CN115303483A - Amphibious rotor unmanned aerial vehicle with blade reuse function and control method thereof - Google Patents
Amphibious rotor unmanned aerial vehicle with blade reuse function and control method thereof Download PDFInfo
- Publication number
- CN115303483A CN115303483A CN202211052481.1A CN202211052481A CN115303483A CN 115303483 A CN115303483 A CN 115303483A CN 202211052481 A CN202211052481 A CN 202211052481A CN 115303483 A CN115303483 A CN 115303483A
- Authority
- CN
- China
- Prior art keywords
- rotor
- amphibious
- unmanned aerial
- aerial vehicle
- underwater
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 63
- 238000006243 chemical reaction Methods 0.000 claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims description 22
- 238000013461 design Methods 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 3
- 230000009471 action Effects 0.000 claims description 2
- 230000007306 turnover Effects 0.000 claims description 2
- 230000001141 propulsive effect Effects 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/008—Amphibious sea planes
-
- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- 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
- 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
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
- B64C11/30—Blade pitch-changing mechanisms
- B64C11/32—Blade pitch-changing mechanisms mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses an amphibious rotor unmanned aerial vehicle with a blade reuse function and a control method thereof, belonging to the field of amphibious rotor unmanned aerial vehicles. Wherein, the upper rotor mainly provides the lift force in the air, and the paddle is designed to be slender; the lower rotor is used for balancing the reaction torque generated by the upper rotor and providing underwater navigation power, the blades are designed to be short and thick, and the two rotors are driven by independent motors. The unmanned aerial vehicle is controlled to have posture and motion through the cooperation of the underwater wings and the underwater propellers. The unmanned aerial vehicle has the capability of sailing in water, has the capability of taking off and landing vertically and flying horizontally, and is an overwater rotor craft and an underwater vehicle. And can accomplish the free switching of two kinds of modes to have nimble operational capability and powerful hiding ability, have extensive application.
Description
Technical Field
The invention relates to an amphibious rotor unmanned aerial vehicle with a blade reuse function and a control method thereof, and belongs to the field of amphibious rotor unmanned aerial vehicles.
Background
The water-air amphibious rotor unmanned aerial vehicle is an unmanned aerial vehicle which can fly in the air and can sail in water, and the advantages of an aircraft and a submarine are organically combined. In the research of the field of unmanned aerial vehicles, the water-air amphibious rotor unmanned aerial vehicle is an important research direction, the wider space enables the unmanned aerial vehicle to have more possibilities, and the unmanned aerial vehicle has great development space in the aspects of marine rescue, survey reconnaissance military field and the like. The technical key of the sea-air amphibious rotor unmanned aerial vehicle is that the sea-air amphibious rotor unmanned aerial vehicle can normally work in the air and underwater, and can be stably switched between two modes of flying in the air and sailing underwater. At present, most of existing amphibious rotor unmanned aerial vehicles are in traditional four-rotor layouts and lack exploration on novel layouts.
Disclosure of Invention
Aiming at the defects of the existing water-air amphibious rotor unmanned aerial vehicle technology, the invention aims to provide an amphibious rotor unmanned aerial vehicle with a paddle multiplexing function and a control method thereof, which can give consideration to both air flight and underwater navigation, have high working efficiency and good stability, are stable in switching of water-in and water-out flight modes, and improve the applicability of the unmanned aerial vehicle.
The technical scheme adopted by the invention is as follows:
an amphibious rotor unmanned aerial vehicle with a blade multiplexing function comprises a body, an upper rotor, a lower rotor, an independent torque-converting mechanism and a driving motor; wherein the body comprises an unmanned aerial vehicle body, an independent torque conversion mechanism driving the motor; the upper rotor and the lower rotor comprise blades and connecting rods, and the connecting rods are connected with the torque-converting pull rod.
Further, the upper rotor comprises an upper blade, a first connecting rod and an upper rotating shaft; go up paddle symmetry installation in fuselage upper portion, for unmanned aerial vehicle provides aerial lift, for slim and long type design.
Further, the lower rotor comprises a lower blade, a second connecting rod and a lower rotating shaft; the lower blades are symmetrically arranged at the lower part of the machine body, provide force for balancing the reactive torque generated by the upper rotor wing in the air and do not provide lift force; the underwater propeller mainly provides underwater propelling force under water and is designed to be short and thick.
