CN204979256U - Hybrid multiaxis rotor unmanned aerial vehicle - Google Patents
Hybrid multiaxis rotor unmanned aerial vehicle Download PDFInfo
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- CN204979256U CN204979256U CN201520509835.XU CN201520509835U CN204979256U CN 204979256 U CN204979256 U CN 204979256U CN 201520509835 U CN201520509835 U CN 201520509835U CN 204979256 U CN204979256 U CN 204979256U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
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Abstract
The utility model relates to an unmanned air vehicle technique field, in particular to hybrid multiaxis rotor unmanned aerial vehicle, it includes the unmanned aerial vehicle body, the unmanned aerial vehicle body is including setting up flight control system and the multiaxis actuating system in the casing, its characterized in that: it still includes oil -electricity hybrid vehicle system, servo module and observing and controlling module, the oil -electricity hybrid vehicle system constitutes by firing oil piston engine, oil tank, power module, rectifier module and lithium cell, should fire oil piston engine one end and oil tank and pass through oil pipe and link to each other, should fire the oil piston engine other end and link to each other with the servo module, should fire oil piston engine output axle and link to each other with power module, this power module links to each other with rectifier module one end, and this rectifier module other end is continuous with the multiaxis actuating system with lithium cell parallelly connected back, and this multiaxis actuating system comprises a plurality of single axis drive, it is long that it has when boat, and the load is big, easy control, security advantage such as good.
Description
Technical field
The utility model relates to unmanned air vehicle technique field, particularly a kind of hybrid power multiaxis rotor wing unmanned aerial vehicle.
Background technology
Along with the development of science and technology, unmanned plane is in military and civilian field also widespread use.Existing multiaxis rotor wing unmanned aerial vehicle has three kinds of power modes:
A) adopt multiple lithium cell+electrical motor+electronic governor+screw propeller series component in parallel as multiaxis electric propulsion system, this is the power mode that current most multiaxis rotor wing unmanned aerial vehicle adopts, flight control response is fast, power density is large, but because lithium cell energy density is low, no matter fuselage how loss of weight, the electronic multiaxis rotor wing unmanned aerial vehicle flight time scarcely exceedes dozens of minutes.
B) adopt multiple fuel engines+mechanical bending moment speed-changing mechanism+screw propeller series component in parallel as multiaxis oil power system.Fuel engines energy density is large, but bending moment speed-changing mechanism uses the mechanical transmission component such as gear, belt, complex structure, and fault rate is high, and Flight Control Algorithm is single, and any 1 axle goes wrong, and will cause that whole aircraft is out of control to fall.
C) adopt 1 fuel engines+mechanical bending moment speed-changing mechanism+screw propeller series component and multiple lithium cell+electrical motor+electronic governor+screw propeller series component parallel connection as multiaxis oil electric mixed dynamic system, fuel engines is used to provide main lift, electrical motor provides the gesture stability such as pitching, rolling power and auxiliary lifting, but fuel power appearance control degree of freedom is limited, cannot independently fly, oil Electronmotive Force can not backup each other, and needing artificial stay cord startup oil machine to take off, dependable with function has much room for improvement.
Utility model content
The purpose of this utility model is defect for prior art and deficiency, and provide a kind of duration that navigates, a kind of hybrid power multiaxis rotor wing unmanned aerial vehicle reasonable in design, easy to use, it has boat duration, and load is large, safety high reliability.
For achieving the above object, the technical solution adopted in the utility model is:
A kind of hybrid power multiaxis rotor wing unmanned aerial vehicle described in the utility model, it comprises unmanned plane body, described unmanned plane body comprises and is arranged on flight control system in casing and multi-axis driving system, it is characterized in that: it also comprises oil electric mixed dynamic system, servo module and control module; Described oil electric mixed dynamic system is made up of fuel piston driving engine, fuel tank, electricity generation module, rectification module and lithium cell; This fuel piston driving engine one end is connected by oil pipe with fuel tank, this fuel piston driving engine other end is connected with servo module, this fuel piston engine output shaft is connected with electricity generation module, this electricity generation module is connected with rectification module one end, this rectification module other end is connected with multi-axis driving system with after lithium cell parallel connection, this multi-axis driving system is made up of several single shaft actuators, and this single shaft actuator is composed in series by brushless motor, electronic governor and screw propeller.
Further, throttle steering wheel in servo module, air door steering wheel mouth are connected with fuel piston driving engine by connecting rod, level sensor in steering wheel input end, fuel tank is connected with the observing and controlling microprocessor in control module, founding mathematical models controls the work of fuel piston engine stabilizer, and writes microprocessor in the form of software.
Further, the electrical motor in electricity generation module is mounted with the Hall element that can detect motor rotor rotating speed and fuel piston engine piston position, electrical motor uses key or coupler to be connected with the arbor of fuel piston driving engine.
Further, flight control system ensures flight stability and the road-holding property of unmanned plane, can according to unmanned plane LOAD FOR consumed power, automatically or according to surface instruction control fuel piston engine power and switch at fuel oil and lithium cell powerplant workshop, ensureing that unmanned plane obtains the maximum flight time with minimum energy ezpenditure.Flight control system above-mentioned functions writes its microprocessor in a software form.
