CN114802748A

CN114802748A - Water-air amphibious aircraft based on vector rotor and control method

Info

Publication number: CN114802748A
Application number: CN202210479386.3A
Authority: CN
Inventors: 沈跃; 刘铭晖; 张凌飞; 施志翔; 储金城
Original assignee: Jiangsu University
Current assignee: Jiangsu University
Priority date: 2022-05-05
Filing date: 2022-05-05
Publication date: 2022-07-29

Abstract

The invention discloses a water-air amphibious aircraft based on a vector rotor wing and a control method, wherein a novel agricultural bait casting boat comprises a paddle 1, a paddle 2, a tilting motor 3, a motor mounting seat 4, a bearing 5, a steering engine 6, a distribution plate 7, a main control plate 8, a bevel angle piece 9, a battery and mounting plate 10, an inflatable buoy 14, a tilting carbon rod 15, an upper layer clamping plate 16, a lower layer clamping plate 17, a support rod 18, a carbon tube clamp 19 and a positive tee joint; according to the invention, the automatic switching between the ship mode and the flight mode of the aircraft is realized through the vector rotor wing, so that the autonomy of the aircraft can be realized to a great extent.

Description

Water-air amphibious aircraft based on vector rotor and control method

Technical Field

The invention relates to the technical field of unmanned aerial vehicles and waterborne aircrafts, in particular to a vector rotor wing-based waterborne air-air amphibious aircraft.

Background

In recent years, with the continuous development of cross-domain navigation technology, various cross-domain aircrafts are emerging continuously, and the invisible function of the aircrafts in various environments and different scenes is shown. However, such current state of the art cross-domain aircraft perform unsatisfactorily in some special scenarios, and have a plurality of problems.

At present, the cross-domain aircraft mainly comprises an amphibious aircraft, an air-water amphibious aircraft and the like, the air-water amphibious aircraft mainly comprises a fixed wing type amphibious aircraft, a multi-rotor wing type air-water amphibious unmanned aerial vehicle and the like, the multi-rotor wing type unmanned aerial vehicle is driven by multiple motors, the cost is low, but the carrying capacity is poor, and the endurance time is short; although the fixed wing type airplane has higher flying height and longer dead time, the fixed wing type airplane has higher cost and difficult control, needs specially trained flyers and runways for taking off and landing, and greatly limits the application scene of the fixed wing type airplane for various reasons.

The vector rotor type aircraft combines a plurality of advantages of a multi-rotor aircraft and a fixed wing, has the capabilities of vertical take-off and landing, hovering and high-speed inspection, is a new type emerging in recent years, and has profound research significance and research value. The vector rotor type aircraft has low cost, flexible flight, strong environment adaptability and certain guarantee on battery endurance and flight speed. Therefore, the vector rotor structure and the water vehicle are combined to design the water-air amphibious vehicle based on the vector rotor, which is of great research significance, can easily realize cross-domain navigation and can cope with changeable and complex environments.

Disclosure of Invention

The invention designs the water-air amphibious aircraft with higher operability, lower cost and higher automation degree. The power system of the invention adopts vector rotors and double-motor drive, thus reducing the cost and the overall quality of the aircraft; the vector rotor structure effectively combines the advantages of hovering of multiple rotors and long endurance of fixed wings, and can remarkably improve the working efficiency of the aircraft; the steering engine can provide water surface navigation power and air flight power respectively through the rotation angle of the steering engine, so that the aircraft can conveniently realize cross-domain navigation to deal with different environments; the course of the aircraft is controlled through tilting of the steering engine, so that the flexibility and the stability of the aircraft are guaranteed.

The technical scheme of the water-air amphibious aircraft comprises the following steps:

