CN203094440U - Non-coaxial multi-rotor wing air vehicle - Google Patents

Non-coaxial multi-rotor wing air vehicle Download PDF

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Publication number
CN203094440U
CN203094440U CN 201220569840 CN201220569840U CN203094440U CN 203094440 U CN203094440 U CN 203094440U CN 201220569840 CN201220569840 CN 201220569840 CN 201220569840 U CN201220569840 U CN 201220569840U CN 203094440 U CN203094440 U CN 203094440U
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CN
China
Prior art keywords
rotor
power system
driving
rotor assemblies
reduction gearing
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Expired - Fee Related
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CN 201220569840
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Chinese (zh)
Inventor
王辉
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Xi'an Tong Fei Aviation Technology Co., Ltd.
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XI'AN WIDE WORLD ZENITH AVIATION TECHNOLOGY Co Ltd
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Priority to CN 201220569840 priority Critical patent/CN203094440U/en
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Publication of CN203094440U publication Critical patent/CN203094440U/en
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Abstract

The utility model relates to a non-coaxial multi-rotor wing air vehicle which comprises an air vehicle body, a power system, a driving system, a fly control system and 2N rotor wing components, wherein N is greater than or equal to 2; the power system drives the rotor wing components to rotate by the driving system, and the fly control system controls the power system to run; each rotor wing component comprises a rotor wing and a propeller pitch driving mechanism used for changing the propeller pitch of the rotor wings, and the fly control system is used for controlling each propeller pitch driving mechanism to work; the driving system comprises N positive driving mechanisms and N negative driving mechanisms, which are sequentially distributed with one another in a staggered way; and the power system drives the rotor wings of the N rotor wing components to rotate along the same direction by the N positive driving mechanisms. After the non-coaxial multi-rotor wing air vehicle provided by the utility model is used, the technical problems of single driving mode, small air vehicle load, short fly time and the like since the gesture of the air vehicle is controlled by changing the rotation speed of the rotor wings in current multi-rotor wing air vehicle can be solved.