Furthermore, the independent torque-converting mechanism is arranged at the upper rotor wing and comprises a torque-converting pull rod, an actuator, a distance sensor and a steering engine; one end of the torque-variable pull rod is connected with the upper blade, and the other end of the torque-variable pull rod is connected with the first connecting rod; the first connecting rod is connected to an actuator, and when the actuator moves up and down, the actuator drives the torque-converting pull rod to move, so that the upper paddle is driven to turn over; the distance sensor is installed below the actuator, and the turning angle of the upper paddle is obtained by measuring the moving distance of the actuator.
Furthermore, the rotating shaft is fixedly installed in the machine body and is driven by the driving motor to rotate.
Furthermore, the upper rotor wing and the lower rotor wing are controlled by independent driving motors which are respectively and correspondingly arranged at the upper rotor wing and the lower rotor wing; when flying in the air, the upper driving motor drives the upper paddle to rotate so as to provide an air lift force; the paddle is rotatory under the drive of lower part driving motor, just lower part rotor rotational speed is greater than the upper portion rotor provides the equilibrium the reaction torque's that the upper portion rotor produced power.
The application also provides a control method of the amphibious rotor unmanned aerial vehicle with the blade reuse function, and the control method comprises the following steps: unmanned aerial vehicle's income water, go out the switching of water mode:
when the amphibious rotor unmanned aerial vehicle enters water, the amphibious rotor unmanned aerial vehicle flies above the water surface, when the driving motor stops rotating in the air, the attack angle of the upper rotor is adjusted to be 90 degrees through the independent torque conversion mechanism, the upper rotor and the lower rotor vertically enter the water together with the vehicle body under the action of self gravity, and at the moment, the upper rotor serves as an underwater wing to provide underwater lift force; after the amphibious rotor unmanned aerial vehicle enters water, the whole underwater buoyancy of the amphibious rotor unmanned aerial vehicle is close to the self weight of the vehicle body, so that the amphibious rotor unmanned aerial vehicle is ensured not to sink into the water immediately; when the machine body is naturally horizontal, the lower driving motor is started to drive the lower blades to rotate at a low speed to serve as underwater propellers so as to provide underwater navigation power;
when water is discharged, the upper blade is adjusted through the independent torque conversion mechanism, namely the underwater wing deflects upwards, and the rotating speed of the underwater propeller is controlled to enable the forward thrust provided by the rotation of the underwater propeller to be larger than or equal to the horizontal component of the underwater lift force provided by the upward deflection of the underwater wing. At the moment, the other vertical component of the underwater lift force provided by the underwater wings acts on the upper part of the fuselage to generate a head raising moment, and the amphibious unmanned aerial vehicle raises the head.
After the amphibious unmanned aerial vehicle starts to lift and incline, the lower driving motor is controlled to enable the underwater propeller to rotate in an accelerated manner, forward propulsion force provided by the underwater propeller is increased, so that horizontal component force of buoyancy of the body is balanced, meanwhile, the deflection angle of the underwater wing is adjusted through the independent torque conversion mechanism, the fact that all upward component force of the whole machine balances the gravity of the whole machine is guaranteed, at the moment, the amphibious unmanned aerial vehicle with the rotor continuously keeps a lift and incline state, and finally, the posture of the amphibious unmanned aerial vehicle with the rotor under water is continuously adjusted until the posture is vertical. Waiting after amphibious rotor unmanned aerial vehicle gesture is perpendicular, paddle rotation under the drive of lower part driving motor provides ascending propulsive force, and through independent torque conversion mechanism fine setting the deflection angle of wing under water will finally the surface of water is released to the upper portion rotor.
Furthermore, during the play water, after the upper portion rotor was released the surface of water, through independent torque conversion mechanism adjustment the upper portion rotor upset is the aerial flight state to it is rotatory at a high speed under upper portion driving motor's the drive, will amphibious rotor unmanned aerial vehicle part under water reaches the surface of water is pulled out to the lower part rotor, converts the rotor craft mode into on water.
Further, the control method further comprises:
when flying in the air, the upper blade is controlled to turn back and forth through the independent torque conversion mechanism, so that the inclined state of the plane of the blade disc is changed; when the plane of the paddle disc inclines forwards, the amphibious rotor unmanned aerial vehicle flies forwards; when the plane of the paddle disc is inclined backwards, the amphibious rotor unmanned aerial vehicle flies backwards; when the plane of the paddle disc inclines left, the amphibious rotor unmanned aerial vehicle flies left; when the plane of the paddle disc inclines to the right, the amphibious rotor unmanned aerial vehicle flies to the right, and therefore the aerial attitude control of the amphibious rotor unmanned aerial vehicle is achieved.