a water-air amphibious aircraft based on a vector rotor wing comprises blades (1), tilting motors (2), motor mounting seats (3), bearings (4), steering engines (5), distributor plates (6), a main control plate (7), a bevel angle piece (8), a battery and mounting plate (9), an inflatable buoy (10), an aluminum column (11), a steering wheel (12), a bearing seat (13), a tilting carbon rod (14), an upper layer clamping plate (15), a lower layer clamping plate (16), a support rod (17), a carbon tube clamp (18) and a positive tee joint (19); the aircraft connects the upper splint (14) and the lower splint (15) together through the carbon tube clamp, the distributor plate (6) is fixed at the left position of the bottom surface center of the lower splint (15) through the aluminum column (11) and the screws of M3, and the main control plate (7) is fixed at the right position of the bottom surface center of the lower bottom plate (15) through the aluminum column (11) and the screws of M3; the bearing (4) is clamped in the carbon tube clamp, the tilting carbon rod (14) penetrates through the bearing (4) to be connected with the bearing seat (13), the steering engine (5) is connected with the steering wheel (12), and 4M 3 screw holes are formed in the bottom of the bearing seat (13) and used for being connected with the steering wheel (12) to guarantee stable connection; the motor mounting seat (3) is fixed at the tail end of the tilting carbon rod (14) through a carbon tube clamp, a strip-shaped through hole is formed in the motor mounting seat, and a motor (2) is mounted on the motor mounting seat and provides power for the blade (1); the aircraft carbon rod foot rest is fixed on the inflatable float (10) through a rubber D ring, two support rods (17) are connected to the carbon rod foot rest through a positive tee joint (19), a plane is erected, a battery is convenient to install, the battery and a mounting plate (9) are connected to the support rods through carbon tube clamps (18), and the carbon rod foot rest is connected with a lower layer clamp plate (16) through an oblique angle piece (8), the positive tee joint (19) and a carbon rod.

Further, including a structure of verting, steering wheel (5) are fixed in between upper splint (15) and lower floor's splint (16) through four aluminium posts (11), and steering wheel (5) drive steering wheel (12) are rotatory, transmit bearing frame (13) and carbon rod (14) of verting, realize motor (2) at last rotatory, change the vector direction of main power that rises.

Further, the main control board (7) is used for controlling the whole vector rotor craft, and comprises switching between a ship mode and a flight mode, pose control and the like; adopt STM32F4 series chip, the integrated multiple sensor of main control board (7), including IMU attitude estimation module BMI088, magnetometer module RM3100, bee calling organ, CAN communication chip, RGB pilot lamp, remote controller SBUS receiver to reserve partial interface such as serial ports, IIC, SPI etc. and conveniently carry on extra equipment, for example laser ranging sensor, millimeter wave radar etc..

Furthermore, the energy system adopts a 48V battery (9) to provide energy for the whole aircraft, and the voltage is reduced to 5V through a power supply voltage stabilizing module to supply power to the main control board, wherein the main control board (7) carries an ASM1117 linear voltage stabilizing chip to reduce the voltage of the 5V to 3.3V so as to meet the power supply requirements of the main control chip and part of sensors, and in addition, a path of 7.4V electricity is led out to supply power for the steering engine independently.

Furthermore, two ends of the inflatable buoy (10) adopt a tip water breaking structure to reduce water resistance.

The invention discloses a control method of a water-air amphibious aircraft based on a vector rotor wing, which comprises the following steps:

step 1, connecting a 48V battery with a distribution board, electrifying a motor and a main control board, and determining whether the main control board initialization is successful or not through sound prompt of a buzzer, wherein the main control board initialization comprises main control board on-board hardware initialization and peripheral initialization;

step 2, the main control board outputs PWM waves to calibrate a lowest throttle and a highest throttle of the electric regulation, and then quits the electric regulation calibration task;

step 3, switching the channel corresponding to the remote controller into a flight mode, rotating a steering engine shaft to enable the motor and the ground to be horizontal, and taking the position as an initialization position of the steering engine;

step 4, pulling up the accelerator, taking off the aircraft, and resolving the attitude of the aircraft through an IMU attitude estimation module on the main control board;

and 5, analyzing and processing the calculated attitude data and the data transmitted by the remote controller by the microprocessor to generate an expectation, and adjusting the inclination angle of the steering engine and the rotating speed of the motor through PID (proportion integration differentiation) to control the aircraft to finish actions such as advancing, hovering and the like.

Step 6, the aircraft flies to a water area, the accelerator of the remote controller is pulled down, the height of the aircraft is controlled through millimeter wave radar data, the aircraft is lowered to the water surface, then the motor stops rotating, a channel corresponding to the remote controller is switched to be in a ship mode, a steering engine shaft rotates, the motor is enabled to be vertical to the water surface, and the position is used as a steering engine initialization position;

and 7, pulling up the accelerator, starting navigation of the aircraft, and controlling the inclination angle of the steering engine through the yaw information and the pitching information of the IMU attitude estimation module to ensure the stability of the attitude of the aircraft.

And 8, inputting and controlling the action of the aircraft through a remote controller to realize the water navigation.

In conclusion, the invention discloses a water-air amphibious aircraft based on a vector rotor.

