CN115871922A - Multi-paddle tilting aircraft and flight control method thereof - Google Patents
Multi-paddle tilting aircraft and flight control method thereof Download PDFInfo
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Abstract
Description
技术领域technical field
本发明属于飞行器的技术领域,尤其涉及一种多桨倾转飞行器及其飞行控制方法。The invention belongs to the technical field of aircraft, and in particular relates to a multi-blade tilting aircraft and a flight control method thereof.
背景技术Background technique
在全球路面交通拥挤,迫切需要向空中发展现代化的民用微小型载人飞行器需求下产生飞行器必须具备机动性更强,普通人即可驾驶,不需要特定的场地例如机场多重安全冗余的特点。Under the congested global road traffic and the urgent need to develop modern civil miniature manned aircraft in the air, the aircraft must be more maneuverable, ordinary people can drive it, and it does not require specific venues such as airports. Multiple security redundancy features.
现有飞行器无法实现悬停或者低速状态下维持稳定不同的飞机姿态,且倾转的是旋翼或者桨,不会倾转翼展,且即使倾转翼展也是整体倾转翼展。Existing aircraft cannot hover or maintain stable and different aircraft attitudes at low speeds, and the rotors or paddles are tilted, and the wingspan will not be tilted, and even if the wingspan is tilted, it is the overall tilting wingspan.
故有必要设计一种新的飞行器。Therefore be necessary to design a kind of new aircraft.
发明内容Contents of the invention
本发明目的在于提供一种左右分开且独立倾转,并且可以获得垂直起降和高速巡航的多桨倾转飞行器及其飞行控制方法。The object of the present invention is to provide a multi-blade tilting aircraft and its flight control method that are separated left and right and independently tilted, and can achieve vertical take-off and landing and high-speed cruise.
本发明提供一种多桨倾转飞行器,其包括机身主体,还包括固定在所述机身主体左侧的左倾转翼、分别固定在所述左倾转翼相对两侧的至少一个左前动力桨和至少一个左后动力桨、固定在所述机身主体右侧的右倾转翼、分别固定在所述右倾转翼相对两侧的至少一个右前动力桨和至少一个右后动力桨以及固定在所述机身主体尾部的尾翼组,所述尾翼组包括垂直尾翼、水平尾翼以及水平尾桨;其中所述左前动力桨、左后动力桨、右前动力桨和右后动力桨实现飞行器垂直起降和巡航的飞行动力和姿态控制。The present invention provides a multi-blade tilting aircraft, which includes a fuselage body, a left tilting rotor fixed on the left side of the fuselage body, and at least one left front power paddle respectively fixed on opposite sides of the left tilting rotor And at least one left rear power paddle, a right tilting rotor fixed on the right side of the main body of the fuselage, at least one right front power rotor and at least one right rear power rotor fixed on the opposite sides of the right tilting rotor respectively, and fixed on the right side of the right tilting rotor The empennage set at the fuselage main body tail, the empennage set includes a vertical empennage, a horizontal empennage and a horizontal tail rotor; wherein the left front power paddle, the left rear power paddle, the right front power paddle and the right rear power paddle realize the vertical take-off and landing of the aircraft and Flight dynamics and attitude control for cruise.
进一步地,所述左前动力桨和右前动力桨采用正桨、左后动力桨和右后动力桨均采用反桨或者左前动力桨和右前动力桨采用反桨、左后动力桨和右后动力桨均采用正桨。Further, the left front power paddle and the right front power paddle use positive paddles, the left rear power paddle and right rear power paddle both use reverse paddles, or the left front power paddle and right front power paddle use reverse paddles, and the left rear power paddle and right rear power paddle All use positive propellers.
进一步地,所述左前动力桨和左后动力桨均采用正桨、右前动力桨和右后动力桨均采用反桨;或者左前动力桨和左后动力桨均采用反桨、右前动力桨和右后动力桨均采用正桨。Further, both the left front power paddle and the left rear power paddle use positive paddles, the right front power paddle and right rear power paddles both use reverse paddles; The rear power propellers are positive propellers.
进一步地,所述水平尾翼包括固定在所述机身主体尾部左侧的左水平尾翼以及固定在所述机身主体尾部右侧的右水平尾翼;所述垂直尾翼位于所述左水平尾翼和右水平尾翼之间。Further, the horizontal empennage comprises a left horizontal empennage fixed on the left side of the fuselage body tail and a right horizontal empennage fixed on the right side of the fuselage main body tail; the vertical empennage is located between the left horizontal empennage and the right between the horizontal stabilizers.
