CN115709623B - Amphibious migration detection unmanned aerial vehicle powered by solar energy and working method - Google Patents
Amphibious migration detection unmanned aerial vehicle powered by solar energy and working method Download PDFInfo
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- CN115709623B CN115709623B CN202211525388.8A CN202211525388A CN115709623B CN 115709623 B CN115709623 B CN 115709623B CN 202211525388 A CN202211525388 A CN 202211525388A CN 115709623 B CN115709623 B CN 115709623B
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Abstract
The invention discloses a design scheme of an amphibious vertical take-off and landing migration detection unmanned aerial vehicle taking solar energy as power, which comprises a ship-shaped bottom fuselage, wings, tail wings, a fuselage arm and a solar flexible battery plate, wherein the bottom of the fuselage is a V-shaped bottom for meeting the requirement of water surface landing, meanwhile, the landing gear is used in the ground take-off and landing stage, and propellers are arranged on the fuselage arm and behind the fuselage arm for realizing take-off and landing and flight in the unmanned aerial vehicle migration task; the wing is installed in the fuselage rear portion in a penetrating way, and the wing is divided into an inner section wing and an outer section wing, solar panels are arranged on the upper surfaces of the inner section wing and the outer section wing, and the wingtip winglet is integrated with a stabilizing pontoon required by the water surface take-off and landing. The invention not only can ensure that the unmanned underwater vehicle can vertically lift from the water surface or land, has better transverse and longitudinal water and water floating stability, but also can ensure higher cruising speed and unlimited flying-bird imitating ability.
Description
Technical Field
The invention relates to the technical field of aviation, in particular to a migration detection submersible unmanned aerial vehicle.
Background
The amphibious unmanned aerial vehicle is an unmanned aerial vehicle which can land, take off and operate on water or hard ground (such as a ship surface environment) and is provided with a floater or a ship body, and the unmanned aerial vehicle can be used for civil or military tasks such as transportation, marine reconnaissance, anti-diving and the like and has wide application prospect;
at present, a vertical take-off and landing fixed unmanned aerial vehicle mainly adopts a composite wing configuration, the composite wing configuration combines the technical characteristics of the traditional fixed wing and the multi-rotor unmanned aerial vehicle, and the technical maturity of the full-aircraft design and control layer is high; but due to lack of special design, the landing can only take place on the ground or on the ship surface, and the landing capacity on the water surface is generally lacking. The part of the compound wing unmanned aerial vehicle adopts the horn as the pontoon to meet the requirement of taking off and landing on the water surface, but the method limits the capability of installing the power system on the lower side of the horn, so that the power system cannot be compactly installed on the upper side and the lower side of the horn, and the size of the whole unmanned aerial vehicle is increased.
Meanwhile, the vertical take-off and landing fixed wing unmanned aerial vehicle mainly adopts a motor and or a motor weighted oil propeller engine as a power system, and the voyage of the unmanned aerial vehicle is directly restricted by electric energy of a battery or fuel carried by the unmanned aerial vehicle.
In addition, in the present remote migration task, for example, the long-time tracking and searching are performed on enemy nuclear submarines or marine distress personnel, and the related remote migration task cannot be completed by the existing unmanned aerial vehicle limited by the structure or energy supply.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the amphibious migration detection unmanned aerial vehicle which can complete a remote migration task and is compact in structure and adopts solar power.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: the amphibious migration detection unmanned aerial vehicle comprises a fuselage, wings, propellers, a solar flexible battery plate and a battery, wherein the wings on two sides of the fuselage are provided with a pair of arms parallel to the axis of the fuselage, the arms are fixedly connected above the wings, and the connection position of the arms and the wings is positioned at 15-20% of the half-span length of the wings; the tail end of the arm is provided with a tail wing; the propellers and the motors for driving the propellers are arranged on the horn in pairs and used for vertical take-off and landing of the whole unmanned aerial vehicle; the tail part of the machine body is provided with a cruising propeller;
the upper half fairing surface of the airframe is streamline, and the bottom of the airframe is provided with a V-shaped airframe bottom; the solar flexible battery plate is paved on the streamline surface of the machine body;
The wing comprises an inner section wing, one end of the inner section wing is arranged on the body, and the other end of the inner section wing is sequentially connected with an outer section wing and a wingtip winglet; the solar flexible battery plates are paved on the inner section wing and the outer section wing;
the solar energy flexible battery board is arranged in the sealed cavity of the machine body, the battery is respectively electrically connected with the solar energy flexible battery board and the motor, and the total laying area of the solar energy flexible battery board accounts for 15-17% of the wetting area of the whole machine; the solar flexible panel is used for converting solar energy into electric energy and storing the electric energy in a battery, and the battery provides the electric energy to the motor so as to drive the screw propeller and the cruising screw propeller to work.
Furthermore, the aspect ratio of the V-shaped bottom of the machine body is 3-5, and the V-shaped bottom is used for draining water to two sides of the bottom of the ship when the unmanned aerial vehicle vertically drops or glides and forced to drop on the water surface, so that the water surface impact is reduced, and the touchdown rate, the floating stability and the water surface navigation stability of the unmanned aerial vehicle are improved;
the total length of the machine body is 1-2m, the maximum width is 0.5-0.6m, and the maximum height is less than 0.5m; the paving area of the solar flexible battery plate paved on the streamline surface of the machine body accounts for 5-9% of the wetting area of the machine body.
Further, the wing is a middle single wing, and the inner section wing is inserted into a reserved opening area at the rear part of the fuselage and fixedly connected with the reserved opening area; the aspect ratio of the wing is 15-20;
in cruise configuration there is no dihedral angle other than the winglet tip and no forward-edge sweep.
Further, the plane projection profile of the inner Duan Jiyi is trapezoid, the length of the inner section wing is 50-55% of the half-span length of the wing, the chord length of the wing root is 0.50-0.60m, the chord length of the end is 0.50-0.55m, and the average pneumatic chord length is 0.4-0.5m;
the solar flexible panel arrangement area on the inner wing surface is 35-40% of the inner Duan Jiyi wetted area.
Further, the overlooking projection outline of the outer section wing is trapezoid, the length of the outer section wing is 30-35% of the half-span length of the wing, the root chord length is 0.45-0.50m, and the root chord length is equal to the end chord length of the inner section wing; the root of the outer section wing is connected with the end part of the inner section wing through a wing folding actuating mechanism and is used for folding the outer section wing when the unmanned aerial vehicle is in a standby state for charging or when the ground or the ship plane takes off and land;
the trailing edge of the outer-section wing is provided with an outer-section wing full-span aileron, the root chord length of the aileron is 25-30% of the root chord length of the outer-section wing, and the end chord length of the aileron is 25-27% of the end chord length of the outer-section wing;
The paving area of the solar flexible battery plates arranged on the upper surface of the outer-section wing accounts for 45% -47% of the soaking area of the outer-section wing, and the paving area of the solar flexible battery plates arranged on the upper surface of the aileron accounts for 47% -50% of the soaking area of the aileron.