Further, the control method further comprises: when the amphibious rotor unmanned aerial vehicle sails in water, the upper rotor wing serves as an underwater wing to provide underwater lift force, and the attack angle of the upper rotor wing is adjusted through the independent torque conversion mechanism to control the posture and the motion of the amphibious rotor unmanned aerial vehicle; when the underwater wing deflects downwards, a low head moment is generated, and the amphibious rotor unmanned aerial vehicle dives; when the underwater wings deflect upwards, head-up torque is generated, and the amphibious rotor unmanned aerial vehicle floats upwards. When the paddle on one side of the underwater wing does not deflect and the paddle on one side deflects in a small amplitude, a force towards one side is generated, so that the amphibious unmanned aerial vehicle deflects leftwards or rightwards, and the underwater posture and motion of the amphibious unmanned aerial vehicle with the rotor wing are controlled.
Compared with the prior art, the invention has the following advantages:
according to the amphibious rotor unmanned aerial vehicle with the blade reuse function and the control method thereof, a unique single-rotor layout is designed, the layout is different from the traditional four-rotor layout, the single-rotor layout adopted by the amphibious rotor unmanned aerial vehicle is simpler and more efficient, and a new idea is provided for the layout design of the amphibious rotor unmanned aerial vehicle.
The amphibious rotor unmanned aerial vehicle with the blade multiplexing function and the control method thereof realize the blade multiplexing function, namely, the same set of blades can realize two different sets of functions. The upper rotor wing serves as an aerial rotor wing to provide lift force in the air and serves as an underwater wing to control the posture and the motion of the amphibious rotor wing unmanned aerial vehicle in the underwater state. The lower rotor wing is used as a balance rotor wing in the air, is used for balancing the reaction torque generated by the upper rotor wing, and is used as an underwater propeller to provide underwater navigation power in water.
According to the amphibious rotor unmanned aerial vehicle with the blade reuse function and the control method thereof, a unique water outlet and inlet strategy is adopted, and the amphibious rotor unmanned aerial vehicle is vertically stabbed into water by self gravity after the motor stops rotating during water inlet, so that the amphibious rotor unmanned aerial vehicle is simple and efficient; and a sectional water outlet strategy is adopted during water outlet, so that the dual functions of the blades are fully utilized.
The amphibious rotor unmanned aerial vehicle with the blade multiplexing function and the control method thereof can realize stable and free switching between a submerging mode and a flying mode, realize the effect of one machine for multiple purposes and widen the application of the unmanned aerial vehicle.
Drawings
FIG. 1 is a general layout of the unmanned aerial vehicle of the present invention;
FIG. 2 is a side view of the unmanned aerial vehicle of the present invention;
FIG. 3 is a schematic view of the underwater navigation of the unmanned aerial vehicle of the present invention;
FIG. 4 is a side view of the unmanned aerial vehicle of the present invention in underwater navigation;
FIG. 5 is a schematic view of an independent torque converter mechanism employed by the unmanned aerial vehicle of the present invention;
1. the system comprises an upper rotor, a fuselage 2, a lower rotor 3, an upper blade 4, a lower blade 5, an underwater wing 6, an underwater propeller 7, a torque conversion pull rod 8, an actuator 9, a rotating shaft 10 and a distance sensor 11.
Detailed Description
The technical solution of the present invention will be further described in detail with reference to the accompanying drawings in the embodiments of the present invention.
Example 1
As shown in the attached drawings, the embodiment is an amphibious rotor unmanned aerial vehicle with a blade reuse function, and the amphibious rotor unmanned aerial vehicle comprises an amphibious rotor unmanned aerial vehicle body 2, an upper rotor 1, a lower rotor 3 and an independent torque conversion mechanism. The independent torque conversion mechanism comprises a torque conversion pull rod 8, an actuator 9, an upper rotating shaft 10 and a distance sensor 11.
The unmanned aerial vehicle underwater buoyancy device is characterized in that the machine body 2 is used as a carrier, the whole machine underwater buoyancy is close to the self weight of the machine body by controlling the weight of the whole machine and the selection of materials, and the underwater diving of the unmanned aerial vehicle is guaranteed. Upper rotor 1 includes paddle 4, connecting rod and last pivot 10 etc, 4 symmetric installations of upper paddle provide main aerial lift in 2 upper portions of fuselage, for slim and long type design, through upper portion driving motor drives rotatoryly. The lower rotor comprises a lower blade, a second connecting rod and a lower rotating shaft; the lower blades are symmetrically arranged at the lower part of the fuselage, provide force for balancing the reaction torque generated by the upper rotor wing in the air and do not provide lift force; the underwater propeller mainly provides underwater propelling force under water and is designed to be short and thick.
