentric gear respectively, the circular motion is converted into linear motion through the connecting rod, and the rocker arm is driven to drive the flapping wings to flap to and fro to generate periodic lift force. The motion of the second-stage eccentric gear and the connecting rod is symmetrical left and right so as to ensure the symmetry and the synchronism of the motion of the two flapping wings.
The vector rotor power pack comprises a motor base, a steering engine, a rocker arm, a rotating shaft, a brushless motor, a propeller and a screw. The components of the vector rotor power set are mainly arranged on the identical nose and tail, so the structures and the shapes of the head vector rotor power set and the tail vector rotor power set are also completely consistent. The motor base is inserted into the motor base mounting position protruding on the lower surface of the machine head. The rotating shaft penetrates through the motor base and the shaft holes in the mounting positions of the motor base of the machine head, and the motor base and the mounting positions of the machine head are coaxially hinged together. The screw is used for installing the brushless motor on the motor base, and the screw propeller and the brushless motor shaft are installed in an interference fit mode. The rocker arm is embedded in a rocker arm groove in the side face of the motor base, the steering engine drives the rocker arm to deflect through the spline, so that the motor base and the brushless motor are driven to deflect in a vector mode, and the brushless motor drives the propeller to rotate to generate vector lift force.
The flight control group comprises a flight control plate, an electric adjusting plate, a hexagonal stud, a long screw and a nut. The flight control group is integrally installed inside the main cabin. Four long screws penetrate through flight control mounting holes in the main cabin from the top. And aligning and inserting long screws to the four mounting holes on the electric adjusting plate, screwing in the electric adjusting plate from the lower part by using the four hexagonal studs, and pressing the electric adjusting plate. And then, aligning the long screws to the four mounting holes on the flight control plate, inserting the long screws, and then pressing the flight control plate by using four nuts. The flight control panel is used for controlling the stable flight and the mode conversion of the aircraft, and the electric adjusting panel is used for simultaneously supplying power and adjusting the speed for the four brushless motors.
The invention also provides a flight control method of the insect-imitating aircraft with the flapping wing and the rotor wing hybrid power. The insect-imitating aircraft with the flapping wing and rotor wing hybrid power comprises six actuators which are respectively a left flapping wing power set, a right flapping wing power set, a head rotor wing power set, a tail rotor wing power set, a head vector steering engine and a tail vector steering engine. The flight of the flapping wing rotor hybrid insect-imitating aircraft can be decomposed into basic motions with four degrees of freedom: lifting motion, pitching motion, rolling motion and yawing motion. Under the action of motion coupling, the pitching motion further influences the longitudinal motion in the front and back direction, and the rolling motion further influences the transverse motion in the left and right direction. Through the cooperative control of the six actuators, the control of the motion of each degree of freedom of the aircraft can be realized.
The control method of the lifting motion comprises the following steps: in the configuration of the flight control system, the throttle channel signals which are controlled and output are synchronously distributed to the left and right flapping wing power groups and the head and tail rotor power groups. The throttle signal of rotor power unit will show as brushless motor's rotational speed, and then shows as the rotational speed of screw to influence the size of lift. The throttle signal of the flapping wing power set is represented as the rotating speed of the flapping wing motor and further as the flapping frequency of the flapping wing, so that the lift force of the flapping wing is influenced. According to different requirements, the relative proportion of the power of the flapping wings and the power of the rotary wings can be respectively adjusted, so that the overall vibration level of the aircraft during hovering flight can be adjusted. When the signal of the accelerator is increased, the rotating speeds of the four motors are synchronously increased, so that the total lift force is greater than the gravity of the aircraft, and the ascending motion of the aircraft is generated. Similarly, when the rotating speeds of the four motors are synchronously reduced, the aircraft moves downwards.
The control method of the pitching motion comprises the following steps: and the flight control system respectively distributes the control output pitching channel signals to the head and tail rotor power groups in a positive and negative mode. The pitch channel control signal will therefore be reflected in a differential rotation of the head and tail rotor powerpack propellers. When the rotating speeds of the two propellers are not consistent, the head and the tail of the aircraft generate a lift difference, so that a pitching moment is generated, and the fuselage tilts forwards or backwards, so that pitching motion and longitudinal motion are realized.
The control method of the yaw movement comprises the following steps: and the flight control system synchronously distributes the yaw channel signals output by control to the head-tail vector steering engines. The vector steering engine can drive the rotor power set to deflect left and right integrally, so that the thrust of the rotor generates certain transverse component force. Because the vector steering engines are installed in opposite directions, yaw channel signals are reflected into vector deflection of the head and tail vector steering engine rocker arms and rotor wing power sets thereof in opposite directions, and then transverse component forces in opposite head and tail directions are generated. The group of transverse component forces can form a heading deflection moment around a gravity center vertical axis, and the machine body yaws leftwards or rightwards, so that the control of yaw movement is realized.