Further, the length of the wingtip winglet is 10-15% of the half-span length of the wing, and the root of the wingtip winglet is fixedly connected with the end part of the outer section wing;
the wing tip winglet is provided with a hard shell made of carbon fiber and foam sandwich composite materials, a sealing cavity is arranged in the hard shell, a web plate for improving the strength and rigidity of the wing tip winglet is arranged in the height direction of the whole machine in the sealing cavity, the web plate divides the sealing cavity into a plurality of wing tip winglets, and the wing tip winglets are used for improving the lift expansion direction distribution of wings, reducing the induced resistance and generating buoyancy when the unmanned aerial vehicle vertically descends or glides and forced descends on the water surface when the unmanned aerial vehicle flies in the air;
the volume of the wingtip winglet sealing cavity is 0.02-0.03 cubic meter, the provided buoyancy is 18-21% of the full-machine buoyancy, and the wingtip winglet sealing cavity is used for ensuring that the unmanned aerial vehicle provides a restoring moment when the unmanned aerial vehicle shakes on the water surface;
The shape and the volume of the wingtip winglet are controlled by a leading edge Bezier curve, a trailing edge Bezier curve and a maximum thickness Bezier curve, the root chord length of the wingtip winglet is equal to the end chord length of the outer section wing, the leading edge and the trailing edge of the wingtip winglet are tangent with the front edge and the rear edge of the outer section wing to ensure smooth transition, the forward-edge sweepback angle of the wingtip winglet is smoothly transited from the root to the tip at an angle of 40-50 degrees, and the dihedral angle is smoothly transited from the root to the tip at an angle of 33-37 degrees.
Further, the propellers are multi-rotor propellers, two propellers are vertically arranged on the horn in a group, and the directions of the propellers are opposite; each propeller has a diameter of 25-32 inches; the power of a motor for driving the propeller is 3.7-4.3kw, and the total weight of a single motor and the propeller is 7-8kg;
the length of each blade of the cruise propeller is 20-24 inches, and the power of the motor is 3.3-3.8kw.
Further, the fin be H type fin, include: the horizontal tail wing and the vertical tail wing are arranged in parallel, and an elevator is arranged behind the horizontal tail wing; the horizontal tail fin is rectangular, the aspect ratio is 4.5-5, and symmetrical wing sections with the maximum thickness of 8-12% are used; the ratio of the area of the elevator to the area of the horizontal tail wing is 0.35-0.4;
The vertical tail fin is arranged on the horn and is vertical to the horizontal tail fin, the rear end of the vertical tail fin is provided with a rudder, the bottom end of the vertical tail fin is provided with a pontoon, and the buoyancy provided by the pontoon accounts for 0.3% -1% of the buoyancy of the whole machine and is mainly used for providing a stabilizing moment; the sweepback angle of the front edge of the vertical tail wing is 30-40 degrees, the chord length of the root is 0.38-0.42m, the chord length of the tip is 0.18-0.22m, the span length is 0.25-0.3m, and symmetrical wing sections with the maximum thickness of 8-10% are used; the relative area of the rudder and the vertical tail wing is 0.22-0.26;
solar flexible battery plates are arranged on the horizontal tail wing and the elevator, and the area of the solar flexible battery plates accounts for 47% -50% of the wetting area of the horizontal tail wing.
Further, the load cabin further comprises a power supply system arranged in the load cabin, and the power supply system comprises: the solar flexible battery board is electrically connected with the input end of the power supply controller through a boosting ballast, one output end of the power supply controller is electrically connected with the battery through a charger, the other output end of the power supply controller is electrically connected with the propeller motor through an electronic speed regulator and is electrically connected with the flight control device and other loads, the battery is also electrically connected with the propeller motor through the electronic speed regulator and is also electrically connected with the flight control device and other loads, and the power supply device is used for supplying power for the propeller motor, the flight control device and other loads, and the propeller motor comprises a motor of a cruise propeller and a motor of the propeller;
The power supply controller is used for judging whether the electric energy generated by the solar flexible battery plate is charged by the electric energy supply battery or the propeller motor or directly supplied to other loads according to the generated electric energy of the real-time solar flexible battery plate, the electric energy of the motor, the propeller, the cruising propeller and the power consumption of other loads, and controlling the electric energy converted by the solar flexible battery plate to be always not more than the power required by the loads;
the battery charging device comprises a solar flexible battery board, a charger, a power supply controller and a power supply controller, wherein the battery is connected with the solar flexible battery board through the charger; when the battery is full and the generated power is larger than the sum of the power required by the loads, the electric energy is respectively supplied to the motor, the propeller, the cruising propeller and other loads;
the flying control device is electrically connected with the driving mechanism of the elevator, the aileron, the rudder and the wing folding actuating mechanism and is used for controlling the pitching, the transverse and the heading gesture of the unmanned aerial vehicle in the air and the heading of the unmanned aerial vehicle when the unmanned aerial vehicle is on the water surface.
The invention also provides a working method of the solar-powered amphibious migration detection unmanned aerial vehicle,
in the migration and exploration task process, the unmanned aerial vehicle can reduce the energy consumption of the unmanned aerial vehicle, which needs to land on the ground, a ship or land and float on the water surface to charge, stand by or execute tasks, the power supply controller of the unmanned aerial vehicle controls the solar flexible battery panel to charge the battery, and after the battery is charged, the flight control device controls the unmanned aerial vehicle to continuously execute the take-off tasks;
The unmanned aerial vehicle is parked on a ship deck or land, when a vertical take-off task is executed, after a safe ground clearance is met, a folded outer section wing and a wing tip winglet are unfolded through a wing folding actuating mechanism, after the unfolding is completed, the dihedral angles of the outer section wing and the inner section wing are zero, the vertical take-off and landing of the unmanned aerial vehicle are driven by the propeller, the gesture is adjusted after the vertical take-off and landing of the unmanned aerial vehicle reaches a safe height, so that the unmanned aerial vehicle has acceleration in a horizontal flight direction, the motor power of the propeller is gradually reduced by the control device, meanwhile, the control device controls the starting of the cruise propeller and increases the motor power of the cruise propeller until the unmanned aerial vehicle reaches a safe speed, the unmanned aerial vehicle is controlled and flies in a fixed wing airplane mode, namely the control device controls the thrust of the unmanned aerial vehicle through controlling the cruise propeller and a motor thereof, and simultaneously the control device controls the pitching gesture of the unmanned aerial vehicle through controlling the elevator, the lateral gesture of the unmanned aerial vehicle and the course gesture of the aircraft through controlling the direction rudder;
when the unmanned aerial vehicle executes a take-off task on water, the flight control device controls the motor and the propeller to start the vertical take-off and landing of the unmanned aerial vehicle; after the climbing height of the vertical take-off of the unmanned aerial vehicle meets the safety ground clearance, the flight control device controls the wing folding actuating mechanism to open the folded outer section wing and the wing tip small wing span, after the folding is completed, the dihedral angles of the outer section wing and the inner section wing are zero degrees, the screw propeller drives the vertical take-off and landing of the unmanned aerial vehicle to adjust the gesture after reaching the safety height so that the unmanned aerial vehicle has acceleration in the horizontal flight direction, the flight control device controls the motor power of the screw propeller to be gradually reduced, and meanwhile, the flight control device controls the cruise screw propeller to be started and increases the motor power of the cruise screw propeller until the unmanned aerial vehicle reaches the safety speed, and the whole unmanned aerial vehicle is controlled and flown in the fixed wing airplane mode;
The method also comprises the working method that the unmanned aerial vehicle vertically descends and glides on the water surface on a ship deck or on land or on the water surface in the migration probing task process:
when the unmanned aerial vehicle vertically descends on a ship deck or land, the outer section wings and the wingtip winglets are folded through wing folding actuating mechanisms, after the folding is completed, the dihedral angle of the outer section wings is 179.5-178.7 degrees, the folding meets the condition that the outer section wings and the wingtip winglets do not interfere with a fuselage and do not exceed the plane formed by the fuselage and an end pontoon, meets the condition that the V-shaped bottom and the end pontoon serve as ground contact points when the ground is parked, and in a folding state, the flight control device controls the screw propeller to enable the unmanned aerial vehicle to vertically land;
when the unmanned aerial vehicle vertically descends on the water surface, the unmanned aerial vehicle needs to vertically descend on the water surface to supplement energy, the outer section wings and the wingtip winglets are folded through wing folding actuating mechanisms, after folding is completed, the dihedral angles of the outer section wings are 8-9 degrees, after folding, the wingtip winglets contact the water surface, buoyancy is provided for the unmanned aerial vehicle together with the tail wing end pontoon and the fuselage, and in a folding state, the flight control device controls the screw propeller to enable the unmanned aerial vehicle to vertically land on the water surface;
in the migration and exploration submerged task process, the unmanned aerial vehicle can not finish the vertical landing of the water surface due to the consumption of energy, and when the unmanned aerial vehicle needs to glide and forced landing, the unmanned aerial vehicle keeps the fixed wing aircraft mode and glides and touches water at a pitching attitude angle of 5-10 degrees and a yaw and rolling angle of 0 degrees when the unmanned aerial vehicle is 1-3 meters away from the water surface; the end pontoon positioned at the vertical tail wing and the vertical tail wing touch water firstly, then the V-shaped bottom and the wingtip winglet touch water, the unmanned aerial vehicle is decelerated under the action of water surface deceleration, meanwhile, the outer-section wing and the wingtip winglet are folded below the inner-section wing through the wing folding actuating mechanism, after the folding is completed, the dihedral angle of the outer-section wing is 8-9 degrees, and after the folding, the wingtip winglet touches the water surface, and the wingtip winglet, together with the wingtip pontoon and the fuselage, provides buoyancy for the unmanned aerial vehicle; at this time, the unmanned aerial vehicle enters a water surface floating state;
When the unmanned aerial vehicle is in a water surface floating state, the unmanned aerial vehicle sails at a low speed on the water surface, a rudder is used as a course control surface, and the flight control device controls the cruising propeller to propel, so that the ocean current belt unmanned aerial vehicle is prevented from leaving a standby area.
