CN206155790U - Gentle wing unmanned aerial vehicle variable -ratio course control device - Google Patents
Gentle wing unmanned aerial vehicle variable -ratio course control device Download PDFInfo
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- CN206155790U CN206155790U CN201621094677.7U CN201621094677U CN206155790U CN 206155790 U CN206155790 U CN 206155790U CN 201621094677 U CN201621094677 U CN 201621094677U CN 206155790 U CN206155790 U CN 206155790U
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- follower
- control
- wing unmanned
- speed
- unmanned plane
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Abstract
The utility model discloses a gentle wing unmanned aerial vehicle variable -ratio course control device, its accessible a pair of wings umbrella control the matching control of rope pulling force and speed, realize the efficient control that turns to gentle wing unmanned aerial vehicle course, and this course control device includes that control system, execution systems and setting are in the tensile sensor of rope is controld to the sensing that is used for that parafoil controld on the rope, wherein, control system is used for the basis the pulling force that the sensor detected is handled and is sent corresponding control signal for actuating mechanism, actuating mechanism is according to the corresponding manipulation speed of above -mentioned control signal control manipulation rope to optimal operation speed is matchd according to the atress of controing the rope in real time to the realization. The utility model discloses a flexible efficient course control can be realized so that the control motor has best efficiency to the apparatus and method for.
Description
Technical field
This utility model is related to unmanned plane field, more particularly to a kind of soft wing unmanned plane variable-ratio directional control gear.
Background technology
Soft wing unmanned plane is a kind of suspension aircraft with parafoil as wing, and its Heading control relies primarily on actuator pair
The control wire folding and unfolding of parafoil both sides during due to parafoil Heading control, is needed to correspondence controlling the heading of soft wing unmanned plane
The parafoil control wire of side is drop-down, drawing left side of turning left, drawing right side of turning right, and drop-down degree is different, and the implementation capacity that it needs is big
It is little also to differ.
The actuator that conventional unmanned plane is adopted for constant rotational speed steering wheel or servomotor, using pwm signal control,
Referred to as ratio steering wheel, according to the wave amplitude width size for providing pwm signal, the angle that steering wheel rotation is specified and subtracts its rotary rpm
Fast ratio can not change, regardless of torque, always constant rotational speed, needs the occasion of quick manipulation, it is impossible to realize at some
The requirement of vector mobility.In addition, required torque must, moment of torsion maximum most fast according to rotating speed designing, rotating speed and moment of torsion
Can not change, cause that qualified steering wheel or servomotor size and weight are larger, energy consumption is also larger, causes unmanned plane
Weight is excessive, electric energy supply bottleneck.
Utility model content
For the disadvantages described above or Improvement requirement of prior art, this utility model provides a kind of soft wing unmanned plane variable-ratio
Directional control gear, it passes through the transmission actuator for arranging Optimal improvements, so that it can be according to the pulling force of control wire
Manipulation speed of the size infinitely variable speeds to control wire, realizes the efficient Heading control of maneuverability, and causes controlled motor tool
There is best efficiency.
For achieving the above object, according to this utility model, there is provided a kind of soft wing unmanned plane variable-ratio directional control gear, its
The efficient control turned to soft wing unmanned plane course can be realized by the match control to parafoil manipulation rope tension and speed, its
It is characterised by,
The directional control gear include control system, execution system and be arranged on the parafoil control wire for feeling
The sensor for manipulating rope tension is surveyed, wherein, the control system is used to be processed simultaneously according to the pulling force of sensor detection
Corresponding control signal is sent to into actuator, the actuator controls control wire and manipulates accordingly according to above-mentioned control signal
Speed；
The actuator includes the drivewheel being connected with driving motor output shaft, coaxially connected by power transmission shaft and can be same
The fixed follower of step rotation and movable follower and the transmission belt being crossed between the drivewheel and the power transmission shaft,
Wherein described fixed follower is connected with control wire can drive control wire start with the rotation of fixed follower, and the fixation is passive
Wheel is coaxial separated by a distance positioned opposite with movable follower, and it is apart from adjustable, the fixation follower and activity follower
Relative side is inclined plane, the Partner of the transmission belt be enclosed within two inclined planes of fixed follower and movable follower with
In space between power transmission shaft and then the fixed follower can be driven to rotate with movable follower, and with the fixation it is passive
The change of distance between wheel and movable follower, the Partner of the transmission belt in inclined plane relative movement and cause to be wrapped
The size variation enclosed, so as to the transmission belt gear ratio produces change so that the passive wheel speed of the fixation and manipulate rope speed
Change, to adapt to manipulate the change of rope tension.