The dual-mode flight control method comprises the following steps: according to the practical application scene, the opening or closing of the flapping wing power set can be selected. If the flapping wing power set is started, the flapping wing power set is in a hybrid power mode; and if the flapping wing power group is closed or no flapping wing is installed, the pure rotor wing power mode is adopted. The control methods of the lifting motion, the pitching motion and the yawing motion corresponding to the two modes are basically the same, and only the control method of the rolling motion is different.
The rolling motion control method in the flapping wing rotor wing hybrid power mode comprises the following steps: and the flight control system respectively distributes the rolling channel signals which are controlled and output to the left and right flapping wing power groups in a positive and negative mode. Therefore, the roll channel signal is reflected as the difference of flapping frequencies of the flapping wings of the left and right flapping wing power groups. When the flapping frequencies of the left group of flapping wings and the right group of flapping wings are not consistent, the left side and the right side of the aircraft generate lift difference, so that rolling torque is generated, and the aircraft body inclines leftwards or rightwards, so that rolling motion and transverse motion are realized.
The roll motion control method in the pure rotor power mode comprises the following steps: and the flight control system respectively distributes the rolling channel signals output by control to the head and tail vector steering engines in a positive and negative mode. Because the vector steering engines are installed in opposite directions, yaw channel signals are reflected into vector deflection of the head and tail vector steering engine rocker arms and rotor wing power sets thereof in the same direction, and then vector thrust in the same direction is generated integrally. Because the rotating shaft of the vector rotor power set is higher than the longitudinal axis of the gravity center to generate a vector force arm, the vector thrust of the vector rotor power set forms a rolling moment around the longitudinal axis of the gravity center, and the airframe inclines leftwards or rightwards, so that the control of rolling movement and transverse movement is realized.
The invention has the beneficial effects that:
1. the method is characterized in that unicorn insects are used as bionic objects, the bionic technologies such as bionic flapping wings, bionic horns and bionic curved surface fuselage appearances are ingeniously integrated with the structure and the functions of an aircraft body, and the advantages and the characteristics that the control logic is reasonable, the flight performance is stable, the body type is compact and small, the visual disordering performance is strong, the appearance hiding performance is good and the like are achieved.
2. The aircraft adopts the miniature rotor wing as an auxiliary power source, improves the maximum lift force of the aircraft, enables the aircraft to stably hover and quickly fly, and has the characteristics of high flying speed, strong loading capacity and the like.
3. In a hybrid power mode of the flapping wing and the rotor wing, the bionic flapping wing is used as a main power source, and the rolling torque is directly generated, so that the attitude control is more stable, and the flight form of the flapping wing is more bionic.
4. The operator can adjust the power ratio of the flapping wings in flight, thereby changing the mechanical vibration characteristics of the fuselage. When the power ratio of the flapping wings is adjusted to zero, the aircraft flies in a pure rotor power mode, and the mechanical vibration is minimum.
5. Under the condition that the flapping wings are actively detached, the aircraft can normally fly in a pure rotor power mode, the flight function is still complete, and meanwhile, the overall dimension is smaller and more suitable for concealed operation.
6. Under the dangerous condition that flapping wings or steering engines are invalid in flight, the aircraft automatically enters a pure rotor power mode, and the dual-mode backup flight control method can guarantee the safe flight and landing of the aircraft.
7. The flapping wing and rotor wing hybrid power insect-imitating aircraft can be applied to the scenes of future hidden reconnaissance, police evidence collection, assault combat and the like in the indoor, outdoor, narrow lane and the like. Can fly through narrow space and submerge into enemy room for hidden reconnaissance. The functions are more comprehensive, the application occasions are wider, the requirements of modern wars are met, and the method has very important significance.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of the overall configuration of a flapping-wing rotor hybrid insect-imitating aircraft according to the present invention;
FIG. 2 is a side view of the overall configuration of the flapping-wing rotor hybrid insect-imitating aircraft according to the present invention;
FIG. 3 is a schematic view of the fuselage configuration and flight control of the flapping-wing rotor hybrid insect-imitating aircraft according to the present invention;
FIG. 4 is a schematic view of the power train of the flapping wing hybrid insect-imitating aircraft according to the invention;
FIG. 5 is a close-up schematic view of the flapping wing power group of the flapping wing rotor hybrid insect simulation aircraft of the present invention;
FIG. 6 is a schematic view of a rotor power pack of the flapping wing rotor hybrid insect-imitating aircraft according to the present invention;
FIG. 7 is a schematic view of the vector steering principle of the flapping wing rotor hybrid insect-imitating aircraft.
In the drawings:
1. a body; 2. a flapping wing power group; 3. a vector rotor power pack; 4. a flight control group; 101. a main engine room; 102. a machine head; 103. a tail; 104. a cabin bottom cover; 105. a side support sheet; 106. a carbon rod; 107. a base; 108. horns; 109. a battery; 201. a motor; 202. a driving gear; 203. a first-stage double-layer gear; 204. a secondary eccentric gear; 205. a connecting rod; 206. a first rocker arm; 207. a small pin; 208. a spindle pin; 209. a leading edge bar; 210. flapping wing membrane; 301, a motor base; 302. a steering engine; 303. a second rocker arm; 304. a rotating shaft; 305. a brushless motor; 306. a propeller; 307. a screw; 401. a flight control panel; 402 an electric tuning board; 403 hexagonal stud; 404 long screws; 405 a nut.