The beneficial effects of the invention are as follows: in order to improve the operational radius of the migration detection submarine aircraft, and take a long-distance migration bird waiting as a bionic object, the unmanned aerial vehicle provided by the invention has the advantages that when the unmanned aerial vehicle lifts off to execute a task, if the illumination condition of the area is insufficient, the solar battery has insufficient power generation capacity, the reserved electric energy of the unmanned aerial vehicle is exhausted, and then the unmanned aerial vehicle lands nearby. And the solar panel is used for charging and supplementing energy to the battery after landing, and the next task can be executed after the energy supplementing is finished. The operation mode mainly refers to the condition that birds rest in the long-distance migration process, particularly in the transoceanic stage, the flying birds land on the ground or the water surface and float after single power consumption is finished, and the unmanned aerial vehicle can execute tasks again after solar charging and energy supplementing and energy storage are finished. For the unmanned aerial vehicle, the operation mode is suitable for carrying out long-time tracking and searching on enemy nuclear submarines or marine distress personnel, the limitation of the task radius of the aircraft is avoided, the time waste for returning to take-off and landing field servicing is avoided, and the efficiency of similar tasks is improved.
The unmanned aerial vehicle provided by the invention adopts the ship-shaped fuselage, has the capability of taking off and landing vertically on the land/ship surface and other hard ground and on water, and has the high navigational speed and long cruising capability of the fixed-wing unmanned aerial vehicle, so that the taking-off and landing site requirement of the unmanned aerial vehicle is reduced, and the water load impact stress during taking-off and landing on water is also reduced;
the wing folding mechanism is equipped to reduce the parking floor area of the whole machine;
the wingtip winglet with the characteristic of the wingtip winglet also ensures the floating stability of the whole aircraft in a floating state on the water surface, compared with a traditional water plane, the wingtip winglet is designed by integrating the wingtip winglet with the wingtip, and compared with a traditional hanging-type wingtip winglet, the wingtip winglet can also serve as a hydrofoil when the water surface slides at a high speed, further improves the control capability of the water surface during high-speed movement, reduces the weight and the resistance brought by a traditional hanging frame, and can be used as the hydrofoil in the water to improve the water surface take-off and landing performance of the aircraft;
meanwhile, the floating pontoon system formed by the wingtip winglet with the buoyancy and the vertical tail end pontoon together not only meets the buoyancy requirement of water surface lifting, but also provides good recovery moment for the wingtip winglet and the vertical tail pontoon far away from the machine body, and improves the stability of the whole machine when floating on the water surface.
Through the mode that uses solar energy power generation and battery to combine together, mend the energy through solar energy to the battery for the aircraft can reach the flight ability of unlimited navigation under the help of not helping with the help of external strength. The technology ensures that the aircraft has high applicability, better performance and wide application prospect.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic side view of the present invention;
FIG. 3 is a side view of the fuselage of the present invention;
FIG. 4 is a front view of the fuselage of the present invention;
FIG. 5 is a schematic view of the arrangement structure of the solar flexible panel in the body of the invention;
FIG. 6 is a schematic view of the arrangement of the solar flexible panel of the present invention on a wing;
FIG. 7 is a schematic view of the configuration of the arm, tail structure and solar flexible panel of the present invention at the tail;
FIG. 8 is a schematic structural view of the present invention in a ground/vessel landing wing fold configuration;
FIG. 9 is a schematic view of the structure of the wing in its folded configuration when lifted off and lowered on the water surface in accordance with the present invention;
FIG. 10 is a schematic diagram of a power control system of the present invention;
FIG. 11 is a schematic view of the configuration of the winglet of the present invention;
FIG. 12 is a schematic side view of a winglet in accordance with the present invention;
FIG. 13 is a schematic cross-sectional view of a winglet in accordance with the invention.
Reference numerals illustrate:
1. a body; 11. a load compartment; 12. a cruise propeller; 13. a fairing; 14. a V-shaped machine bottom; 2. a wing; 21. an inner section wing; 22. an outer section wing; 23. aileron; 24. wingtip winglets; 241. leading edge bezier curves; 242. trailing edge bezier curves; 243. maximum thickness bezier curve; 244. a web; 245. sealing the cavity; 3. a horn; 4. a tail wing; 41. a horizontal tail; 411. an elevator; 42. a vertical tail; 421. a rudder; 422. an end pontoon; 5. a propeller; 6. a solar flexible panel; 71. a controller; 72. a battery; 73. a charger; 74. an electronic governor; 75. other loads; 76. a boost ballast; 77. a propeller motor.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
In order to achieve the above object, the present invention provides the following embodiments:
example 1: the amphibious migration detection unmanned aerial vehicle comprises a machine body 1, wings 2, propellers 5, a solar flexible battery plate 6 and a battery 72, and further comprises a pair of horn 3 parallel to the axis of the machine body 1, which are arranged on the wings 2 on two sides of the machine body 1, wherein the horn 3 is fixedly connected above the wings 2, and the connection position of the horn 3 and the wings 2 is positioned at 15-20% of the half-span length of the wings 2; the tail end of the arm 3 is provided with a tail wing 4; the propellers 5 and motors for driving the propellers 5 are arranged on the horn 3 in pairs and used for vertical take-off and landing of the whole unmanned aerial vehicle; a cruising propeller 12 is arranged at the tail part of the machine body 1;
The machine body 1 comprises an upper fairing 13 and a lower fairing 13 and a sealed load cabin 11 surrounded by the upper fairing 13 and the lower fairing 13, the surface of the upper fairing 13 of the machine body 1 is streamline, and the bottom of the machine body 1 is provided with a V-shaped machine bottom 14; the solar flexible battery plate 6 is paved on the streamline surface of the machine body 1;
the wing 2 comprises an inner section wing 21, one end of the inner section wing 21 is arranged on the fuselage 1, and the other end of the inner section wing 21 is sequentially connected with an outer section wing 22 and a wingtip winglet 24; the solar flexible panel 6 is paved on the inner section wing 21 and the outer section wing 22;
the solar energy machine also comprises a battery, wherein the battery is arranged in the sealed cavity of the machine body 1, the battery is respectively electrically connected with the solar energy flexible battery plate 6 and the motor, and the total laying area of the solar energy flexible battery plate 6 accounts for 15-17% of the soaking area of the whole machine; the solar flexible panel 6 is used to convert solar energy into electrical energy and store it in a battery which in turn provides electrical energy to an electric motor to drive the operation of the propeller 5 and the cruise propeller 12.
