CN115285350A - Variant cross-medium aircraft capable of repeatedly discharging water and entering water and control method - Google Patents

Variant cross-medium aircraft capable of repeatedly discharging water and entering water and control method Download PDF

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Publication number
CN115285350A
CN115285350A CN202210816555.8A CN202210816555A CN115285350A CN 115285350 A CN115285350 A CN 115285350A CN 202210816555 A CN202210816555 A CN 202210816555A CN 115285350 A CN115285350 A CN 115285350A
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wing
water
aircraft
rotor
cross
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Chinese (zh)
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王军杰
陈仁良
石闯林
陆嘉鑫
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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Priority to CN202210816555.8A priority Critical patent/CN115285350A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/08—Propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
    • 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
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C3/00—Wings
    • B64C3/38—Adjustment of complete wings or parts thereof

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Toys (AREA)

Abstract

The invention provides a variant cross-medium aircraft capable of repeatedly discharging and discharging water and an operation method, wherein the aircraft comprises an aircraft body, two sides of the aircraft body are respectively provided with a tiltable wing, the tail part of the aircraft body is provided with an inverted V tail and an underwater propeller, the tiltable wing comprises a wing fixing section and a wing tilting section which are connected through a coupler, the wing fixing section is fixedly connected with the aircraft body, and the front edge of the wing tilting section is connected with an aerial rotor wing through a power system; the middle part of the fuselage is provided with a wing deformation driving device and an adjustable water tank, and the wing deformation driving device is connected with the wing tilting section to control the wing tilting section to rotate around the coupler. The control method comprehensively realizes the control in different media by mechanisms such as a deformation driving device, a wing control surface, a V-shaped tail control surface, a motor rotating speed, an adjustable water tank and the like. The invention can meet the normal use in the environments of two media in water and in the air, and can carry equipment such as aerial photography, weapons and the like on an aircraft according to the requirements, thereby meeting most of the use requirements.

Description

Variant cross-medium aircraft capable of repeatedly discharging water and entering water and control method
Technical Field
The invention relates to the technical field of cross-medium aircrafts, in particular to a variant cross-medium aircraft capable of repeatedly entering and exiting water and a control method.
Background
The cross-medium aircraft has the advantages of high flying speed of the aerial aircraft, good hiding performance of the underwater vehicle and the like, and has wide civil and military purposes. In the military field, after corresponding functional loads are carried, multi-domain situation sensing, distributed operation and cross-domain maneuvering operation tasks can be executed, and the multi-task capabilities of hidden penetration, multi-domain attack, cooperative operation and the like in the air and in water are improved, so that the comprehensive operation capability of equipment is greatly improved. In the civil field, the cross-medium aircraft can perform maritime search and rescue tasks, and complete search, communication relay and other tasks under natural disaster conditions such as flood, marine perils, typhoons, tsunamis and the like. The system can also be used for marine resource exploration, monitoring of ocean platforms and structures, full-range integrated chart drawing, ocean water quality monitoring, biological observation, hydrometeorological measurement and the like, and can complete tasks such as multi-domain information acquisition, cross-domain task execution and the like.
In the field of the existing cross-medium aircrafts, the technology of the submarine-launched cross-medium aircrafts is the most mature, but the underwater navigation, launching, recovery and the like still need to be carried out by a carrier. The submergence type cross-medium aircraft which really has the autonomous air, water surface and underwater navigation capability and the capability of water inlet and outlet for many times, such as an American flying fish imitating robot prototype, a multi-mode water-air amphibious bionic prototype, a robot bee, an English skipjack imitating amphibious unmanned aircraft and the like, is still in the system development and demonstration stage, and still has the problems of low flight efficiency, high water inlet and outlet difficulty and the like.