As it is of the present utility model further preferably, the fixed follower is that middle part is thick with the wheel disc of movable follower
Degree is big and peripheral thickness is little so that its opposite flank is inclined plane when fixed follower is positioned opposite with movable follower, and
It is trapezoidal space that space between two inclined planes and the power transmission shaft surrounds section, and the transmission belt Partner is enclosed within the space
In.
As it is of the present utility model further preferably, the lateral surface of the transmission belt is to match with the inclined plane gradient
Inclined-plane so that can be fitted close with the wheel disc inclined plane of both sides when the transmission belt is enclosed within the space, so as to institute can be driven
State fixed follower to rotate with movable follower.
As it is of the present utility model further preferably, the movable follower can be transported to axial on the power transmission shaft
It is dynamic, so as to be capable of achieving the change of the distance of relatively described fixed follower.
Further preferably the movable follower has central through hole as of the present utility model, and through-hole inner surface is arranged
The output shaft coaxial package for having female thread, speed Control motor is threadedly coupled in the central through hole and with it, with speed change control
The rotation of motor output shaft processed, and the movable follower can in the axial direction be moved by driving, so as to realize that it is relatively described solid
Determine the change of follower spacing.
As it is of the present utility model further preferably, the control system includes that Logic control module and signal send mould
Block, wherein the Logic control module is electrically connected with pulling force sensor, the pulling force data for being detected according to pulling force sensor is entered
Row is calculated, and obtains the control parameter of the motor in suitable driving actuator, and described signal transmitting module is used for
Control parameter is converted into into the drive signal of actuator and the motor of actuator is sent to.
In general, by the contemplated above technical scheme of this utility model compared with prior art, have with following
Beneficial effect：
1) in this utility model, using the pulling force of pulling force sensor real-time monitoring parafoil control wire, soft wing unmanned plane during flying
During control wire state monitor at any time, and then can real-time matching motor best power optimum speed so that turn to control
System is flexible and efficient.
2) in this utility model, the setting of two followers with relative tilt face in actuator, and between passing through
Spacing change, be capable of achieving V belt translation in gear ratio realize electrodeless change, with operation is simple and reliable, be highly suitable for turn to
Electrodeless variable-speed in control；
3) in this utility model, the folding and unfolding of control wire is carried out using variable-ratio mechanism, underloading can be accomplished at a high speed and heavy duty is low
The various working conditions such as speed, can match the best power of motor, greatly improve motor-driven in terms of soft wing unmanned plane course
Property.
Description of the drawings
Fig. 1 is according to the soft wing unmanned plane airflight schematic diagram of this utility model embodiment；
Fig. 2 is the control system schematic diagram according to the directional control gear of this utility model embodiment；
Fig. 3 is the actuator schematic diagram according to the directional control gear of this utility model embodiment；
Fig. 4 is the transmission principle schematic diagram according to the directional control gear of this utility model embodiment；
In all of the figs, identical reference be used for represent identical element or structure, wherein：1st, parafoil 2, behaviour
Vertical rope 3, straphanger 4, the electromotor of propeller 5,6, body 7, control system 8, actuator 9, undercarriage 10, pulling force
Sensor 11, Logic control module 12, signal transmitting module 13, motor 14, drivewheel 15, transmission belt 16, work
Dynamic follower 17, fixed follower 18, speed Control motor.
Specific embodiment
In order that the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with accompanying drawing and enforcement
Example, is further elaborated to this utility model.It should be appreciated that specific embodiment described herein is only to explain
This utility model, is not used to limit this utility model.Additionally, institute in this utility model disclosed below each embodiment
As long as the technical characteristic being related to does not constitute each other conflict and just can be mutually combined.
A kind of soft wing unmanned plane variable-ratio directional control gear involved by this utility model embodiment, its be used for the soft wing without
Man-machine course carries out the control of accurate and flexible, and it includes control system and actuator.