The aspect ratio of the V-shaped bottom of the unmanned aerial vehicle 1 is 3-5, and the unmanned aerial vehicle is used for draining water to two sides of the bottom of a ship when the unmanned aerial vehicle vertically drops or glides and forced to drop on the water surface, so that the water surface impact is reduced, and the touchdown rate, the floating stability and the water surface navigation stability of the unmanned aerial vehicle are improved;
The total length of the machine body 1 is 1-2m, the maximum width is 0.5-0.6m, and the maximum height is less than 0.5m; the paving area of the solar flexible battery plate 6 paved on the streamline surface of the machine body 1 accounts for 5-9% of the wetting area of the machine body.
The wing 2 is a middle single wing, and the inner section wing 21 is inserted into a reserved opening area at the rear part of the fuselage 1 and fixedly connected; the aspect ratio of the wing 2 is 15-20;
in cruise configuration there is no dihedral, other than the winglet 24, and no leading edge sweepback.
The top projection outline of the inner section wing 21 is trapezoid, the length of the inner section wing 21 is 50-55% of the half-span length of the wing 2, the chord length of the wing root is 0.50-0.60m, the chord length of the end part is 0.50-0.55m, and the average pneumatic chord length is 0.4-0.5m;
the solar flexible panels 6 arranged on the surface of the inner wing 21 are arranged to occupy 35-40% of the wetted area of the inner wing 21.
The outline of the top projection of the outer section wing 22 is trapezoid, the length of the outer section wing 22 is 30-35% of the half-span length of the wing 2, the root chord length is 0.45-0.50m, and the root chord length is equal to the end chord length of the inner section wing 21; the root of the outer section wing 22 is connected with the end part of the inner section wing 21 through a wing folding actuating mechanism, and is used for folding the outer section wing 22 when the unmanned aerial vehicle is in a charging standby state or when the ground or the ship surface takes off and land;
The trailing edge of the outer-section wing 22 is provided with an outer-section wing full-span aileron 23, the root chord length of the aileron 23 is 25-30% of the root chord length of the outer-section wing 22, and the end chord length of the aileron 23 is 25-27% of the end chord length of the outer-section wing 22;
the paving area of the solar flexible battery plates 6 arranged on the upper surface of the outer-section wing 22 accounts for 45% -47% of the wetting area of the outer-section wing 22, and the paving area of the solar flexible battery plates 6 arranged on the upper surface of the aileron 23 accounts for 47% -50% of the wetting area of the aileron 23.
The length of the wingtip winglet 24 is 10-15% of the half-span length of the wing 2, and the root of the wingtip winglet 24 is fixedly connected with the end part of the outer section wing 22;
the wingtip winglet 24 is provided with a hard shell made of a carbon fiber and foam sandwich composite material, a sealing cavity 245 is arranged in the hard shell, a web 244 for improving the strength and rigidity of the wingtip winglet 24 is arranged in the whole height direction in the sealing cavity 245, the web 244 divides the sealing cavity 245 into a plurality of parts, when the wingtip winglet 24 is used for the unmanned aerial vehicle to fly in the air, the distribution of the lift expansion direction of the wing 2 is improved, the induced resistance is reduced, and the wingtip winglet 24 is also used for generating buoyancy when the unmanned aerial vehicle vertically descends or glides and forced descends on the water surface;
the volume of the sealed cavity 245 of the wingtip winglet 24 is 0.02-0.03 cubic meters, the provided buoyancy is 18-21% of the full-machine buoyancy, and the buoyancy is used for ensuring that the unmanned aerial vehicle provides a restoring moment when the unmanned aerial vehicle shakes on the water surface;
The shape and volume of the winglet 24 are controlled by a leading edge Bezier curve 241, a trailing edge Bezier curve 242 and a maximum thickness Bezier curve 243, and the root and tip airfoil of the winglet 24. The root chord length of the winglet 24 is equal to the end chord length of the outer wing 22. The leading edge and the trailing edge of the winglet 24 are tangential to the leading and trailing edges of the outer wing 22 to ensure smooth transition, the forward sweep angle of the winglet 24 is smoothly transitioned from the root to the tip at an angle of 40 DEG to 50 DEG, and the dihedral angle is smoothly transitioned from the root to the tip at an angle of 33 DEG to 37 deg.
The propellers 5 are multi-rotor propellers, two are vertically arranged on the horn 3 in a group, and the directions of the propellers are opposite; each propeller 5 has a diameter of 25-32 inches; the power of the motor for driving the propeller 5 is 3.7-4.3kw, and the total weight of the single motor and the propeller 5 is 7-8kg;
the cruise propellers 12 have a blade length of 20-24 inches each and a motor power of 3.3-3.8kw.
The fin 4 is an H-type fin comprising: the horizontal tail 41 and the vertical tail 42, the horizontal tail 41 is arranged in parallel with the wing 2, and an elevator 411 is arranged behind the horizontal tail 41; the horizontal tail 41 is rectangular, has an aspect ratio of 4.5-5, and uses symmetrical wing sections with a maximum thickness of 8-12%; the ratio of the area of the elevator 411 to the area of the horizontal rear wing 41 is 0.35 to 0.4;
The vertical tail wing 42 is arranged on the horn 3 and is perpendicular to the horizontal tail wing 41, a rudder 421 is arranged at the rear end of the vertical tail wing 42, a pontoon 422 is arranged at the bottom end of the vertical tail wing 42, and the buoyancy provided by the pontoon 422 accounts for 0.3% -1% of the buoyancy of the whole machine, and the main purpose is to provide a stabilizing moment; the sweepback angle of the front edge of the vertical tail wing 42 is 30-40 degrees, the chord length of the root is 0.38-0.42m, the chord length of the tip is 0.18-0.22m, the span is 0.25-0.3m, and symmetrical wing sections with the maximum thickness of 8-10% are used; the relative area of rudder 421 to vertical tail 42 is 0.22-0.26;
solar flexible panels 6 are arranged on the horizontal rear wing 41 and the elevator 411, and the area of the solar flexible panels is 47% -50% of the wetted area of the horizontal rear wing 41.
