CN114919744A

CN114919744A - Distributed power tilting rotor wing vertical unmanned aerial vehicle with serial layout

Info

Publication number: CN114919744A
Application number: CN202210412328.9A
Authority: CN
Inventors: 刘昆; 曹明志; 陈百辉; 秦梓杰
Original assignee: Sun Yat Sen University
Current assignee: Sun Yat Sen University
Priority date: 2022-04-19
Filing date: 2022-04-19
Publication date: 2022-08-19

Abstract

The invention discloses a distributed power tilting rotor wing vertical unmanned aerial vehicle with a serial layout, which comprises: the system comprises a machine body, a propeller propelling device, a ducted fan, a tilting mechanism and a serial hybrid power system; the airframe is provided with a front wing and a rear wing which form a tandem wing layout; the propeller propelling device is arranged at the front edge of the front wing; the ducted fan is arranged at the rear edge of the rear wing; the tilting mechanism is used for driving the propeller propelling device and the ducted fan to tilt so as to adjust the flying posture of the aircraft body; the propeller propulsion device, the ducted fan and the tilting mechanism are electrically connected with the serial hybrid power system; this distributed power of serial-type overall arrangement verts rotor unmanned aerial vehicle that hangs down adopts oil-electricity hybrid power system, has the ability of high-speed long journey.

Description

Distributed power tilting rotor wing unmanned aerial vehicle with serial layout

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a distributed power tilting rotor wing vertical unmanned aerial vehicle with a serial layout.

Background

Most of the existing distributed tilt rotor aircraft adopt full-electric power, the cruising speed is low, the flight range is short, and some long-distance flight requirements cannot be met. For example, as GL-10, 10 distributed propellers are adopted as a power system, 4 motors are respectively arranged on two sides of a main wing to drive the propellers, and 1 propeller is respectively arranged on two sides of a tail wing, so that the vertical take-off, landing, rotation and level flight process can be realized. However, in view of the disadvantage that the propeller efficiency is reduced in the high-speed cruising state, the scheme is only suitable for low-speed flight, and the sustainable flight time of the aircraft is insufficient due to insufficient cruising ability caused by the energy density of the battery. Adopt the unmanned aerial vehicle of duct fan, can realize that the city carries the passenger to hang down to turn round and fly the function, but duct fan self exists the shortcoming that efficiency reduces under the high-speed condition of cruising of high efficiency, the low-speed circumstances of taking off, and duct fan needs a large amount of power just can normally work when droing simultaneously, and very power consumption, and because it adopts full electrodynamic force, it is limited to lead to the flight time of navigating, can't realize long distance's city flight of striding.

Disclosure of Invention

The invention provides a distributed power tilt rotor wing vertical unmanned aerial vehicle with a tandem type layout for solving the technical problems, wherein the tandem type wing layout is adopted, the front edge of a front wing is provided with a distributed propeller, and a rear wing is provided with a ducted fan, so that the advantage of high efficiency when the propeller takes off at low speed is combined with the advantage of high flying efficiency of the ducted fan at cruise stage; the oil-electricity hybrid power system is adopted, so that the high-speed long-endurance capability is realized; and a flight control mode of thrust vector without a control surface is adopted, and a pneumatic control surface and a vertical tail wing are eliminated, so that the pneumatic efficiency of the aircraft is further improved.

In order to solve the problems, the invention adopts the following technical scheme:

a distributed power tilt rotor unmanned aerial vehicle of serial-type overall arrangement, includes: the system comprises a machine body, a propeller propelling device, a ducted fan, a tilting mechanism and a serial hybrid power system; the airframe is provided with a front wing and a rear wing which form a tandem wing layout; the propeller propulsion device is arranged at the front edge of the front wing; the ducted fan is arranged at the rear edge of the rear wing; the tilting mechanism is used for driving the propeller propulsion device and the ducted fan to tilt so as to adjust the flying attitude of the aircraft body; the propeller propulsion device, the ducted fan and the tilting mechanism are electrically connected with the series hybrid power system.

In the distributed power tilt rotor vertical unmanned aerial vehicle with the tandem layout provided by at least one embodiment of the present disclosure, the area of the front wing is smaller than that of the rear wing, and the front wing is located in the front lower portion of the rear wing.