After adopting said structure, the utility model beneficial effect is: a kind of hybrid power multiaxis rotor wing unmanned aerial vehicle described in the utility model, after its adopts fuel piston driving engine to connect electricity generation module generating and when lithium cell parallel connection collaborative work improves the boat of hybrid power multiaxis rotor wing unmanned aerial vehicle and load-carrying ability; Adopting fuel piston driving engine and use rectification module, servo module and large power high efficiency electricity generation module, is that power realizes the self-starting of hybrid power multiaxis rotor wing unmanned aerial vehicle with lithium cell; Oil, Electronmotive Force independently can control flight attitude, and backup each other, improve the complete machine safety of hybrid power multiaxis rotor wing unmanned aerial vehicle, it has boat duration, and load-carrying is large, easy to control, the advantages such as safety is good.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the structural representation of servo module and fuel piston driving engine and control module in the utility model;
Fig. 3 is the structural representation in the utility model, electrical motor being installed Hall element;
Fig. 4 is the structural representation of the utility model flight control system and fuel piston driving engine.
Description of reference numerals:
1, oil electric mixed dynamic system; 11, fuel piston driving engine; 12, rectification module; 13, lithium battery; 14, electricity generation module; 15, fuel tank; 151, level sensor; 2, flight control system; 3, single shaft actuator; 31, brushless motor; 32, electronic governor; 33, screw propeller; 4, control module; 41, observing and controlling microprocessor; 5, servo module; 51, throttle steering wheel; 52, air door steering wheel; 6, Hall element; 7, coupler.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is further described.
As shown in Figure 1, a kind of hybrid power multiaxis rotor wing unmanned aerial vehicle described in the utility model, it comprises unmanned plane body, and described unmanned plane body comprises and is arranged on flight control system 2 in casing and multi-axis driving system, and it also comprises oil electric mixed dynamic system 1, servo module 5 and control module 4; Described oil electric mixed dynamic system 1 is made up of fuel piston driving engine 11, fuel tank 15, electricity generation module 14, rectification module 12 and lithium cell 13; This fuel piston driving engine 11 one end is connected by oil pipe with fuel tank 15, this fuel piston driving engine 11 other end is connected with servo module 4, this fuel piston driving engine 11 output shaft is connected with electricity generation module 14, this electricity generation module 14 is connected with rectification module 12 one end, be connected with multi-axis driving system after this rectification module 12 other end is in parallel with lithium cell 13, this multi-axis driving system is made up of several single shaft actuators 3, and this single shaft actuator 3 is composed in series by brushless motor 31, electronic governor 32 and screw propeller 33.
As shown in Figure 2, throttle steering wheel 51 in servo module 5, air door steering wheel 52 mouth are connected with fuel piston driving engine 11 by connecting rod, level sensor 151 in steering wheel input end, fuel tank 15 is connected with the observing and controlling microprocessor 41 in control module 4, founding mathematical models controls the work of fuel piston engine stabilizer, and writes microprocessor in the form of software.
As shown in Figure 3, the electrical motor 31 in electricity generation module 14 is mounted with the Hall element 6 that can detect electrical motor 31 rotor speed and fuel piston driving engine 11 piston position, electrical motor 31 and the arbor of fuel piston driving engine 11 use key or coupler 7 to be connected.
As shown in Figure 4, flight control system 2 ensures flight stability and the road-holding property of unmanned plane, can according to unmanned plane LOAD FOR consumed power, automatically or according to surface instruction control fuel piston driving engine 11 power and switch at fuel oil and lithium cell 13 powerplant workshop, ensureing that unmanned plane obtains the maximum flight time with minimum energy ezpenditure.Flight control system above-mentioned functions writes its microprocessor in a software form.
Wherein:
(1) electricity generation module is used for generating and starts fuel piston driving engine;
(2) rectification module has rectification and drives two states, is respectively used to alternating current is converted to direct current and output pwm signal driving brushless motor;
(3) be composed in series single shaft actuator by brushless motor+electronic governor+screw propeller, multiple actuator parallel connection forms multi-axis driving system;
(4) control module uses the state parameter such as rotating speed, position of each parts of sensor measurement fuselage, servo module uses steering wheel adjustment fuel piston engine throttle and air door size to change engine behavior, flight control system is the brain of unmanned plane, is responsible for controlling flight attitude, processing instruction, calculating realtime power etc.
Principle of work of the present utility model is as follows:
During unmanned plane start, flight control system calculates fuel piston engine starting power, piston engine throttle amount is put and air quantity is initiation value by servo module, putting rectification module is driving condition, and drive singal dutycycle is progressively increased to initiation value, electricity generation module drives piston engine machine rotor acceleration rotation to reach ignition operation state, and piston engine is in idling slew mode subsequently.
When taking off, flight control system calculates take-off power and piston engine rotating speed according to take-off weight, continue to increase piston engine rotating speed by servo module, by control module detect engine speed reach take off value time, putting rectification module is rectification state, piston engine drives electricity generation module rotor high-speed to rotate and produces alternating current, and be converted to vdc needed for brushless motor work and current value by rectification module, unmanned plane enters state of flight.