Soft wing unmanned plane described in the present embodiment is preferably a kind of unmanned vehicle using parafoil as wing, Neng Goushi
Now take off, the function such as landing, air maneuver.As shown in figure 1, the soft wing unmanned plane involved by the present embodiment include parafoil 1,
Control wire 2, straphanger 3, propeller 4, electromotor 5, body 6, control system 7, actuator 8, undercarriage 9.Wherein, it is described
Parafoil 1 is connected by straphanger 3 as wing with body 6, and for the soft wing unmanned plane lift is provided.Described propeller 4 and start
Machine 5 is fixed on the soft rear portion of wing unmanned plane body 6, advances soft wing unmanned plane to advance, can also by power size control the soft wing nobody
The flying height of machine.The body 6 is load supporting type frame structure, for installing electromotor 5 and undercarriage 9.Described undercarriage 9
For slide-type undercarriage, provide landing for soft wing unmanned plane takeoff and landing and support.
As shown in Figure 1,2 and 3, the control system of this utility model embodiment is used for according to flight control signal and operating rope
The pulling force size of sensor gives actuator action signal, and described actuator is a kind of stepless speed changing mechanism, Neng Gougen
The signal output friction speed be given according to control system and the operating physical force of different torques, to control course soft wing unmanned plane is guaranteed
Fly on predetermined course line, the steering for adapting to soft wing unmanned plane fast reserve is required.In general, by controlling control wire
Pulling force completes to need a process come the steering for realizing soft wing unmanned plane, in the early stage due to the less pulling of stress in this time period
The pulling force of operating rope can be less, and continues to increase as steering carries out its stress, controls the pulling force of control wire and also can constantly become big.
The pulling force of control wire is controlled by the actuator of this utility model embodiment, can be added in the case of in the early stage pulling force is less
The drop-down speed of fast control wire, and slowly reduce the drop-down speed of control wire in the later stage, thereby may be ensured that and playing motor most
The course changing control of fast reserve is realized under conditions of big performance.
As shown in figures 2 and 3, control system 7 includes pulling force sensor 10, Logic control module 11 and signal transmitting module
12.Wherein, described pulling force sensor 10 is arranged on control wire 2, for the pulling force size of real-time monitoring control wire 2.Logic
Control module 11 is electrically connected with pulling force sensor 10, is calculated for the pulling force data according to pulling force sensor, so as to be given
The control parameter of the motor 13 in suitable driving actuator 8.And described signal transmitting module 12 is used for control parameter
It is converted into the drive signal of actuator 8 and is sent to the motor 13 of actuator 8.
Specifically, as shown in figure 3, described actuator 8 includes motor 13, drivewheel 14, transmission belt 15, fixation
Follower 16, movable follower 17 and speed Control motor 18.Wherein, the motor 13 is powered preferably by power supply
Direct current generator.Described drivewheel 14 is connected with the direct driving force of motor 13, and it being rotated by driving electric.Pass
Dynamic band 15 is V-structure, for power to be passed to into fixed follower 16 from drivewheel 14.Fixed follower 16 connects with control wire 2
Connect, for driving control wire 2 drop-down.Movable follower 17 is used to adjust speed reducing ratio, i.e., described speed Control motor 18 passes through
The signal change that control system 7 is given fixes the distance of follower 16 and movable follower 17, and to reach gear ratio reality is changed
The purpose of existing speed change.
Specifically, as shown in Figures 3 and 4, fixed follower 16 is coaxial separated by a distance relative with movable follower 17
Arrangement, preferably by power transmission shaft concatenation, wherein fixed follower 16 and power transmission shaft be fixedly and coaxially connected can synchronous axial system,
The movable follower 17 is enclosed within power transmission shaft periphery, can with the drive axis synchronous axial system, but in the axial direction it can be relative
The power transmission shaft axial movement, so that the relative distance between fixed follower 16 and movable follower 17 is adjustable.
As shown in figure 4, the fixed follower 16 is inclined plane, two inclined planes and biography with the movable opposite face of follower 17
Relative space narrow wide trapezoid cross section under being formed as between moving axis.Follower 16 is fixed in one embodiment with movable quilt
Closest between driving wheel 17, now space relative between two inclined planes and power transmission shaft is referred to as triangle.The side of transmission belt 15
It is enclosed within drivewheel 14, opposite side is enclosed between fixed follower 16 and movable follower 17, the lateral surface of transmission belt 15 is to incline
Inclined-plane, it is contacted with the inclined plane matching of the fixed follower 16 of respective side or movable follower 17, so that transmission belt 15
Being enclosed within the side between fixed follower 16 and movable follower 17 can be between fixed follower 16 and movable follower 17
Matched well is contacted, particularly its with the change of distance between fixed follower 16 and movable follower 17, transmission belt 15 should
The size that slave end is surrounded can change, so that it produces the gear ratio of variation between drivewheel.In an enforcement
In example, distance is maximum between fixed follower 16 and movable follower 17, and the slave end of transmission belt 15 is directly sleeved on power transmission shaft
On, the gear ratio having is maximum or minimum.As distance becomes big between fixed follower 16 and movable follower 17, its gear ratio
Also gradually change, such that it is able to match corresponding gear ratio according to the pulling force size of control wire 2, and then match corresponding rotation speed
Rate is the pulling speed of control wire 2.