Detailed Description
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. 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.
The invention provides an insect-imitating aircraft with flapping wing and rotor wing hybrid power, which comprises an aircraft body 1, a flapping wing power group 2, a vector rotor wing power group 3 and a flight control group 4, and is shown in attached figures 1-7.
The fuselage 1 includes a main cabin 101, a nose 102, a tail 103, a cabin bottom cover 104, side support sheets 105, carbon rods 106, a base 107, a corner 108, and a battery 109. The main cabin 101 is a core component and is used for installing and fixing most components such as a flapping wing power group 2, a vector rotor wing power group 3 and a flight control group 4 required by the whole aircraft. The structure and the shape of the nose 102 and the tail 103 are completely consistent, and the nose 102 and the tail 103 can be quickly positioned on the front interface and the rear interface of the main cabin through positioning pins and positioning holes during installation and are fixed by using double-sided adhesive or glue. The nacelle bottom cover 104 is also secured to the lower interface of the main nacelle by locating pins and glue. At the moment, the machine head, the main engine room, the bottom cover of the machine room and the machine tail form a complete machine body with a bionic curved surface shape. The upper end of the carbon rod 106 is inserted into a carbon rod groove below the main cabin, and the lower end is inserted into a carbon rod groove of the base 107. The upper ends of the side supporting pieces 105 are attached to the left side and the right side of the main cabin, and the lower ends of the side supporting pieces are inserted into the side supporting piece grooves of the base and used for adhering flapping wing films and supporting the aircraft together with the carbon rods in the take-off and landing processes. The battery 109 may be fixed to the upper or lower surface of the base depending on the actual size. The horns 108 are directly adhered to the upper surface of the nose to protect the rotor wing from collision, and meanwhile, the bionic characteristic of the single horn-like horns is formed, so that visual confusion is enhanced. The main cabin, the cabin bottom cover, the machine head and the machine tail can be manufactured by adopting a photocuring 3D printing process. The base and the corners can be made of various materials such as wood laminate, carbon fiber composite board or light curing resin. The size of the battery is not limited, and the capacity and the size of the battery can be selected according to the required endurance time and load capacity.
The flapping wing power group 2 comprises a motor 201, a driving gear 202, a primary double-layer gear 203, a secondary eccentric gear 204, a connecting rod 205, a first rocker arm 206, a small pin 207, a main shaft pin 208, a leading edge rod 209 and a flapping wing membrane 210. The main cabin 101 belongs to the core part of the flapping wing power group 2, and the upper surface of the main cabin is provided with a series of holes and bosses which are distributed in bilateral symmetry and used for installing all parts required by the left and right flapping wing power groups. The motor 201 is inserted into a large motor mounting hole from the inside of the main cabin, and the inner diameter of the driving gear 202 is slightly smaller than the outer diameter of a motor spindle and is arranged on a motor rotating shaft in an interference fit mode. The first-stage double-layer gear 203 is fixed on the main cabin through a small pin 207, and a lower fluted disc of the first-stage double-layer gear is meshed with the driving gear. The two-stage eccentric gears 204 are symmetrically arranged on two sides of each flapping wing power group and are also fixed on the main cabin through small pins, and upper gear discs of the same-stage double-layer gear are meshed with each other. The first swing arms 206, two in each set, are stacked and secured to the main nacelle by main shaft pins 208. Two connecting rods 205 are arranged in each group, one end of each connecting rod is fixed in an eccentric hole of the secondary eccentric gear by using a small pin, and the other end of each connecting rod is fixed on the rocker arm, so that the front edge rod 209 and the flapping wing membrane 210 are driven to flap in the air. The side supporting pieces 105 are attached to the left side and the right side of the main engine room, and the roots of the flapping wing membranes are smoothly adhered to the side supporting pieces. Wherein, the motor 201 can adopt a hollow cup motor or a miniature brushless motor. The power of the motor is subjected to two-stage speed reduction through the driving gear, the first-stage double-layer gear and the second-stage eccentric gear respectively, circular motion is converted into linear motion through the connecting rod, and the rocker arm is driven to drive the flapping wings to flap to and fro to generate periodic lift force. The motion of the second-stage eccentric gear and the connecting rod is symmetrical left and right so as to ensure the symmetry and the synchronism of the motion of the two flapping wings.