Description

Non co axial class multi-rotor aerocraft
Technical field
The utility model belongs to the aeronautical product technical field, relates to a kind of multi-rotor aerocraft.
Background technology
The control method of the multi-rotor aerocraft on the market all is to come the controlling aircraft attitude by changing gyroplane rotate speed now, and there is following defective in such control method:
1. its rotor type of drive is applicable to motor-driven more, the multi-rotor aerocraft when being not easy to manufacture and design heavy lift, long boat.
2. be not easy to use the control of the type of drive except that motor-driven, drive as fuel oil.
Summary of the invention
For solving technical matterss such as present multi-rotor aerocraft is single by the type of drive that the change gyroplane rotate speed comes the controlling aircraft attitude to cause, aircraft load is little, lack when navigating, the utility model provides a kind of multi-rotor aerocraft.
Technical solution of the present utility model is as follows:
A kind of non co axial class multi-rotor aerocraft comprises body, power system, driving system, flight control system, a 2N rotor assemblies, wherein N 〉=2; Described power system is rotated by the transmission system drives rotor assemblies, the work of described flight control system control power system; Its special character is:
The pitch driver train that described each rotor assemblies comprises rotor and is used to change the rotor pitch, described flight control system is used to control the work of each pitch driver train;
Described driving system comprises N forward transmission device and N the reverse drive mechanism that is interspersed successively; Described power system is rotated along same direction by the rotor of a N forward transmission device driving N rotor assemblies, the rotor that described power system drives an other N rotor assemblies by N reverse drive mechanism is along opposite spin, and the gyroplane rotate speed absolute value of a described 2N rotor assemblies equates.
Above-mentioned power system is engine installation and speed reduction gearing, and described engine installation is electrical motor or driving engine;
Described forward transmission device comprises transmission component, and described reverse drive mechanism comprises commutation assembly and the transmission component identical with the forward transmission device, and described transmission component is gear-driven assembly, belt drive component, shaft drive assembly or chain kit; Described commutation assembly is used to change the relation that turns between speed reduction gearing output shaft and the transmission component input end;
The output shaft of described speed reduction gearing links to each other with the input end of the transmission component of all forward transmission devices respectively, links to each other with the input end of the transmission component of all reverse drive mechanisms respectively by the commutation assembly simultaneously.
Above-mentioned power system also comprises power-transfer clutch, and described power-transfer clutch is arranged between the driving engine of power system and the speed reduction gearing or is arranged between power system and the driving system.
A kind of non co axial class multi-rotor aerocraft comprises body, a 2N power system, flight control system, a 2N rotor assemblies, wherein N 〉=2; Described power system drives corresponding rotor assemblies and rotates, the work of described flight control system control power system; Its special character is:
The pitch driver train that described each rotor assemblies comprises rotor and is used to change the rotor pitch, described flight control system is used to control the work of each pitch driver train;
The rotor of a described N power system driving N rotor assemblies rotates along same direction, the rotor of N rotor assemblies of described other N reverse power system drive is along opposite spin, the hand of rotation of described adjacent rotor arbitrarily is opposite, and the gyroplane rotate speed absolute value of a described 2N rotor assemblies equates.
Above-mentioned power system is engine installation and speed reduction gearing, and described engine installation is electrical motor or driving engine;
The output shaft of described speed reduction gearing links to each other with the axle drive shaft of corresponding rotor respectively;
Described power system also comprises power-transfer clutch, and described power-transfer clutch is arranged between the driving engine of power system and the speed reduction gearing or is arranged between power system and the rotor assemblies.
A kind of non co axial class multi-rotor aerocraft comprises body, a N power system, driving system, flight control system, a 2N rotor assemblies, wherein N 〉=2; Described power system is rotated by the transmission system drives rotor assemblies, the work of described flight control system control power system; Its special character is:
The pitch driver train that described each rotor assemblies comprises rotor and is used to change the rotor pitch, described flight control system is used to control the work of each pitch driver train;
Described driving system comprises forward transmission device and the reverse drive mechanism that the diagonal angle is provided with; Described power system is arranged on the centre of forward transmission device and reverse drive mechanism, described power system drives the rotor rotation of a rotor assemblies by the forward transmission device, this power system drives the rotor rotation of the another one rotor assemblies of diagonal angle setting by reverse drive mechanism, the hand of rotation of described adjacent rotor arbitrarily is opposite, and the gyroplane rotate speed absolute value of a described 2N rotor assemblies equates.
Above-mentioned power system is engine installation and speed reduction gearing, and described engine installation is electrical motor or driving engine;
Described forward transmission device comprises transmission component, and described reverse drive mechanism comprises commutation assembly and the transmission component identical with the forward transmission device, and described transmission component is gear-driven assembly, belt drive component, shaft drive assembly or chain kit; Described commutation assembly is used to change the relation that turns between speed reduction gearing output shaft and the transmission component input end;
The output shaft of described speed reduction gearing links to each other with the input end of the transmission component of all forward transmission devices respectively, links to each other with the input end of the transmission component of all reverse drive mechanisms respectively by the commutation assembly simultaneously.
Above-mentioned power system also comprises power-transfer clutch, and described power-transfer clutch is arranged between the driving engine of power system and the speed reduction gearing or is arranged between power system and the driving system.
A kind of attitude control method of non co axial class multi-rotor aerocraft, its special character is: may further comprise the steps:
1] fuel engines of multi-rotor aerocraft drives at least that 2N rotor rotates with rotating speed, makes multi-rotor aerocraft be in flight or floating state, N wherein 〉=2;
2] flight control system is controlled attitude of flight vehicle in the following way:
2.1] controlled step of the attitude of hovering is as follows:
2.1.1] make the rotating speed of all rotors identical, the hand of rotation of adjacent rotor is opposite;
2.1.2] make the pitch of all rotors identical;
2.2] controlled step of rising attitude is as follows:
2.2.1] make the rotating speed of all rotors identical, the hand of rotation of adjacent rotor is opposite;
2.2.2] make all rotors increase the blade angle of identical rotor simultaneously;
2.3] controlled step of descend attitude is as follows:
2.3.1] make the rotating speed of all rotors identical, the hand of rotation of adjacent rotor is opposite;
2.3.2] make all rotors reduce the blade angle of identical rotor simultaneously;
2.4] controlled step of pitch attitude is as follows:
2.4.1] make the rotating speed of all rotors identical, the hand of rotation of adjacent rotor is opposite;