Assume that the measured value of pulling force sensor 10 is n, a diameter of R of fixed follower 16, the moment of torsion of motor 13 is t, and band is passed
Dynamic speed reducing ratio is r, then the moment of torsion for fixing the output of follower 16 is t/r, is produced because pulling force sensor 10 is equal to fixed follower 16
Raw pulling force, then the control planning of Logic control module 11 is t/r=nR.When the value of actual measurement pulling force sensor 10 is n (n ＞ 0),
Then unique corresponding speed reducing ratio r=t/nR, speed Control motor are calculated according to the control planning of Logic control module 11
18 action drives activity followers 17 reach the speed reducing ratio r value of requirement.If soft wing unmanned plane is in flight course, need to change
Course, then in manipulation rope, the pulling force sensor 10 being connected with control wire 2 can produce a new value of thrust, and the value is anti-
New rotating ratio is obtained after being calculated by Logic control module 11 after being fed in control system 7, by adjustment activity follower 17 with
The spacing of fixed follower 16, will now form new drive connection, obtain new rotating speed, through signal transmitting module 12, enter
And reached the purpose in the soft wing unmanned plane course of speed Control.
In one embodiment, as shown in figure 4, speed Control motor 18 is arranged on movable follower 17 by motion thread
On, specifically, movable follower 17 is hollow structure, and hollow hole inner wall surface is provided with female thread, outside the output shaft of motor 18
Week arranges external screw thread, and in the hollow hole of movable follower 17, the mode that is threaded connection is so that motor 18 for its coaxial sleeve
Output shaft is coaxially connected with movable follower 17.Signal change is provided in control system 7 fix follower 16 and movable follower
17 apart from when, the output shaft rotation of speed Control motor 18, and by the motion thread driving activity follower 17 on motor shaft
Axially-movable, is allowed to close to or away from fixed follower 16, and transmission belt 15 is due to by fixed follower 16 and movable follower
17 constraint and cause its position to change, and then change its gear ratio, reach the purpose of speed change.
The soft wing unmanned plane course heading control method of this utility model one embodiment, it is carried out using above-mentioned control device
Heading control, it comprises the steps：
1) during soft wing unmanned plane flight in the air, can be according to the telecommand of course line track or ground controlling personnel to course
Modify, the change in course is realized by the folding and unfolding of control wire 2；
2) assume that pulling force sensor 10 measured value is n, a diameter of R of fixed follower 16, the moment of torsion of motor 13 is t, band
Reduction gear ratio is r, then the moment of torsion for fixing the output of follower 16 is t/r, because pulling force sensor 10 is equal to fixed follower 16
The pulling force of generation, then the control planning of Logic control module 11 is t/r=nR；
3) when the value of actual measurement pulling force sensor 10 is n (n ＞ 0), then calculated according to the control planning of Logic control module 11
Go out unique corresponding speed reducing ratio r=t/nR, the action drives activity follower 17 of speed Control motor 18 reaches subtracting for requirement
Speed is than r values；
4) in flight course, the pulling force sensor 10 being connected with control wire 2 can produce all the time a drawing to soft wing unmanned plane
Force value n, the value calculated by Logic control module 11 after feeding back in control system 7 after through signal transmitting module 12, now will
New drive connection is formed, the purpose in the soft wing unmanned plane course of speed Control has been reached.
The value of thrust of cycle detection control wire, you can realize in real time to the best match of corresponding speed, so as to greatly improve
Mobility in terms of soft wing unmanned plane course.
As it will be easily appreciated by one skilled in the art that preferred embodiment of the present utility model is the foregoing is only, not
To limit this utility model, all any modifications made within spirit of the present utility model and principle, equivalent and change
Enter, should be included within protection domain of the present utility model.