Further comprising a power supply system arranged in the load compartment 11, the power supply system comprising: the solar flexible battery panel 6 is electrically connected with the input end of the power supply controller 71 through the boosting ballast 76, one output end of the power supply controller 71 is electrically connected with the battery 72 through the charger 73, the other output end of the power supply controller 71 is electrically connected with the propeller motor 77 through the electronic speed regulator 74, and is electrically connected with the flight control device 75 and other loads, the battery 72 is also electrically connected with the propeller motor 77 through the electronic speed regulator 74, and is also electrically connected with the flight control device 75 and other loads, and the power supply controller is used for supplying power to the propeller motor 77, the flight control device 75 and other loads, and the propeller motor 77 comprises motors of the cruise propellers 12 and 5;
The power supply controller 71 is configured to determine that the electric energy generated by the solar flexible panel 6 is charged by the electric energy supply battery 72 or supplied to the propeller motor 77 or directly supplied to the other load 75 according to the power generation amount of the solar flexible panel 6, the power consumption conditions of the motor and the propeller 5, the cruise propeller 12 and the other load 75, and control the electric energy converted by the solar flexible panel 6 not to exceed the load;
specifically, when the battery is not full, the power supply controller 71 charges the battery 72 with the electric energy converted by the solar flexible panel 6 through the charger 73; when the battery 72 is full and the generated power is greater than the sum of the powers required by the loads, the electric power is supplied to the motor and propeller 5, the cruise propeller 12 and the other loads 75, respectively;
the flight control device 75 is electrically connected with the elevator 411, the aileron 23, the rudder 421 and the driving mechanism of the wing folding actuating mechanism, and the flight control device 75 is used for controlling the pitching, the transverse and the heading gestures of the unmanned aerial vehicle in the air and the heading of the unmanned aerial vehicle when the unmanned aerial vehicle is on the water surface.
The invention provides a design scheme of an amphibious migration detection submerged unmanned aerial vehicle with solar power, which comprises a fuselage 1, wings 2, a horn 3 and a tail wing 4; the total length of the unmanned plane is 3.25m-3.50m, the total height is 5.61m, and the span is 8.02m.
As shown in fig. 5-7, the bottom of the fuselage 1 adopts a V-shaped hull like a ship with an aspect ratio of 3, and when the water surface falls vertically, the water surface is divided by the V-shaped hull to be discharged to two sides, so that the influence of water surface impact on the fuselage structure is reduced, and a higher touchdown rate is allowed; while providing greater floating stability and surface navigation stability. The upper half of the fuselage is a conventional elliptical non-pressurized fuselage. The airframe 1 consists of a load cabin, a V-shaped ship bottom and a power system fairing, wherein the overall length of the airframe 1 in the figure is 1.55m, the maximum width is 0.55m, the maximum height is 0.39m, and 18 high-flexibility solar flexible panels are paved on the upper surface.
As shown in fig. 1, the high aspect ratio wing 2 is composed of an inner section wing 21, an outer section wing 22 and a wingtip winglet 24, the adopted high-lift wing profile has a lift coefficient of not less than 0.5 in a cruising state, a maximum lift coefficient of not less than 1.5, and the wing has no aerodynamic and geometric torsion. The wing 2 is a middle single wing, and the inner section wing 21 is inserted into a reserved opening area at the rear part of the fuselage and fixedly connected with the reserved opening area; the high aspect ratio wing 2 has an aspect ratio of 16.32, a dihedral angle of 0 ° excluding the winglet in cruise configuration, and a leading edge sweep angle of 0 °.
The top projection profile of the inner section wing 21 is trapezoid, the length is 51% of the half-span length of the wing 2, the chord length of the wing root is 0.55m, the chord length of the end part is 0.52m, 114 semi-flexible solar power generation panels are arranged on the upper surface of the inner section wing 21, and no movable control surface exists; the inner wing 21 is provided with a wing fold actuator, which may be a worm gear wing fold actuator, near the end.
The outline of the top projection of the outer section wing 22 is trapezoid, the length is 34% of the half-span length of the wing 2, the chord length of the root is 0.52m, the chord length of the end is 0.50m, and the root is connected with the end of the inner section wing 21 through a folding mechanism. The upper surface of each outer wing 22 is provided with 33 highly flexible solar panels. The trailing edge of the outer wing is provided with a full-span aileron 23, the root chord length of the aileron 23 is 29% of the root chord length of the outer wing, the end chord length is 26% of the end chord length of the outer wing, the area is 27.5% of the outer wing, and the upper surface of each aileron is provided with 11 high-flexibility solar flexible battery plates
As shown in fig. 11, 12 and 13, the wingtip winglet 24 has a length of 15% of the half-span length of the wing 2, the wingtip winglet 24 is provided with a hard shell made of a carbon fiber and foam sandwich composite material, a sealing cavity 245 is arranged in the hard shell, a web 244 for improving the strength and rigidity of the wingtip winglet 24 is arranged in the sealing cavity in the height direction of the whole machine, the web 244 divides the sealing cavity 245 into a plurality of parts, and the wingtip winglet 24 is used for improving the lift expansion direction distribution of the wing 2, reducing the induced resistance when the unmanned aerial vehicle flies in the air and generating buoyancy when the unmanned aerial vehicle vertically drops or glides and is forced to drop on the water surface; the volume of the sealed cavity 245 of the winglet 24 is 0.036m 3 The buoyancy provided is 18-21% of the full-machine buoyancy, and is used for ensuring that the unmanned aerial vehicle provides a restoring moment when the unmanned aerial vehicle shakes on the water surface. Compared with the traditional wingtip supporting pontoon, the aerodynamic resistance and the structural weight are reduced, and meanwhile, the pontoon close to the wingtip can improve the transverse stability of the amphibious unmanned aerial vehicle in a floating state.
The power system of the unmanned aerial vehicle is divided into a vertical take-off and landing part and a horizontal flight part. All using a battery 72 as an energy storage medium, through an electronic governor 74, a motor, and finally power to the propeller 5. The vertical take-off and landing part adopts 8 motors and special propellers 5 with multiple rotors, every two of the special propellers are in a group, the special propellers are vertically arranged on the horn 3, the horn 3 is fixedly connected above the wing 2, the connection position is positioned at 18% of the half-span length of the wing 2, the propellers 5 are opposite in steering, and the control logic is equivalent to that of a four-rotor aircraft in the vertical take-off and landing stage. The power part of the horizontal flight consists of a motor-driven variable-pitch three-blade propeller, and the variable-pitch three-blade propeller is arranged behind the machine body and is the cruising propeller 12.
The unmanned aerial vehicle energy system consists of a solar cell array, a battery 72 and an energy control system, and a high-efficiency, ultra-thin, ultra-light and high-flexibility crystalline silicon solar flexible cell panel 6 is used. The battery 72 uses a lithium polymer battery of high energy density. The energy system control uses the battery 72 as an energy storage element, and electricity generated by the solar flexible panel 6 is stored in the battery and supplied to required equipment. After the lithium battery is charged, the current generated by the solar panel can be directly supplied to the equipment after being stabilized.
The unmanned aerial vehicle is in the flight, and the standby stage is all continuous under suitable illumination with solar energy conversion electric energy and store, can independently carry out next task after energy storage satisfies next task demand. The operation mode takes a waiting bird as a bionic object, so that the design purpose of migration operation is achieved.
In a specific embodiment, the power of the unmanned aerial vehicle is from 8 hovering electric propellers, each diameter is 30 inches, the maximum power of each motor is 4kw, the total weight of the motors and the propellers is 7.2kg, the unmanned aerial vehicle flies on plane by adopting a variable-pitch three-blade propeller, each blade is 22 inches long, and the maximum power of the motors is 3.5kw. The total of 4.1 square meters of the solar flexible battery plates are paved, and the energy storage battery adopts a lithium polymer battery with the energy density of 250 wh/kg.