In the distributed power tilt rotor vertical unmanned aerial vehicle with a serial connection type layout provided in at least one embodiment of the present disclosure, a serial connection type hybrid power system includes: the system comprises a first electric regulator, a second electric regulator, a generator, an engine, a first storage battery, a second storage battery, a first AC/DC module, a second AC/DC module and an oil supply mechanism; the first electrical trim is configured to be connected to a propeller propulsion device; the second electrical trim is configured to connect with the ducted fan; the engine is configured to be connected with the generator; the first storage battery is used for at least supplying power to the propeller propulsion device; the second storage battery is used for at least supplying power to the ducted fan; the first electric regulator, the generator and the first storage battery are connected with the first AC/DC module; the second electric regulator, the generator and the second storage battery are connected with the second AC/DC module; the fuel supply mechanism is used for storing fuel and supplying fuel to the engine;

the engine, the first storage battery and the second storage battery are all arranged in the machine body.

In the distributed power tilt rotor unmanned aerial vehicle of the serial-type overall arrangement that at least one embodiment of this disclosure provided, fuel feeding mechanism includes: the fuel tank comprises a main fuel tank, an auxiliary fuel tank and a connecting pipeline; the main fuel tank is arranged in the machine body; the auxiliary fuel tank is arranged in the front wing and/or the rear wing;

wherein, main fuel tank and vice fuel tank all communicate with connecting line.

In the distributed power tilt rotor of the serial layout that at least one embodiment of this disclosure provided hangs down unmanned aerial vehicle, still include: a flight control system; the flight control system is configured in the machine body;

wherein the first battery and/or the second battery are further configured for powering the flight control system;

wherein, the tilting mechanism, the first electric controller, the second electric controller and the engine are all electrically connected with the flight control system.

In the distributed power tilt rotor unmanned aerial vehicle of the serial-type overall arrangement that this at least embodiment provided, oil supply mechanism still includes: an oil pump and an oil pumping pipe; wherein, oil pump and flight control system electric connection, oil pipe one end is connected with the oil pumping mouth of oil pump, and oil pipe's the other end and main fuel tank are connected, and the oil drain port of oil-well pump even has defeated oil pipe, and defeated oil pipe is connected with the engine.

In the distributed power tilt rotor vertical unmanned aerial vehicle with the tandem type layout provided by at least one embodiment of the present disclosure, the rear wing has a wingtip winglet.

In the distributed power tilt rotor vertical unmanned aerial vehicle with the tandem layout provided by at least one embodiment of the present disclosure, both the front wing and the rear wing are sweepback wings.

In the distributed power tiltrotor vertical drone with the tandem configuration provided by at least one embodiment of the present disclosure, the tilting mechanism is further configured to drive the propeller propulsion device away from the leading edge of the front wing such that the wake behind the propeller disc of the propeller propulsion device does not directly strike the front wing surface.

The beneficial effects of the invention are as follows:

1) the hybrid power is adopted to realize long-endurance flight;

during taking off, landing and suspending, the storage battery and the engine can be used together to drive the propeller propulsion device and the ducted fan, and during cruising, the engine is only used for providing energy. Meanwhile, energy scheduling can be performed by means of an energy management system, the load of the engine is greatly reduced, the power of the engine does not need to be adjusted excessively, the engine can run at the optimal working point for a long time, and the efficiency is higher.

2) The tandem wing layout is adopted, so that the structural weight is reduced, and long-endurance flight is facilitated;

due to the adoption of the tandem wing layout, the front wing and the rear wing provide positive lift force, the wingspan of the front wing and the rear wing can be effectively reduced, the strength requirement of the unmanned aerial vehicle is reduced, and the structural weight is reduced. Meanwhile, the front wing and the rear wing both provide positive lift force, so that the wingspan of the front wing and the rear wing in tandem wing layout is effective wingspan, and the advantage of high aspect ratio and long endurance can be realized. In addition, because the front wing and the rear wing are both positive lift forces, the center of gravity is between the front lift force and the rear lift force, compared with a conventional layout, the center of gravity is flexible in position, and therefore the internal layout of the tandem wing layout fuselage is relatively flexible and changeable.

3) A tilting distributed power system is adopted, so that the pneumatic performance is improved;

and a tilting mechanism is adopted to realize the vertical lifting function. Meanwhile, a distributed driving system is adopted, a plurality of propeller propelling devices are distributed on the front edge of the front wing, and the wake flow of the propellers flows through the front wing, so that the local airflow is accelerated, and the lift force of the front wing is effectively increased. A plurality of ducted fans are distributed at the rear edge of the rear wing, and when the ducted fans operate, air suction benefits can be formed at the inlet of the duct on the upper surface of the rear wing, and the lift coefficient is improved.