Although the cross-medium aircraft has many advantages, the cross-medium aircraft needs to fly in two mediums with huge density difference (the density difference between water and air is about 800 times), the problem is more faced than that of an aircraft or a craft moving in a single medium, and the main technical restriction factors are structural compatibility design technology, cross-medium propulsion technology, water inlet and outlet control technology and the like, so that the development of the cross-medium aircraft is limited. The working environment is two mediums with great density difference, the physical characteristics of the mediums are greatly different, and the appearance structures and the power propulsion modes of the aircraft and the underwater vehicle are obviously different. The water outlet stage is used as a core link for realizing medium crossing, and the influence factors of the water outlet stage are very complex, so that the water outlet stage can be influenced by factors such as the structural appearance of an aircraft, the initial motion state (including initial speed, attitude and the like), additional mass change, a cavitation effect and the like, and can also be interfered by wind waves near the water surface; at the moment of splashing into the water, the aircraft will bear a great impact force due to the great difference in air/water density; in the water outlet stage, the water can be influenced by the free liquid level effect and the water bathing phenomenon, so that the water entering is difficult.
Disclosure of Invention
The invention provides a variant cross-medium aircraft capable of repeatedly entering and exiting water and a control method thereof, aiming at solving the problems in the prior art, the variant cross-medium aircraft can be widely popularized, can meet the normal use in two medium environments of water and air, and can carry aerial photography, weapons and other equipment on the aircraft according to the needs, thereby meeting most of the use requirements.
The invention provides a variable cross-medium aircraft capable of repeatedly discharging and discharging water, which comprises a fuselage, tiltable wings, an aerial rotor, an underwater propeller, an adjustable water tank, a wing deformation driving device and a reversed V-shaped tail, wherein the tiltable wings are arranged on two sides of the fuselage respectively, the reversed V-shaped tail and the underwater propeller are arranged on the tail part of the fuselage, the tiltable wings comprise a wing fixing section and a wing tilting section which are connected through a coupler, the wing fixing section is fixedly connected with the fuselage, aileron control surfaces are arranged on the rear edges of the wing fixing section and the wing tilting section, and the front edge of the wing tilting section is connected with the aerial rotor through a power system; the middle part of the fuselage is provided with a wing deformation driving device and an adjustable water tank, and the wing deformation driving device is connected with the wing tilting section to control the wing tilting section to rotate around the coupler.
The wing deformation driving device comprises a connecting rod, a stepping motor, a coupler, a lead screw, a linear guide rail and a sliding block, wherein the stepping motor is connected with the sliding block through the coupler and the lead screw in sequence and controls the sliding block to slide on the linear guide rail, the two sides of the sliding block are respectively provided with the connecting rod, the two connecting rods are respectively connected with supporting rods through ball bearings, and the two supporting rods are respectively connected with wing tilting sections on the left side and the right side of a wing.
The improved structure is characterized in that an inverted V tail aileron control surface is arranged on the inverted V tail.
In a further improvement, the rotation range of the wing tilting section around the coupling is 0-109 degrees, when the tilting angle is 0 degrees, the wing tilting section is in a fixed wing mode, and when the tilting angle is 109 degrees, the wing tilting section is in a helicopter mode.
Based on the variant cross-medium aircraft, the invention also provides a control method of the variant cross-medium aircraft, the mission profile of the variant cross-medium aircraft is divided into six typical stages of vertical take-off, air cruise, water-entering transition, underwater contraction cruise, water-leaving transition and vertical landing, and the control method of each stage is as follows:
vertical takeoff and vertical landing stages: the cross-medium aircraft takes off and lands on a ship or land in a four-rotor mode, four aerial rotors provide lift force and control torque, at the moment, the tilting angle of the tilting sections of the wings is 109 degrees, the axial directions of the four aerial rotors are vertical to the horizontal plane, and the underwater propeller stops rotating; the up-and-down motion of the cross-medium aircraft is realized by changing the rotating speeds of 4 aerial rotors; the fore-and-aft movement of the cross-medium aircraft is realized by changing the rotating speed difference momentum of the front rotor and the rear rotor; the cross-medium aircraft moves left and right by changing the rotating speed difference of the left rotor and the right rotor; through changing the rotating speed difference amount of the diagonal rotors, the cross-medium aircraft can perform yaw motion.
