CN117963200A - High-rotation-speed stealth unmanned aerial vehicle based on axial magnetic force support and control method - Google Patents
High-rotation-speed stealth unmanned aerial vehicle based on axial magnetic force support and control method Download PDFInfo
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- CN117963200A CN117963200A CN202410051866.9A CN202410051866A CN117963200A CN 117963200 A CN117963200 A CN 117963200A CN 202410051866 A CN202410051866 A CN 202410051866A CN 117963200 A CN117963200 A CN 117963200A
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 239000000725 suspension Substances 0.000 claims abstract description 93
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 17
- 238000004364 calculation method Methods 0.000 claims description 11
- 210000001258 synovial membrane Anatomy 0.000 claims description 9
- 238000013528 artificial neural network Methods 0.000 claims description 8
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 238000012549 training Methods 0.000 claims description 8
- 230000000295 complement effect Effects 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 14
- 238000004422 calculation algorithm Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 4
- 238000004088 simulation Methods 0.000 description 4
- 238000005339 levitation Methods 0.000 description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 229910000976 Electrical steel Inorganic materials 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 206010034719 Personality change Diseases 0.000 description 1
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- 238000011217 control strategy Methods 0.000 description 1
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- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/17—Helicopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/20—Constructional aspects of UAVs for noise reduction
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
- B64U30/26—Ducted or shrouded rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U40/00—On-board mechanical arrangements for adjusting control surfaces or rotors; On-board mechanical arrangements for in-flight adjustment of the base configuration
- B64U40/10—On-board mechanical arrangements for adjusting control surfaces or rotors; On-board mechanical arrangements for in-flight adjustment of the base configuration for adjusting control surfaces or rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/20—Transmission of mechanical power to rotors or propellers
- B64U50/23—Transmission of mechanical power to rotors or propellers with each propulsion means having an individual motor
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
The invention discloses a high-rotation-speed stealth unmanned aerial vehicle based on axial magnetic force support and a control method, wherein a driving device is a disc-type permanent magnet motor, a motor permanent magnet is arranged at the bottom of a motor turntable and is axially arranged at intervals with an electronic stator; the bottom of the disc type permanent magnet motor is provided with a passive permanent magnet; the axial magnetic suspension structure is arranged below the disc type permanent magnet motor and comprises a magnetic suspension bearing turntable and a magnetic suspension bearing stator; the upper surface of the magnetic suspension bearing turntable is provided with another passive permanent magnet and forms a repulsive magnetic suspension structure with the passive permanent magnet at the bottom of the disc permanent magnet motor; the magnetic suspension bearing rotor sheet is arranged below the magnetic suspension bearing turntable, and the motor rotating shaft passes through the magnetic suspension bearing turntable and the magnetic suspension bearing stator inner ring; and a duct, which is a cylindrical enclosing rotor device from the periphery. The stealth performance of the unmanned aerial vehicle can be effectively improved, noise is reduced, the load capacity is increased, and the safety of the unmanned aerial vehicle body is improved.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to a high-rotation-speed stealth unmanned aerial vehicle based on axial magnetic force support and a gesture control method.
Background
Unmanned aerial vehicle has advantages such as mobility is strong, use cost is low, simple structure, control is easy, repeatedly usable, and the present more and more uses in fields such as military affairs and civilian.
Unmanned aerial vehicle can hover in the air and have better maneuverability, be favorable to very much carrying out the operation task, and to unmanned aerial vehicle that has stealthy and load demand, the flight stealth and the load function of current unmanned aerial vehicle equipment are relatively poor, fly its paddle in hills and mountain forest and strike the damage easily, influence unmanned aerial vehicle life.
In order to increase the flight time and load of unmanned aerial vehicle with stealth and load requirements, a novel unmanned aerial vehicle structure with light weight, high efficiency and low noise needs to be designed.
Disclosure of Invention
The application aims to provide a high-rotation-speed stealth unmanned aerial vehicle attitude control method based on axial magnetic force support, which can effectively improve stealth performance of an unmanned aerial vehicle, reduce noise, increase load capacity and improve safety of a fuselage of the unmanned aerial vehicle.