4) Thrust vector control is adopted, and a control surface and a vertical tail are cancelled;

and in the cruising stage of the common fixed wing aircraft, the attitude control is carried out by adopting the pneumatic rudder, and the heading is stabilized by utilizing the vertical fin. This openly make full use of distributed power assembly and the device that verts realize the attitude control to the unmanned aerial vehicle full mode. The course is kept stable by utilizing the left and right thrust difference, and the vertical tail wing is cancelled. The pitching and rolling control is carried out through the front-back thrust direction difference, and the ailerons and the elevator are cancelled. The integrity of the wing is maintained to the maximum extent, and the resistance is reduced.

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 description of the embodiments will be briefly introduced 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 to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic view of the distribution of the front and rear airfoils of the present disclosure.

Fig. 2 is a connection frame diagram of components of the present disclosure.

FIG. 3 is a graph of aerodynamic characteristics of a tandem wing layout according to the present disclosure; wherein, (a) is a curve of a pitching moment coefficient and a lifting coefficient, and (b) is a curve of a lift-drag ratio and a pitching moment coefficient.

FIG. 4 is a schematic illustration of forward propeller slipflow in the present disclosure.

FIG. 5 is a flow field diagram at the inlet of a ducted fan according to the present disclosure; wherein (a) is a flow field diagram when the ducted fan is not in normal operation, and (b) is a flow field diagram when the ducted fan is in normal operation.

FIG. 6 is a pressure cloud for ducted fans of the present disclosure at different rotational speeds.

Fig. 7 is a schematic diagram illustrating the attitude control of the drone by using thrust vectors in the present disclosure.

Fig. 8 is an analysis diagram of the drone in rolling motion in the present disclosure.

Fig. 9 is an attitude diagram of the drone during cruising in the present disclosure.

Fig. 10 is a schematic connection diagram of the first steering engine of the tilting mechanism on the front wing and the propeller propulsion device in the present disclosure.

In the figure:

10. a body; 11. a front wing; 12. a rear wing; 121. a wingtip winglet;

20. a propeller propulsion device;

30. a ducted fan;

40. a tilting mechanism; 41. a first steering engine; 42. a connecting frame;

51. a first electric regulation; 52. a second electronic regulation; 53. a generator; 54. an engine; 55. a first battery; 56. a second storage battery; 57. a first AC/DC module; 58. a second AC/DC module; 59. an oil supply mechanism.

Detailed Description

The technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments, and it is obvious that the described embodiments are only a part of the embodiments, and not all of the embodiments.

In the embodiments, it should be understood that the terms "middle", "upper", "lower", "top", "right", "left", "above", "back", "middle", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present invention. Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," and similar terms in this disclosure is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item preceding the word comprises the element or item listed after the word and its equivalent, but does not exclude other elements or items.

In addition, in the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, terms such as installation, connection, and connection, etc., are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; the connection can be mechanical connection or electrical connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.

As shown in fig. 1-2, a distributed power tilt rotor vertical drone of a tandem layout, comprising: the aircraft comprises a machine body 10, a propeller propulsion device 20, a ducted fan 30, a tilting mechanism 40, a series hybrid power system and a flight control system; the airframe 10 has a front wing 11 and a rear wing 12, and the front wing 11 and the rear wing 12 form a tandem wing layout; the propeller propulsion device 20 is arranged at the leading edge of the front wing 11; ducted fans 30 are disposed at the trailing edges of the rear wings 12; the tilting mechanism 40 is used for driving the propeller propulsion device 20 and the ducted fan 30 to tilt so as to adjust the flight attitude of the machine body 10; the propeller propulsion device 20, the ducted fan 30, and the tilt mechanism 40 are all electrically connected to the series hybrid system.