Compared with the traditional unmanned aerial vehicle and the water navigation device, the invention has the characteristics that:

(1) the invention relates to a water-air amphibious aircraft based on a vector rotor wing, which can switch the form of the aircraft through a remote control signal and ensure the rapidity and the accuracy of response.

(2) The invention relates to a water-air amphibious aircraft based on vector rotors, which adopts the vector rotors as power sources, has the advantages of hovering of multiple rotors and long endurance of fixed wings, and simultaneously ensures the movement speed of the aircraft.

(3) The invention adopts air power, and the steering engine controls the direction of the power vector, thus being easy to realize the control of the yaw attitude and the pitching attitude of the aircraft and the steering action of the aircraft. In addition, the invention provides the water navigation power by aerodynamic force and water flow at the same time, greatly reduces the power required for propelling the ship body to navigate on water, and improves the endurance of the aircraft; the adoption of aerodynamic force also effectively avoids the unexpected situation that the underwater paddle is wound with aquatic weeds.

(4) The invention adopts the inflatable buoy with the water breaking structure, can provide larger buoyancy, reduce water resistance and accelerate the water surface navigation speed of the aircraft.

(5) The structure of the invention mainly adopts environment-friendly materials such as carbon fiber and the like, the weight is light, and the repeated utilization rate is high; the power system only adopts two tilting motors, so that the overall weight of the aircraft is reduced, and the endurance of the aircraft is improved.

(6) The invention can adapt to a water area with a complex water surface environment, the vector rotor ensures the vertical take-off and landing stability of the aircraft, and the problem of aircraft jamming caused by the complex water area environment is avoided.

(7) The invention has wide application scenes, such as bait casting in a fishpond, water quality detection and the like.

Drawings

FIG. 1 is a front view of a water-air amphibious aircraft;

FIG. 2 is a top view of a water-air amphibious aircraft;

FIG. 3 is a schematic diagram of a tilting structure of the water-air amphibious aircraft;

FIG. 4 is a diagram illustrating the integral tilting of the water-air amphibious aircraft;

in figure 1, 1-paddle, 2-tilting motor, 3-motor mounting base, 4-bearing, 5-steering engine, 6-distributor plate, 7-main control plate, 8-angle piece, 9-battery and mounting plate, 10-inflatable float, 14-tilting carbon rod, 15-upper layer splint, 16-lower layer splint, 17-support rod, 18-carbon tube clamp and 19-positive tee.

In fig. 3, 11-aluminum strip, 12-rudder disc, 13-bearing block.

Detailed Description

The invention is further described with reference to the accompanying drawings.

As shown in figure 1, the amphibious aircraft based on the vector rotor wing is composed of a paddle (1), a motor (2), a motor mounting seat (3), a bearing (4), a steering engine (5), a distribution plate (6), a main control plate (7), an oblique angle piece (8), a battery and mounting plate (9), an inflatable buoy (10), a tilting carbon rod (14), an upper layer clamping plate (15), a lower layer clamping plate (16), a support rod (17), a carbon tube clamp (18) and a positive tee joint (19). The two inflatable floating pontoons (10) are arranged in parallel, two rubber D rings are arranged on each inflatable floating pontoon (10), a carbon tube foot rest penetrates through the rubber D rings and is fixed on the inflatable floating pontoons (10), 2 positive tee joints (19) are respectively penetrated through the carbon tube foot rest, the positive tee joints (19) are positioned at the positions 10 cm away from the center of the carbon rod foot rest, and the carbon tube foot rest is connected through two support rods (17) and the positive tee joints (19); the battery mounting plate is fixed on the support rod (17) through the carbon tube clamp (18), and the battery (9) is fixed on the battery mounting plate; a positive tee (19) is arranged in the center of the carbon tube foot rest and connected with a carbon rod, the carbon rod is fixed on a lower layer clamping plate (16) through an oblique angle piece (8), a distribution plate (6) and a main control plate (7) are also fixed on the lower layer clamping plate (16) through a nylon column, an upper layer clamping plate (15) and the lower layer clamping plate (16) are connected through 4 carbon tube pipe clamps (18), and 2 carbon tubes are arranged on one side; the tilting power system is positioned on the left side and the right side of the upper layer clamping plate (15) and the lower layer clamping plate (16), and consists of a tilting motor (2), a motor mounting seat (3), a tilting carbon rod (14), a bearing (4), a bearing seat (13) and a steering engine (5), wherein the bearing (4) is clamped in a carbon tube pipe clamp (18), the tilting carbon rod (14) penetrates through the bearing (4) and is fixed in the bearing seat (13), and the bearing seat (13) is screwed through a fastening screw to fix the tilting carbon rod (14); the terminal motor mount pad (3) of installing of carbon pole (14) verts, opens 4 strip through-holes on motor mount pad (3) for fixed motor (2), installation paddle (1) on the motor.