In order to solve the technical problems, the invention adopts the following technical scheme:
high rotational speed stealthy unmanned aerial vehicle based on axial magnetic force supports, its characterized in that includes:
the rotor wing device is formed by stacking two blade paddles on a driving device at an upper angle and a lower angle;
the driving device is a disc type permanent magnet motor, and a motor permanent magnet is arranged at the bottom of a motor turntable and is axially spaced from the electronic stator; the bottom of the disc type permanent magnet motor is provided with a passive permanent magnet;
The axial magnetic suspension structure is arranged below the disc type permanent magnet motor and comprises a magnetic suspension bearing turntable and a magnetic suspension bearing stator; the upper surface of the magnetic suspension bearing turntable is provided with another passive permanent magnet and forms a repulsive magnetic suspension structure with the passive permanent magnet at the bottom of the disc permanent magnet motor; the magnetic suspension bearing rotor sheet is arranged below the magnetic suspension bearing turntable, and the motor rotating shaft passes through the magnetic suspension bearing turntable and the magnetic suspension bearing stator inner ring;
The flight control device is arranged below the axial magnetic suspension structure and mainly comprises a steering engine and a plurality of radial rudder pieces connected below the steering engine, wherein the deflection angle of the rudder pieces is adjusted according to the steering engine to control the navigation attitude of the unmanned aerial vehicle;
A duct, a cylindrical enclosing rotor wing device is arranged from the periphery, and supporting devices are arranged at the bottom of the duct and the inner wall of the duct to realize radial and axial support.
In the technical scheme, the axial clearance between the magnetic suspension bearing rotor sheet and the magnetic suspension bearing stator is 0.5mm.
In the technical scheme, the wing device is composed of two-blade paddles, and the two-blade paddles are vertically stacked on the turntable of the disc type motor at an angle of 90 degrees.
In the technical scheme, the motor turntable is fixedly connected with the motor rotating shaft, and the middle part of the motor turntable is rotatably supported by adopting two mechanical bearings and a motor stator.
In the technical scheme, the axial clearance between the motor rotor and the stator is 0.5mm-1mm.
In the technical scheme, the axial magnetic suspension structure and the driving device are provided with the middle part shell, and the duct is radially and fixedly connected with the middle part shell through the supporting structure.
In the technical scheme, the axial magnetic suspension structure and the driving device are provided with the middle part shell used for forcing, and the duct is fixedly connected with the middle part shell through the supporting structure.
According to the technical scheme, after the motor rotating shaft penetrates out of the magnetic suspension bearing turntable and the magnetic suspension bearing stator inner ring, the motor rotating shaft is connected with the rolling contact device to form a buffer structure through the middle part shell, and the tail end of the motor rotating shaft is provided with the eddy current displacement sensor to detect displacement.
According to the technical scheme, the end part of the motor rotating shaft is fixedly mounted by using the nut, the lower end surface of the nut and the bottom plate are separated by using the balls to form an end surface friction buffer structure, the bottom plate is fixed in the circular groove of the bottom shell, and the eddy current displacement sensor is mounted at the center hole of the bottom plate.
In the technical scheme, the permanent magnet ring is inlaid in the inner ring of the magnetic suspension bearing stator.
In the technical scheme, the magnetic suspension bearing stator is a magnetic suspension bearing stator with a U-shaped section, and the coil is arranged in the U-shaped groove.
The high-rotation-speed stealth unmanned aerial vehicle control method based on axial magnetic force support is characterized by comprising the following steps of:
S1, acquiring a roll angle of an initial reference of the unmanned aerial vehicle The pitch angle theta and the yaw angle phi are calculated, and three angle parameters after the gesture is calculated and the roll angle/>, which is considered, are calculatedComparing the pitch angle theta and the yaw angle phi, performing coding calculation and complementary filtering treatment on the difference value, and then inputting the difference value into the self-adaptive synovial membrane controller to output attitude parameters;
s2, adjusting a steering engine deflection angle and a motor rotating speed according to the output attitude parameters;
S3, inputting the adjusted steering engine deflection angle and motor rotation speed into an RBF neural network for training;
s4, re-entering the steering engine deflection angle and the motor rotating speed parameter which are output after training into the self-adaptive synovial membrane controller to obtain attitude parameters;
s5, repeating the step S2, inputting the adjusted steering engine deflection angle and the motor rotation speed into the unmanned aerial vehicle to execute the flight of the new gesture if the required control gesture is reached, and repeating the step S3 and the step S4 if the required control gesture is not reached;
S6: in the process of executing the new attitude flight, an attitude reference system (AHRS) outputs the roll angle, the pitch angle and the yaw angle of the unmanned aerial vehicle;
s7: and carrying out attitude calculation according to the real-time roll angle, pitch angle and yaw angle, comparing the angle parameters of the three roll angles, pitch angle and yaw angle after the attitude calculation with three attitude parameters of unmanned aerial vehicle attitude reference, and carrying out self-adaptive control circularly.
In summary, the invention mainly comprises a ducted single-rotor unmanned aerial vehicle body structure and a matched flight control system.
The rotor unmanned aerial vehicle is driven by the disc type permanent magnet motor, and the disc type motor has the characteristics of high power torque density, high efficiency and compact structure, and is very suitable for high-performance application occasions, such as a direct-drive system with high requirements on low noise and smooth torque. The single stator and rotor structure is the simplest and is very suitable for a driving system of an unmanned aerial vehicle.