Independent torque conversion mechanism includes torque conversion pull rod 8, actuator 9, goes up rotation axis 10, distance sensor 11 etc. and corresponds to install upper portion rotor 1 department. The upper blade 4 is connected with an actuator 9 through a connecting piece and a torque-converting pull rod 8 respectively, one end of the torque-converting pull rod is connected with the upper blade, and the other end of the torque-converting pull rod is connected with a first connecting rod; the first connecting rod is connected to an actuator, and when the actuator 9 moves up and down, the torque-converting pull rod 8 is driven to move, so that the attack angle of the upper rotor wing 1 is changed, and the upper rotating shaft 10 is driven to rotate through the upper driving motor. The distance sensor 11 is installed below the actuator 9, and the turning angle of the final blade is calculated by measuring the moving distance of the actuator 9. The distance sensor is installed below the actuator, and the distance moved by the actuator is measured to obtain the turning angle of the upper blade, so that the attitude control of the amphibious rotor unmanned aerial vehicle in the air is carried out.
Furthermore, the rotating shaft is fixedly installed in the machine body and is driven by the driving motor to rotate. The upper rotor wing and the lower rotor wing are controlled by adopting independent driving motors, and the driving motors are respectively and correspondingly arranged at the upper rotor wing and the lower rotor wing; when flying in the air, the upper driving motor drives the upper paddle to rotate so as to provide an air lift force; the paddle is rotatory under the drive of lower part driving motor, just lower part rotor rotational speed is greater than the upper portion rotor provides the equilibrium the reaction torque's that the upper portion rotor produced power.
Example 2
The application also provides a control method of the amphibious rotor unmanned aerial vehicle with the blade reuse function, and the control method comprises the following steps: unmanned aerial vehicle's income water, play water mode switch:
work as when amphibious rotor unmanned aerial vehicle entered water, amphibious rotor unmanned aerial vehicle flies to the surface of water top, control when driving motor stall actuator 9 downstream drives the motion of moment-changing pull rod 8 makes go up paddle 4 upwards upset 90, this moment upper and lower part rotor gets into the aquatic with the fuselage together perpendicularly under the effect of self gravity, this moment the upper portion rotor acts as the wing under water and provides lift under water. After the amphibious rotor unmanned aerial vehicle enters water, the whole machine underwater buoyancy of the amphibious rotor unmanned aerial vehicle is close to the design of the self weight of the machine body, so that the amphibious rotor unmanned aerial vehicle is ensured not to sink into water at once. And starting the lower driving motor when the machine body is naturally horizontal, and driving the lower blades 5 to rotate at a low speed to serve as the underwater propellers 7 so as to provide underwater navigation power.
When the amphibious rotor unmanned aerial vehicle goes out of water, the actuator 9 is controlled to move downwards to drive the torque-converting pull rod 8 to move, so that the underwater wing 6 deflects upwards, and meanwhile, the rotating speed of the underwater propeller 7 is controlled to enable the forward thrust provided by rotation of the underwater propeller to meet F 1 ≥F 2 sin θ, wherein F 1 Forward thrust generated for rotation of the underwater propeller 7, F 2 The underwater lifting force is provided for the underwater wings 6 after the underwater wings deflect upwards, and theta is the angle of the underwater wings deflecting upwards. At this time, F 2 The other component force Fcos theta acts on the upper part of the machine body 2 to generate head raising moment, and the amphibious unmanned aerial vehicle raises heads.
After the amphibious unmanned aerial vehicle starts to lift up and incline, the lower driving motor is controlled to enable the underwater propeller 7 to rotate at an accelerated speed, so that the forward propulsion provided by the underwater propeller 7 is increased, the horizontal component of buoyancy of the machine body 2 is balanced, meanwhile, the actuator 9 is controlled to move to drive the torque-converting pull rod 8 to move, the underwater wing 6 deflects, the deflection angle of the underwater wing 6 is adjusted, the upward component of the whole machine is guaranteed to balance the gravity of the whole machine, at the moment, the amphibious unmanned aerial vehicle continues to keep the state of lifting up and inclining, and finally, under the propulsion of the underwater propeller 7, the posture of the amphibious unmanned aerial vehicle is continuously adjusted until the posture of the amphibious unmanned aerial vehicle is vertical. Treat amphibious rotor unmanned aerial vehicle's gesture is perpendicular after, paddle 5 is rotatory under the drive of lower part driving motor, provides ascending propulsive force, and through control actuator 9 up-and-down motion drives the motion of moment-changing pull rod 8 makes wing 6 deflects under water, thereby through the fine setting the deflection angle of wing 6 guarantees under water amphibious rotor unmanned aerial vehicle's gesture is perpendicular, will finally upper portion rotor 1 releases the surface of water.