The vector rotor power group 3 comprises a motor base 301, a steering engine 302, a second rocker arm 303, a rotating shaft 304, a brushless motor 305, a propeller 306 and a screw 307. The components of the vector rotor power set are mainly arranged on the identical nose and tail, so the structures and the shapes of the head vector rotor power set and the tail vector rotor power set are also completely consistent. The motor base 301 is inserted into a motor base mounting position protruding on the lower surface of the machine head 102. The rotating shaft 304 penetrates through the motor base 301 and the shaft holes on the mounting positions of the machine head motor base to coaxially hinge the motor base 301 and the machine head motor base together. The screw 307 is used to mount the brushless motor 305 on the motor base, and the propeller 306 and the brushless motor shaft are mounted in an interference fit manner. The second rocker arm 303 is embedded in a rocker arm groove in the side face of the motor base, the steering engine 302 drives the rocker arm to deflect through a spline, so that the motor base and the brushless motor are driven to deflect in a vector mode, and the brushless motor drives the propeller to rotate to generate vector lift force. The motor base 301 can be made by adopting a photocuring 3D printing process, and the steering engine 302, the brushless motor 305 and the propeller 306 can be selected in various models and meet the requirements of required torque and lift force.
The flight control group 4 comprises a flight control plate 401, an electric tilt plate 402, a hexagon stud 403, a long screw 404 and a nut 405. The flight control group is integrally mounted inside the main cabin 101. Four of the long screws 404 pass through flight control mounting holes in the main nacelle 101 from above. The long screws are aligned with and inserted into the four mounting holes of the electrical tuning plate 402, and the electrical tuning plate is pressed by screwing in the four hexagonal studs 403 from below. The flight control plate is then tightened with four nuts 405 by aligning and inserting long screws into the four mounting holes in the flight control plate 401. The flight control board 401 is used for controlling the stable flight and mode conversion of the aircraft, and various flight control boards with a mounting hole pitch of 20 mm, such as KAKUTE F7MINI or materk H743MINI, can be adopted. The electrical tuning board 402 is used to simultaneously power and tune the speed of the four brushless motors. Various types of four-in-one electric tuning boards can be adopted.
The invention also provides a dual-mode flight control method of the insect-imitating aircraft with the flapping wing and the rotor wing hybrid power. The insect-imitating aircraft with the flapping wing and rotor wing hybrid power comprises six actuators which are respectively a left flapping wing power set, a right flapping wing power set, a head rotor wing power set, a tail rotor wing power set, a head vector steering engine and a tail vector steering engine. The flight of the flapping wing rotor hybrid insect-imitating aircraft can be decomposed into basic motions with four degrees of freedom: lifting motion, pitching motion, rolling motion and yawing motion. Under the action of motion coupling, the pitching motion further influences the longitudinal motion in the front and back direction, and the rolling motion further influences the transverse motion in the left and right direction. Through the cooperative control of the six actuators, the control of the motion of each degree of freedom of the aircraft can be realized.
The control method of the lifting motion comprises the following steps: in the configuration of the flight control system, the throttle channel signals which are controlled and output are synchronously distributed to the left and right flapping wing power groups and the head and tail rotor power groups. The throttle signal of rotor power unit will show as brushless motor's rotational speed, and then shows as the rotational speed of screw to influence the size of lift. The throttle signal of the flapping wing power group is represented as the rotating speed of the flapping wing motor and further represented as the flapping frequency of the flapping wing, so that the lift force of the flapping wing is influenced. According to different requirements, the relative proportion of the power of the flapping wings and the power of the rotary wings can be respectively adjusted, so that the overall vibration level of the aircraft during hovering flight can be adjusted. When the signal of the accelerator is increased, the rotating speeds of the four motors are synchronously increased, so that the total lift force is greater than the gravity of the aircraft, and the ascending motion of the aircraft is generated. Similarly, when the rotating speeds of the four motors are synchronously reduced, the aircraft moves downwards.
The control method of the pitching motion comprises the following steps: and the flight control system respectively distributes the pitch channel signals output by control to the head and tail rotor power groups in a positive and negative mode. The pitch channel control signal will therefore be reflected in a differential rotation of the head and tail rotor powerpack propellers. When the rotating speeds of the two propellers are not consistent, the head and the tail of the aircraft generate a lift difference, so that a pitching moment is generated, and the fuselage tilts forwards or backwards, so that pitching motion and longitudinal motion are realized.
The control method of the yaw movement comprises the following steps: and the flight control system synchronously distributes the yaw channel signals output by control to the head-tail vector steering engines. The vector steering engine can drive the rotor power set to deflect left and right integrally, so that the thrust of the rotor generates certain transverse component force. Because the vector steering engines are installed in opposite directions, yaw channel signals are reflected into vector deflection of the head and tail vector steering engine rocker arms and rotor wing power sets thereof in opposite directions, and then transverse component forces in opposite head and tail directions are generated. The group of transverse component forces can form a heading deflection moment around a vertical axis of the gravity center, and the machine body yaws leftwards or rightwards, so that the control of yawing motion is realized. The vector steering principle of yaw motion is shown as ABC in fig. 7, where a is yaw right, B is neutral, and C is yaw left.
The dual-mode flight control method comprises the following steps: according to the practical application scene, the opening or closing of the flapping wing power set can be selected. If the flapping wing power set is started, the flapping wing power set is in a hybrid power mode; and if the flapping wing power group is closed or no flapping wing is installed, the pure rotor wing power mode is adopted. The control methods of the lifting motion, the pitching motion and the yawing motion corresponding to the two modes are basically the same, and only the control method of the rolling motion is different.