2.4.2] to make the rotor blade angle of the rotor pitch that is positioned at X-axis one side and X-axis opposite side produce pitch poor, the pitch of X-axis the same side rotor is identical;
2.5] controlled step of roll attitude is as follows:
2.5.1] make the rotating speed of all rotors identical, the hand of rotation of adjacent rotor is opposite;
2.5.2] to make the rotor pitch of the rotor pitch that is positioned at Y-axis one side and Y-axis opposite side produce pitch poor, the pitch of Y-axis the same side rotor is identical;
2.6] controlled step of yaw attitude is as follows:
2.6.1] make the rotating speed of all rotors identical, the hand of rotation of adjacent rotor is opposite;
2.6.2] pitch of all identical rotors of same diagonal line hand of rotation is increased simultaneously and to produce pitch poor with opposite hand of rotation, promptly the pitch of opposite hand of rotation is constant or reduce.
The quantity of above-mentioned driving engine is that one, N platform or quantity are consistent and corresponding one by one with the quantity of rotor.
The beneficial effects of the utility model:
1, the utility model non co axial class multi-rotor aerocraft, each gyroplane rotate speed of aircraft is identical making, under the opposite condition of adjacent gyroplane rotate speed, adjust attitude of flight vehicle by control rotor pitch, overcome at present by gyroplane rotate speed carry out that the type of drive that attitude of flight vehicle control caused is single, aircraft load is little, technical matters such as short during boat.
2, the attitude control method of the utility model non co axial class multi-rotor aerocraft makes the rotating speed of all rotors identical, and the hand of rotation of adjacent rotor is opposite; The rotating speed of rotor is by the same passage control of control system and keep that rotating speed is identical all the time.Each rotor all can independently be controlled the rotor pitch, changes lift by the control pitch, and then can realize the six degree of freedom attitude and the motion control of aircraft.
Description of drawings
Fig. 1 is the pulp distance varying mechanism scheme drawing;
Fig. 2 is the rotor assemblies structural scheme of mechanism of variablepiston;
Fig. 3 is the rotor distributed architecture figure of four rotor crafts;
Fig. 4 is the rotor rotation scheme drawing of four rotor crafts;
The specific embodiment
A kind of multi-rotor aerocraft comprises body, flight control system, is installed on power-driven system and 2N rotor assemblies on the body, N 〉=2 wherein, and rotor assemblies is installed on the body top and is distributed in the frame is on the circumference at center.
Power train comprises power splitting mechanism and the reversing device that is arranged between speed reduction gearing and the rotor assemblies, and the quantity of power splitting mechanism is consistent with the quantity of rotor assemblies, and the quantity of reversing device is half of rotor assemblies quantity; The power that power splitting mechanism is exported speed reduction gearing according to the attitude control signal of flight control system directly is dispensed to corresponding rotor assemblies or is redistributed to adjacent rotor assemblies by reversing device,
Speed reduction gearing is used for the rotating speed of driving engine output is reduced, the output speed of speed reduction gearing passes to the rotor assemblies of a plurality of variablepistons by a plurality of Power trains, Power train is divided into positive power transmission device and reverse power transmission mechanism, the rotating speed of positive power transmission device output and the output speed of speed reduction gearing are in the same way, the rotating speed of reverse power transmission device output and the output speed of speed reduction gearing oppositely to, reverse drive mechanism and forward transmission device are provided with at interval, and Power train can pass through transmission shaft 2 transmissions.
Each rotor assemblies includes a feather assembly 3, and the input end of feather assembly 3 is connected with flight control system, and mouth is connected with rotor.
Flight control system comprises servomechanism (comprising pitch, throttle), multiple sensors (comprising rotating speed, barometric height, GPS, airspeed sensor), based on the MEMS(micro mechanical system) Inertial Measurement Unit three-axis attitude IMU, triaxial accelerometer, three number of axle word compass, attitude control computer, navigation control computer.The wireless communication data link comprises that line number passes up and down, figure conducts electricity platform and transmit receive antenna system; Also comprise ground station and remote controller.
Aircraft can carry the various mission payloads that can be used for the aircraft carry, as imaging devices such as visible light, infrared, synthetic aperture radar; Agricultural chemicals, chemical fertilizer, electronic jamming device, communication trunking; Various weaponrys that can be used for the aircraft carry or the like.
In order to understand the attitude control method of multi-rotor aerocraft more clearly,, be example (by mechanical drive engine power is passed to four rotors synchronously, make the rotation of their constant speed) with 1 engine drive of four rotors below with reference to description of drawings.
As Fig. 4, at first four rotors 1 are divided into two groups of cw and conter clockwises, be positioned at same cornerwise two rotors on the same group, promptly rotor is 1,3 one groups, 2,4 one groups.The rotating speed of four rotors is by the same passage control of control system and keep that rotating speed is identical all the time.Four rotors all can independently be controlled the rotor pitch.Change lift by four rotor control pitches, and then can realize the six degree of freedom attitude and the motion control of aircraft.
Under certain rotating speed, when four rotor pitches were identical, anti-torsion was cancelled out each other in twos, and aircraft can hover; Increase simultaneously or reduce the pitch angle and can realize aircraft vertical uplift, descending motion.
Under certain rotating speed, only rotor 1 increases pitch, and rotor 3 pitches are constant or reduce, and then aircraft produces the luffing around Y-axis, and the translation that can produce respective direction, and vice versa.
Under certain rotating speed, only rotor 2 increases pitches, and rotor 4 pitches are constant or reduce, and then aircraft produces the rolling movement around X-axis, and the translation that can produce respective direction, and vice versa.
Under certain rotating speed, equivalent increases or reduces same group of rotor pitch, such as: rotor (1,3) increases simultaneously, and rotor (2,4) pitch is constant or reduce, then aircraft causes yawing rotation around the Z axle because of producing anti-torsion, vice versa.
This feather is controlled the attitude of many rotors and the method for motion, is applicable to cross layout four rotor crafts.Also be applicable to four rotor crafts of X type layout by coupling control algorithm, can expand to simultaneously and comprise three rotors, six rotors, eight rotors different rotors ... on the aircraft of layouts such as N rotor.
As use two engine drives, then drive same cornerwise rotor on the same group with a driving engine by mechanical drive respectively.Need to use two groups of tachogens to monitor the rotating speed of these two groups of rotors respectively simultaneously, and adjust the throttle amount so that two groups of rotors keep same rotational speed by control loop.
As use the aircraft of four and above many rotor-hub configuration of engine drive, then respectively by rotor (but direct drive of an engine drive, also can drive) by mechanical drive, need tachogen to be installed simultaneously and monitor this gyroplane rotate speed, so and adjust the throttle amount so that rotor keeps same rotational speed by control loop to each rotor.
This kind variable pitch control method also is applicable to electric motor driven multi-rotor aerocraft.For the control signal of this type of multi-rotor aerocraft, can be by generations such as remote control receiver or flight control computers.Rotor in the utility model is also referred to as screw propeller.