As shown in fig. 1, 2 and 7, the specific structure of the "H-shaped" tail wing 4 is: horizontal tail 41 with elevator 411 and vertical tail 42 with rudder 421 and end pontoon 422. The horizontal tail 41 is rectangular, free of backswept, free of upper reverse and free of torsion; the aspect ratio is 4.8; the horizontal tail adopts NACA0012 airfoil with the maximum thickness of 12 percent, and in order to balance moment, the horizontal tail fin is provided with a positive installation angle of 2 degrees; the ratio of the area of elevator 411 to the horizontal tail area is 0.4. The vertical fin includes a vertical fin 42 and an end pontoon 422 for providing buoyancy and floating stability; the sweepback angle of the front edge of the vertical tail is 35 degrees, the projection area is 0.085 square meters, the chord length of the root is 0.4m, the chord length of the tip is 0.2m, and the extension length is 0.28m; the vertical tail 42 employs a NACA symmetrical airfoil having a maximum thickness of 10%; the rudder 421 had a relative area of 0.24. 23 high-flexibility solar flexible panels 6 are arranged on the horizontal tail 41 and the elevator 411.
Example 2: the invention also provides a working method of the solar-powered amphibious migration detection unmanned aerial vehicle,
in the migration and exploration submerged task process, the unmanned aerial vehicle can reduce the energy consumption of the unmanned aerial vehicle, the unmanned aerial vehicle needs to land on the ground, a ship or land and float on the water surface to charge, stand by or execute tasks, the power supply controller 71 of the unmanned aerial vehicle controls the solar flexible battery panel 6 to charge the battery 72, and after the battery 72 is charged, the flight control device 75 controls the unmanned aerial vehicle to continuously execute the take-off tasks;
the unmanned aerial vehicle is parked on a ship deck or land, when a vertical take-off task is executed, after a safe ground clearance is met, the folded outer section wing 22 and the wingtip winglet 24 are unfolded through a wing folding actuating mechanism, after the unfolding is completed, the dihedral angles of the outer section wing 22 and the inner section wing 21 are zero, the vertical take-off and landing of the unmanned aerial vehicle is driven by the propeller 5, after the vertical take-off and landing of the unmanned aerial vehicle reach a safe height, the gesture is adjusted to enable the unmanned aerial vehicle to have acceleration in a flat flight direction, the motor power of the propeller 5 is gradually reduced by the control device 75, meanwhile, the control device 75 controls the cruise propeller 12 to start and increase the motor power of the cruise propeller 12 until the unmanned aerial vehicle reaches a safe speed, the unmanned aerial vehicle is controlled and flies in a fixed wing airplane mode, namely the control device 75 controls the thrust of the unmanned aerial vehicle through controlling the cruise propeller 12 and a motor thereof, meanwhile, the elevation gesture of the unmanned aerial vehicle is realized through controlling the elevating rudder 411, the lateral gesture of the unmanned aerial vehicle is realized through controlling the aileron 23, and the gesture of the control device 421 is realized through controlling the rudder 421;
When the unmanned aerial vehicle performs a take-off task on water, the flight control device 75 controls the motor and the propeller 5 to start the vertical take-off and landing of the unmanned aerial vehicle; after the climbing height of the vertical take-off of the unmanned aerial vehicle meets the safety ground clearance, the flight control device 75 controls the wing folding actuating mechanism to unfold the folded outer section wing 22 and the wing tip winglet 24, after the unfolding is completed, the dihedral angles of the outer section wing 22 and the inner section wing 21 are zero, the vertical take-off and landing of the unmanned aerial vehicle is driven by the screw 5, after the vertical take-off and landing of the unmanned aerial vehicle reach the safety height, the gesture is adjusted to enable the unmanned aerial vehicle to have acceleration in the horizontal flight direction, the motor power of the screw 5 is gradually reduced under the control of the flight control device 75, meanwhile, the cruise screw 12 is controlled to be started and the motor power of the cruise screw 12 is increased under the control of the flight control device 75, and the whole unmanned aerial vehicle is controlled and flown in a fixed wing airplane mode until the unmanned aerial vehicle reaches the safety speed;
the method also comprises the working method that the unmanned aerial vehicle vertically descends and glides on the water surface on the deck of the ship or on the land or on the water surface in the migration and exploration submerged task process:
when the unmanned aerial vehicle vertically drops on a ship deck or land, the outer-section wings 22 and the wingtip winglets 24 are folded through wing folding actuating mechanisms, after the folding is completed, the dihedral angles of the outer-section wings 22 are 179.5-178.7 degrees, the folding is completed, the condition that the outer-section wings 22 and the wingtip winglets 24 do not interfere with the airframe 1 and do not exceed the plane formed by the airframe 1 and the end buoys 422 is met, the condition that the V-shaped bottom 14 and the end buoys 422 serve as ground contact points when the ground is parked is met, and in a folding state, the flight control device 75 controls the propellers 5 to enable the unmanned aerial vehicle to vertically land;
When the unmanned aerial vehicle vertically descends on the water surface, the unmanned aerial vehicle needs to vertically descend on the water surface to supplement energy, the outer-section wings 22 and the wingtip winglets 24 are folded through wing folding actuating mechanisms, after folding is completed, the lower dihedral angle of the outer-section wings 22 is 8-9 degrees, after folding, the wingtip winglets 24 are contacted with the water surface, buoyancy is provided for the unmanned aerial vehicle together with the tail end buoys 422 and the fuselage 1, and in a folding state, the flight control device 75 controls the propellers 5 to enable the unmanned aerial vehicle to vertically land on the water surface;
in the migration and exploration submerged task process, the unmanned aerial vehicle can not finish the vertical landing of the water surface due to the consumption of energy, and when the unmanned aerial vehicle needs to glide and forced landing, the unmanned aerial vehicle keeps a fixed wing airplane mode and glides and touches water at a pitching attitude angle of 5-10 degrees and a yaw and rolling angle of 0 degrees when the unmanned aerial vehicle is 1-3 meters away from the water surface; the end pontoon 422 and the vertical tail 42 positioned on the vertical tail contact water firstly, then the V-shaped bottom 14 and the wingtip winglet 24 contact water, the unmanned aerial vehicle is decelerated under the action of water surface deceleration, meanwhile, the outer section wing 22 and the wingtip winglet 24 are folded under the inner section wing 21 through a wing folding actuating mechanism, after the folding is completed, the dihedral angle of the outer section wing 22 is 8-9 degrees, and after the folding, the wingtip winglet 24 contacts the water surface, and the buoyancy is provided for the unmanned aerial vehicle together with the tail end pontoon 422 and the fuselage 1; at this time, the unmanned aerial vehicle enters a water surface floating state;
When the unmanned aerial vehicle is in a water surface floating state, the unmanned aerial vehicle sails at a low speed on the water surface, the rudder 421 is used as a course control surface, and the flight control device 75 controls the cruising propeller 12 to propel, so that the ocean current belt unmanned aerial vehicle is prevented from leaving a standby area.
In a specific embodiment, as shown in fig. 8, the unmanned aerial vehicle is parked on the deck of a ship or on land, and after meeting the safety ground clearance when performing the vertical take-off of a mission, the folded outer wing and wing tip are unfolded to the position shown in fig. 1 by the folding mechanism.