An air cruising stage: the cross-medium aircraft flies forwards in a four-rotor mode, the wing deformation driving device pushes the connecting rod forwards, the wing tilting section gradually expands and transits to a fixed wing mode, the tilting angle of the wing tilting section is 0 degree, and the axial directions of the four rotors are parallel to the horizontal plane; the control method of the cross-medium aircraft at the fixed wing cruise stage is characterized in that the control surface of the wing tilting section provides rolling control; yaw and pitch steering is provided by an inverted V-tail; speed and altitude steering is provided by the rotational speed of the four rotors; the manipulated variables of the four-rotor mode and the fixed-wing mode are manipulated by mixing the distribution coefficients.
In the underwater transition stage, the cross-medium aircraft is transitioned from the air cruise stage to the four-rotor flight stage in the air, the cross-medium aircraft slowly enters water in a four-rotor mode, after entering the water, the air rotor stops rotating, the underwater contraction cruise stage is started, the underwater propeller starts to work, and a water tank in the aircraft body is filled with water to accelerate sinking; in the water inlet process, the water inlet of the cross-medium aircraft is realized by changing the rotating speed of the aerial rotor wing; when the aircraft enters water, the aerial rotor stops rotating, and the water level depth is controlled by the water tank entering water; after entering water, the underwater propeller starts to work, and the rotating speed of the underwater propeller provides speed control.
And (3) during an underwater contraction cruise stage: the medium-crossing aircraft is in a fixed wing mode, the tilting angle of the wing tilting section is 0 degrees, and the axial direction of the aerial rotor wing is parallel to the horizontal plane; providing underwater rolling motion control of the aircraft through a control surface of a wing fixing section; yaw and pitch motion steering is provided by an inverted V-shaped tail rudder surface; speed management is provided by the rotational speed of the aerial rotor; the water level depth control is provided by the water tank outlet and inlet water.
And in the water outlet transition stage, the cross-medium aircraft is in the underwater contraction cruise stage in water, a water tank in the aircraft body discharges water outwards, the aircraft floats upwards and enters the four-rotor mode water outlet transition stage, when the aerial rotor floats out of the water surface by a certain height, the aerial rotor starts to work, the aerial rotor and the underwater propeller provide power simultaneously, the cross-medium aircraft flies out of the water at a certain angle, the aircraft posture is maintained by the inverted V-shaped tail control surface, the aileron control surface and the aerial rotor at the moment, the transition stage of the four-rotor mode to the fixed wing mode is entered, and finally the transition stage is converted into the aerial cruise stage.
The invention has the beneficial effects that:
1. the aircraft adopts two propulsion system schemes of an aerial rotor and an underwater propeller, provides a tilting wing variant technology, ensures that the shape structure of the aircraft gives consideration to the flight (navigation) performance under different medium environments, reduces the incident flow area, reduces the underwater resistance of the aircraft, is reasonably arranged, fully exerts the functions of different propulsion modes and shapes under different medium environments, ensures that the aircraft adapts to two media with huge density difference (the density difference between water and air is about 800 times), and improves the efficiency of the cross-medium aircraft in different media;
2. the scheme of water inlet and outlet in the four-rotor mode is provided, the characteristics of large gravity center range, good stability and hovering of the four rotors are fully utilized, so that impact load during water inlet is reduced, the structural strength requirement is reduced, the posture stability during water outlet is improved, certain wind and wave resistance is achieved, the difficulty of water inlet and outlet of a cross-medium aircraft is comprehensively reduced, and free switching between water and air can be realized;
3. the four-rotor mode is adopted after the tilting wings are unfolded, and the fixed wing mode is adopted after the wings are unfolded, so that the advantages of capability of vertically taking off and landing and hovering in the four-rotor mode and good maneuverability and the advantages of high-speed cruising in the fixed wing mode and high flying efficiency are inherited.
4. The aerial photographing device can be widely popularized, can meet normal use in two medium environments of water and air, and can carry aerial photographing, weapons and other equipment on an aircraft according to needs, so that most of use requirements are met.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required 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 structural diagram of a quad-rotor model of a mid-span dielectric aircraft in accordance with an embodiment of the present invention.
Fig. 2 is a schematic structural view of a transition from a quad-rotor mode to a fixed-wing mode of a mid-span medium aircraft in accordance with an embodiment of the present invention.