The rotor system consisting of two blades and paddles is arranged at the upper end of the motor turntable, the mixed axial magnetic suspension bearing is arranged at the lower end of the motor, the rotor shaft of the motor and the axial magnetic suspension bearing rotor are of an integrated structure, when the motor drives the rotor to rotate, the mixed active magnetic suspension bearing system is started simultaneously, the axial suspension of the rotating device of the blade-motor turntable-rotating shaft is realized, the friction loss and noise of the rotating shaft are reduced during suspension, the rotating speed is improved, and the bearing capacity and stealth performance are improved.
The unmanned aerial vehicle uses the duct as the support, and the midbody shell of rotor adopts spoke fastening connection with the duct, can effectively alleviate fuselage dead weight, and the duct brings additional lift for unmanned aerial vehicle simultaneously, can more effectually protect the paddle and reduce the paddle noise. The duct type unmanned aerial vehicle is additionally provided with the duct outside the unmanned aerial vehicle, and the duct type unmanned aerial vehicle is used as an annular wing for wrapping the unmanned aerial vehicle, so that the tension efficiency characteristic of the unmanned aerial vehicle can be remarkably improved by utilizing the duct. The duct shell is added for the unmanned aerial vehicle, the whole lifting force can be improved by about 10%, the duct can protect the unmanned aerial vehicle from collision, noise is reduced while safety is improved, hovering efficiency is improved, and the novel unmanned aerial vehicle has a compact structure and is very suitable for tasks such as reconnaissance and patrol.
The flight control system combines magnetic suspension bearing control and conventional flight attitude control, develops a flight control system based on radial basis RBF neural network self-adaptive synovial membrane control, and simultaneously starts the magnetic suspension bearing system when the rotor starts to fly so as to enable the rotor to stably and axially float, an actuating component of the flight attitude is a steering engine for controlling the deflection angle of a rudder blade, and the rudder blade angle is adjusted to realize the attitude flight of the rotor such as vertical take-off and landing, pitching, flat flight and the like. The axial suspension duct type rotor wing structure has the advantages of small rotating friction, high rotating speed, large load and small noise, and can greatly improve flight stealth and bearing performance.
The unmanned aerial vehicle's screw has multiple structural style, and two blade oar efficiency is higher, is applicable to the aircraft that requires higher to speed and mobility, to the higher disk motor of moment of torsion of driving system, adopts two paddles to promote unmanned aerial vehicle system's lift and operating efficiency.
The magnetic suspension technology is a technology for suspending objects by utilizing magnetic force to overcome gravity, wherein the magnetic suspension bearing technology can greatly reduce the mechanical friction between a stator and a rotor and reduce energy consumption. The axial magnetic suspension bearing can stably suspend the turntable, the magnetic suspension bearing is introduced into the unmanned aerial vehicle, the rotating shaft is stably suspended, friction loss and noise can be greatly reduced, the rotating speed is improved, and the bearing capacity and the flight time are increased.
Compared with the prior art, the invention has the following advantages:
1. By adopting the magnetic suspension bearing technology, when the unmanned aerial vehicle runs, the unmanned aerial vehicle is axially suspended, has high rotating speed, low noise, strong stealth performance and strong load capacity.
2. The novel structure that paddle-motor carousel-pivot can axial suspension, disk permanent magnet motor are as the drive, and the motor carousel is rotatory in the drive after the motor starts, and paddle rotation with higher speed improves lift, drives paddle-motor carousel-pivot structure come-up, starts initiative magnetic suspension system, and the magnetic bearing is with the carousel stable suspension, makes paddle-motor carousel-pivot structure keep axial suspension state.
Meanwhile, the bottom end of the rotating shaft adopts balls to reduce friction, so that the replaceability of parts is improved.
3. The duct shell is added, and the spokes are connected and fastened, so that the whole lifting force of the machine body can be improved when the weight of the whole machine is reduced, and the collision of the blades can be prevented.
4. The flight control system adopts the radial basis function neural network self-adaptive synovial membrane control, can accelerate the training of numerical samples of the flight attitude and the deflection angle, can strengthen the robustness of the flight system, and ensures the stability of unmanned plane flight attitude adjustment.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a diagram (top view) of a high-speed stealth drone based on axial magnetic support, implemented in accordance with the present invention.
Fig. 2 is a B-B cross-sectional view according to fig. 1.
Fig. 3 is a block diagram of a rotor wing device of a high-speed stealth unmanned aerial vehicle based on axial magnetic force support according to the present invention.
Fig. 4 is a block diagram (perspective view) of a high-speed stealth drone based on axial magnetic support implemented in accordance with the present invention.