The rolling motion control method in the flapping wing rotor wing hybrid power mode comprises the following steps: and the flight control system respectively distributes the rolling channel signals which are controlled and output to the left flapping wing power group and the right flapping wing power group in a positive and negative mode. Therefore, the roll channel signal is reflected as the difference of flapping frequencies of the flapping wings of the left and right flapping wing power groups. When the flapping frequencies of the left group of flapping wings and the right group of flapping wings are not consistent, the left side and the right side of the aircraft generate lift difference, so that rolling torque is generated, and the aircraft body inclines leftwards or rightwards, so that rolling motion and transverse motion are realized.
The roll motion control method in the pure rotor power mode comprises the following steps: and the flight control system respectively distributes the rolling channel signals which are controlled and output to the head-tail vector steering engines in a positive and negative mode. Because the vector steering engines are installed in opposite directions, yaw channel signals are reflected into vector deflection of the head and tail vector steering engine rocker arms and rotor wing power sets thereof in the same direction, and then vector thrust in the same direction is generated integrally. Because the rotating shaft of the vector rotor power set is higher than the longitudinal axis of the gravity center to generate a vector force arm, the vector thrust of the vector rotor power set forms a rolling moment around the longitudinal axis of the gravity center, and the airframe inclines leftwards or rightwards, so that the control of rolling movement and transverse movement is realized. The vector steering principle of the rolling motion is shown in fig. 7 as DEF, with D rolling to the right, E neutral, and F rolling to the left.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the apparatus embodiment, the above description is only a preferred embodiment of the present invention, and since it is substantially similar to the method embodiment, the description is relatively simple, and in relevant places, reference may be made to the partial description of the method embodiment. The above description is only for the specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the protection scope of the present invention should be covered by the principle of the present invention without departing from the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. The flight control method of the insect-imitated aircraft with wing and rotor hybrid power is characterized in that: the system comprises six actuators, namely a left flapping wing power set, a right flapping wing power set, a head rotor power set, a tail rotor power set, a head vector steering engine and a tail vector steering engine; the flight of the flapping wing rotor hybrid insect-imitating aircraft can be decomposed into basic motions with four degrees of freedom: lifting motion, pitching motion, rolling motion and yawing motion; under the action of motion coupling, pitching motion further influences longitudinal motion in the front and back direction, rolling motion further influences transverse motion in the left and right direction, and control of motion of each degree of freedom of the aircraft is achieved through cooperative control of the six actuators.
2. The method of flight control for a wing-rotor hybrid insect-imitated vehicle according to claim 1, wherein:
the control method of the lifting motion comprises the following steps: in the configuration of a flight control system, controlling and outputting an accelerator channel signal to be synchronously distributed to a left flapping wing power group, a right flapping wing power group and a head-tail rotor wing power group; the throttle signal of the rotor power set is expressed as the rotating speed of the brushless motor and further expressed as the rotating speed of the propeller, so that the magnitude of the lift force is influenced; the throttle signal of the flapping wing power set is represented as the rotating speed of the flapping wing motor and further as the flapping frequency of the flapping wing, so that the magnitude of the lifting force of the flapping wing is influenced; according to different requirements, the relative proportion of the power of the flapping wings and the power of the rotor wings are respectively adjusted, so that the overall vibration level of the aircraft during hovering flight can be adjusted; when the signal of the accelerator is increased, the rotating speeds of the four motors are synchronously increased, so that the total lift force is greater than the gravity of the aircraft, and the ascending motion of the aircraft is generated; when the rotating speeds of the four motors are synchronously reduced, the aircraft can move downwards;
the control method of the pitching motion comprises the following steps: the flight control system respectively distributes the positive and negative control output pitching channel signals to the head-tail rotor power group, so that the pitching channel control signals are reflected as differential rotation of propellers of the head-tail rotor power group; when the rotating speeds of the two propellers are not consistent, the head and the tail of the aircraft generate a lifting force difference, so that a pitching moment is generated, and the fuselage tilts forwards or backwards, so that pitching motion and longitudinal motion are realized;
the control method of the yaw movement comprises the following steps: the flight control system synchronously distributes the yaw channel signals output by control to the head-tail vector steering engines; the vector steering engine can drive the whole rotor power set to deflect left and right, so that the thrust of the rotor generates a certain transverse component force; because the vector steering engines are installed in opposite directions, yaw channel signals are reflected into vector deflections of the head and tail vector steering engine rocker arms and rotor wing power sets thereof in opposite directions, and further transverse component forces in opposite head and tail directions are generated; the group of transverse component forces can form a course deflection moment around a gravity center vertical axis, and the machine body yaws leftwards or rightwards, so that the control of yaw movement is realized;
the dual-mode flight control method comprises the following steps: according to the actual application scene, selecting the opening or closing of the flapping wing power set; if the flapping wing power set is started, the flapping wing power set is in a hybrid power mode; and if the flapping wing power group is closed or no flapping wing is installed, the pure rotor wing power mode is adopted.