As shown in fig. 9, when the unmanned aerial vehicle performs the water landing task, the outer wing 22 and the wingtip winglet 24 are folded to the positions shown in fig. 9 by the folding mechanism, safely land on the water surface at a certain descent rate and float to charge/stand by/perform the task. At this time, if it is necessary to navigate on the water at a low speed, a rudder may be used as a heading control surface, and the horizontal flight power system may also serve as a propulsion device.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (4)
1. The working method of the amphibious migration unmanned aerial vehicle comprises a machine body (1), wings (2), propellers (5), a solar flexible battery plate (6) and a battery (72), and further comprises a pair of arms (3) which are arranged on the wings (2) on two sides of the machine body (1) and parallel to the axis of the machine body (1), meanwhile, the arms (3) are fixedly connected above the wings (2), and the connection position of the arms (3) and the wings (2) is positioned at 15-20% of the half-span length of the wings (2); the tail end of the arm (3) is provided with a tail wing (4); the propellers (5) and motors for driving the propellers (5) are arranged on the horn (3) in pairs and are used for vertical lifting of the whole unmanned aerial vehicle; a cruising propeller (12) is arranged at the tail part of the machine body (1);
the machine body (1) comprises an upper fairing, a lower fairing and a sealed load cabin (11) surrounded by the upper fairing and the lower fairing, the surface of the upper fairing of the machine body is streamline, and the bottom of the machine body (1) is provided with a V-shaped machine bottom (14); the solar flexible battery board (6) is paved on the streamline surface of the machine body (1); the aspect ratio of the V-shaped bottom of the machine body (1) is 3-5, and the V-shaped bottom is used for draining water to two sides of the bottom when the unmanned aerial vehicle vertically drops or glides and forced to drop on the water surface, so that the water surface impact is reduced, and the touchdown rate, the floating stability and the water surface navigation stability of the unmanned aerial vehicle are improved;
The wing (2) comprises an inner section wing (21), one end of the inner section wing (21) is arranged on the fuselage (1), and the other end of the inner section wing (21) is sequentially connected with an outer section wing (22) and a wingtip winglet (24); the solar flexible battery plate (6) is paved on the inner section wing (21) and the outer section wing (22); the length of the wingtip winglet (24) is 10-15% of the half-span length of the wing (2), and the root of the wingtip winglet (24) is fixedly connected with the end part of the outer section wing (22);
the wing tip winglet (24) is provided with a hard shell made of a carbon fiber and foam sandwich composite material, a sealing cavity (245) is arranged in the hard shell, a web plate (244) for improving the strength and rigidity of the wing tip winglet (24) is arranged in the whole height direction in the sealing cavity (245), the web plate (244) divides the sealing cavity (245) into a plurality of parts, and the wing tip winglet (24) is used for improving the lift expansion direction distribution of the wing (2) and reducing the induced resistance when the unmanned aerial vehicle flies in the air and is also used for generating buoyancy when the unmanned aerial vehicle vertically descends or glides and is forced to descend on the water surface;
the volume of the sealed cavity (245) of the wingtip winglet (24) is 0.02-0.03 cubic meter, the provided buoyancy is 18-21% of the full-machine buoyancy, and the buoyancy is used for ensuring that the unmanned aerial vehicle provides a restoring moment when the unmanned aerial vehicle shakes on the water surface;
The solar energy machine also comprises a battery, wherein the battery is arranged in the sealed cavity of the machine body (1), the battery is respectively and electrically connected with the solar energy flexible battery plate (6) and the motor, and the total laying area of the solar energy flexible battery plate (6) accounts for 15-17% of the wetting area of the whole machine; the solar flexible battery board (6) is used for converting solar energy into electric energy and storing the electric energy in a battery, and the battery supplies the electric energy to the motor so as to drive the screw propeller (5) and the cruising screw propeller (12) to work;
the shape and the volume of the wingtip winglet (24) are controlled by a front edge Bezier curve (241), a rear edge Bezier curve (242) and a maximum thickness Bezier curve (243), and the root and tip airfoil of the wingtip winglet (24), the root chord length of the wingtip winglet (24) is equal to the end chord length of the outer section wing (22), the front edge and the rear edge of the wingtip winglet (24) are tangent to the front edge and the rear edge of the outer section wing (22) to ensure smooth transition, the forward edge sweepback angle of the wingtip winglet (24) is smoothly transited from the root to the tip direction at an angle of 40-50 degrees, and the dihedral angle is smoothly transited from the root to the tip direction at an angle of 33-37 degrees;
the overlooking projection outline of the outer-section wing (22) is trapezoid, the length of the outer-section wing (22) is 30-35% of the half-span length of the wing (2), the root chord length is 0.45-0.50m, and the root chord length is equal to the end chord length of the inner Duan Jiyi (21); the root of the outer section wing (22) is connected with the end part of the inner Duan Jiyi (21) through a wing folding action mechanism, and is used for folding the outer section wing (22) when the unmanned aerial vehicle is in a standby state for charging or when the ground and the ship surface take off and land;
The trailing edge of the outer-section wing (22) is provided with an outer-section wing full-span aileron (23), the root chord length of the aileron (23) is 25-30% of the root chord length of the outer-section wing (22), and the end chord length of the aileron (23) is 25-27% of the end chord length of the outer-section wing (22);
the paving area of the solar flexible battery plates (6) arranged on the upper surface of the outer-section wing (22) accounts for 45% -47% of the soaking area of the outer-section wing (22), and the paving area of the solar flexible battery plates (6) arranged on the upper surface of the aileron (23) accounts for 47% -50% of the soaking area of the aileron (23);
the fin (4) be H type fin, include: the horizontal tail wing (41) and the vertical tail wing (42), wherein the horizontal tail wing (41) is arranged in parallel with the wing (2), and an elevator (411) is arranged behind the horizontal tail wing (41); the horizontal tail wing (41) is rectangular, the aspect ratio is 4.5-5, and symmetrical wing sections with the maximum thickness of 8-12% are used; the ratio of the area of the elevator (411) to the area of the horizontal tail wing (41) is 0.35-0.4;
the vertical tail wing (42) is arranged on the horn (3) and is perpendicular to the horizontal tail wing (41), a rudder (421) is arranged at the rear end of the vertical tail wing (42), a pontoon (422) is arranged at the bottom end of the vertical tail wing (42), and the buoyancy provided by the pontoon (422) accounts for 0.3% -1% of the buoyancy of the whole machine, and the main purpose is to provide a stabilizing moment; the sweepback angle of the front edge of the vertical tail wing (42) is 30-40 degrees, the chord length of the root is 0.38-0.42m, the chord length of the tip is 0.18-0.22m, the span length is 0.25-0.3m, and symmetrical wing sections with the maximum thickness of 8-10% are used; the relative area of the rudder (421) and the vertical tail wing (42) is 0.22-0.26;
A solar flexible battery board (6) is arranged on the horizontal tail wing (41) and the elevator (411), and the area of the solar flexible battery board accounts for 47% -50% of the wetting area of the horizontal tail wing (41);
the load cabin (11) is provided with a power supply system, and the power supply system comprises: the solar flexible battery board (6) is electrically connected with the input end of the power supply controller (71) through a boosting ballast (76), one output end of the power supply controller (71) is electrically connected with the battery (72) through a charger (73), the other output end of the power supply controller (71) is electrically connected with the propeller motor (77) through an electronic speed regulator (74) and is electrically connected with a flight control device (75) and other loads, the battery (72) is also electrically connected with the propeller motor (77) through the electronic speed regulator (74) and is also electrically connected with the flight control device (75) and other loads, and the power supply controller is used for supplying power to the propeller motor (77) and the flight control device (75) and other loads, and the propeller motor (77) comprises motors of a cruise propeller (12) and a propeller (5);
The power supply controller (71) is used for judging whether the electric energy generated by the solar flexible battery board (6) is charged or supplied to the propeller motor (77) or directly supplied to the flight control device (75) according to the generated energy of the solar flexible battery board (6), the motor and the power consumption of the propeller (5), the cruising propeller (12) and the flight control device (75), and controlling the electric energy converted by the solar flexible battery board (6) not to exceed the load all the time;