Fig. 5 is a schematic structural diagram of a high-rotation-speed stealth unmanned aerial vehicle driving device based on axial magnetic force support according to the present invention.
Fig. 6 is a schematic structural diagram of a magnetic levitation system in cooperation with fig. 5.
Fig. 7 is an axial self-levitating magnetic field simulation for a hybrid magnetic bearing.
Fig. 8 is a permanent magnet repulsive magnetic field simulation performed for the present invention.
Fig. 9 is a schematic view of a flight control system attitude angle reference constructed by a high-rotation-speed stealth unmanned aerial vehicle based on axial magnetic force support according to the invention.
Fig. 10 is a flowchart of an RBF network adaptive synovial flight control algorithm implemented in accordance with the present invention.
Fig. 11 is a motor speed-torque diagram designed according to table 1.
Fig. 12 is a motor speed-power diagram designed according to table 1.
Fig. 13 is a motor speed-current diagram designed according to table 1.
Fig. 14 is a graph of input power corresponding to an increase in motor speed.
Fig. 15 is a graph of input current corresponding to an increase in motor speed.
Fig. 16 is a schematic diagram of the magnetic field line pattern of the magnetic circuit of the present invention.
Fig. 17 is a graph of the relationship between the magnetic field lines and the magnetic field intensity of the permanent magnet according to the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present application, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or those that are conventionally put in use of the product of the application, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific direction, be configured and operated in a specific direction, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal," "vertical," "overhang," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
In the present application, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
The features and capabilities of the present application are described in further detail below in connection with the examples.
Example 1
As shown in fig. 1-10, the high-rotation-speed stealth unmanned aerial vehicle based on axial magnetic force support according to the embodiment of the invention comprises a rotor wing device, a driving device, an axial magnetic suspension structure, a flight control device, a duct 1 and a support device.
As shown in fig. 1 and 3-4, the rotor device is composed of two-bladed paddles 6, and the two-bladed paddles 6 are stacked on a disk motor rotor plate 20 at an angle of 90 degrees up and down. The magnetic suspension system is divided into two parts, wherein the first part is a passive permanent magnet 27 axially suspended and supported, and the second part is a hybrid axial active magnetic suspension bearing. The duct 1 and the intermediate part housing are fastened by means of spokes 7, and the support device is mounted at the bottom of the duct 1 by means of a landing leg 4.
The duct type unmanned aerial vehicle is provided with the duct 1 outside the unmanned aerial vehicle, and the duct type unmanned aerial vehicle is used for wrapping the annular wing of the unmanned aerial vehicle, so that the tension efficiency characteristic of the unmanned aerial vehicle can be remarkably improved by utilizing the duct. The duct shell is added for the unmanned aerial vehicle, the whole lifting force can be improved by about 10%, the duct can protect the unmanned aerial vehicle from collision, noise is reduced while safety is improved, hovering efficiency is improved, and the novel unmanned aerial vehicle has a compact structure and is very suitable for tasks such as reconnaissance and patrol.
More specifically, as shown in fig. 5, the driving device is a disc motor, and the motor permanent magnet 23 is disposed at the bottom of the motor turntable 20, axially opposite to the electronic stator 19. The motor turntable 20 and the rotating shaft 24 of the disk permanent magnet motor are fastened and connected by screws, and two mechanical bearings 25 are adopted in the middle to prevent the motor turntable 20 from tilting to collide with a motor stator, so that the radial stability of a motor rotor is ensured, and the turntable and the stator are designed in a lightweight manner. The axial clearance between the motor turntable 20 (rotor) and the fixed motor stator 19 is adjustable, the adjustment is mainly performed by virtue of a hybrid active magnetic suspension system, the maximum axial clearance between the motor rotor and the stator is 1mm, the maximum clearance between the motor stator and the rotor is limited by virtue of a passive permanent magnet 27, a magnetic suspension bearing turntable 28, a bearing 25 and a nut 16 which are arranged on a rotating shaft 24, a motor shell 29 is matched, and meanwhile, the motor turntable 20 is prevented from falling down to collide with the motor stator by virtue of a bearing end cover 26, so that the minimum clearance between the motor rotor and the stator is protected to be 0.5mm.
Specifically, the structure of the passive permanent magnet 27 mounted at the bottom of the motor housing 29 simultaneously limits upward axial movement of the rotating shaft 24; the end of the rotating shaft 24 is limited by using a mechanical bearing to limit radial runout, a nut 16 is used for fixing a mounting part on the rotating shaft to prevent axial runout, and the bottom end of the rotating shaft is limited by adopting a ball 11 to limit downward axial runout and reduce end face friction of the nut.