Claims (8)

1. a non co axial class multi-rotor aerocraft comprises body, power system, driving system, flight control system, a 2N rotor assemblies, wherein N 〉=2; Described power system is rotated by the transmission system drives rotor assemblies, the work of described flight control system control power system;
It is characterized in that:
The pitch driver train that described each rotor assemblies comprises rotor and is used to change the rotor pitch, described flight control system is used to control the work of each pitch driver train;
Described driving system comprises N forward transmission device and N the reverse drive mechanism that is interspersed successively; Described power system is rotated along same direction by the rotor of a N forward transmission device driving N rotor assemblies, the rotor that described power system drives an other N rotor assemblies by N reverse drive mechanism is along opposite spin, and the gyroplane rotate speed absolute value of a described 2N rotor assemblies equates.
2. non co axial class multi-rotor aerocraft according to claim 1 is characterized in that:
Described power system is engine installation and speed reduction gearing, and described engine installation is electrical motor or driving engine;
Described forward transmission device comprises transmission component, and described reverse drive mechanism comprises commutation assembly and the transmission component identical with the forward transmission device, and described transmission component is gear-driven assembly, belt drive component, shaft drive assembly or chain kit; Described commutation assembly is used to change the relation that turns between speed reduction gearing output shaft and the transmission component input end;
The output shaft of described speed reduction gearing links to each other with the input end of the transmission component of all forward transmission devices respectively, links to each other with the input end of the transmission component of all reverse drive mechanisms respectively by the commutation assembly simultaneously.
3. non co axial class multi-rotor aerocraft according to claim 2, it is characterized in that: described power system also comprises power-transfer clutch, described power-transfer clutch is arranged between the driving engine of power system and the speed reduction gearing or is arranged between power system and the driving system.
4. a non co axial class multi-rotor aerocraft comprises body, a 2N power system, flight control system, a 2N rotor assemblies, wherein N 〉=2; Described power system drives corresponding rotor assemblies and rotates, the work of described flight control system control power system;
It is characterized in that:
The pitch driver train that described each rotor assemblies comprises rotor and is used to change the rotor pitch, described flight control system is used to control the work of each pitch driver train;
The rotor of a described N power system driving N rotor assemblies rotates along same direction, the rotor of N rotor assemblies of described other N reverse power system drive is along opposite spin, the hand of rotation of described adjacent rotor arbitrarily is opposite, and the gyroplane rotate speed absolute value of a described 2N rotor assemblies equates.
5. non co axial class multi-rotor aerocraft according to claim 4 is characterized in that:
Described power system is engine installation and speed reduction gearing, and described engine installation is electrical motor or driving engine;
The output shaft of described speed reduction gearing links to each other with the axle drive shaft of corresponding rotor respectively;
Described power system also comprises power-transfer clutch, and described power-transfer clutch is arranged between the driving engine of power system and the speed reduction gearing or is arranged between power system and the rotor assemblies.
6. a non co axial class multi-rotor aerocraft comprises body, a N power system, driving system, flight control system, a 2N rotor assemblies, wherein N 〉=2; Described power system is rotated by the transmission system drives rotor assemblies, the work of described flight control system control power system;
It is characterized in that:
The pitch driver train that described each rotor assemblies comprises rotor and is used to change the rotor pitch, described flight control system is used to control the work of each pitch driver train;
Described driving system comprises forward transmission device and the reverse drive mechanism that the diagonal angle is provided with; Described power system is arranged on the centre of forward transmission device and reverse drive mechanism, described power system drives the rotor rotation of a rotor assemblies by the forward transmission device, this power system drives the rotor rotation of the another one rotor assemblies of diagonal angle setting by reverse drive mechanism, the hand of rotation of described adjacent rotor arbitrarily is opposite, and the gyroplane rotate speed absolute value of a described 2N rotor assemblies equates.
7. non co axial class multi-rotor aerocraft according to claim 6 is characterized in that:
Described power system is engine installation and speed reduction gearing, and described engine installation is electrical motor or driving engine;
Described forward transmission device comprises transmission component, and described reverse drive mechanism comprises commutation assembly and the transmission component identical with the forward transmission device, and described transmission component is gear-driven assembly, belt drive component, shaft drive assembly or chain kit; Described commutation assembly is used to change the relation that turns between speed reduction gearing output shaft and the transmission component input end;
The output shaft of described speed reduction gearing links to each other with the input end of the transmission component of all forward transmission devices respectively, links to each other with the input end of the transmission component of all reverse drive mechanisms respectively by the commutation assembly simultaneously.
8. non co axial class multi-rotor aerocraft according to claim 7, it is characterized in that: described power system also comprises power-transfer clutch, described power-transfer clutch is arranged between the driving engine of power system and the speed reduction gearing or is arranged between power system and the driving system.
CN 201220569840 2012-10-31 2012-10-31 Non-coaxial multi-rotor wing air vehicle Expired - Fee Related CN203094440U (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102951290A (en) * 2012-10-31 2013-03-06 西安韦德沃德航空科技有限公司 Non-co-axial multi-rotor aircraft and attitude control method thereof
CN103754359A (en) * 2014-01-23 2014-04-30 江苏艾锐泰克无人飞行器科技有限公司 Multi-axial aircraft
CN103950537A (en) * 2014-05-13 2014-07-30 江苏艾锐泰克无人飞行器科技有限公司 Control method and device of variable pitch aircraft
CN104973241A (en) * 2015-07-08 2015-10-14 芜湖万户航空航天科技有限公司 Unmanned aerial vehicle with main and auxiliary multi-rotor structure
CN105775114A (en) * 2016-03-14 2016-07-20 北京航空航天大学 Variable-incidence multi-degree-of-freedom agile flight unmanned rotorcraft
CN108001668A (en) * 2017-12-29 2018-05-08 深圳市道通智能航空技术有限公司 Propeller, propeller external member, Power Component, power external member and unmanned plane