FIG. 3 is a schematic illustration of a fixed wing mode of a mid-span medium aircraft in accordance with an embodiment of the present invention.
Fig. 4 is a detailed schematic diagram of a cross-media aircraft wing morphing actuator in accordance with an embodiment of the present invention.
Fig. 5 is a schematic diagram of mid-span medium aircraft water ingress in accordance with an embodiment of the present invention.
FIG. 6 is a schematic diagram of mid-span medium aircraft launch in accordance with an embodiment of the present invention.
1. The four-rotor underwater cruise control system comprises a first aerial rotor, 2, a second aerial rotor, 3, a third aerial rotor, 4, a fourth aerial rotor, 5, a fuselage, 6, an underwater propeller, 7, a power system, 8, an adjustable water tank, 9, a tiltable wing, 10, an inverted V tail, 11, a wing deformation driving device, 12, a wing fixing section, 13, a wing tilting section, 14, a coupler, 15, a wing fixing section aileron control surface, 16, a wing tilting section aileron control surface, 17, an inverted V tail aileron control surface, 18, a connecting rod, 19, a stepping motor, 20, a coupler, 21, a lead screw, 22, a linear guide rail, 23, a slider, 24, a ball bearing, 25, an aerial phase, 26, a fixed wing mode-to-four-rotor mode transition phase, 27, a four-rotor mode-in-water transition phase, 28, a four-rotor mode underwater cruise phase, 29, a four-rotor mode underwater cruise phase, 30, a four-rotor mode water-out transition phase, 31, a four-rotor mode-to-fixed wing mode transition phase, and 32.
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 a variant cross-medium aircraft capable of repeatedly discharging and discharging water, which adopts a tilting wing variant technology, so that the external structure of the aircraft gives consideration to the flying (navigating) performance under different medium environments, and the flying (navigating) efficiency and speed are improved. The air cruise adopts fixed wing layout; in order to reduce the difficulty in entering and exiting, the four-rotor wing layout is adopted for water entering and exiting transition, and the four-rotor wing vertical lifting capability is realized; under water, the flow area is reduced, the resistance during diving is reduced, and the wings are folded. By adopting the scheme of two sets of propulsion systems of an aerial rotor wing and an underwater propeller, the propulsion efficiency of a full-task section can be comprehensively improved. The functions of different propulsion modes and shapes in different medium environments are fully exerted, so that the cross-medium aircraft is suitable for two media with huge density difference (the density difference of water and air is about 800 times), and the efficiency of the cross-medium aircraft in different media is improved.
As shown in the attached drawings 1-4, the variant cross-medium aircraft capable of repeatedly outputting and inputting water comprises an airframe 5, wherein two sides of the airframe 5 are respectively provided with a tilting wing 9, the tail part of the airframe is provided with a reversed V-shaped tail 10 and an underwater propeller 6, the tilting wing 9 comprises a wing fixing section 12 and a wing tilting section 13 which are connected through a coupler 14, the wing fixing section 12 is fixedly connected with the airframe 5, the rear edge of the wing fixing section is provided with a wing fixing section aileron control surface 15, the rear edge of the wing tilting section is provided with a wing tilting section aileron control surface 16, and the rear edge of the reversed V-shaped tail 10 is provided with a reversed V-shaped tail aileron control surface 17. The front edge of the wing tilting section is connected with an aerial rotor wing through a power system 7; the middle part of the fuselage is provided with a wing deformation driving device and an adjustable water tank, and the wing deformation driving device is connected with the wing tilting section to control the wing tilting section to rotate around the coupler.
The range of the rotation of the wing tilting section around the coupler is 0-109 degrees, when the tilting angle is 0 degree, the wing tilting section is in a fixed wing mode, and when the tilting angle is 109 degrees, the wing tilting section is in a helicopter mode.