Claims (6)
1. a kind of soft wing unmanned plane variable-ratio directional control gear, it can be by manipulating the matching control of rope tension and speed to parafoil
System, realizes the efficient control turned to soft wing unmanned plane course, it is characterised in that
The directional control gear includes control system, execution system and is arranged on grasping for sensing on the parafoil control wire
The sensor of vertical rope tension, wherein, the control system is used to be processed and by phase according to the pulling force of sensor detection
Control signal is answered to be sent to actuator, the actuator controls control wire and manipulates speed accordingly according to above-mentioned control signal
Degree；
The actuator includes and the drivewheel of driving motor output shaft connection, coaxially connected by power transmission shaft and can synchronously turn
Dynamic fixed follower and movable follower and the transmission belt being crossed between the drivewheel and the power transmission shaft, wherein
The fixed follower is connected with control wire can drive control wire start with the rotation of fixed follower, the fixation follower with
Movable follower is coaxial separated by a distance positioned opposite, and it apart from adjustable, the fixation follower is relative with activity follower
Side be inclined plane, the Partner of the transmission belt is enclosed within two inclined planes of the fixed follower with movable follower and transmission
In space between axle and then the fixed follower can be driven to rotate with movable follower, and with the fixed follower with
The change of distance between movable follower, the Partner of the transmission belt in inclined plane relative movement and cause what is surrounded
Size variation, so as to the transmission belt gear ratio produces change so that the passive wheel speed of the fixation and control wire rapid change,
To adapt to manipulate the change of rope tension.
2. a kind of soft wing unmanned plane variable-ratio directional control gear according to claim 1, wherein, the fixed follower
It is that interior thickness is big and peripheral thickness is little with the wheel disc of movable follower so that fixed follower cloth relative with activity follower
It is trapezoidal sky that the space that its opposite flank is between inclined plane, and two inclined planes and the power transmission shaft when putting surrounds section
Between, the transmission belt Partner covers within this space.
3. a kind of soft wing unmanned plane variable-ratio directional control gear according to claim 2, wherein, the transmission belt it is outer
Side is the inclined-plane matched with the inclined plane gradient so that can be with the wheel disc of both sides when the transmission belt is enclosed within the space
Inclined plane is fitted close, so as to the fixed follower can be driven to rotate with movable follower.
4. a kind of soft wing unmanned plane variable-ratio directional control gear according to any one of claim 1 to 3, wherein, institute
State movable follower on the power transmission shaft can relative axial movement, so as to be capable of achieving the distance of relatively described fixed follower
Change.
5. a kind of soft wing unmanned plane variable-ratio directional control gear according to claim 4, wherein, the movable follower
With central through hole, through-hole inner surface is provided with female thread, and the output shaft coaxial package of speed Control motor is in the central through hole
In and be threadedly coupled with it, with the rotation of speed Control motor output shaft, the movable follower can be by driving in axial direction
Upper movement, so as to realize the change of its relatively described fixed follower spacing.
6. a kind of soft wing unmanned plane variable-ratio directional control gear according to any one of claim 1 to 3, wherein, institute
Control system is stated including Logic control module and signal transmitting module, wherein the Logic control module is electrically connected with pulling force sensor
Connect, the pulling force data for being detected according to pulling force sensor is calculated, obtain the suitable driving electricity driven in actuator
The control parameter of machine, and described signal transmitting module is used to control parameter is converted into into the drive signal of actuator and is sent
To the motor of actuator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621094677.7U CN206155790U (en) | 2016-09-30 | 2016-09-30 | Gentle wing unmanned aerial vehicle variable -ratio course control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621094677.7U CN206155790U (en) | 2016-09-30 | 2016-09-30 | Gentle wing unmanned aerial vehicle variable -ratio course control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206155790U true CN206155790U (en) | 2017-05-10 |
Family
ID=58652149
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621094677.7U Expired - Fee Related CN206155790U (en) | 2016-09-30 | 2016-09-30 | Gentle wing unmanned aerial vehicle variable -ratio course control device |
Country Status (1)
| Country | Link |
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| CN (1) | CN206155790U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428553A (en) * | 2016-09-30 | 2017-02-22 | 襄阳宏伟航空器有限责任公司 | Course control device capable of changing speed, of flexible-wing unmanned aerial vehicle, and method |
-
2016
- 2016-09-30 CN CN201621094677.7U patent/CN206155790U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428553A (en) * | 2016-09-30 | 2017-02-22 | 襄阳宏伟航空器有限责任公司 | Course control device capable of changing speed, of flexible-wing unmanned aerial vehicle, and method |
| CN106428553B (en) * | 2016-09-30 | 2018-09-07 | 襄阳宏伟航空器有限责任公司 | A kind of soft wing unmanned plane variable-ratio directional control gear and method |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170510 Termination date: 20180930 |