3. The method of flight control for a wing-rotor hybrid insect-imitated vehicle according to claim 2, wherein: the rolling motion control method in the flapping wing rotor wing hybrid power mode comprises the following steps: the flight control system respectively distributes the rolling channel signals which are controlled and output to the left and right flapping wing power groups in a positive and negative mode, so that the rolling channel signals are reflected as differences of flapping frequencies of the flapping wings of the left and right flapping wing power groups; when the flapping frequencies of the left group of flapping wings and the right group of flapping wings are not consistent, the left side and the right side of the aircraft generate lift difference, so that rolling torque is generated, and the aircraft body inclines leftwards or rightwards, so that rolling motion and transverse motion are realized.
4. The method of flight control for a wing-rotor hybrid insect-imitated vehicle according to claim 2, wherein: the roll motion control method in the pure rotor power mode comprises the following steps: the flight control system respectively distributes the positive and negative control output rolling channel signals to the head and tail vector steering engines, and the vector steering engines are installed in opposite directions, so that the yawing channel signals are reflected to vector deflection of the rocker arms of the head and tail vector steering engines and the rotor power sets thereof in the same direction, and further vector thrust in the same direction as the whole is generated; because the rotating shaft of the vector rotor power set is higher than the longitudinal axis of the gravity center to generate a vector force arm, the vector thrust of the vector rotor power set forms a rolling moment around the longitudinal axis of the gravity center, and the airframe inclines leftwards or rightwards, so that the control of rolling movement and transverse movement is realized.
5. The method of flight control for a wing-rotor hybrid insect-imitated vehicle according to claim 1, wherein: the actuator specifically comprises a fuselage, a flapping wing power group, a vector rotor wing power group and a flight control group;
the aircraft body is a complete bionic curved surface shape consisting of an aircraft nose, a main engine room, an aircraft cabin bottom cover and an aircraft tail, wherein the aircraft nose and the aircraft tail are completely consistent in structure and shape, and flapping wing films are adhered to the left side and the right side of the main engine room through supporting sheets;
the flapping wing power set is a pair of flapping wing power devices which are distributed on two sides of the machine body and are in mirror image with each other, the power devices convert circular motion into linear motion through a connecting rod after speed reduction, and drive the rocker arms to drive the flapping wings to flap to and fro to generate periodic lift force;
the vector rotor power set comprises two vector rotor power structures which are distributed at the machine head and the machine tail and have the same structural appearance, and the two vector rotor power structures comprise a motor base, a steering engine, a rocker arm, a rotating shaft, a brushless motor and a propeller, wherein the motor base is inserted in a motor base mounting position protruding on the lower surface of the machine head; the rotating shaft penetrates through shaft holes in the motor base and the mounting position of the handpiece motor base to coaxially hinge the motor base and the handpiece motor base together; the brushless motor is arranged on the motor base, and the propeller and the brushless motor shaft are arranged in an interference fit manner; the rocker arm is embedded in a rocker arm groove on the side surface of the motor base, the steering engine drives the rocker arm to deflect through a spline, so that the motor base and the brushless motor are driven to deflect in a vector manner, and the brushless motor drives the propeller to rotate to generate vector lift force;
the flight control group comprises a flight control board and an electric adjusting board which are fixed on the aircraft body, and the flight control board is connected with motors in the flapping wing power group and the vector rotor wing power group through the electric adjusting board.