进一步地,还包括伺服器,所述左倾转翼和右倾转翼分别通过轴与所述伺服器连接。Further, a servo is also included, and the left tilting wing and the right tilting wing are respectively connected to the servo through shafts.
进一步地,还包括角度位置传感器,所述角度位置传感器设于所述左折叠翼、右折叠翼、左倾转翼和右倾转翼内。Further, an angular position sensor is also included, and the angular position sensor is provided in the left folding wing, the right folding wing, the left tilting wing and the right tilting wing.
进一步地,所述左前动力桨和左后动力桨均设有两个,所述右前动力桨和右后动力桨也均设有两个;或者所述左前动力桨和左后动力桨均设有四个,所述右前动力桨和右后动力桨也均设有四个。Further, there are two left front power paddles and left rear power paddles, and two right front power paddles and right rear power paddles; or both left front power paddles and left rear power paddles are provided with Four, described right front power paddle and right rear power paddle also all are provided with four.
进一步地,还包括固定在所述左倾转翼外侧且可相对所述左倾转翼进行折叠的左折叠翼以及固定在所述右倾转翼外侧且可相对所述右倾转翼进行折叠的右折叠翼。Further, it also includes a left folding wing fixed on the outside of the left tilting wing and foldable relative to the left tilting wing, and a right folding wing fixed on the outside of the right tilting wing and foldable relative to the right tilting wing .
本发明还提供一种多桨倾转飞行器的飞行控制方法,具体方法如下:The present invention also provides a flight control method for a multi-blade tilting aircraft, the specific method is as follows:
飞行器垂直起降时,所述左前动力桨、左后动力桨、右前动力桨和右后动力桨均与所述左倾转翼和右倾转翼保持与地面垂直状态;所述左前动力桨、左后动力桨、右前动力桨和右后动力桨旋转产生升力将飞行器浮起,在飞行器浮起时,所述左倾转翼和右倾转翼同步前后倾转使得飞行器前进或者后退,异步倾转时使得飞行器旋转;When the aircraft takes off and lands vertically, the left front power paddle, the left rear power paddle, the right front power paddle and the right rear power paddle all maintain a vertical state with the ground with the left tilting rotor and the right tilting rotor; The rotation of the power paddle, the right front power paddle and the right rear power paddle generates lift to float the aircraft. When the aircraft floats, the left tilting wing and the right tilting wing synchronously tilt forward and backward to make the aircraft move forward or backward, and when the asynchronous tilting makes the aircraft rotate;
飞行器巡航状态时,所述左倾转翼和右倾转翼偏转到与地面平行,所述左前动力桨、左后动力桨、右前动力桨和右后动力桨成为飞行器拉力桨,此时的升力靠所述左倾转翼和右倾转翼提供,所述左倾转翼和右倾转翼同步偏转时改变升力,异步偏转时实现横滚;所述水平尾桨控制飞行器航向姿态,所述垂直尾翼控制飞行器的航向。When the aircraft is in the cruising state, the left tilting wing and the right tilting wing are deflected to be parallel to the ground, and the left front power paddle, left rear power paddle, right front power paddle and right rear power paddle become aircraft pulling paddles. The left tilting wing and the right tilting wing are provided, and the lift force is changed when the left tilting wing and the right tilting wing are synchronously deflected, and the roll is realized when the asynchronous deflection is performed; the horizontal tail rotor controls the heading attitude of the aircraft, and the vertical tail controls the heading of the aircraft .
进一步地,当飞行器垂直起降时,所述左前动力桨和左后动力桨之间的升力差以及所述右前动力桨和右后动力桨之间的升力差实现飞行器的横滚。Further, when the aircraft takes off and lands vertically, the lift difference between the left front propeller and the left rear propeller and the lift difference between the right front propeller and the right rear propeller realize the roll of the aircraft.
本发明左右分开且独立倾转,并且依据飞行条件有各种不同的作动;本发明可以获得垂直起降,高速巡航,垂直悬停与高速巡航之间过渡平稳,同时具备非常高的使用经济性之好处。The invention is separated from the left and right and tilts independently, and has various actions according to the flight conditions; the invention can obtain vertical take-off and landing, high-speed cruising, smooth transition between vertical hovering and high-speed cruising, and has very high economical use The benefits of sex.