Aerial rotor is fixed in but the leading edge part of the wing section of verting 13 of verting wing 9, 2 rotors of every side installation, by motor drive, electricity is transferred and is controlled, and the primary function is for cross the medium aircraft provides power when flight in the air. The cross-medium aircraft adopts two propulsion system schemes of the aerial rotor and the underwater propeller 6, so that the efficiency of the cross-medium aircraft in different media is improved. The aerial rotor wing includes first aerial rotor wing 1, aerial rotor wing 2 of second, aerial rotor wing 3 of third, aerial rotor wing 4 of fourth, and wherein first aerial rotor wing 1 is the same with the aerial rotor wing 3 of third to the direction of rotation, is clockwise, and the aerial rotor wing 3 of second aerial rotor wing 2 and third is the same to the direction of rotation, is anticlockwise.
The underwater propeller 6 is positioned at the tail part of the cross-medium aircraft, is driven by a motor, is electrically regulated and controlled, and is mainly used for providing power for the cross-medium aircraft during underwater navigation.
The adjustable water tank 8 is arranged in the middle of the cross-medium aircraft body 5 and below the wing deformation driving device 11, and is used for changing the gravity of the aircraft in water by adjusting the proportion of water and air in the adjustable water tank, and the underwater buoyancy and the gravity are equal when the aircraft normally sails underwater.
The motor and the power supply are used as power sources, and the power device is driven by the motor to work so as to provide power for the aircraft. The flying control, electric, electronic, battery, mission and other equipment of the cross-medium aircraft can be placed in the fuselage to be sealed and waterproof.
Referring to fig. 4, the wing deformation driving device 11 mainly includes a stepping motor 19, a coupling 20, a lead screw 21, a linear guide 22, a slider 23, and a ball bearing 24, wherein the stepping motor is connected to the slider through the coupling and the lead screw in sequence and controls the slider to slide on the linear guide, two sides of the slider are respectively provided with a connecting rod, the two connecting rods are respectively connected to a support rod through the ball bearing, and the two support rods are respectively connected to wing tilting sections on the left side and the right side of the wing.
Based on the cross-medium aircraft, the task section can be divided into six typical stages of vertical take-off, air cruise, underwater transition, underwater contraction cruise, water transition and vertical landing. The embodiment is a method for operating the variant cross-medium aircraft which can realize the typical stages and can repeatedly go out of and into water;
vertical takeoff and landing phase (fig. 1): the cross-medium aircraft takes off and lands on ships or lands in a four-rotor mode, four rotors 1-4 provide lift force and control moment, and can hover in the air, at the moment, the tilting angle 13 of the tilting sections of the wings is 109 degrees, the axial directions of the four rotors are vertical to the horizontal plane, and the underwater propeller 6 stops rotating. The up-and-down motion of the cross-medium aircraft is realized by changing the rotating speeds of 4 rotors; the fore-and-aft movement of the cross-medium aircraft is realized by changing the rotating speed difference momentum of the front rotor and the rear rotor; the cross-medium aircraft moves left and right by changing the rotating speed difference of the left rotor and the right rotor; through changing the rotating speed difference amount of the diagonal rotors, the cross-medium aircraft can perform yaw motion.
Cruise phase (fig. 2): the medium-crossing aircraft flies in front in a four-rotor mode, the wing deformation driving device 11 pushes the connecting rod 18 forwards, the wing tilting section 13 is gradually unfolded and transits to a fixed wing mode, the tilting angle of the wing tilting section is 0 degree at the moment, and the axis directions of the four rotors are parallel to the horizontal plane. The control method of the cross-medium aircraft in the fixed wing cruise stage is characterized in that the control surface 16 of the wing tilting section provides rolling control; yaw and pitch steering is provided by the inverted V-tail 10; speed and height steering is provided by the rotational speed of the four rotors. The control method of the transition stage is characterized in that the control quantity of the four-rotor mode and the fixed wing mode is controlled by the mixed distribution coefficient.
And in the water entering transition stage, as shown in fig. 5, the cross-medium aircraft is transitioned from an air cruise stage 25 (fixed wing mode) to a four-rotor flight stage 26 in the air, slowly enters water 27 in the four-rotor mode, after entering the water, the air rotors 1-4 stop rotating, and enter an underwater contraction cruise stage 28, the underwater propeller 6 starts to work, and the water tank 8 in the aircraft body is filled with water to accelerate sinking. In the water inlet process, the water inlet of the cross-medium aircraft is realized by changing the rotating speed of the rotors 1-4; when the aircraft enters water, the rotors 1 to 4 stop rotating, and the water tank 8 enters water to provide water surface depth control; after entering the water, the underwater propeller 6 starts to work, and the rotation speed of the underwater propeller provides speed control.