In the embodiment, a tandem wing layout with a small front and a large back is adopted, the area of the front wing 11 is smaller than that of the back wing 12, and the front wing 11 is positioned in front of and below the back wing 12. The leading edge of the front wing 11 is fitted with a propeller propulsion device 20 and the rear wing 12 is fitted with a ducted fan 30. Compared with the conventional layout, the tandem wing layout can effectively reduce the induced resistance brought by flight by reasonably adjusting the relative positions of the front wing 11 and the rear wing 12 of the tandem wing unmanned aerial vehicle. By changing the relative installation position and the installation angle between the front wing 12 and the rear wing 12, a better aerodynamic layout with high lift-drag ratio can be found, and meanwhile, by adjusting the position of the center of gravity, good static stability performance can be realized. The relevant geometries are shown in the following table:

in this embodiment, the series hybrid system includes: a first electric governor 51, a second electric governor 52, a generator 53, an engine 54, a first storage battery 55, a second storage battery 56, a first AC/DC module 57, a second AC/DC module 58, and an oil supply mechanism 59; the first electronic trim 51 is configured to be connected to the propeller propulsion device 20; second electrical trim 52 is configured to connect with ducted fan 30; the engine 54 is configured to be connected with the generator 53; the first accumulator 55 is used to power at least the propeller propulsion device 20; the second battery 56 is for powering at least the ducted fan 30; the first electric regulator 51, the generator 53 and the first storage battery 55 are all connected with a first AC/DC module 57; the second electric power conditioner 52, the generator 53 and the second storage battery 56 are all connected with a second AC/DC module 58; the fuel supply mechanism 59 is for storing fuel and supplying fuel to the engine 54; among them, an engine 54, a first battery 55 and a second battery 56 are provided in the body 10. The use of a series hybrid system has the unique advantage of decoupling the internal combustion engine from the power demand, which means that the internal combustion engine can be operated in an optimal fuel economy region to optimize energy distribution. Meanwhile, the tandem structure is more advantageous in the field of the fixed rotor vertical take-off and landing aircraft, and the multiple propellers can ensure that the unmanned aerial vehicle has more reliable guarantee in the aspect of thrust, so that the tandem structure is better in robustness in the aspects of flight control and thrust compared with the traditional unmanned aerial vehicle.

In the present embodiment, the oil supply mechanism 59 includes: a main fuel tank (not shown), a sub fuel tank (not shown), and a connection pipe (not shown); the main fuel tank is arranged in the machine body 10; auxiliary fuel tanks are arranged in the front wing 11 and the rear wing 12; wherein, the main fuel tank and the auxiliary fuel tank are communicated with the connecting pipeline.

In the present embodiment, the flight control system is disposed within the body 10; the first battery 55 and the second battery 56 are also configured for powering the flight control system; the first electronic governor 51, the second electronic governor 52 and the engine 54 are all electrically connected with the flight control system.

As shown in fig. 10, in the present embodiment, the tilting mechanisms 40 are configured in four, and are respectively located on four wings. Wherein, the mechanism that verts on the preceding wing contains: the propeller propulsion device is fixedly assembled on the first steering engine and moves along with the first steering engine; a rudder disc is arranged on an output shaft of the first steering engine 41, the rudder disc is fixedly connected with a connecting frame 42, and the connecting frame 42 is fixedly connected with the front wing. Wherein, the mechanism 40 that verts on the back wing includes tandem connection axle (not shown) and second steering wheel (not shown), the output of second steering wheel with tandem connection axle fixed connection, the tandem connection axle is used for concatenating a plurality of ducted fans 30 on the same wing for a plurality of ducted fans 30 on the same wing can realize the linkage in verting, vert simultaneously.

In this embodiment, the oil supply mechanism 59 further includes: an oil pump (not shown) and an oil extraction pipe (not shown); wherein, oil pump and flight control system electric connection, oil pipe one end is connected with the oil pumping mouth of oil pump, and oil pipe's the other end and main fuel tank are connected, and the oil drain port of oil-well pump even has defeated oil pipe, and defeated oil pipe is connected with engine 54.

In the present embodiment, the aft wing 12 has a wingtip winglet 121, and the aft wing 12 is provided integrally with the wingtip winglet 121. The front wing 11 and the rear wing 12 are sweepback wings, and the pitching static stability of the aircraft can be improved by adopting the sweepback wings. In order to weaken the influence of the vorticity of the wing tip on the whole, the aspect ratio of the front wing to the rear wing is designed to be 11; in order to reduce the induced resistance brought by wingtip vortex, the wingtip winglet with the wingspan 0.2 times of the semi-wingspan of the wing is designed at the wingtip of the rear wing. The following table 1 gives the specific geometrical parameters of wingtip winglets:

further, in order to verify the rationality of the aerodynamic layout of the unmanned aerial vehicle of the present disclosure in more detail, the aerodynamic layout of the tandem wings is analyzed:

FIG. 3 is a plot of aerodynamic characteristics of a tandem wing configuration, wherein (a) is a plot of a pitch moment coefficient versus a lift coefficient, and (b) is a plot of a lift-to-drag ratio versus a pitch moment coefficient;

as shown in fig. 3 (a), when the pitching moment coefficient is zero, the corresponding lift coefficient is between 0.3 and 0.4. The pitching moment coefficient is zero, which means that the moment of the unmanned aerial vehicle in the pitching direction is balanced, so that the lift coefficient of the aerodynamic layout of the series wings in the cruising stage is larger, and the unmanned aerial vehicle can obtain larger lift force during flying;

as shown in fig. 3 (b), when the pitching moment coefficient is zero, the lift-to-drag ratio is in the vicinity of 15. The unmanned aerial vehicle can obtain a larger lift-drag ratio in the cruising stage, and the energy loss is reduced. To a certain extent, the wingtip vorticity is weakened and the induced resistance is reduced due to the existence of the wingtip winglet, so that the lift-drag ratio is increased. The aerodynamic layout of the series wing has excellent aerodynamic characteristics and obvious lift-increasing and drag-reducing characteristics.

Analysis results show that the tandem wing layout unmanned aerial vehicle has better transverse and longitudinal stability and maneuverability, and has stronger balance when responding to maneuvering instructions quickly.

Further, in order to prevent the wake flow of the propeller propulsion device 20 from directly blowing to the surface of the wing when the propeller is suspended, the space of the propeller extending out of the front end of the front wing by the tilting mechanism 40 is reasonably utilized. In the attitude during the vertical take-off and landing phase, the propeller and ducted fan 30 are both facing upward, and the propeller is fully positioned at the front end of the front wing by the tilt mechanism 40. When the propeller is running, the wake behind the propeller disc does not hit directly on the front wing airfoil. Fig. 9 shows the position of the drone during the cruising phase, with both the propeller propulsion device 20 and the ducted fan 30 tilted by 90 degrees, facing forward. During the tilting process, the propeller propulsion device 20 is tilted synchronously with the ducted fan 30. In a short time, the whole tilting transition process is realized simultaneously.

Further, fig. 4 shows a pressure cloud chart of the unmanned aerial vehicle, and also shows a trace of a flow field at the rear part of the front propeller disc. According to the momentum theory, the flow velocity behind the paddle disc is 2 times of the flow velocity in front of the paddle disc, and the propeller plays a role in accelerating airflow, so that the pressure of the upper wing surface of the wing at the rear end of the paddle disc is reduced, and the lift coefficient of the unmanned aerial vehicle is increased. Under the condition of a certain lift force in the cruising stage, the increase of the lift force coefficient can reduce the area of the wing by about 12 percent according to the lift force formula.

The calculation mode is according to the lift formula:

under the condition of the same flying height and cruising speed, the air density and the speed are kept unchanged, and factors influencing the lift force comprise a lift coefficient and a wing reference area. Under the same flight conditions, the lift requirement is unchanged, then:

wherein, rho, v and L are fixed values, namely the wing reference area S is inversely proportional to the lift coefficient Cl.

Therefore, the relation between the reference area of the wing and the lift coefficient can be obtained when the propeller is available or not:

no propeller:

the propeller is provided with:

the wing reference area reduction Δ S can then be expressed as:

the final available wing reference area percentage change:

the lift coefficient data of the unmanned aerial vehicle with or without the propeller in the cruising stage can be seen in a table 3.

During the cruising stage, the flight incidence angle of the unmanned aerial vehicle is about 1 degree, and at the moment, the slip flow effect of the propeller can reduce the reference area of the wing by 12 percent. When unmanned aerial vehicle's flight angle of attack changes, the accessible changes the flight speed size and keeps lift unchangeable.

Further, a distributed ducted fan 30 is disposed at the aft end of the aft wing 12. As shown in fig. 5, the flow rate at the inlet of the ducted fan 30 varies. When the ducted fan 30 is not in operation (as shown in fig. 5 (a)), the airflow flowing over the upper surface of the wing encounters the inlet of the ducted fan 30, and a "backflow" phenomenon occurs, which causes "congestion" at the inlet, the flow rate is too low, and the pressure on the upper surface of the wing is high. When the ducted fan 30 is in operation (as shown in fig. 5 (b)), the backflow phenomenon at the inlet of the ducted fan 30 disappears, the airflow speed is accelerated, an air suction effect is formed at the inlet, the pressure on the upper surface of the wing is reduced, and the lift force is increased.