根据下文结合附图对本发明具体实施例的详细描述,本领域技术人员将会更加明了本发明的上述以及其他目的、优点和特征。Those skilled in the art will be more aware of the above and other objects, advantages and features of the present invention according to the following detailed description of specific embodiments of the present invention in conjunction with the accompanying drawings.
附图说明Description of drawings
后文将参照附图以示例性而非限制性的方式详细描述本发明的一些具体实施例。附图中相同的附图标记标示了相同或类似的部件或部分。本领域技术人员应该理解,这些附图未必是按比例绘制的。附图中:Hereinafter, some specific embodiments of the present invention will be described in detail by way of illustration and not limitation with reference to the accompanying drawings. The same reference numerals in the drawings designate the same or similar parts or parts. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the attached picture:
图1为用于本发明实施例的多桨倾转飞行器的结构示意图;Fig. 1 is a schematic structural view of a multi-blade tilting aircraft used in an embodiment of the present invention;
图2为用于本发明实施例的多桨倾转飞行器的其中一个折叠翼折叠的示意图。Fig. 2 is a schematic diagram of one of the folding wings used in the multi-blade tilting aircraft of the embodiment of the present invention.
具体实施方式Detailed ways
本发明一种多桨倾转飞行器,其动力源是充电电池或者燃油。The invention relates to a multi-blade tilting aircraft, the power source of which is a rechargeable battery or fuel.
如图1和图2所示,一种多桨倾转飞行器包括机身主体10、固定在机身主体10左侧的左倾转翼20、分别固定在左倾转翼20相对两侧的至少一个左前动力桨21和至少一个左后动力桨22、固定在左倾转翼20外侧且可相对左倾转翼20进行折叠的左折叠翼23、固定在机身主体10右侧的右倾转翼30、分别固定在右倾转翼30相对两侧的至少一个右前动力桨31和至少一个右后动力桨32、固定在右倾转翼30外侧且可相对右倾转翼30进行折叠的右折叠翼33、以及固定在机身主体10尾部的尾翼组;其中左前动力桨21、左后动力桨22、右前动力桨31和右后动力桨32实现飞行器垂直起降和巡航的飞行动力和姿态控制。As shown in Figures 1 and 2, a multi-blade tilting aircraft includes a
其中尾翼组包括固定在机身主体10尾部左侧的左水平尾翼40、固定在机身主体10尾部右侧的右水平尾翼50、固定在机身主体10尾部且位于左水平尾翼40和右水平尾翼50之间的垂直尾翼60、固定在机身主体10尾部的水平尾桨70以及固定在水平尾桨70上的多个尾桨叶71。Wherein the empennage group comprises the left
水平尾桨70水平安装于飞行器的尾部,尾桨叶71的桨矩一样正负可调,以实现可调正反两面拉力。尾桨叶71是2片或更多,例如3桨叶,4桨叶,5桨叶等等。The
左水平尾翼40、右水平尾翼50和垂直尾翼60可以整体偏转或者使用部分舵面偏转。The left
水平尾桨70定速旋转,尾桨叶71的桨矩均与左水平尾翼40和右水平尾翼50同步动作产生升降拉力,用于控制飞行器姿态;左水平尾翼40和右水平尾翼50左右排列,以避开水平尾桨70的气道。The
垂直尾翼60在飞行器巡航时可偏转,用于纠正航向。The
其中左前动力桨21、左后动力桨22、右前动力桨31和右后动力桨32均作为动力桨,左前动力桨21和左后动力桨22分别固定在左倾转翼20的相对两侧,右前动力桨31和右后动力桨32分别固定在右倾转翼30的相对两侧;左前动力桨21、左后动力桨22、右前动力桨31和右后动力桨32可以是涵道也可以是开放桨。Wherein the left
左前动力桨21和右前动力桨31采用正桨、左后动力桨22和右后动力桨32均采用反桨或者左前动力桨21和右前动力桨31采用反桨、左后动力桨22和右后动力桨32均采用正桨,这样可以抵消反向扭矩;或者左前动力桨21和左后动力桨22均采用正桨、右前动力桨31和右后动力桨32均采用反桨;或者左前动力桨21和左后动力桨22均采用反桨、右前动力桨31和右后动力桨32均采用正桨,这样也可以抵消反向扭矩。The left
左前动力桨21和左后动力桨22之间的推力差以及右前动力桨31和右后动力桨32之间的推力差,实现飞行器垂直起降时横滚飞行。左前动力桨21和右前动力桨31之间的推力差、左后动力桨22和右后动力桨32之间的推力差、左水平尾翼40、右水平尾翼50和水平尾桨70一起实现飞行器水平姿态控制。The thrust difference between the left
对于左倾转翼20和右倾转翼30上设置的桨,不限于两个,左倾转翼20和右倾转翼30也可以均设置四个桨,只要是左右成对的增加,都属于本发明的保护范围。For the paddles provided on the left tilting
即:左前动力桨21和左后动力桨22均设有两个,右前动力桨31和右后动力桨32也均设有两个;或者左前动力桨21和左后动力桨22均设有四个,右前动力桨31和右后动力桨32也均设有四个。That is: the left
左倾转翼20和左折叠翼23组成飞行器的左翼展,右倾转翼30和右折叠翼33组成飞行器的右翼展,飞行器的左翼展和右翼展不仅倾转,还可以折叠。The left tilting
飞行器的折叠翼不仅用于收纳还用于巡航省力。The folding wings of the aircraft are not only used for storage but also for cruising to save effort.