As shown in fig. 2, the top view of the water-air amphibious aircraft based on the vector rotor is symmetrical in the whole aircraft, the battery with large mass is located at the lower position of the aircraft, the position of the gravity center of the whole aircraft is ensured to be lower, and the control of the whole attitude of the aircraft is facilitated.

As shown in fig. 3, the tilting structure of the water-air amphibious aircraft is schematically shown, 4M 3 screw holes are formed in the bottom of a bearing seat (13), the bearing seat is connected with a steering wheel (12) through screws and self-locking nuts, the steering wheel (12) is connected with a steering engine (5), an aluminum column (11) is fixed through the screw holes in the steering engine (5) and is fixed between an upper layer splint (15) and a lower layer splint (16) through M3 screws; the tilting carbon rod (14) is fastened in the bearing seat (13) through a screw.

As shown in fig. 4, the integral tilting demonstration diagram of the water-air amphibious aircraft is obtained by inputting a PWM wave signal to drive a steering engine (5), a rotating shaft of the steering engine (5) drives a steering wheel (12) to rotate and transmit the rotation to a bearing seat (13) and a tilting carbon rod (14), and finally rotation of a motor (2) is realized to change the vector direction of main lifting power. Considering that the dynamic tilting torque of the rotor wing is large and the output shaft of the steering engine (5) is easy to damage, the straight line double bearing is adopted to transfer most of the radial force to the aircraft, so that the output shaft of the steering engine (5) is effectively protected, and the service life of the steering engine (5) is prolonged.

The microprocessor of the main control board (7) adopts STM32F4 series chips, integrates the characteristics of high performance, low power consumption, low voltage and the like, and simultaneously keeps the characteristics of high integration level, easy development and strong safety. The main control board (7) is designed in an integrated mode, is provided with a plurality of modularized interfaces, and is convenient for integrating a plurality of sensors, wherein the sensors comprise an IMU attitude estimation module BMI088, a magnetometer module RM3100, a buzzer, a CAN communication chip, RGB indicating lamps, a remote control module and the like; in consideration of the requirements of carrying and loading more sensors, such as a laser ranging sensor, a millimeter wave radar and the like, a plurality of serial ports, IIC and SPI resources are reserved in the control board (7).

The energy system adopts the 48V battery to provide the energy for whole navigation ware, and the battery is connected and is divided board (6), draws two way 48V electricity and gives driving system power supply, and another way is connected power voltage stabilizing module and is stepped down to 5V and give main control board (7) power supply, and main control board (7) carry on the linear steady voltage chip of ASM1117, step down 5V electricity to 3.3V to satisfy the power supply demand of main control chip and partial sensor, in addition, draw out 7.4V electricity of the same kind and supply power for the steering wheel alone.

The technical scheme of the method is as follows: a control method of a water-air amphibious aircraft based on a vector rotor wing comprises the following steps:

step 2, the main control board outputs PWM waves to calibrate a lowest throttle and a highest throttle of the electric regulation, and then the electric regulation calibration task is quitted;

The invention can be applied to different scenes such as water quality detection, communication relay, fish pond bait casting and the like, and in the aspect of water quality detection, because of adopting a vector rotor wing structure, an aircraft can vertically take off and hover and can freely come and go in some water area environments; in the aspect of fish pond bait feeding and breeding, the aircraft can easily realize cross-pond flight, meanwhile, the working efficiency of the aircraft is improved due to longer endurance time, and manpower and material resources are greatly saved.