Further, fig. 6 depicts the pressure field of the ducted fan 30 at different rotational speeds, further demonstrating the suction acceleration effect of the ducted fan 30. By adjusting different rotating speeds, the ducted fan 30 is under three conditions of abnormal operation, cruising thrust and full thrust, it can be found that when the ducted fan is in abnormal operation, the pressure in the ducted fan is too high, the outer streamline of the ducted fan is disordered, and the phenomenon of 'blockage and backflow' of airflow at the inlet of the ducted fan is indicated at the moment; when the power is in a cruising thrust state, the pressure in the duct is lower than that in the outside, and the outer flow line of the duct is normal, which shows that the airflow passes through the duct more quickly at the moment and the phenomenon of blocking and backflow disappears; when the full thrust state is achieved, the pressure in the duct is very small, and the inner flow line and the outer flow line in the duct are relatively dense, so that the air flow passes through the duct at a very high speed, and the air suction acceleration effect is obvious at the inlet of the duct.

Furthermore, the distributed power and the tilting device thereof are fully utilized to control the attitude, and the traditional pneumatic control surface and the vertical tail wing are eliminated. As shown in fig. 7 and 9, since the propeller propulsion devices 20 of the front wings 11 and the ducted fans 30 of the rear wings 12 have a certain height difference, the pitching motion can be realized by adjusting the thrust difference generated by the propellers and the ducts;

as shown in fig. 7(a), lowering is realized by increasing the thrust of the ducted propeller while decreasing the thrust of the propeller, raising is realized by increasing the thrust of the propeller and decreasing the thrust of the ducted propeller, and the elevator is replaced;

as shown in fig. 7(b), the rolling motion is realized by the generated difference of the thrust directions, such as the propellers of the front and rear wings 12 on the right side of the figure deflect upwards simultaneously with the duct, the propellers of the front and rear wings 12 on the left side deflect downwards simultaneously with the duct to realize the rolling motion towards the left, and the propellers deflect in the opposite direction realize the rolling motion towards the right, thereby replacing the traditional ailerons; course movement is achieved through left-right thrust difference, thrust of the front wing and the rear wing on the right side is increased, thrust of the front wing and the rear wing on the left side is reduced, the airplane turns to the left, otherwise, turning to the right is achieved, meanwhile, thrust of the left wing and the right wing is adjusted through the flight control system to offset course disturbance, and course stabilization is achieved, so that a vertical tail wing and a rudder of a traditional aircraft are replaced.

Further, as shown in fig. 8, the thrust of the propeller propulsion device 20 and the ducted fan 30 is equivalent to 4 groups, i.e., F, according to the installation position thereof ₁ -F ₄ Because the power system is bilaterally symmetrical, the distance from the equivalent thrust center of the front wing to the XOZ plane of the coordinate system 10 of the machine body is N ₁ The distance from the equivalent thrust center of the rear wing to the XOZ plane is N ₂ The tilting angle of the propeller is delta; distance between equivalent thrust center of front wing and equivalent thrust center of rear wing and YOZ planeIs separated from each other by L ₁ And L ₂ . The core technology of the non-control surface control is that F is adjusted ₁ -F ₄ The generated moment can quickly and accurately respond to a reference signal given by an upper controller, and compared with the reference signal of the upper controller generated by the traditional unmanned aerial vehicle through the deflection of three control surfaces, the moment generated by the thrust of the propeller under the control of no control surface is stronger and more accurate, and is not influenced by the incoming airflow. However, the change of the thrust vector often has an effect in all 3 directions of the flight attitude, and for this reason, the torque signal given by the upper controller is accurately distributed to each propeller and the tilting mechanism 40 in an iterative distribution mode, so that the thrust generated by the propeller generates the expected torque in the three attitude directions at the same time in cooperation with the tilting direction of the propeller.