左折叠翼23和右折叠翼33分别安装在左倾转翼20和右倾转翼30外侧且与对应的倾转翼同步倾转,收纳或者高速巡航时向后折叠减小收纳空间或者减小风阻。The left folding
折叠翼在本发明中非必要选项,不折叠也不影响实施本发明的技术效果。Folding wings are not an essential option in the present invention, and the technical effect of implementing the present invention will not be affected if they are not folded.
本发明飞行器还包括伺服器(图未示),左倾转翼20和右倾转翼30分别通过轴与伺服器连接,左倾转翼20和右倾转翼30在伺服机构作用下可以轴向360°旋转,以实现左倾转翼20、右倾转翼30、左前动力桨21、左后动力桨22、右前动力桨31和右后动力桨32同步偏转,此偏转用于飞行器垂直起降和巡航控制。The aircraft of the present invention also includes a servo (not shown), the left tilting
伺服器可以是电机伺服器,也可以是液压伺服器。Servos can be motor servos or hydraulic servos.
当左倾转翼20和右倾转翼30异步偏转,在垂直起降时用于航向修正,在巡航时用于飞行器横滚。When the left tilting
本发明飞行器还包括角度位置传感器,角度位置传感器设于左折叠翼23、右折叠翼33、左倾转翼20和右倾转翼30内,以便伺服器准确获得倾转或者折叠角度。The aircraft of the present invention also includes angular position sensors, which are located in the left folding
本发明飞行器的飞行控制方法如下(具体以四个动力桨(具体为左前动力桨21、左后动力桨22、右前动力桨31和右后动力桨32)和一个尾动力桨为例):The flight control method of aircraft of the present invention is as follows (specifically taking four power paddles (specifically left
飞行器垂直起降时,4个动力桨(具体为左前动力桨21、左后动力桨22、右前动力桨31和右后动力桨32)均与左倾转翼20和右倾转翼30保持与地面垂直状态,4个动力桨高速旋转产生升力将飞行器浮起,在飞行器浮起时,左倾转翼20和右倾转翼30同步前后倾转飞行器可以前进后退,异步倾转时可以实现飞行器旋转,左前动力桨21和左后动力桨22之间的升力差以及右前动力桨31和右后动力桨32之间的升力差可实现飞行器的横滚。左前动力桨21和左后动力桨22之间的升力差、右前动力桨31和右后动力桨32之间的升力差与水平尾桨70共同作用下,可以实现飞行器空中姿态改变,并且无论飞行器处于何种飞行状态时,飞行器的姿态都可以稳定的保持特殊状态,例如飞行器头朝下或者朝上。When the aircraft takes off and lands vertically, the four power paddles (specifically, the left
飞行器巡航状态时,左倾转翼20和右倾转翼30偏转到与地面平行,4个动力桨成为飞行器拉力桨,此时的升力靠左倾转翼20和右倾转翼30提供,左倾转翼20和右倾转翼30同步偏转时改变升力,异步偏转时实现横滚,水平尾桨70控制飞行器航向姿态,垂直尾翼60控制飞行器的航向。During the cruising state of the aircraft, the
关于水平尾桨70,其功能包含两个方面,第一,悬停和低速巡航时主动气流控制飞行器姿态;第二,飞行器遇到前后重心偏移时主动提供额外的向上或向下的推力维持重心平衡。Regarding the
关于折叠翼,由于本发明使用的倾转翼因适应低速的稳定性设计得比较宽,当飞行器高速巡航时会产生比较大的阻力,折叠翼后掠可以减小风阻,从而实现更高的飞行效率,当飞行器收纳到机库时,折叠翼收至更大的角度,可以实现更小的占地面积。Regarding the folding wing, since the tilting wing used in the present invention is designed to be relatively wide due to its low-speed stability, it will generate relatively large resistance when the aircraft cruises at high speed, and the folding wing sweep can reduce wind resistance, thereby achieving a higher flight Efficiency, when the aircraft is stored in the hangar, the folding wings are retracted to a larger angle, which can achieve a smaller footprint.
