CN115871922A - Multi-paddle tilting aircraft and flight control method thereof - Google Patents

Abstract

The invention provides a multi-paddle tilting aircraft and a flight control method thereof, wherein the aircraft comprises an aircraft body, a left tilting wing fixed on the left side of the aircraft body, at least one left front power paddle and at least one left rear power paddle which are respectively fixed on two opposite sides of the left tilting wing, a right tilting wing fixed on the right side of the aircraft body, at least one right front power paddle and at least one right rear power paddle which are respectively fixed on two opposite sides of the right tilting wing, and an empennage group fixed on the tail part of the aircraft body, wherein the empennage group comprises a vertical empennage, a horizontal empennage and a horizontal empennage; the left front power paddle, the left rear power paddle, the right front power paddle and the right rear power paddle are used for realizing flight power and attitude control of vertical take-off, landing and cruising of the aircraft. The invention can independently tilt and rotate left and right, and has various actions according to flight conditions; the invention can obtain the advantages of vertical take-off and landing, high-speed cruising, stable transition between vertical hovering and high-speed cruising and very high use economy.

Description

A multi-propeller tilting aircraft and its flight control method

technical field

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.

Background technique

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.

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.

Therefore be necessary to design a kind of new aircraft.

Contents of the invention

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.

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.

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.

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.

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.

Further, a servo is also included, and the left tilting wing and the right tilting wing are respectively connected to the servo through shafts.

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.

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.

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 .

The present invention also provides a flight control method for a multi-blade tilting aircraft, the specific method is as follows:

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;

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 .

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.

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.

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.

Description of drawings

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:

Fig. 1 is a schematic structural view of a multi-blade tilting aircraft used in an embodiment of the present invention;

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.

Detailed ways

The invention relates to a multi-blade tilting aircraft, the power source of which is a rechargeable battery or fuel.

As shown in Figures 1 and 2, a multi-blade tilting aircraft includes a fuselage body 10, a left tilting wing 20 fixed on the left side of the fuselage body 10, at least one left front wing fixed on the opposite sides of the left tilting wing 20, respectively. The power paddle 21 and at least one left rear power paddle 22, the left folding wing 23 fixed on the outside of the left tilting wing 20 and foldable relative to the left tilting wing 20, the right tilting wing 30 fixed on the right side of the fuselage main body 10, are fixed respectively At least one right front power paddle 31 and at least one right rear power paddle 32 on opposite sides of the right tilting wing 30, the right folding wing 33 that is fixed on the outside of the right tilting wing 30 and can be folded relative to the right tilting wing 30, and is fixed on the machine. The empennage group of body main body 10 afterbody; Wherein left front power paddle 21, left rear power paddle 22, right front power paddle 31 and right rear power paddle 32 realize the flight dynamics and attitude control of aircraft vertical take-off and landing and cruise.

Wherein the empennage group comprises the left horizontal empennage 40 that is fixed on the left side of fuselage main body 10 afterbody, the right horizontal empennage 50 that is fixed on the right side of fuselage main body 10 afterbody, is fixed on fuselage main body 10 afterbody and is positioned at left horizontal empennage 40 and right level The vertical empennage 60 between the empennages 50 , the horizontal tail rotor 70 fixed on the tail of the fuselage main body 10 , and a plurality of tail rotor blades 71 fixed on the horizontal tail rotor 70 .

The horizontal tail rotor 70 is horizontally installed at the tail of the aircraft, and the pitch of the tail rotor blade 71 is equally adjustable in positive and negative directions, so as to realize adjustable positive and negative pulling forces. Tail rotor blade 71 is 2 or more, such as 3 blades, 4 blades, 5 blades and so on.

The left horizontal stabilizer 40 , the right horizontal stabilizer 50 and the vertical stabilizer 60 can be deflected as a whole or with partial rudder surfaces.

The horizontal tail rotor 70 rotates at a constant speed, and the pitch of the tail rotor blades 71 is synchronized with the left horizontal tail 40 and the right horizontal tail 50 to generate lifting tension, which is used to control the attitude of the aircraft; the left horizontal tail 40 and the right horizontal tail 50 are arranged around, To avoid the air passage of the horizontal tail rotor 70.

The vertical tail 60 can deflect when the aircraft is cruising, and is used to correct the heading.

Wherein the left front power paddle 21, the left rear power paddle 22, the right front power paddle 31 and the right rear power paddle 32 are all used as power paddles, the left front power paddle 21 and the left rear power paddle 22 are respectively fixed on the opposite sides of the left tilting rotor 20, the right front The power paddle 31 and the right rear power paddle 32 are respectively fixed on opposite sides of the right tilting rotor 30; the left front power paddle 21, the left rear power paddle 22, the right front power paddle 31 and the right rear power paddle 32 can be ducted or open paddle.