The disc type permanent magnet motor is used as a drive, the motor turntable is driven to rotate after the motor is started, the paddles are accelerated to rotate to improve lifting force, the paddle-motor turntable-rotating shaft structure is driven to float upwards, the active magnetic suspension system is started, the turntable is stably suspended by the magnetic suspension bearing, and the paddle-motor turntable-rotating shaft structure is kept in an axial suspension state.
As shown in fig. 1 and 6, the axial magnetic suspension structure is composed of two parts, one part is a passive magnetic suspension bearing, and a pair of repulsive magnetic suspension structures is composed of a passive permanent magnet 27 at the bottom of a shell of the disc type permanent magnet motor and a passive permanent magnet 27 in a magnetic suspension bearing turntable 28; the other part is an active hybrid magnetic suspension bearing, a magnetic suspension bearing rotor sheet (rotor silicon steel sheet) 8 is arranged at the lower end of a magnetic suspension bearing turntable 28, a permanent magnet ring 10 is inlaid in the inner ring of a magnetic suspension bearing stator (stator silicon steel sheet) 17 to increase the magnetic field intensity, and the axial clearance between the magnetic suspension bearing rotor sheet 8 and the magnetic suspension bearing stator 17 is 0.5mm.
More specifically, the first part of the axial magnetic suspension structure consists of two passive permanent magnets 27, wherein an upper magnetic ring is arranged at the bottom of a motor shell 29, a lower magnetic ring is arranged at the upper end of a rotor turntable 28, and the two magnetic rings are axially repulsed to provide magnetic force for axial support; the second part is a hybrid axial active magnetic suspension bearing, which consists of a U-shaped magnetic suspension bearing stator 17, a magnetic suspension bearing rotor sheet 8, a coil 9 and a permanent magnet ring 10, wherein after the coil 9 is electrified, a coil electromagnetic loop is formed into a magnetic circuit by the U-shaped magnetic suspension bearing stator 17 and the magnetic suspension bearing rotor sheet 8, the permanent magnet ring 10 is arranged inside the U-shaped magnetic suspension bearing stator 17, so that the electromagnetic strength of the inner end of the stator is increased, and the axial downward electromagnetic tension is improved. Meanwhile, in the passive permanent magnet 27, the upper permanent magnet and the lower permanent magnet are repulsed to provide downward axial force and increase the magnetic field strength of the lower hybrid magnetic suspension bearing.
High rotational speed stealthy unmanned aerial vehicle's fuselage structure based on axial magnetic force supports, as shown in fig. 1 and 4, its characterized in that includes: the rotor comprises a duct shell 1, a fixed aluminum alloy outer ring 2, a rudder piece rotating shaft 3, a landing leg 4, a rudder piece 5, carbon fiber paddles 6, fastening spokes 7, a magnetic suspension bearing rotor piece 8, a magnetic suspension bearing coil 9, a magnetic suspension bearing mixed permanent magnet 10, balls 11, an eddy current displacement sensor 12, a rudder piece fixing frame 13, a rudder piece mounting block 14, a ball bottom plate 15, an M10 thin nut 16, a magnetic suspension bearing stator 17, a bottom shell 18, a motor stator 19, a motor turntable 20, a paddle mounting plate 21, a paddle fixing gasket 22, a motor permanent magnet 23, a motor rotating shaft 24, a GB61800 bearing 25, a bearing end cover 26, a passive permanent magnet 27, a magnetic suspension bearing rotor turntable 28 and a motor shell 29.
The end of the motor shaft 24 is screwed by a nut 16, and the specific layout is as shown in fig. 7, and the components of the shaft 24 installed from top to bottom are as follows: motor turntable 20, bearing end cover 26, GB61800 bearing 25, long-axis bearing sleeve, magnetic suspension bearing rotor turntable 28, short-axis bearing sleeve, GB61800 bearing 25, gasket and M10 thin nut 16. The lower end surface of the M10 thin nut 16 is spaced from the ball bottom plate 15 by balls 11, so that when the rotating shaft falls, the friction of the end surface is reduced when the nut rotates, the bottom plate 15 is fixed in a circular groove of the bottom shell 18, and the position sensor 12 is arranged at the center hole of the bottom plate and used for detecting the axial displacement of the motor rotating shaft 24. Wherein a mechanical bearing 25 near the nut 16 cooperates with the bottom shell 18 to limit radial runout of the end of the spindle 24.