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102951290A (en) * 2012-10-31 2013-03-06 西安韦德沃德航空科技有限公司 Non-co-axial multi-rotor aircraft and attitude control method thereof
CN103754359A (en) * 2014-01-23 2014-04-30 江苏艾锐泰克无人飞行器科技有限公司 Multi-axial aircraft
CN103950537A (en) * 2014-05-13 2014-07-30 江苏艾锐泰克无人飞行器科技有限公司 Control method and device of variable pitch aircraft
CN104973241A (en) * 2015-07-08 2015-10-14 芜湖万户航空航天科技有限公司 Unmanned aerial vehicle with main and auxiliary multi-rotor structure
CN105775114A (en) * 2016-03-14 2016-07-20 北京航空航天大学 Variable-incidence multi-degree-of-freedom agile flight unmanned rotorcraft
CN108001668A (en) * 2017-12-29 2018-05-08 深圳市道通智能航空技术有限公司 Propeller, propeller external member, Power Component, power external member and unmanned plane

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Owner name: XI'AN TONGFEI AVIATION TECHNOLOGY CO., LTD.

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Address after: 710075 Hongyuan building, No. two, 66 hi tech Zone, Shaanxi, Xi'an Province, room 208

Patentee after: Xi'an Tong Fei Aviation Technology Co., Ltd.

Address before: 710075 Hongyuan research building, No. 66, No. two, science and technology zone, Xi'an hi tech Zone, Shaanxi, 212

Patentee before: Xi'an Wide World Zenith Aviation Technology Co., Ltd.

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Granted publication date: 20130731

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CF01 Termination of patent right due to non-payment of annual fee