Further, when going out water, after upper rotor 1 was released the surface of water, through control once more actuator 9 downstream drives moment-changing pull rod 8 moves, makes go up 4 upsets down of paddle, and then the adjustment 1 attack angle of upper rotor is the flight state in the air, and high-speed rotatory under upper portion driving motor's the drive, will amphibious rotor unmanned aerial vehicle part under water reaches the surface of water is pulled out to lower part rotor 3, converts the rotor aircraft mode into on water.
When amphibious rotor unmanned aerial vehicle flies in the air, upper portion rotor 1 is in high-speed rotation provides lift under upper portion driving motor's the drive, simultaneously lower part rotor 3 rotates with the faster rotation speed and then balances the reaction torque that upper portion rotor 1 brought. The actuator 9 moves up and down to drive the torque conversion pull rod 8 to move, so that the upper paddle 4 is controlled to turn back and forth, and the inclined state of the paddle disc plane is changed. When the plane of the paddle disc inclines forwards, the amphibious rotor unmanned aerial vehicle flies forwards; when the plane of the paddle disc tilts backwards, the amphibious rotor unmanned aerial vehicle flies backwards; when the plane of the paddle disc inclines left, the amphibious rotor unmanned aerial vehicle flies left; when the plane of the paddle disc inclines rightwards, the amphibious rotor unmanned aerial vehicle flies rightwards. And finally, controlling the aerial attitude of the amphibious rotor unmanned aerial vehicle.
When the amphibious rotor unmanned aerial vehicle sails in water, the upper rotor 1 is designed to serve as an underwater wing 6 and provide underwater lift, the actuator 9 moves upwards to drive the torque-converting pull rod 8 to move, so that the underwater wing 6 deflects downwards and generates low-head torque, and the amphibious rotor unmanned aerial vehicle dives; when the actuator 9 moves downwards to drive the torque conversion pull rod 8 to move, the underwater wing deflects upwards to generate a head raising torque, and the amphibious rotor unmanned aerial vehicle floats upwards. When one side of the actuator 9 moves up and down in a small amplitude and the other side does not move, one side paddle of the underwater wing does not deflect, one side paddle deflects in a small amplitude, and a force towards one side is generated at the moment, so that the amphibious unmanned aerial vehicle deflects leftwards or rightwards, and the underwater posture and movement of the amphibious rotor unmanned aerial vehicle are controlled. Lower part rotor 3 is owing to adopt short thick type design, acts as screw 7 under water, through lower part driving motor drives its low-speed rotation, provides propulsive force under water, thereby promotes amphibious rotor unmanned aerial vehicle advances under water.
The control method provided by the embodiment has the advantages that the flying principle is similar to that of a common single-rotor aircraft during air flight, the flying rise or fall is realized by increasing or reducing the pulling force of the rotor, and the air flying attitude is controlled by changing the paddle disc plane of the rotor. When the underwater vehicle sails underwater, the working principle of the underwater vehicle is similar to that of a submarine, and the underwater vehicle changes the sailing attitude of the underwater vehicle by controlling the underwater wings acted by the upper blades. And controlling the position and the attitude of the amphibious rotor unmanned aerial vehicle by adopting a PID controller which is developed more mature and widely applied in the two navigation modes. The control strategy adopted is as follows:
kp, ki and Kd are proportional, differential and integral coefficients controlled by PID respectively, and the amphibious rotor unmanned aerial vehicle system is stable in switching of water inlet and outlet modes by adjusting the values of the three coefficients.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and those skilled in the art can make various changes and modifications within the technical scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides an amphibious rotor unmanned aerial vehicle with paddle is multiplexing function which characterized in that: comprises a body, an upper rotor wing, a lower rotor wing, an independent torque-converting mechanism and a driving motor; wherein the body comprises an unmanned aerial vehicle body, an independent torque conversion mechanism driving the motor; the upper rotor and the lower rotor comprise blades and connecting rods, and the connecting rods are connected with the torque-converting pull rod.
2. An amphibious rotorcraft with blade reuse according to claim 1, wherein: the upper rotor comprises an upper blade, a first connecting rod and an upper rotating shaft; go up paddle symmetry installation in fuselage upper portion, for unmanned aerial vehicle provides aerial lift, for slim and long type design.
3. An amphibious rotary-wing drone with blade reuse function according to claim 1, characterised in that: the lower rotor comprises a lower blade, a second connecting rod and a lower rotating shaft; the lower blades are symmetrically arranged at the lower part of the fuselage, provide force for balancing the reaction torque generated by the upper rotor wing in the air and do not provide lift force; the underwater propeller mainly provides underwater propelling force under water and is designed to be short and thick.