The left front power paddle 21 and the right front power paddle 31 use positive paddles, the left rear power paddle 22 and the right rear power paddle 32 both use reverse paddles or the left front power paddle 21 and right front power paddle 31 use reverse paddles, the left rear power paddle 22 and the right rear paddle The power paddles 32 all adopt positive paddles, which can offset the reverse torque; or the left front power paddles 21 and the left rear power paddles 22 both adopt positive paddles, and the right front power paddles 31 and right rear power paddles 32 all adopt reverse paddles; or the left front power paddles 21 and left rear power paddle 22 all adopt reverse paddle, right front power paddle 31 and right rear power paddle 32 all adopt positive paddle, so also can offset reverse torque.

The thrust difference between the left front power paddle 21 and the left rear power paddle 22 and the thrust difference between the right front power paddle 31 and the right rear power paddle 32 realize the rolling flight when the aircraft takes off and lands vertically. The thrust difference between the left front power paddle 21 and the right front power paddle 31, the thrust difference between the left rear power paddle 22 and the right rear power paddle 32, the left horizontal empennage 40, the right horizontal empennage 50 and the horizontal tail rotor 70 realize the aircraft level together gesture control.

For the paddles provided on the left tilting wing 20 and the right tilting wing 30, it is not limited to two, the left tilting wing 20 and the right tilting wing 30 can also be provided with four paddles, as long as they are increased in pairs, they all belong to the present invention protected range.

That is: the left front power paddle 21 and the left rear power paddle 22 are all provided with two, the right front power paddle 31 and the right rear power paddle 32 are also provided with two; or the left front power paddle 21 and the left rear power paddle 22 are all provided with four One, the right front power paddle 31 and the right rear power paddle 32 are also provided with four.

The left tilting wing 20 and the left folding wing 23 form the left wingspan of the aircraft, the right tilting wing 30 and the right folding wing 33 form the right wingspan of the aircraft, the left wingspan and the right wingspan of the aircraft not only tilt, but also fold.

The folding wings of the aircraft are not only used for storage but also for cruising to save effort.

The left folding wing 23 and the right folding wing 33 are installed on the outside of the left tilting wing 20 and the right tilting wing 30 respectively and tilt synchronously with the corresponding tilting wing. Folding backward during storage or high-speed cruising reduces storage space or reduces wind resistance.

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.

The aircraft of the present invention also includes a servo (not shown), the left tilting wing 20 and the right tilting wing 30 are respectively connected to the servo through shafts, and the left tilting wing 20 and the right tilting wing 30 can rotate 360° axially under the action of the servo mechanism , to realize the synchronous deflection of the left tilting wing 20, the right tilting wing 30, the left front power paddle 21, the left rear power paddle 22, the right front power paddle 31 and the right rear power paddle 32, and this deflection is used for aircraft vertical take-off and landing and cruise control.

Servos can be motor servos or hydraulic servos.

When the left tilting wing 20 and the right tilting wing 30 deflect asynchronously, it is used for heading correction during vertical take-off and landing, and for rolling of the aircraft during cruise.

The aircraft of the present invention also includes angular position sensors, which are located in the left folding wing 23, the right folding wing 33, the left tilting wing 20 and the right tilting wing 30, so that the servo can accurately obtain the tilting or folding angle.

The flight control method of aircraft of the present invention is as follows (specifically taking four power paddles (specifically left front power paddle 21, left rear power paddle 22, right front power paddle 31 and right rear power paddle 32) and a tail power paddle as an example):

When the aircraft takes off and lands vertically, the four power paddles (specifically, the left front power paddle 21, the left rear power paddle 22, the right front power paddle 31 and the right rear power paddle 32) are kept perpendicular to the ground with the left tilting rotor 20 and the right tilting rotor 30. state, the four power paddles rotate at high speed to generate lift to float the aircraft. When the aircraft floats, the left tilting wing 20 and the right tilting wing 30 can tilt forward and backward synchronously, and the aircraft can rotate forward and backward when tilting asynchronously. The lift difference between the paddle 21 and the left rear power paddle 22 and the lift difference between the right front power paddle 31 and the right rear power paddle 32 can realize the rolling of the aircraft. The lift difference between the left front power paddle 21 and the left rear power paddle 22, the lift difference between the right front power paddle 31 and the right rear power paddle 32, and the horizontal tail rotor 70 can realize the change of aircraft attitude in the air, and no matter whether the aircraft In any flight state, the attitude of the aircraft can be kept in a stable state, for example, the aircraft is headed down or up.

During the cruising state of the aircraft, the left tilting wing 20 and the right tilting wing 30 are deflected to be parallel to the ground, and the four power paddles become aircraft pulling paddles. The lift force is changed when the right tilting wing 30 deflects synchronously, and the roll is realized during asynchronous deflection. The horizontal tail rotor 70 controls the heading attitude of the aircraft, and the vertical tail 60 controls the heading of the aircraft.

Regarding the horizontal tail rotor 70, its function includes two aspects. First, the active airflow controls the attitude of the aircraft during hovering and low-speed cruise; second, the aircraft actively provides additional upward or downward thrust maintenance when encountering front and rear center of gravity deviations. Balanced center of gravity.