The middle bottom shell 18 is connected with the peripheral duct 1 by using spokes 7, 16 spokes 7 are arranged at the upper end of the bottom shell 18 in a staggered manner, 8 spokes 7 are arranged at the lower end of the bottom shell, the spokes 7 penetrate through holes in the outer ring of the bottom shell 18 to be arranged in a staggered manner, the horizontal stability of middle rotating parts is guaranteed in a similar spoke installation mode of a bicycle, the structure is shown in fig. 9, the tail ends of the spokes 7 are reinforced by using locking nuts 71 in the duct aluminum alloy outer ring 2, the structure is shown in fig. 10, the duct is mainly prevented from deforming by using the outer ring, the duct 1 is printed by using light materials in a 3D manner, and the dead weight of a machine body is lightened, and meanwhile, extra tension can be provided for the machine body.
The middle bottom is provided with a flight control device near the bottom shell 18, and mainly comprises a steering engine 30, a rudder piece 5, a rotating shaft 3, a rudder piece fixing frame 13, a supporting shaft 31 and flight control electronic equipment (the electronic equipment is not shown in the figure and is commercially available in the prior art), and the structural components are shown in fig. 8, wherein the supporting shaft 31 supports the rudder piece fixing frame 13 and connects the fixing frame 13 with the duct shell 1 with the periphery being coated. The steering engine and the flight control electronic equipment are placed in the middle part rudder piece fixing frame 13, the steering engine 30 is installed at the lower end of the rudder piece fixing frame 13, four rudder pieces 5 are installed on the rotating shaft 3 and can rotate around the rotating shaft, and the deflection moment of the steering engine 30 can be reduced; steering wheel adjustment can be used to the deflection angle of rudder piece 5, specifically realizes that steering wheel 30 is connected with the hole of rudder piece lower extreme from the pivot of taking, drives the lower extreme of rudder piece through the rotation of steering wheel self pivot and carries out certain angle deflection, and then realizes the deflection angle of rudder piece 5 around the rotation axis adjustment rudder piece. The rudder piece 5 stably counteracts the rotation torque, and the deflection angle of the rudder piece 5 is controlled through the steering engine 30 to realize unmanned aerial vehicle navigation attitude control.
The rudder piece 5 is not only used for counteracting the torque brought by the blade, but also adjusting the airflow direction at the lower end of the duct, so that the attitude adjustment of the unmanned aerial vehicle is realized.
More specifically, the flight control system consists of two parts, wherein one part is a magnetic suspension support system which is started simultaneously when the unmanned aerial vehicle is started, the other part is a flight attitude control system which is developed by combining the magnetic suspension support system and is based on a radial basis neural network self-adaptive control algorithm, the algorithm takes the rotation speed of a motor and the three attitude angles of the unmanned aerial vehicle as inputs, takes four rudder piece deflection angles as outputs, relies on rudder piece deflection angle values and six direction forces of the unmanned aerial vehicle as a mathematical model, a training sample is carried out through the radial basis neural network, a controller is designed by using a self-adaptive synovial algorithm, the robustness of the flight control system is improved, the self-adaptive adjustment control strategy is ensured when the system parameters are changed, and the stability of the flight attitude change of the unmanned aerial vehicle is realized.
Because the pneumatic characteristics of the culvert can be coupled after the culvert is added, the pneumatic characteristics of the structure of the culvert unmanned aerial vehicle are nonlinear, and the flight attitude control difficulty of the unmanned aerial vehicle is high. The reference schematic diagram of the attitude angle based on the flight attitude control system is shown in fig. 11, the controllable variable quantity of the ducted rotor wing is the rotation speed v of the unmanned aerial vehicle, the deflection angles alpha of rudder pieces are alpha 1,α2,α3,α4, and the roll angle of the unmanned aerial vehicle is obtained through the attitude reference system AHRSAnd the pitch angle theta and the yaw angle phi are controlled by a self-adaptive control algorithm based on the RBF network, and the deflection angle of the rudder piece is adjusted.
The rudder piece is adjusted to realize the attitude flight of the rotor wing such as vertical take-off and landing, pitching, flat flight and the like. The axial suspension duct type rotor wing structure has the advantages of small rotating friction, high rotating speed, large load and small noise, and can greatly improve flight stealth and bearing performance.