the solar energy flexible battery plate (6) is powered by the power supply controller (71) through the charger (73) to charge the battery (72) when the battery (72) is not fully charged; when the battery (72) is full and the generated power is larger than the sum of the power required by the load, the electric energy is respectively supplied to the motor, the propeller (5), the cruising propeller (12) and the flight control device (75);
the flight control device (75) is electrically connected with the elevator (411), the aileron (23), the rudder (421) and the driving mechanism of the wing folding action mechanism, and the flight control device (75) is used for controlling the pitching, the transverse and the heading states of the unmanned aerial vehicle in the air and the heading of the unmanned aerial vehicle on the water surface;
The total length of the machine body (1) is 1-2m, the maximum width is 0.5-0.6m, and the maximum height is less than 0.5m; the paving area of the solar flexible battery board (6) paved on the streamline surface of the machine body (1) accounts for 5-9% of the wetting area of the machine body;
the working method of the amphibious migration detection unmanned aerial vehicle with solar power is characterized in that,
in the migration and exploration submerged task process, the unmanned aerial vehicle can reduce the energy required to land on the ground, a ship or land and float on the water surface to charge, stand by or execute tasks, a power supply controller (71) of the unmanned aerial vehicle controls a solar flexible battery panel (6) to charge a battery (72), and after the battery (72) is charged, a flight control device (75) controls the unmanned aerial vehicle to continue executing the take-off task;
the unmanned aerial vehicle is parked on a ship deck or land, when a vertical take-off task is executed, after a safe ground clearance is met, a folded outer section wing (22) and a wing tip winglet (24) are unfolded through a wing folding action mechanism, after the unfolding is completed, the dihedral angles of the outer section wing (22) and an inner section wing (Duan Jiyi) (21) are zero degrees, the vertical take-off and landing of the unmanned aerial vehicle are driven by the propeller (5) and the attitude of the unmanned aerial vehicle is adjusted after the vertical take-off and landing reaches a safe height, so that the acceleration of the unmanned aerial vehicle in a flat flight direction is realized, the motor power of the propeller (5) is gradually reduced, meanwhile, the motor power of the cruise propeller (12) is controlled by the flight control device (75), the motor power of the cruise propeller (12) is increased, the unmanned aerial vehicle is controlled and flies in a fixed wing mode, namely, the flight control device (75) controls the thrust of the unmanned aerial vehicle through controlling the cruise propeller (12) and the motor thereof, and the attitude of the unmanned aerial vehicle is controlled through the aileron (421) through controlling the elevating rudder (411), and the attitude of the unmanned aerial vehicle is controlled through the aileron (23);
When the unmanned aerial vehicle executes a take-off task on water, the flight control device (75) controls the motor and the propeller (5) to start the vertical take-off and landing of the unmanned aerial vehicle; after the climbing height of the vertical take-off of the unmanned aerial vehicle meets the safety ground clearance, a flight control device (75) controls a wing folding action mechanism to unfold a folded outer section wing (22) and a wing tip winglet (24), after the unfolding is completed, the dihedral angles of the outer section wing (22) and an inner section wing (Duan Jiyi) (21) are zero, the vertical take-off and landing of the unmanned aerial vehicle are driven by the screw (5) and the gesture is adjusted after the vertical take-off and landing of the unmanned aerial vehicle reaches the safety height so that the unmanned aerial vehicle has acceleration in the horizontal flight direction, the flight control device (75) controls to gradually reduce the motor power of the screw (5), and meanwhile, the flight control device (75) controls the cruise screw (12) to start and increases the motor power of the cruise screw (12) until the unmanned aerial vehicle reaches the safety speed, and the unmanned aerial vehicle is controlled and flies in the fixed wing airplane mode;
the method also comprises the working method that the unmanned aerial vehicle vertically descends and glides on the water surface on a ship deck or on land or on the water surface in the migration probing task process:
when the unmanned aerial vehicle vertically drops on a ship deck or land, the outer section wings (22) and the wingtip winglets (24) are folded through wing folding action mechanisms, after folding is completed, the lower dihedral angle of the outer section wings (22) is 179.5-178.7 degrees, the condition that the outer section wings (22) and the wingtip winglets (24) do not interfere with the fuselage (1) after folding is met, the plane formed by the fuselage (1) and the end buoys (422) is not exceeded, the condition that the V-shaped bottom (14) and the end buoys (422) serve as ground contact points when the ground is parked is met, and in the folding state, the flight control device (75) controls the propellers (5) to enable the unmanned aerial vehicle to vertically land;
When the unmanned aerial vehicle vertically descends on the water surface, the unmanned aerial vehicle needs to supplement energy when the water surface vertically descends, the outer-section wings (22) and the wingtip winglets (24) are folded through wing folding action mechanisms, after folding is completed, the lower dihedral angle of the outer-section wings (22) is 8-9 degrees, after folding, the wingtip winglets (24) are contacted with the water surface, buoyancy is provided for the unmanned aerial vehicle together with the tail end buoys (422) and the fuselage (1), and in a folding state, the flight control device (75) controls the propellers (5) to enable the unmanned aerial vehicle to vertically land on the water surface;
in the migration and exploration submerged task process, the unmanned aerial vehicle can not finish the vertical landing of the water surface due to the consumption of energy, and when the unmanned aerial vehicle needs to glide and forced landing, the unmanned aerial vehicle keeps the fixed wing aircraft mode and glides and touches water at a pitching attitude angle of 5-10 degrees and a yaw and rolling angle of 0 degrees when the unmanned aerial vehicle is 1-3 meters away from the water surface; the end pontoon (422) and the vertical tail wing (42) positioned at the vertical tail wing touch water firstly, then the V-shaped bottom (14) and the wingtip winglet (24) touch water, the unmanned aerial vehicle is decelerated under the action of water surface deceleration, meanwhile, the outer section wing (22) and the wingtip winglet (24) are folded below the inner section wing (21) through a wing folding action mechanism, after the folding is completed, the dihedral angle of the outer section wing (22) is 8-9 degrees, and after the folding, the wingtip winglet (24) contacts the water surface, and the wingtip winglet (422) and the fuselage (1) jointly provide buoyancy for the unmanned aerial vehicle; at this time, the unmanned aerial vehicle enters a water surface floating state;
When the unmanned aerial vehicle is in a water surface floating state, the unmanned aerial vehicle sails at a low speed on the water surface, a rudder (421) is used as a course control surface, and a flight control device (75) controls a cruising propeller (12) to push, so that the ocean current belt unmanned aerial vehicle is prevented from leaving a standby area.
2. The working method of the solar-powered amphibious migration and exploration unmanned aerial vehicle is characterized in that the wings (2) are middle single wings, and the inner section wings (21) are inserted into a reserved opening area at the rear part of the fuselage (1) and fixedly connected; the aspect ratio of the wing (2) is 15-20;
in the cruise configuration there is no dihedral, other than the winglet (24), and no leading edge sweep.
3. The working method of the solar-powered amphibious migration penetrating unmanned aerial vehicle according to claim 1, wherein the outline of the overlooking projection of the inner Duan Jiyi (21) is trapezoid, the length of the inner wing (21) is 50-55% of the half-span length of the wing (2), the chord length of the wing root is 0.50-0.60m, the chord length of the end is 0.50-0.55m, and the average aerodynamic chord length is 0.4-0.5m;
the solar flexible panel (6) arranged on the surface of the inner section wing (21) occupies 35-40% of the wetted area of the inner Duan Jiyi (21).
4. A working method of a solar powered amphibious migration unmanned aerial vehicle according to claim 1, wherein the propellers (5) are multi-rotor propellers, two are vertically arranged on the horn (3) in a group and are opposite in direction; each propeller (5) has a diameter of 25-32 inches; the power of the motor driving the propeller (5) is 3.7-4.3kw, and the total weight of the single motor and the propeller (5) is 7-8kg;
the length of each blade of the cruising propeller (12) is 20-24 inches, and the motor power is 3.3-3.8kw.
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