4. An amphibious rotary-wing drone with blade reuse function according to claim 1, characterised in that: the independent torque-converting mechanism is arranged at the upper rotor wing and comprises a torque-converting pull rod, an actuator, a distance sensor and a steering engine; one end of the torque-changing pull rod is connected with the upper blade, and the other end of the torque-changing pull rod is connected with the first connecting rod; the first connecting rod is connected to an actuator, and when the actuator moves up and down, the actuator drives the torque-converting pull rod to move, so that the upper paddle is driven to turn over; the distance sensor is installed below the actuator, and the turning angle of the upper blade is obtained by measuring the moving distance of the actuator.
5. An amphibious rotorcraft with blade reuse according to claim 1, wherein: the rotating shaft is fixedly arranged in the machine body and is driven by the driving motor to rotate.
6. An amphibious rotorcraft with blade reuse according to claim 1, wherein: the upper rotor wing and the lower rotor wing are controlled by independent driving motors which are respectively and correspondingly arranged at the upper rotor wing and the lower rotor wing; when flying in the air, the upper driving motor drives the upper paddle to rotate so as to provide an air lift force; lower part driving motor drives down the paddle rotatory, just lower part rotor rotational speed is greater than the upper portion rotor provides the equilibrium the power of the reaction torque that the upper portion rotor produced.
7. The method according to claim 1, wherein the method comprises the steps of: the control method comprises the following steps: unmanned aerial vehicle's income water, go out the switching of water mode:
when the amphibious rotor unmanned aerial vehicle enters water, the amphibious rotor unmanned aerial vehicle flies above the water surface, when the driving motor stops rotating in the air, the attack angle of the upper rotor is adjusted to be 90 degrees through the independent torque conversion mechanism, the upper rotor and the lower rotor vertically enter the water together with the vehicle body under the action of self gravity, and at the moment, the upper rotor provides underwater lift; after the amphibious rotor unmanned aerial vehicle enters water, the whole underwater buoyancy of the amphibious rotor unmanned aerial vehicle is close to the self weight of the vehicle body, so that the amphibious rotor unmanned aerial vehicle is ensured not to sink into the water immediately; when the machine body is naturally horizontal, the lower driving motor is started to drive the lower blades to rotate at a low speed to serve as underwater propellers so as to provide underwater navigation power;
when water flows out, the upper blade is adjusted through the independent torque conversion mechanism, namely, the underwater wing deflects upwards, and meanwhile, the forward propulsion force generated by the underwater propeller is larger than or equal to the horizontal component of the underwater lift force generated by the underwater wing, the vertical component of the underwater wing generates a head raising moment, and under the propulsion of the underwater propeller, the posture of the amphibious rotor unmanned aerial vehicle is continuously adjusted until the posture is vertical, at the moment, the lower driving motor drives the lower blade to rotate in an accelerated manner, so that the upward propulsion force is provided, and the upper rotor is pushed out of the water surface.
8. The manipulation method according to claim 7, wherein: when water flows out, the upper rotor wing is pushed out of the water surface, and then is adjusted through the independent torque conversion mechanism, the upper rotor wing is turned into an aerial flight state, and is driven by the upper driving motor to rotate at a high speed, so that the underwater part of the amphibious rotor unmanned aerial vehicle and the lower rotor wing are pulled out of the water surface and are converted into an overwater rotor aircraft mode.
9. The manipulation method according to claim 7, wherein: the control method further comprises the following steps:
when flying in the air, the upper blade is controlled to turn back and forth through the independent torque conversion mechanism, so that the inclined state of the plane of the blade disc is changed; when the plane of the paddle disc inclines forwards, the amphibious rotor unmanned aerial vehicle flies forwards; when the plane of the paddle disc tilts backwards, the amphibious rotor unmanned aerial vehicle flies backwards; when the plane of the paddle disc inclines left, the amphibious rotor unmanned aerial vehicle flies left; when the plane of the paddle disc inclines rightwards, the amphibious rotor unmanned aerial vehicle flies rightwards, and therefore the aerial attitude control of the amphibious rotor unmanned aerial vehicle is achieved.