And (3) during an underwater contraction cruise stage: the cross-medium aircraft is in a fixed wing mode, the tilting angle of the wing tilting section 13 is 0 degree, and the axial direction of the rotor wings 1-4 is parallel to the horizontal plane. The control surface 15 of the fixed section of the wing provides the underwater rolling motion control of the aircraft; yaw and pitch motion steering is provided by an inverted V-tail rudder surface 17; speed management is provided by the rotational speed of rotors 1-4; the depth of the water supply surface is controlled by the water inlet and outlet of the water tank 8.
The water outlet transition stage is as shown in figure 6: the cross-medium aircraft is in an underwater contraction cruise stage 29 in water, a water tank 8 in the aircraft body drains water outwards, the aircraft floats upwards, and enters a four-rotor mode water outlet transition stage 30, when the aerial rotors 1-4 float out of the water surface to a certain height, the aerial rotors 1-4 start working, power is provided by the aerial rotors 1-4 and the underwater propellers 6 at the same time, the cross-medium aircraft flies out of the water at a certain angle, at the moment, the attitude of the aircraft is maintained by the inverted V-shaped tail rudder surface 17, the aileron rudder surface 16 and the aerial rotors 1-4, the cross-medium aircraft enters a four-rotor mode fixed wing mode transition stage 31, and finally the cross-medium aircraft is converted into an air cruise stage 32.
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, for the apparatus embodiment, the above is only a preferred embodiment of the present invention, and since it is basically similar to the method embodiment, it is described simply, and the relevant points can be referred to the partial description of the method embodiment. The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily made by those skilled in the art within the technical scope of the present invention will be covered by the present invention without departing from the principle of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (9)

1. The utility model provides a medium aircraft is striden to variant that can go out into water repeatedly, includes the fuselage, and the fuselage both sides are provided with the wing that can vert respectively, and the afterbody is provided with the tail of falling the V and screw under water, its characterized in that: the tiltable wing comprises a wing fixing section and a wing tilting section which are connected through a coupler, the wing fixing section is fixedly connected with the fuselage, aileron control surfaces are arranged at the rear edges of the wing fixing section and the wing tilting section, and the front edge of the wing tilting section is connected with an aerial rotor wing through a power system; the middle part of the fuselage is provided with a wing deformation driving device and an adjustable water tank, and the wing deformation driving device is connected with the wing tilting section to control the wing tilting section to rotate around the coupler.
2. The repeatable water ingress and egress variant cross-media aircraft of claim 1, wherein: the wing deformation driving device comprises a connecting rod, a stepping motor, a coupler, a lead screw, a linear guide rail and a sliding block, wherein the stepping motor is connected with the sliding block through the coupler and the lead screw in sequence and controls the sliding block to slide on the linear guide rail, the two sides of the sliding block are respectively provided with the connecting rod, the two connecting rods are respectively connected with supporting rods through ball bearings, and the two supporting rods are respectively connected with wing tilting sections on the left side and the right side of a wing.
3. The repeatable water ingress and egress variant cross-media aircraft of claim 1, wherein: and an inverted V-tail aileron control surface is arranged on the inverted V-tail.
4. The repeatable water ingress and egress variant cross-media aircraft of claim 1, wherein: the range of the rotation of the wing tilting section around the coupler is 0-109 degrees, when the tilting angle is 0 degree, the wing tilting section is in a fixed wing mode, and when the tilting angle is 109 degrees, the wing tilting section is in a helicopter mode.