6. The method of flight control for a wing-rotor hybrid insect-imitated vehicle according to claim 5, wherein: the flapping wing power device comprises a motor, a driving gear, a primary double-layer gear, a secondary eccentric gear, a connecting rod, a rocker arm, a small pin, a main shaft pin, a front edge rod and a flapping wing film; the upper surface of the main cabin is provided with a series of holes and bosses which are symmetrically distributed left and right, the motor is inserted into a larger motor mounting hole from the inside of the main cabin, and the inner diameter of the driving gear is slightly smaller than the outer diameter of a motor spindle and is used for being mounted on a motor spindle in an interference fit manner; the primary double-layer gear is fixed on the main engine room through a small pin, and a lower fluted disc of the primary double-layer gear is meshed with the driving gear; the two-stage eccentric gears are symmetrically arranged on two sides of each flapping wing power set and are also fixed on the main cabin through small pins, and upper gear discs of double-layer gears of the same stage are meshed with each other; two rocker arms are arranged in each group and are stacked and fixed on the main engine room through main shaft pins; two connecting rods are arranged in each group, one end of each connecting rod is fixed in an eccentric hole of the second-stage eccentric gear by using a small pin, and the other end of each connecting rod is fixed on the rocker arm, so that the front edge rod and the flapping wing film are driven to flap in the air; the side supporting pieces are attached to the left side and the right side of the main engine room, and the roots of the flapping wing membranes are smoothly adhered to the side supporting pieces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210326159.7A CN114735215A (en) | 2022-03-30 | 2022-03-30 | Control method of insect-imitating aircraft with flapping wing and rotor wing hybrid power |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210326159.7A CN114735215A (en) | 2022-03-30 | 2022-03-30 | Control method of insect-imitating aircraft with flapping wing and rotor wing hybrid power |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114735215A true CN114735215A (en) | 2022-07-12 |
Family
ID=82279751
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210326159.7A Pending CN114735215A (en) | 2022-03-30 | 2022-03-30 | Control method of insect-imitating aircraft with flapping wing and rotor wing hybrid power |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114735215A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117227987A (en) * | 2023-11-14 | 2023-12-15 | 中国空气动力研究与发展中心计算空气动力研究所 | Unilateral expansion tail spray groove integrally designed with control surface |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040056149A1 (en) * | 2002-03-15 | 2004-03-25 | University Of Maryland | Biomimetic mechanism for micro aircraft |
| KR20050011646A (en) * | 2003-10-10 | 2005-01-29 | 장 조 원 | Driving mechanism of ornithopter |
| EP1705114A1 (en) * | 2005-03-23 | 2006-09-27 | A.F.Van Dijk Ir. | Helicopter rotor drive with reduced reaction torque and incorporated rotor clutch function |
| CN104276282A (en) * | 2013-07-12 | 2015-01-14 | 上海工程技术大学 | Miniature insect-imitating high-frequency flapping-wing air vehicle |
| CN104527976A (en) * | 2014-12-18 | 2015-04-22 | 中国民航大学 | Inclined rotating wing aircraft with telescopic wing membranes |
| US20150246725A1 (en) * | 2013-06-22 | 2015-09-03 | Nolan Joseph Reilly | Propulsive tail propeller assembly or tail duct fan assembly with cyclic and collective control and/or a method of thrust vectoring for aircraft maneuvering and for helicoptor single rotor head anti torque |
| WO2017126964A1 (en) * | 2016-01-21 | 2017-07-27 | Technische Universiteit Delft | Multiple pairs of flapping wings for attitude control |
| CN108557074A (en) * | 2018-01-25 | 2018-09-21 | 西北工业大学 | Using the flapping wing aircraft and method of operating of three rotor mixed layouts |
| CN108750104A (en) * | 2018-04-17 | 2018-11-06 | 南京航空航天大学 | A kind of flapping wing aircraft of the adaptive active twist of wing |
| WO2019126507A1 (en) * | 2017-12-20 | 2019-06-27 | The Texas A & M University System | Hover-capable flapping-wing aircraft |
| US20190263513A1 (en) * | 2017-11-09 | 2019-08-29 | Qingdao Randall Aerodynamic Engineering, Llc | Aircraft and aircraft control system |
| CN112319801A (en) * | 2020-11-24 | 2021-02-05 | 北京航空航天大学 | Flapping-effect-based large high-mobility hovering flapping-wing aircraft |
| CN213109783U (en) * | 2020-08-13 | 2021-05-04 | 电子科技大学 | Opposite-flapping four-wing miniature flapping wing aircraft |
| CN113212753A (en) * | 2021-06-21 | 2021-08-06 | 北京理工大学 | Imitative dragonfly multi-mode conversion microminiature unmanned aerial vehicle of upset airfoil |
| CN113277080A (en) * | 2021-06-20 | 2021-08-20 | 上海倬彼云汉航空科技有限公司 | Flapping wing platform for charging unmanned aerial vehicle and charging method thereof |
| CN113460296A (en) * | 2021-07-22 | 2021-10-01 | 南京航空航天大学 | Flapping wing-double rotor wing hybrid aircraft |
-
2022
- 2022-03-30 CN CN202210326159.7A patent/CN114735215A/en active Pending
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040056149A1 (en) * | 2002-03-15 | 2004-03-25 | University Of Maryland | Biomimetic mechanism for micro aircraft |
| KR20050011646A (en) * | 2003-10-10 | 2005-01-29 | 장 조 원 | Driving mechanism of ornithopter |
| EP1705114A1 (en) * | 2005-03-23 | 2006-09-27 | A.F.Van Dijk Ir. | Helicopter rotor drive with reduced reaction torque and incorporated rotor clutch function |