10. The manipulation method according to claim 7, wherein: the control method further comprises the following steps: when the amphibious rotorcraft navigates in water, the upper rotor serves as an underwater wing to provide underwater lift, and the independent torque-converting mechanism adjusts the attack angle of the upper rotor to control the posture and the motion of the amphibious rotorcraft; when the underwater wing deflects downwards, generating low head moment, and submerging the amphibious rotor unmanned aerial vehicle; when the underwater wings deflect upwards, head-up torque is generated, and the amphibious rotor unmanned aerial vehicle floats upwards;
when the paddle on one side of the underwater wing does not deflect and the paddle on one side deflects in a small amplitude, a force towards one side is generated, so that the amphibious unmanned aerial vehicle deflects leftwards or rightwards, and the underwater posture and motion of the amphibious unmanned aerial vehicle with the rotor wing are controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211052481.1A CN115303483A (en) | 2022-08-31 | 2022-08-31 | Amphibious rotor unmanned aerial vehicle with blade reuse function and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211052481.1A CN115303483A (en) | 2022-08-31 | 2022-08-31 | Amphibious rotor unmanned aerial vehicle with blade reuse function and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115303483A true CN115303483A (en) | 2022-11-08 |
Family
ID=83864590
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211052481.1A Pending CN115303483A (en) | 2022-08-31 | 2022-08-31 | Amphibious rotor unmanned aerial vehicle with blade reuse function and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115303483A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115783260A (en) * | 2022-12-25 | 2023-03-14 | 哈尔滨工程大学 | Novel cross-domain aircraft |
| CN117262204A (en) * | 2023-08-09 | 2023-12-22 | 南京航空航天大学 | Variable-diameter blade suitable for cross-medium aircraft |
| CN118238987A (en) * | 2024-05-24 | 2024-06-25 | 中国空气动力研究与发展中心空天技术研究所 | Cross-medium aircraft and landing water inlet and outlet take-off method thereof |
| CN115783260B (en) * | 2022-12-25 | 2024-10-25 | 哈尔滨工程大学 | Novel cross-domain aircraft |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2665082A (en) * | 1947-07-29 | 1954-01-05 | Anderson James Robert | Propeller-jet propulsion system for aircraft |
| WO1998002350A1 (en) * | 1996-07-15 | 1998-01-22 | Mcdonnell William R | Landing and take-off assembly for vertical take-off and landing and horizontal flight aircraft |
| JP2005319970A (en) * | 2004-05-11 | 2005-11-17 | Mitsubishi Heavy Ind Ltd | Flight vehicle, and mode switching method of flight vehicle |
| CN101549744A (en) * | 2009-05-14 | 2009-10-07 | 天津大学 | Hybrid multifunctional ocean monitoring independent platform |
| CN104589938A (en) * | 2014-03-20 | 2015-05-06 | 中国特种飞行器研究所 | Cross-medium aircraft with changeable shape like flying fish |
| CN106627010A (en) * | 2016-11-17 | 2017-05-10 | 苏州航天系统工程有限公司 | Water-air amphibious unmanned aerial vehicle |
| CN108216532A (en) * | 2017-12-20 | 2018-06-29 | 上海交通大学 | Fixed-wing air-sea is dwelt aircraft and control method more |
| CN109204812A (en) * | 2018-08-10 | 2019-01-15 | 上海交通大学 | A kind of amphibious aircraft of air-sea of fixed-wing in conjunction with aerodone |
| CN109760836A (en) * | 2019-03-12 | 2019-05-17 | 姜佩奇 | A kind of amphibious submersible of air-sea |
| CN110775264A (en) * | 2019-10-28 | 2020-02-11 | 上海交通大学 | Water-air amphibious unmanned aircraft and control method thereof |
| CN111703574A (en) * | 2020-06-29 | 2020-09-25 | 中南大学 | Dolphin-imitated variable configuration cross-medium aircraft |
| CN114524091A (en) * | 2022-01-28 | 2022-05-24 | 北京大学 | Trans-medium aircraft with variable structure |
| CN114771831A (en) * | 2022-05-30 | 2022-07-22 | 江南机电设计研究所 | Water and air amphibious unmanned aerial vehicle and control method thereof |
-
2022
- 2022-08-31 CN CN202211052481.1A patent/CN115303483A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2665082A (en) * | 1947-07-29 | 1954-01-05 | Anderson James Robert | Propeller-jet propulsion system for aircraft |
| WO1998002350A1 (en) * | 1996-07-15 | 1998-01-22 | Mcdonnell William R | Landing and take-off assembly for vertical take-off and landing and horizontal flight aircraft |