飞行器安全冗余的实施,巡航状态下,本发明允许一个或者多个动力系统失效,驾驶人通过超控翼展和尾部水平与垂直翼,可以实现无动力滑翔,从而大幅增加异常时飞行安全。The implementation of the safety redundancy of the aircraft, in the cruising state, the present invention allows one or more power systems to fail, and the driver can realize unpowered gliding by overriding the wingspan and the tail horizontal and vertical wings, thereby greatly increasing the flight safety during abnormal conditions.
本发明实现了飞行器在任何飞行状态下维持各种不同姿态的可能:垂直起降与水平悬停、左右翼展倾转中、水平巡航状态、机头朝上悬停、机头朝下悬停、机头朝上巡航以及机头朝下巡航。The invention realizes the possibility of the aircraft maintaining various attitudes in any flight state: vertical take-off and landing and horizontal hovering, left and right wingspan tilting, horizontal cruising state, nose-up hovering, nose-down hovering , nose-up cruise, and nose-down cruise.
本发明动力桨产生的升力可以改变转速的方式实现,也可以定速改变桨矩的方式实现。The lift force generated by the power propeller of the present invention can be realized by changing the rotating speed, and can also be realized by changing the pitch at a constant speed.
本发明水平尾桨的桨矩正负可调,与倾转翼协同,实现了飞行器在任何飞行状态下维持各种不同姿态的可能,现有的任何飞行器都无法实现悬停或者低速状态下维持稳定不同的飞机姿态;本发明左右分开且独立倾转,并且依据飞行条件有各种不同的作动;本发明飞行器的翼展不仅倾转,还可以折叠;本发明可以获得垂直起降,高速巡航,垂直悬停与高速巡航之间过渡平稳,同时具备非常高的使用经济性之好处。The positive and negative pitch of the horizontal tail rotor of the present invention is adjustable, and in cooperation with the tilting wing, it is possible for the aircraft to maintain various attitudes in any flight state, and any existing aircraft cannot achieve hovering or maintain at low speeds Stabilize different aircraft attitudes; the invention separates left and right and tilts independently, and has various actions according to flight conditions; the wingspan of the aircraft of the invention not only tilts, but also folds; the invention can obtain vertical take-off and landing, high-speed The transition between cruise, vertical hover and high-speed cruise is smooth, and it also has the benefits of very high economical use.
至此,本领域技术人员应认识到,虽然本文已详尽示出和描述了本发明的多个示例性实施例,但是,在不脱离本发明精神和范围的情况下,仍可根据本发明公开的内容直接确定或推导出符合本发明原理的许多其他变型或修改。因此,本发明的范围应被理解和认定为覆盖了所有这些其他变型或修改。So far, those skilled in the art should appreciate that, although a number of exemplary embodiments of the present invention have been shown and described in detail herein, without departing from the spirit and scope of the present invention, the disclosed embodiments of the present invention can still be used. Many other variations or modifications consistent with the principles of the invention are directly identified or derived from the content. Accordingly, the scope of the present invention should be understood and deemed to cover all such other variations or modifications.
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CN205034338U (en) * | 2015-09-06 | 2016-02-17 | 湖北航天飞行器研究所 | Tilted four -rotor aircraft |
CN112298427A (en) * | 2020-11-24 | 2021-02-02 | 成都倒立摆科技有限公司 | Independent suspension balance car |
CN115027667A (en) * | 2022-07-04 | 2022-09-09 | 哈尔滨工业大学 | Vertical take-off and landing bionic deformable wing UAV and flight attitude control method |
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CN205034338U (en) * | 2015-09-06 | 2016-02-17 | 湖北航天飞行器研究所 | Tilted four -rotor aircraft |
CN112298427A (en) * | 2020-11-24 | 2021-02-02 | 成都倒立摆科技有限公司 | Independent suspension balance car |
CN115027667A (en) * | 2022-07-04 | 2022-09-09 | 哈尔滨工业大学 | Vertical take-off and landing bionic deformable wing UAV and flight attitude control method |
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