Claims

1. A water-air amphibious aircraft based on a vector rotor wing is characterized by comprising a paddle (1), a tilting motor (2), a motor mounting seat (3), a bearing (4), a steering engine (5), a distribution plate (6), a main control plate (7), a bevel angle piece (8), a battery and mounting plate (9), an inflatable buoy (10), a steering wheel (12), a bearing seat (13), a tilting carbon rod (14), an upper layer clamping plate (15), a lower layer clamping plate (16), a support rod (17), a carbon tube clamp (18) and a tee joint (19); the aircraft connects the upper splint (15) and the lower splint (16) together through the carbon tube clamp, the distributor plate (6) is fixed at the left position of the bottom surface center of the lower splint (15) through the aluminum column (11) and the screws of M3, and the main control plate (7) is fixed at the right position of the bottom surface center of the lower bottom plate (15) through the aluminum column (11) and the screws of M3; the bearing (4) is clamped in the carbon tube clamp, the tilting carbon rod (14) penetrates through the bearing (4) to be connected with the bearing seat (13), the steering engine (5) is connected with the steering wheel (12), and 4M 3 screw holes are formed in the bottom of the bearing seat (13) and used for being connected with the steering wheel (12) to guarantee stable connection; the motor mounting seat (3) is fixed at the tail end of the tilting carbon rod (14) through a carbon tube clamp, a strip-shaped through hole is formed in the motor mounting seat, and a motor (2) is mounted on the motor mounting seat and provides power for the blade (1); the aircraft carbon rod foot rest is fixed on the inflatable float bowl (10) through a rubber D ring, two support rods (17) are connected to the carbon rod foot rest through a positive tee joint (19), a plane is erected, a battery is convenient to install, the battery and a mounting plate (9) are connected to the support rods (17) through a carbon tube pipe clamp (18), and the carbon rod foot rest is connected with a lower layer clamp plate (16) through an oblique angle piece (8), the positive tee joint (19) and a carbon rod.

2. The amphibious vehicle with the vector rotor as claimed in claim 1, is characterized by comprising a tilting structure, wherein a steering engine (5) is fixed between an upper layer clamping plate (15) and a lower layer clamping plate (16) through four aluminum columns (11), the steering engine (5) drives a steering wheel (12) to rotate and transmit the rotation to a bearing seat (13) and a tilting carbon rod (14), and finally a tilting motor (2) rotates to change the vector direction of main lifting power.

3. The vector rotor-based water-air amphibious vehicle according to claim 1, wherein the main control board (7) is used for controlling the whole vector rotor vehicle, and comprises ship type mode and flight mode switching and pose control; adopt STM32F4 series chip, the integrated multiple sensor of main control board (7), including IMU gesture estimation module BMI088, magnetometer module RM3100, bee calling organ, CAN communication chip, RGB pilot lamp, remote controller SBUS receiver to reserve some interfaces such as serial ports, IIC, SPI, conveniently carry on extra equipment, for example laser ranging sensor, millimeter wave radar.

4. The amphibious vehicle with the vector rotor as claimed in claim 1, is characterized in that a 48V battery (9) is adopted to provide energy for the whole vehicle, the voltage is reduced to 5V through a power supply voltage stabilizing module to supply power to a main control board, an ASM1117 linear voltage stabilizing chip is carried on the main control board (7), the 5V voltage is reduced to 3.3V to meet the power supply requirements of the main control chip and a part of sensors, and in addition, a path of 7.4V electricity is led out to supply power to a steering engine independently.

5. The vector rotor-based amphibious vehicle according to claim 1, wherein said inflatable buoy (10) has a tip water breaking structure at both ends to reduce water resistance.

6. A control method of a water-air amphibious aircraft based on a vector rotor is characterized by comprising the following steps:

step 1, connecting a 48V battery with a distribution board, electrifying a tilting motor and a main control board, and determining whether the main control board initialization is successful or not through sound prompt of a buzzer, wherein the main control board initialization comprises main control board onboard hardware initialization and peripheral initialization;

step 3, switching the channel corresponding to the remote controller to a flight mode, rotating a steering engine shaft to enable the tilting motor to be horizontal to the ground, and taking the position as an initialization position of the steering engine;

step 5, the microprocessor analyzes and processes the calculated attitude data and the data transmitted by the remote controller to generate an expectation, and the steering engine inclination angle and the rotation speed of the tilting motor are adjusted through PID to control the aircraft to finish forward and hovering actions;

step 6, the aircraft flies to a water area, the accelerator of the remote controller is pulled down, the height of the aircraft is controlled through millimeter wave radar data, the aircraft is lowered to the water surface, then the motor stops rotating, a channel corresponding to the remote controller is switched to be in a ship mode, a steering engine shaft rotates, the tilting motor is enabled to be perpendicular to the water surface, and the position is used as an initialization position of the steering engine;

step 7, pulling up the accelerator, starting navigation of the aircraft, and controlling the inclination angle of the steering engine through yaw information and pitching information of the IMU attitude estimation module to ensure the stability of the attitude of the aircraft;