| JP2005319970A (en) * | 2004-05-11 | 2005-11-17 | Mitsubishi Heavy Ind Ltd | Flight vehicle, and mode switching method of flight vehicle |
| CN101549744A (en) * | 2009-05-14 | 2009-10-07 | 天津大学 | Hybrid multifunctional ocean monitoring independent platform |
| CN104589938A (en) * | 2014-03-20 | 2015-05-06 | 中国特种飞行器研究所 | Cross-medium aircraft with changeable shape like flying fish |
| CN106627010A (en) * | 2016-11-17 | 2017-05-10 | 苏州航天系统工程有限公司 | Water-air amphibious unmanned aerial vehicle |
| CN108216532A (en) * | 2017-12-20 | 2018-06-29 | 上海交通大学 | Fixed-wing air-sea is dwelt aircraft and control method more |
| CN109204812A (en) * | 2018-08-10 | 2019-01-15 | 上海交通大学 | A kind of amphibious aircraft of air-sea of fixed-wing in conjunction with aerodone |
| CN109760836A (en) * | 2019-03-12 | 2019-05-17 | 姜佩奇 | A kind of amphibious submersible of air-sea |
| CN110775264A (en) * | 2019-10-28 | 2020-02-11 | 上海交通大学 | Water-air amphibious unmanned aircraft and control method thereof |
| CN111703574A (en) * | 2020-06-29 | 2020-09-25 | 中南大学 | Dolphin-imitated variable configuration cross-medium aircraft |
| CN114524091A (en) * | 2022-01-28 | 2022-05-24 | 北京大学 | Trans-medium aircraft with variable structure |
| CN114771831A (en) * | 2022-05-30 | 2022-07-22 | 江南机电设计研究所 | Water and air amphibious unmanned aerial vehicle and control method thereof |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115783260A (en) * | 2022-12-25 | 2023-03-14 | 哈尔滨工程大学 | Novel cross-domain aircraft |
| CN115783260B (en) * | 2022-12-25 | 2024-10-25 | 哈尔滨工程大学 | Novel cross-domain aircraft |
| CN117262204A (en) * | 2023-08-09 | 2023-12-22 | 南京航空航天大学 | Variable-diameter blade suitable for cross-medium aircraft |
| CN118238987A (en) * | 2024-05-24 | 2024-06-25 | 中国空气动力研究与发展中心空天技术研究所 | Cross-medium aircraft and landing water inlet and outlet take-off method thereof |
| CN118238987B (en) * | 2024-05-24 | 2024-08-20 | 中国空气动力研究与发展中心空天技术研究所 | Cross-medium aircraft and landing water inlet and outlet take-off method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115303483A (en) | Amphibious rotor unmanned aerial vehicle with blade reuse function and control method thereof | |
| US7322872B2 (en) | Model toy aircraft | |
| US9944371B2 (en) | Positively buoyant, vertical thrust, manned submersible | |
| CN111823797A (en) | Duct type water-air amphibious unmanned aircraft capable of tilting | |
| CN108725777B (en) | Amphibious unmanned aerial vehicle based on ducted vector propulsion | |
| CN113665306B (en) | Cross-medium aircraft water-air dual-purpose empennage | |
| CN108725778B (en) | Amphibious unmanned aerial vehicle with duck wings and variable wing dihedral angles | |
| CN112549885B (en) | Folding wing submerged cross-domain marine robot capable of taking off and landing vertically | |
| CN1095433C (en) | Marine propulsion method capable of regulating dynamic vector direction | |
| CN117360130A (en) | Cross-medium aircraft and navigation method thereof | |
| CN112319161A (en) | Rotor unmanned aerial vehicle capable of sailing underwater at high speed and control method thereof | |
| CN114619815B (en) | Efficient water-air amphibious unmanned aerial vehicle and control method thereof | |
| US5526764A (en) | Surface effect craft | |
| AU2021104570A4 (en) | Hydrofoil | |
| CN115071971A (en) | Water-air amphibious aircraft based on four vector rotors and control method | |
| CN115771364A (en) | Water-air amphibious vector multi-rotor aircraft based on synchronous belt transmission structure and control method | |
| CN114578850A (en) | Long-endurance amphibious unmanned aerial vehicle and attitude control method thereof | |
| CN114644112A (en) | Empty dual-purpose unmanned aerial vehicle of water | |
| CN211810158U (en) | Underwater aircraft propelled by barrel fan | |
| CN105836119A (en) | Airplane provided with swinging impellers | |
| CN113086143A (en) | Fan wing propulsion underwater vehicle and navigation method thereof | |
| CN115339622B (en) | Amphibious aircraft configuration and aircraft control method | |
| CN109969387A (en) | The safe and efficient high-speed helicopter of cross-arranging type propeller aircraft | |
| CN210555530U (en) | Novel underwater vehicle | |
| CN109592034B (en) | Submersible aircraft and wing storage method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20221108 |