The moment generated around the X, Y, Z axes of the coordinate system of the machine body 10 can be expressed as:

it can be seen that the parameter to be solved in the formula (1) is F ₁ -F ₄ And delta, because of strong nonlinearity, the solution and the decoupling can not be carried out in a pseudo-inverse solving mode according to the common gyroplane, so that the invention adopts an iterative distribution mode to F ₁ -F ₄ And performing loop iteration allocation with delta. The pitching and heading motion of the aircraft are realized by changing the thrust of the thruster, and the rolling is realized by changing the thrust direction. Thus, equation (1) is grouped. The pitch, course and total thrust are expressed as:

assuming that the current thruster tilts by an angle of

The thrust of the thruster can be solved by a pseudo-inverse method as follows:

then by solved F ₁ -F ₄ Solving the tilting angle of the thruster, wherein the rolling torque can be expressed as:

wherein the content of the first and second substances,

the thrust forces of the four thrust unit groups calculated by equation (3) can be solved, accordingly:

order to

And then the formula (3) can be continuously substituted for the loop iteration solution. Therefore, by the aid of the distribution method of the loop iteration, the upper-layer control instructions can be accurately distributed to the thrusters to enable the thrusters to output certain thrust and thrust deflection angles, and accordingly the three postures of the three-posture control system can be completely controlled.

In the description herein, references to the description of the term "present embodiment," "some embodiments," "other embodiments," or "specific examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present application have been shown and described above, the scope of the present invention is not limited thereto, and any changes or substitutions that are not thought of through the inventive work should be included within the scope of the present invention; no element, act, or instruction used herein should be construed as critical or essential unless explicitly described as such.

Claims

1. The utility model provides a distributed power tilt rotor of serial-type overall arrangement unmanned aerial vehicle that hangs down which characterized in that includes:

the aircraft comprises an airframe, a front wing, a rear wing, a front wing and a rear wing, wherein the front wing and the rear wing form a tandem wing layout;

a propeller propulsion device disposed at a leading edge of the front wing;

a ducted fan disposed at a trailing edge of the rear wing;

the tilting mechanism is used for driving the propeller propelling device and the ducted fan to tilt so as to adjust the flying attitude of the aircraft body; and

and the propeller propulsion device, the ducted fan and the tilting mechanism are electrically connected with the serial hybrid power system.

2. The tandem distributed power tiltrotor unmanned aerial vehicle of claim 1, wherein the front wing has an area less than an area of the rear wing, the front wing being located forward and below the rear wing.

3. The tandem distributed power tiltrotor vertical unmanned aerial vehicle of claim 1, wherein the tandem hybrid power system comprises:

a first electrical tilt configured to be connected to the propeller propulsion device;

a second electrical trim configured to connect with the ducted fan;

a generator;

an engine configured to be connected with the generator;

a first battery for powering at least the propeller propulsion device;

a second battery for supplying power to at least the ducted fan;

the first electric regulator, the generator and the first storage battery are connected with the first AC/DC module;

the second AC/DC module is connected with the second electric power, the generator and the second storage battery; and

the fuel supply mechanism is used for storing fuel and supplying the fuel to the engine;

wherein the engine, the first battery and the second battery are all arranged in the body.

4. The tandem layout distributed power tilt rotor vertical drone of claim 3, wherein said oil supply mechanism comprises:

a main fuel tank disposed in the body;

a secondary fuel tank disposed within the front wing and/or the rear wing; and

connecting a pipeline;

the main fuel tank and the auxiliary fuel tank are communicated with the connecting pipeline.

5. The tandem layout distributed power tiltrotor vertical drone of claim 3, further comprising:

a flight control system disposed within the airframe;

wherein the first and/or second battery is further configured for powering the flight control system;

wherein, the tilting mechanism, the first electric regulator, the second electric regulator and the engine are all electrically connected with the flight control system.

6. The tandem layout distributed power tiltrotor vertical drone of claim 5, wherein said oil supply further comprises:

an oil pump; and

an oil pumping pipe;

wherein, the oil pump and flight control system electric connection, oil pumping pipe one end with the oil pumping mouth of oil pump is connected, oil pumping pipe's the other end with main fuel tank is connected, the oil drain port of oil-well pump even has defeated oil pipe, defeated oil pipe with the engine is connected.

7. The distributed power tiltrotor unmanned aerial vehicle of a tandem configuration of claim 3, further comprising:

and the energy management module is used for controlling the output power of the first storage battery and/or the second storage battery and/or the generator according to the load power demand and the battery charge state so as to meet the power required by the propeller propulsion device and the ducted fan.

8. The tandem layout distributed power tiltrotor vertical drone of claim 1, wherein the rear wing has a wingtip winglet.

9. The tandem layout distributed power tiltrotor vertical drone of claim 1, wherein said front and rear wings are swept wings.