The flight control system combines hybrid magnetic bearing control and conventional flight attitude control, and a flight attitude control module of the flight control system uses a self-adaptive synovial membrane control algorithm based on a Radial Basis Function (RBF) neural network to reduce the flight attitude calculation time of the control system and accurately adjust the flight attitude deflection angle. The flow chart of the RBF network adaptive synovial flight control algorithm is shown in figure 12. The method comprises the following steps:
s1, acquiring three attitude parameters (roll angles) of unmanned plane reference Pitch angle θ, yaw angle ψ), the attitude angles of which are shown in fig. 11. Comparing the three gesture parameters after gesture calculation with the three gesture parameters to be referenced, performing coding calculation and complementary filtering treatment on the difference value, and then inputting the difference value into the self-adaptive synovial membrane controller to output the gesture parameters;
s2, adjusting a steering engine deflection angle and a motor rotating speed according to the output attitude parameters;
S3, inputting the adjusted steering engine deflection angle and motor rotation speed into an RBF neural network for training;
s4, re-entering the steering engine deflection angle and the motor rotating speed parameter which are output after training into the self-adaptive synovial membrane controller to obtain attitude parameters;
s5, repeating the step S2, inputting the adjusted steering engine deflection angle and the motor rotation speed into the unmanned aerial vehicle to execute the flight of the new gesture if the required control gesture is reached, and repeating the step S3 and the step S4 if the required control gesture is not reached;
S6: in the process of executing the new attitude flight, an attitude reference system (AHRS) outputs the roll angle, the pitch angle and the yaw angle of the unmanned aerial vehicle;
S7: according to the real-time roll angle, pitch angle and yaw angle, carrying out attitude calculation, and carrying out attitude calculation on the attitude roll angle And comparing the pitch angle theta and the yaw angle phi with three attitude parameters referenced by the unmanned aerial vehicle, and performing self-adaptive control circularly.
Example 2
In the high-rotation-speed stealth unmanned aerial vehicle based on axial magnetic force support, which is implemented by the invention, a single stator-rotor disc type motor with performance parameters shown in table 1 is adopted, the adopted blade parameters are shown in table 2, and the active magnetic suspension structure parameters are shown in table 3.
Table 1 single stator and rotor disk motor performance parameters
| Name of the name | Data | Name of the name | Data |
| Number of stator slots | 24 | Maximum diameter of rotating shaft | 12mm |
| Permanent magnet count | 28 | Mechanical bearing | GB6180 |
| Stator outer diameter | 96mm | Stator-rotor disc air gap | 1mm |
| Stator inner diameter | 21mm | Turntable-spindle height | 59mm |
TABLE 2 structural parameters of paddles
| Parameters (parameters) | Numerical value | Parameters (parameters) | Numerical value |
| Wing profile | NACA0012 | Diameter/m | 0.381 |
| Blade chord length/m | 0.036 | Degree of solidity | 0.12 |
| Number of blades/k | 1×2 | Air Density/(kg/m 3) | 1.243 |
| Paddle load/N | 176N |
TABLE 3 axial magnetic bearing structural parameters
| Parameters (parameters) | Numerical value | Parameters (parameters) | Numerical value |
| Stator outer diameter | 54mm | Rotor thickness | 5mm |
| Stator inner diameter | 24.5mm | Outer diameter of permanent magnet | 48mm |
| Stator thickness | 5.5mm | Inner diameter of permanent magnet | 32mm |
| Coil cavity area | 1100mm2 | Permanent magnet thickness | 2.5mm |
| Area of magnetic pole | 404mm2 | Single-sided air gap | 0.5mm |
| Stator outer diameter | 54mm | Outer diameter of hybrid permanent magnet | 29mm |
| Stator inner diameter | 10mm | Thickness of hybrid permanent magnet | 1mm |
Fig. 13 is a motor speed-torque diagram designed according to table 1, fig. 14 is a motor speed-power diagram designed according to table 1, fig. 15 is a motor speed-current diagram designed according to table 1, fig. 16 is an axial self-levitation magnetic field simulation diagram for a hybrid magnetic bearing, and fig. 17 is a permanent magnet repulsive magnetic field simulation for the present invention.
Wherein fig. 13 shows the output torque corresponding to the rise of the motor rotation speed, and the output torque reaches the maximum when the motor rotation speed reaches the rated rotation speed 9000 rpm. Fig. 14 shows the input power corresponding to the increase in the motor rotation speed, and the maximum motor input power is 1.9kW. Fig. 15 shows the input current corresponding to the increase in the motor rotation speed, and the maximum input current 55A. Fig. 16 shows the magnetic circuit design for verification of the rationality of the graph, and the arrow is the trend of the magnetic field inside the hybrid magnetic bearing, and when a loop is formed, the axial levitation force can be generated. In fig. 17, the magnetic field direction of the permanent magnet is verified to be repulsive, the arrow direction is the same magnetic field direction, and at the moment, the states of the two magnetic rings are repulsive, wherein the denser the magnetic field lines are, the stronger the magnetic field intensity is.