In flight course, accelerating, slow down, climb, in the fly event such as flow perturbation, the each parameters of operating part state of flight control system Real-time Collection, calculate power demand and optimum speed, generally flight control system produces the DC voltage and current of same power by servo module control plunger driving engine and electricity generation module rotor speed through rectification module, makes unmanned plane with minimum energy resource consumption stabilized flight.Transfinite in unmanned plane load, when meeting with the situations such as high wind, flight control system can control lithium battery and piston engine electricity generation module is powered, and meets unmanned plane excessive power demands simultaneously.
When piston engine fuel oil exhausts or occur exception, flight control system can switch to lithium cell separately for drive system is powered; When electric quantity of lithium battery exhausts or occur exception, flight control system can switch to piston engine separately for drive system is powered, and can to improve generating voltage be lithium cell charging.Piston engine and lithium cell can backup each other, and fully ensure that unmanned plane power system normally works, drastically increase the safety and reliability of unmanned plane.
The utility model tool has the following advantages:
(1) after adopting fuel piston driving engine to connect electricity generation module generating and the lithium cell energy density that improve hybrid power multiaxis rotor wing unmanned aerial vehicle in parallel, and then when increasing boat and load-carrying;
(2) fuel piston driving engine and rectification module, servo module and large power high efficiency electricity generation module, collaborative work under lithium cell drives, can realize the self-starting of hybrid power multiaxis rotor wing unmanned aerial vehicle;
(3) all rotor adopts electronic speed regulation, can complete independently pitching, rolling, yaw attitude control, oil, Electronmotive Force can be worked independently and backup each other, drastically increase complete machine safe reliability.
The above is only better embodiment of the present utility model, therefore all equivalences done according to structure, feature and the principle described in the utility model patent claim change or modify, and are included in the utility model patent claim.
Claims (3)
1. a hybrid power multiaxis rotor wing unmanned aerial vehicle, it comprises unmanned plane body, described unmanned plane body comprises and is arranged on flight control system (2) in casing and multi-axis driving system, it is characterized in that: it also comprises oil electric mixed dynamic system (1), servo module (5) and control module (4), described oil electric mixed dynamic system (1) is made up of fuel piston driving engine (11), fuel tank (15), electricity generation module (14), rectification module (12) and lithium cell (13), this fuel piston driving engine (11) one end is connected by oil pipe with fuel tank (15), this fuel piston driving engine (11) other end is connected with control module (4), this fuel piston driving engine (11) output shaft is connected with electricity generation module (14), this electricity generation module (14) is connected with rectification module (12) one end, be connected with multi-axis driving system after this rectification module (12) other end is in parallel with lithium cell (13), this multi-axis driving system is made up of several single shaft actuators (3), this single shaft actuator (3) is by brushless motor (31), electronic governor (32) and screw propeller series connection (33) composition.
2. a kind of hybrid power multiaxis rotor wing unmanned aerial vehicle according to claim 1, it is characterized in that: the throttle steering wheel (51) in servo module (5), air door steering wheel (52) mouth are connected with fuel piston driving engine (11) by connecting rod, the level sensor (151) in steering wheel input end, fuel tank (15) is connected with the observing and controlling microprocessor (41) in control module (4).
3. a kind of hybrid power multiaxis rotor wing unmanned aerial vehicle according to claim 1, it is characterized in that: the electrical motor (31) in electricity generation module (14) is mounted with the Hall element (6) that can detect electrical motor (31) rotor speed and fuel piston driving engine (11) piston position, electrical motor (31) and the arbor of fuel piston driving engine (11) use key or coupler (7) to be connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520509835.XU CN204979256U (en) | 2015-07-15 | 2015-07-15 | Hybrid multiaxis rotor unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520509835.XU CN204979256U (en) | 2015-07-15 | 2015-07-15 | Hybrid multiaxis rotor unmanned aerial vehicle |
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| CN204979256U true CN204979256U (en) | 2016-01-20 |
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| CN201520509835.XU Expired - Fee Related CN204979256U (en) | 2015-07-15 | 2015-07-15 | Hybrid multiaxis rotor unmanned aerial vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107054667A (en) * | 2017-05-26 | 2017-08-18 | 广东电网有限责任公司清远供电局 | A kind of multi-rotor unmanned aerial vehicle |
| CN109383783A (en) * | 2018-08-31 | 2019-02-26 | 辽宁同心圆科技有限公司 | Aero-engine energy-saving power-boost system |
-
2015
- 2015-07-15 CN CN201520509835.XU patent/CN204979256U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107054667A (en) * | 2017-05-26 | 2017-08-18 | 广东电网有限责任公司清远供电局 | A kind of multi-rotor unmanned aerial vehicle |
| CN109383783A (en) * | 2018-08-31 | 2019-02-26 | 辽宁同心圆科技有限公司 | Aero-engine energy-saving power-boost system |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160120 Termination date: 20160715 |
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| CF01 | Termination of patent right due to non-payment of annual fee |