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.

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.

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.

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.

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.

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.

Claims (10)

1. a kind of multi-blade tilting aircraft, it comprises fuselage main body (10), is characterized in that, also comprises the left tilting turning wing (20) that is fixed on described fuselage main body (10) left side, is respectively fixed on described At least one left front power paddle (21) and at least one left rear power paddle (22) on the opposite sides of the left tilting wing (20), the right tilting wing (30) fixed on the right side of the fuselage main body (10), respectively At least one right front power paddle (31) and at least one right rear power paddle (32) fixed on opposite sides of the right tilting wing (30) and an empennage set fixed at the tail of the main body (10) of the fuselage, the Empennage group comprises vertical empennage (70), horizontal empennage and horizontal tail rotor (60); Wherein said left front power paddle (21), left rear power paddle (22), right front power paddle (31) and right rear power paddle (32 ) to realize the flight power and attitude control of the vertical take-off and landing and cruise of the aircraft. 2. multi-blade tilting aircraft according to claim 1, is characterized in that, described left front power paddle (21) and right front power paddle (31) adopt positive paddle, left rear power paddle (22) and right rear power paddle (32) all adopt reverse paddle or left front power paddle (21) and right front power paddle (31) adopt reverse paddle, left rear power paddle (22) and right rear power paddle (32) all adopt positive paddle. 3. The multi-blade tilting aircraft according to claim 1, characterized in that, said left front power paddle (21) and left rear power paddle (22) all adopt positive paddle, right front power paddle (31) and right rear power paddle Paddle (32) all adopts reverse paddle; Or left front power paddle (21) and left rear power paddle (22) all adopt reverse paddle, right front power paddle (31) and right rear power paddle (32) all adopt positive paddle. 4. multi-blade tilting aircraft according to claim 1, is characterized in that, described horizontal empennage comprises the left horizontal empennage (40) that is fixed on the left side of described fuselage body (10) afterbody and is fixed on described machine body. The right horizontal empennage (50) on the right side of the main body (10) afterbody; the vertical empennage (60) is located between the left horizontal empennage (40) and the right horizontal empennage (50). 5. The multi-blade tilting aircraft according to claim 1, further comprising a servo, and the left tilting wing (20) and the right tilting wing (30) are respectively connected to the servo through shafts. 6. multi-blade tilting aircraft according to claim 1, is characterized in that, described left front power paddle (21) and left rear power paddle (22) are all provided with two, described right front power paddle (31) and The right rear power paddle (32) is also provided with two; or the left front power paddle (21) and the left rear power paddle (22) are all provided with four, and the right front power paddle (31) and the right rear power paddle (32) also all is provided with four. 7. multi-blade tilting aircraft according to claim 1, is characterized in that, also comprises the left folding wing that is fixed on described left tilting wing (20) outside and can be folded relative to described left tilting wing (20) 23) and a right folding wing (33) that is fixed on the outside of the right tilting wing (30) and can be folded relative to the right tilting wing (30). 8. multi-blade tilting aircraft according to claim 7, is characterized in that, also comprises angular position sensor, and described angular position sensor is located at described left folding wing (23), right folding wing (33), left tilting In the wing (20) and the right tilting wing (30). 9. The flight control method of the multi-blade tilting aircraft described in any one of claims 1 to 8, wherein the specific method is as follows: When the aircraft takes off and lands vertically, the left front power paddle (21), the left rear power paddle (22), the right front power paddle (31) and the right rear power paddle (32) are all connected to the left tilting wing (20) and right tilting Wing (30) keeps vertical state with the ground; Described left front power paddle (21), left rear power paddle (22), right front power paddle (31) and right rear power paddle (32) rotate to generate lift to float aircraft, When the aircraft floats, the left tilting wing (20) and the right tilting wing (30) tilt forward and backward synchronously to make the aircraft move forward or backward, and to rotate the aircraft when tilting asynchronously; During the cruising state of the aircraft, the left tilting wing (20) and the right tilting wing (30) are deflected to be parallel to the ground, and the left front power paddle (21), the left rear power paddle (22), the right front power paddle (31) and the The right rear power paddle (32) becomes the aircraft pulling paddle, and the lift at this time is provided by the left tilting wing (20) and the right tilting wing (30), and the left tilting wing (20) and the right tilting wing (30) are synchronous The lifting force is changed during the deflection, and the rolling is realized during the asynchronous deflection; the horizontal tail rotor (70) controls the heading attitude of the aircraft, and the vertical tail (60) controls the heading of the aircraft. 10. the flight control method of multi-blade tilting aircraft according to claim 9, is characterized in that, when the aircraft takes off and lands vertically, the lift between the left front power paddle (21) and the left rear power paddle (22) difference and the lift difference between the right front power paddle (31) and the right rear power paddle (32) realizes the roll of the aircraft.

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