The embodiments described above are some, but not all embodiments of the application. The detailed description of the embodiments of the application is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Claims (9)
1. High rotational speed stealthy unmanned aerial vehicle based on axial magnetic force supports, its characterized in that includes:
the rotor wing device is formed by stacking two blade paddles on a driving device at an upper angle and a lower angle;
the driving device is a disc type permanent magnet motor, and a motor permanent magnet is arranged at the bottom of a motor turntable and is axially spaced from the electronic stator; the bottom of the disc type permanent magnet motor is provided with a passive permanent magnet;
The axial magnetic suspension structure is arranged below the disc type permanent magnet motor and comprises a magnetic suspension bearing turntable and a magnetic suspension bearing stator; the upper surface of the magnetic suspension bearing turntable is provided with another passive permanent magnet and forms a repulsive magnetic suspension structure with the passive permanent magnet at the bottom of the disc permanent magnet motor; the magnetic suspension bearing rotor sheet is arranged below the magnetic suspension bearing turntable, and the motor rotating shaft passes through the magnetic suspension bearing turntable and the magnetic suspension bearing stator inner ring;
The flight control device is arranged below the axial magnetic suspension structure and is used for controlling the navigation posture of the unmanned aerial vehicle;
A duct, a cylindrical enclosing rotor wing device is arranged from the periphery, and supporting devices are arranged at the bottom of the duct and the inner wall of the duct to realize radial and axial support.
2. The high-rotation-speed stealth unmanned aerial vehicle based on axial magnetic force support according to claim 1, wherein the axial clearance between the magnetic bearing rotor sheet and the magnetic bearing stator is 0.5mm-1mm.
3. The high-speed stealth unmanned aerial vehicle based on axial magnetic force support according to claim 1, wherein the rotor consists of two-bladed paddles which are vertically and angularly stacked on the turntable of the disk motor.
4. The high-speed stealth unmanned aerial vehicle based on axial magnetic force support according to claim 1, wherein the axial magnetic suspension structure and the driving device are provided with an intermediate part housing for holding the vehicle, and the duct is fixedly connected with the intermediate part housing by the support structure.
5. The high-rotation-speed stealth unmanned aerial vehicle based on axial magnetic force support according to claim 1, wherein the axial magnetic suspension structure and the driving device are provided with an intermediate part shell for forcing, and the duct and the intermediate part shell are in screw fastening connection by using a spoke type support structure with a rotation center as a rotation center.
6. The high-rotation-speed stealth unmanned aerial vehicle based on axial magnetic force support according to claim 4, wherein the motor rotating shaft passes through the middle part shell and then is connected with the rolling contact device to form a buffer structure after passing out from the magnetic bearing turntable and the magnetic bearing stator inner ring, and an eddy current displacement sensor is arranged at the tail end of the motor rotating shaft to detect displacement.
7. The high-rotation-speed stealth unmanned aerial vehicle based on axial magnetic force support according to claim 1 or 5, wherein the end part of the motor rotating shaft is fixedly installed by using a nut, an end face friction buffer structure is formed between the lower end face of the nut and a bottom plate by using a ball space, the bottom plate is fixed in an open circular groove at the bottom of the middle part shell and is provided with a central hole, and the eddy current displacement sensor is installed at the position of the central hole of the bottom plate.
8. The high-rotation-speed stealth unmanned aerial vehicle based on axial magnetic force support according to claim 1 or 5, wherein the magnetic bearing stator is a magnetic bearing stator with a U-shaped cross section, and the coil is arranged in the U-shaped groove.
9. The high-rotation-speed stealth unmanned aerial vehicle control method based on axial magnetic force support is characterized by comprising the following steps of:
S1, acquiring a roll angle of an initial reference of the unmanned aerial vehicle The pitch angle theta and the yaw angle phi are calculated, and three angle parameters after the gesture is calculated and the roll angle/>, which is considered, are calculatedComparing the pitch angle theta and the yaw angle phi, performing coding calculation and complementary filtering treatment on the difference value, and then inputting the difference value into the self-adaptive synovial membrane controller to output attitude parameters;
s2, adjusting a steering engine deflection angle and a motor rotating speed according to the output attitude parameters;
S3, inputting the adjusted steering engine deflection angle and motor rotation speed into an RBF neural network for training;
s4, re-entering the steering engine deflection angle and the motor rotating speed parameter which are output after training into the self-adaptive synovial membrane controller to obtain attitude parameters;
s5, repeating the step S2, inputting the adjusted steering engine deflection angle and the motor rotation speed into the unmanned aerial vehicle to execute the flight of the new gesture if the required control gesture is reached, and repeating the step S3 and the step S4 if the required control gesture is not reached;
s6: in the process of executing the new attitude flight, the attitude reference system outputs the roll angle, the pitch angle and the yaw angle of the unmanned aerial vehicle;
s7: and carrying out attitude calculation according to the real-time roll angle, pitch angle and yaw angle, comparing the angle parameters of the three roll angles, pitch angle and yaw angle after the attitude calculation with three attitude parameters of unmanned aerial vehicle attitude reference, and carrying out self-adaptive control circularly.
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