5. A method for operating a variable cross-medium aircraft capable of repeatedly discharging and discharging water is characterized in that: the variant cross-medium aircraft of claim 1 is adopted, the mission profile of the variant cross-medium aircraft is divided into six typical stages of vertical takeoff, air cruise, water entering transition, underwater contraction cruise, water leaving transition and vertical landing, and the operation method of each stage is as follows:
vertical takeoff and vertical landing stages: the cross-medium aircraft takes off and lands on a ship or land in a four-rotor mode, four rotors provide lift force and control torque, the tilting angle of the tilting sections of the wings is 109 degrees, the axial directions of the four rotors are vertical to the horizontal plane, and the underwater propellers stop rotating;
an air cruising stage: the cross-medium aircraft flies forward in a four-rotor mode, the wing deformation driving device pushes the connecting rod forward, the wing tilting section is gradually expanded and transits to a fixed wing mode, the tilting angle of the wing tilting section is 0 degree, and the axial directions of the four rotors are parallel to the horizontal plane;
entering water transition stage: the cross-medium aircraft is transited from an air cruise stage to a four-rotor flight stage in the air, water slowly enters in a four-rotor mode, after the cross-medium aircraft enters the water, the air rotor stops rotating, an underwater contraction cruise stage is started, an underwater propeller starts to work, and a water tank in the aircraft body is filled with water to accelerate sinking;
and (3) during an underwater contraction cruise stage: the cross-medium aircraft is in a fixed wing mode, the tilting angle of the wing tilting section is 0 degree, and the axial direction of the aerial rotor wing is parallel to the horizontal plane;
and in the water outlet transition stage, the cross-medium aircraft is in the underwater contraction cruise stage in water, a water tank in the aircraft body discharges water outwards, the aircraft floats upwards and enters the four-rotor mode water outlet transition stage, when the aerial rotor floats out of the water surface by a certain height, the aerial rotor starts to work, power is simultaneously provided by the aerial rotor and the underwater propeller, the cross-medium aircraft flies out of the water at a certain angle, the attitude of the aircraft is jointly maintained by the inverted V-shaped tail control surface, the aileron control surface and the aerial rotor at the moment, the transition stage enters the four-rotor mode fixed wing mode transition stage, and the transition stage is finally converted into the aerial cruise stage.
6. The method of maneuvering a repeatably egress-ingress variant cross-media aircraft as claimed in claim 5, characterized by: in the vertical takeoff and vertical landing stages, the cross-medium aircraft moves up and down by changing the rotating speeds of 4 aerial rotors; the fore-and-aft movement of the cross-medium aircraft is realized by changing the rotating speed difference momentum of the front rotor and the rear rotor; the cross-medium aircraft moves left and right by changing the rotating speed difference of the left rotor and the right rotor; through changing the rotating speed difference amount of the diagonal rotors, the cross-medium aircraft yaw motion is realized.
7. The method of operating a repeatable ingress and egress variant cross media vehicle according to claim 5, wherein: in the air cruise stage, a control surface of a wing tilting section provides rolling operation; yaw and pitch steering is provided by an inverted V-tail; speed and altitude steering is provided by the rotational speed of the four rotors; the manipulated variable of the four-rotor mode and the fixed-wing mode is manipulated by a mixed manipulation of the distribution coefficients.
8. The method of operating a repeatable ingress and egress variant cross media vehicle according to claim 5, wherein: in the water entering transition stage, the water entering of the cross-medium aircraft is realized by changing the rotating speed of the aerial rotor wing; when the aircraft enters water, the aerial rotor stops rotating, and the water level depth is controlled by the water tank entering water; after entering water, the underwater propeller starts to work, and the rotation speed of the underwater propeller provides speed control.
9. The method of maneuvering a repeatably egress-ingress variant cross-media aircraft as claimed in claim 5, characterized by: in the underwater contraction cruise stage, the control surface of the fixed section of the wing provides the underwater rolling motion control of the aircraft; yaw and pitch motion steering is provided by an inverted V-shaped tail rudder surface; speed management is provided by the rotational speed of the aerial rotor; the water level depth control is provided by the water tank outlet and inlet water.
CN202210816555.8A 2022-07-12 2022-07-12 Variant cross-medium aircraft capable of repeatedly discharging water and entering water and control method Pending CN115285350A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116160812A (en) * 2023-04-23 2023-05-26 北京大学 Hydrofoil detachable cross-medium aircraft

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116160812A (en) * 2023-04-23 2023-05-26 北京大学 Hydrofoil detachable cross-medium aircraft

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