| US20150246725A1 (en) * | 2013-06-22 | 2015-09-03 | Nolan Joseph Reilly | Propulsive tail propeller assembly or tail duct fan assembly with cyclic and collective control and/or a method of thrust vectoring for aircraft maneuvering and for helicoptor single rotor head anti torque |
| CN104276282A (en) * | 2013-07-12 | 2015-01-14 | 上海工程技术大学 | Miniature insect-imitating high-frequency flapping-wing air vehicle |
| CN104527976A (en) * | 2014-12-18 | 2015-04-22 | 中国民航大学 | Inclined rotating wing aircraft with telescopic wing membranes |
| WO2017126964A1 (en) * | 2016-01-21 | 2017-07-27 | Technische Universiteit Delft | Multiple pairs of flapping wings for attitude control |
| US20190263513A1 (en) * | 2017-11-09 | 2019-08-29 | Qingdao Randall Aerodynamic Engineering, Llc | Aircraft and aircraft control system |
| WO2019126507A1 (en) * | 2017-12-20 | 2019-06-27 | The Texas A & M University System | Hover-capable flapping-wing aircraft |
| CN108557074A (en) * | 2018-01-25 | 2018-09-21 | 西北工业大学 | Using the flapping wing aircraft and method of operating of three rotor mixed layouts |
| CN108750104A (en) * | 2018-04-17 | 2018-11-06 | 南京航空航天大学 | A kind of flapping wing aircraft of the adaptive active twist of wing |
| CN213109783U (en) * | 2020-08-13 | 2021-05-04 | 电子科技大学 | Opposite-flapping four-wing miniature flapping wing aircraft |
| CN112319801A (en) * | 2020-11-24 | 2021-02-05 | 北京航空航天大学 | Flapping-effect-based large high-mobility hovering flapping-wing aircraft |
| CN113277080A (en) * | 2021-06-20 | 2021-08-20 | 上海倬彼云汉航空科技有限公司 | Flapping wing platform for charging unmanned aerial vehicle and charging method thereof |
| CN113212753A (en) * | 2021-06-21 | 2021-08-06 | 北京理工大学 | Imitative dragonfly multi-mode conversion microminiature unmanned aerial vehicle of upset airfoil |
| CN113460296A (en) * | 2021-07-22 | 2021-10-01 | 南京航空航天大学 | Flapping wing-double rotor wing hybrid aircraft |
Non-Patent Citations (3)
| Title |
|---|
| 段文博;昂海松;肖天航;: "可差动扭转扑翼飞行器的设计和风洞试验研究", 实验流体力学, no. 03, 15 June 2013 (2013-06-15), pages 569 - 574 * |
| 肖天航: "仿生飞行器非定常气动优化设计研究进展与挑战", 空气动力学学报, 15 February 2018 (2018-02-15), pages 80 - 87 * |
| 胡明朗;魏瑞轩;: "微型仿昆扑翼飞行器解耦操控机制", 机器人, no. 06, 15 November 2007 (2007-11-15), pages 35 - 40 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117227987A (en) * | 2023-11-14 | 2023-12-15 | 中国空气动力研究与发展中心计算空气动力研究所 | Unilateral expansion tail spray groove integrally designed with control surface |
| CN117227987B (en) * | 2023-11-14 | 2024-03-12 | 中国空气动力研究与发展中心计算空气动力研究所 | Unilateral expansion tail spray groove integrally designed with control surface |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2020233608A1 (en) | Dragonfly-like miniature four-winged ornithopter | |
| JP2021176757A (en) | Vertical takeoff and landing (vtol) air vehicle | |
| CN106927030B (en) | Oil-electricity hybrid power multi-rotor aircraft and flight control method thereof | |
| CN106143898B (en) | A kind of VTOL tilting rotor fixed wing aircraft | |
| CN110316370B (en) | Layout and control method of distributed power tilting wing aircraft | |
| EP2353684B1 (en) | VTOL model aircraft | |
| JP2021501722A (en) | VTOL aircraft with fixed-wing and rotorcraft configurations | |
| CN107150803A (en) | Mixed layout unmanned plane and its control method | |
| CN113753229A (en) | Foldable fixed-wing four-rotor composite unmanned aerial vehicle and control method thereof | |
| CN104015925A (en) | Multi-purpose vertical take-off and landing unmanned aerial vehicle | |
| CN103538714A (en) | Vertical take-off and landing model aircraft unmanned aerial vehicle | |
| CN105059536A (en) | Rotor wing device with variable pitch and multi-rotor-wing aircraft | |
| CN111516869A (en) | Layout and control method of tilt rotor-wing vertical take-off and landing aircraft | |
| TWI739354B (en) | Rotating wing structure of flapping micro air vehicle | |
| CN114407599B (en) | Insect-imitating wall climbing aircraft and conversion control method thereof | |
| CN111086634B (en) | Dragonfly-like double-flapping-wing micro aircraft | |
| CN204916174U (en) | Variable -pitch rotor device and many rotor crafts | |
| CN114735215A (en) | Control method of insect-imitating aircraft with flapping wing and rotor wing hybrid power | |
| CN113978720A (en) | Flapping wing aircraft capable of actively controlling wing pitch angle and application method thereof | |
| CN111268122A (en) | Posture conversion control structure of large flapping wing and conversion control method thereof | |
| WO2020250029A1 (en) | Method and convertible vtol or evtol aircraft for transition from helicopter mode to gyroplane mode and vice versa | |
| CN116022332B (en) | Line-driven beetle-like miniature ornithopter | |
| US20230415885A1 (en) | Teetering propulsor assembly of an electric vertical takeoff and landing aircraft | |
| CN208963310U (en) | It is a kind of can VTOL vert the fixed-wing unmanned plane of quadrotor | |
| CN210793660U (en) | Single rotor tail seat type vertical take-off and landing unmanned aerial vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |