CN207809771U - Disk like duct quadrotor - Google Patents
Disk like duct quadrotor Download PDFInfo
- Publication number
- CN207809771U CN207809771U CN201721820043.XU CN201721820043U CN207809771U CN 207809771 U CN207809771 U CN 207809771U CN 201721820043 U CN201721820043 U CN 201721820043U CN 207809771 U CN207809771 U CN 207809771U
- Authority
- CN
- China
- Prior art keywords
- quadrotor
- rack
- duct
- control panel
- carbon plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The utility model discloses a kind of disk like duct quadrotor, including：Rack, upper carbon plate, lower carbon plate, four exhausting mechanisms, flight control panel, four electron speed regulators, power supply and receiver；Rack is cylindrical, and upper carbon plate and lower carbon plate are arranged in parallel in the top and bottom of rack；Four exhausting mechanisms are uniformly distributed in rack according to circle around the central axis of rack, and there are one motors for each exhausting mechanism setting；Anticollision foam is provided between upper carbon plate and lower carbon plate, anticollision foam is located at exhausting mechanism periphery；Flight control panel and four electron speed regulators are fixed on by copper post in rack；One end of each electron speed regulator is connect with the motor of an exhausting mechanism, and the other end of each electron speed regulator is connect with flight control panel；Electron speed regulator is connect with power supply；Receiver is connect with flight control panel；Only aircraft need to be made to rise the thrust of air by duct, without offsetting torque caused by propeller rotation, can avoid the danger of paddle belt.
Description
Technical field
The utility model is related to air vehicle technique fields, and in particular to a kind of disk like duct quadrotor.
Background technology
In IT-based warfare instantly, low input, the important indicator for becoming IT-based warfare in high precision.Unmanned plane
It is universal, there are many unrivaled advantages to modernization information war.Quadrotor has mobility strong, and flexibility is high, can grasp
The features such as control property is good.Quadrotor either suffers from important meaning in present war or future war.Unmanned plane is not only
Have application emphatically in war, with manual intelligent application with it is universal, the use of intelligent robot is also fade-in climax, one
The equipment of a little artificial intelligence is popularized and the realization of new information technology function makes intelligence be popularized in modern society, quadrotor
Aircraft is exactly good embodies.
Unmanned plane is popularized, and the one kind of quadrotor as unmanned plane, advantage is also more and more obvious, with following spy
Point：First, small volume can be operated in many narrow spaces, such as pipeline, cave etc..Second, it can be in building ring
The severe sitework in border, quadrotor can unremitting work, improve working efficiency as far as possible.Third is supported
Sophisticated electronic module outside being equipped with, such as holder camera model, ultrasonic wave module, image transmission module.4th, it may be implemented
Multiple functions.Mechanical structure is simple, can be to avoid complicated aerodynamics problem.
Although quadrotor is very wide in military use development, it is civil four that we, which usually see more quadrotors,
Rotor, quadrotor itself is as a kind of tool that people usually amuse and divert oneself, itself is with regard to dangerous property, especially its blade institute
The danger brought, once operation error is possible to that damage parts can be caused, it is more likely that artificial at irremediable injury.And
And be to drive blade by motor, and motor is using brushless motor entirely in the quadrotor power usually usually seen, but it is brushless
It will produce following disadvantage：Fever is big, and short life causes its efficiency low, and output power is small, and after a period of use, needs
Carbon brush is cleared up, time-consuming and laborious and degree-of-difficulty factor is big.
Utility model content
The purpose of this utility model is to provide a kind of disk like duct quadrotors, are flown with solving existing quadrotor
Problem above present in row device.
The utility model provides a kind of disk like duct quadrotor, including：Rack, upper carbon plate, lower carbon plate, four letters
Road mechanism, flight control panel, four electron speed regulators, power supply and receiver；
The rack is cylindrical, and the upper carbon plate and the lower carbon plate are arranged in parallel in the top and bottom of the rack
Portion；
Four exhausting mechanisms are uniformly distributed in the rack according to circle around the central axis of the rack, often
There are one motors for a exhausting mechanism setting；
Anticollision foam is provided between the upper carbon plate and the lower carbon plate, the anticollision foam is located at the exhausting mechanism
Periphery；
The flight control panel and four electron speed regulators are fixed on the rack by copper post；
One end of each electron speed regulator is connect with the motor of an exhausting mechanism, each electron speed regulator
The other end is connect with the flight control panel；
The electron speed regulator is connect with the power supply；
The receiver is connect with the flight control panel.
Optionally, the model Ardupilot-mega2560 of the flight control panel, the control panel use
ATmega2560 microprocessors are main frame, and the flight control panel is internally provided with three axis being connect with the microprocessor
Accelerometer, X-Y axis gyroscope, Z axis gyroscope and radio communication device.
Optionally, the anticollision foam is expansible polystyrene.
Optionally, the copper post extends to the bottom composition undercarriage of the rack, and the undercarriage includes four supports
Foot, there are one the support legs for the bottom setting of each exhausting mechanism.
Optionally, the bottom of the support leg is provided with rubber shock-absorbing piece.
By above technical scheme it is found that a kind of disk like duct quadrotor provided by the utility model, including：Machine
Frame, upper carbon plate, lower carbon plate, four exhausting mechanisms, flight control panel, four electron speed regulators, power supply and receiver；Rack is in
Cylindric, upper carbon plate and lower carbon plate are arranged in parallel in the top and bottom of rack；Four exhausting mechanisms surround the central shaft of rack
Line is uniformly distributed in rack according to circle, and there are one motors for each exhausting mechanism setting；It is arranged between upper carbon plate and lower carbon plate
There are anticollision foam, anticollision foam to be located at the periphery of exhausting mechanism；Flight control panel and four electron speed regulators are fixed by copper post
In in rack；One end of each electron speed regulator is connect with the motor of an exhausting mechanism, the other end of each electron speed regulator
It is connect with flight control panel；Electron speed regulator is connect with power supply；Receiver is connect with flight control panel；It is provided by the utility model
A kind of disk like duct quadrotor only needs to make aircraft rise the thrust of air by duct, need not offset propeller
Torque caused by rotation, such flight theory make disk like quadrotor have diversified structure and avoid blade to people
Caused by it is dangerous, in addition, a kind of disk like duct quadrotor provided by the utility model, have that center of gravity is low, knot
The features such as structure is symmetrical, stability is good, and the undercarriage of the aircraft uses four-point undercarriage, each cantilever respectively to connect
One undercarriage, bottom are equipped with rubber shock-absorbing piece, can play the role of buffering in landing.
Description of the drawings
In order to illustrate more clearly of the technical solution of the application, letter will be made to attached drawing needed in the embodiment below
Singly introduce, it should be apparent that, for those of ordinary skills, without having to pay creative labor,
Other drawings may also be obtained based on these drawings.
Fig. 1 is a kind of external structure schematic diagram of disk like duct quadrotor provided by the utility model.
Fig. 2 is a kind of internal structure block diagram of disk like duct quadrotor provided by the utility model.
Fig. 3 is a kind of schematic diagram of the flight control panel of disk like duct quadrotor provided by the utility model.
Fig. 4 is the movement schematic diagram of existing quadrotor.
Fig. 5 is a kind of vertical movement schematic diagram of disk like duct quadrotor provided by the utility model.
Fig. 6 is a kind of pitching movement schematic diagram of disk like duct quadrotor provided by the utility model.
Fig. 7 is a kind of rolling movement schematic diagram of disk like duct quadrotor provided by the utility model.
Fig. 8 be a kind of disk like duct quadrotor provided by the utility model by crosswind when restoring force schematic diagram.
It illustrates：1- racks, the upper carbon plates of 2-, carbon plate under 3-, 4- exhausting mechanism, 5- flight control panels, 6- electronic speed regulations
Device, 7- power supplys, 8- receivers, 9- motors, 51- microprocessors, 52- three axis accelerometer 53-X-Y axis gyroscopes, 54-Z axis tops
Spiral shell instrument, 55- radio communication devices, 10- support legs, 11- rubber shock-absorbing pieces, the first rotors of 910-, the second rotors of 920-, 930- thirds
Rotor, 940- quadrotors, 91- first motors, the second motors of 92-, 93- third motors, the 4th motors 94 of 94-.
Specific implementation mode
It please referring to Fig.1 to Fig.3, the utility model provides a kind of disk like duct quadrotor, including：Rack 1, upper carbon
Plate 2,3, four exhausting mechanisms 4 of lower carbon plate, 5, four electron speed regulators 6 of flight control panel, power supply 7 and receiver 8.
Wherein, the rack 1 is cylindrical, and the upper carbon plate 2 and the lower carbon plate 3 are arranged in parallel in the rack 1
Top and bottom；Four exhausting mechanisms 4 are uniform according to circle in 1 frame of the machine around the central axis of the rack 1
Distribution, there are one motors 9 for each setting of exhausting mechanism 4；It is provided with anticollision between the upper carbon plate 2 and the lower carbon plate 3
Foam, the anticollision foam are located at the periphery of the exhausting mechanism 4；The flight control panel 5 and four electron speed regulators 6
It is fixed on the rack by copper post；One end of each electron speed regulator 6 is connect with the motor 9 of an exhausting mechanism 4,
The other end of each electron speed regulator 6 is connect with the flight control panel 5；The electron speed regulator 6 connects with the power supply 7
It connects；The receiver 8 is connect with the flight control panel 5.
In the present embodiment, the model Ardupilot-mega2560 of the flight control panel 5, the control panel use
ATmega2560 microprocessors 51 are main frame, and the flight control panel 5 is internally provided with to be connect with the microprocessor 51
Three axis accelerometer 52, X-Y axis gyroscope 53, Z axis gyroscope 54 and radio communication device 55.In addition, in flight control panel 5
It is also provided with airspeed sensor, current sensor, voltage sensor etc. and various I/O interfaces, multiple functional, program is increased income,
It can directly be developed in Arduino platforms.
In the present embodiment, the anticollision foam be expansible polystyrene, anticollision foam can be used for exhausting mechanism 4 into
Row protection, and play damping effect.The bottom that the copper post extends to the rack 1 constitutes undercarriage, the undercarriage packet
Four support legs 10 are included, there are one the support legs 10 for the bottom setting of each exhausting mechanism 4.The bottom of the support leg 10
Portion is provided with rubber shock-absorbing piece 11.
Quadrotor is typically characterised by four vertex of cross fixing axle from structural point there are four band
The motor of propeller can realize the actions such as hover, roll, yaw and move up and down in the air as dragonfly.Phase
For conventional remote controls helicopter similar in scale, four-rotor helicopter has several advantages.First, quadrotor is gone straight up to
Machine does not need mechanical linkage to change angle of inclination when propeller rotational, and which simplifies the maintenances of design and helicopter
Work.Second, the configuration mode of four motors can allow the diameter of each propeller less than the single spiral shell of conventional remote controls helicopter
Paddle (not including tail-rotor) is revolved, to reduce the kinetic energy generated in flight course.When this can allow helicopter to bump against other objects
Reduce damage.For Miniature remote control aircraft, smaller airscrew diameter means that plane-hop is safer.Some
Small-sized four-rotor helicopter is that propeller increases protective cover, can fly in more complicated environment, reduce simultaneously
Damage the danger of periphery things.
Quadrotor is actually a kind of remotely-piloted vehicle controlled by embedded system for controlling angle.Its hardware
System includes fuselage and remote controler.Fuselage critical piece has processor, X-Y axis gyroscope, Z axis gyroscope, X-Y-Z axle accelerations
Meter, radio-frequency communication module and four motor.Software is using RTOS real time operating systems as such as uc/OS-II.It is flying
In the process, CPU receives the flight directive that remote controler is sent out, while can read the measurement result of gyroscope and accelerometer, so
The rotating speed for sending out signal adjustment motor afterwards, to allow quadrotor to fly according to the wish of operator.
Referring to Fig. 4, the disk like duct quadrotor of the utility model mechanical structure with control angle for quadrotor
It is similar, there is a larger difference difference lies in, dynamical system and flight theory and quadrotor, quadrotor is from power angle
For, four rotors as flight direct driving force source, rotor be symmetrically distributed in body around four direction, four
Rotor is in sustained height plane, and the structure of four rotors and radius are all identical, and the first rotor 910 and third rotor 930 are inverse
Hour hands rotate, and the second rotor 920 and quadrotor 940 rotate clockwise, and four motors are symmetrically installed on the holder of aircraft
End, holder intermediate space place flight-control computer and external equipment.The reaction torque and rotation that each rotor applies fuselage
The direction of rotation of the wing is on the contrary, therefore while the first rotor 910 and third rotor 930 rotate counterclockwise, 920 He of the second rotor
Quadrotor 940 rotates clockwise, and can balance reaction torque of the rotor to fuselage.Quadrotor shares 6 certainly in space
By spending, make translation and spinning movement along 3 reference axis respectively, the control of this 6 degree of freedom can be by adjusting different motors
Rotating speed realize.In upper figure, the first rotor 910 and third rotor 930 rotate counterclockwise, the second rotor 920 and the 4th
Rotor 940 rotates clockwise to be known as travelling forward, it is specified that moving along positive direction of the x-axis, and arrow is above the plane of movement of rotor
It indicates that this motor speed improves, indicates that this motor speed declines in lower section.
And disk like duct quadrotor controls electricity by providing an identical pwm pulse signal by aircraft autopilot
It adjusts, the duct of quadrotor is controlled by electric transfer in, keeps the size of each duct thrust identical, disk like duct quadrotor is made to fly
Device smooth flight.The gesture stability of disk like duct quadrotor is the pwm pulse letter by changing unmanned plane autopilot
The size for number carrying out each duct motor power of change of flight device makes its complete gesture stability.It is compared with common quadrotor, disk like
Duct quadrotor is to overturn the control mode of common quadrotor completely from control principle, and disk like duct quadrotor only needs to pass through
Duct makes aircraft rise the thrust of air, need not offset torque caused by propeller rotation, and such flight theory makes
Disk like quadrotor has diversified structure and avoids blade to dangerous caused by people.
Fig. 5 is a kind of vertical movement schematic diagram of disk like duct quadrotor provided by the utility model.By four
The motor of duct is denoted as first motor 91, the second motor 92, third motor 93 and the 4th motor 94 respectively.When four ducts
Motor speed it is identical when, duct rotation only generate downward thrust.Increase the output power of four duct motor simultaneously,
Duct thrust increases, when total pulling force is enough to overcome the weight of complete machine, disk like duct quadrotor just liftoff vertical ascent；
Conversely, reducing the output power of four ducts simultaneously, disk like duct quadrotor then vertically declines, until balance landing,
Realize the vertical movement along Z axis.When external disturbance amount is zero, it is equal to oneself of aircraft in the thrust that duct motor generates
When weight, aircraft just keeps floating state.
Fig. 6 is a kind of pitching movement schematic diagram of disk like duct quadrotor provided by the utility model.When first
The rotating speed of motor 91 and the 4th motor 94 is less than the rotating speed of duct third motor 93 and the second motor 92, then first motor 91 and the
Four motors, 94 direction lift is less than another side, therefore body is tilted to first motor 91 and 94 direction of the 4th motor.Regulation should
Before direction is, i.e., flies before body, otherwise fly backward.The rotating speed of first motor 91 rises, and the rotating speed of third motor 93, which declines, (to be changed
Amount size answer it is equal), the second motor 92, the 4th motor 94 rotating speed remain unchanged.Since the thrust of the 4th motor 94 rises, the
The thrust of three motors 93 declines, and the unbalanced moments of generation makes fuselage be rotated around Y-axis, similarly, when under the rotating speed of first motor 91
The rotating speed of drop, third motor 93 rises, and just around Y-axis, another direction rotates fuselage, realizes the pitching movement of aircraft.
Fig. 7 is a kind of rolling movement schematic diagram of disk like duct quadrotor provided by the utility model.With Fig. 6's
Principle is identical, in the figure 7, changes the rotating speed of the second motor 92 and the 4th motor 94, keeps first motor 91 and third motor 93
Rotating speed it is constant, then fuselage can be made to rotate (forward and reverse) around X-axis, realize the rolling movement of aircraft.
It is the Dynamic Modeling process of the disk like duct quadrotor of the utility model below.
If terrestrial coordinate system is D={ dx, dy, dz, aircraft body coordinate system is P={ p1, p2, p3}.It is provided refering to document
Material, provides following quadrotor kinetic model
Wherein, m is body quality, and g is acceleration of gravity, P=(x, y, z)TIt is B systems origin in the coordinate of E systems, ν=(νx,
νy, νz) T be B systems origin linear velocity,For angular velocity vector, R is transformation matrix of coordinates,For a skew symmetric matrix,IfFor inertia matrix, Qi=κ ω2For resistance, GaFor gyroscopic torque, τaFor fuselage torque, T=b (ω1 2
+ω2 2+ω3 2+ω4 2) it is lift.
The output of three angles of known aircraft (yaw angle ψ, pitching angle theta and roll angle φ) responds, and only need to calculate movement
Equation, so that it may solve the relational expression of body angular speed and Euler angle rate.
Largely depend on the stability of floating state in the flight stability of quadrotor[9].Below to hovering
The posture of state carries out model simplification, and obtaining attitude dynamics model is：
φ in formula, θ, ψ are respectively the roll angle, pitch angle and yaw angle of aircraft；Ix, Iy, IzRespectively aircraft body
Three axis rotary inertias；JRFor the rotary inertia of motor；L be aircraft center of gravity between motor center of gravity at a distance from；Define U2U3U4Point
It Wei not roll, pitching and the control of yaw direction input, U1It inputs, and has for the control of vertical direction：
FiFor the pulling force of each rotor force of labor, ωiFor the velocity of rotation of single rotor.In this way, model introduces four controlled quentity controlled variables
Complicated nonlinear mathematical model is resolved into four independent control channels, directly controlled by u1, u2, u3, u4；X, Y, Z tri-
The attitude angle in direction.Finally, after the additional disturbance for ignoring aircraft, the equation of motion of aircraft is just obtained.
In addition, quadrotor designed by the utility model has the spies such as low center of gravity, symmetrical configuration, stability is good
Point, and the undercarriage of the aircraft uses four-point undercarriage, each cantilever respectively to connect a undercarriage, bottom installation
There is rubber shock-absorbing piece, buffering can be played the role of in landing, hereafter the position of centre of gravity of Main Analysis aircraft and self-balancing are steady
It is qualitative.
Position of centre of gravity calculates：It is by origin and fixed perpendicular to the straight line of septum plane using the geometric center of rack as origin
Justice is Z axis, and positive direction is upward.If the quality of two partition boards, four cantilevers, four motors and rotor etc. is respectively：Gi, i=1,
The barycentric coodinates position of 2,3 ... n, each component is respectively：(xi, yi, zi), i=1,2,3 ... n, quadrotor it is total
Quality is G.The center of aircraft is (X, Y, Z)：
As shown in figure 8, in order to ensure the stability of quadrotor, must be designed to when designing aircraft pair
Claim, i.e. the center of gravity of aircraft is on Z axis, X=0, Y=0 in the coordinate of center of gravity.When aircraft is influenced by lateral wind F3 and tilt
When, gravity G can generate a component, referred to as restoring force F2, the position of centre of gravity of aircraft when due to design perpendicular to Z-direction
Very low, farther out, therefore restoring force can generate a restoring moment W about the z axis to the geometric center that such center of gravity will be from aircraft,
Restoring moment W can be such that aircraft returns on equilbrium position, therefore the aircraft has preferable self-stability when in face of crosswind.
It, can be right under conditions of not considering ectocine for the stability of research disk like duct quadrotor work
Aircraft carries out force analysis.Aircraft main portions are double-layer clapboard and four power subelements, on same straight line
Rotor wing rotation direction is identical two-by-two, and direction of rotation is not opposite between rotor on the same line.
The hardware system of quadrotor designed by the utility model include aircraft body, flight control system,
Several parts such as power and energy resource system.The effect that each section is played in systems is as follows：Aircraft body is flat as carrying
Platform is the carrier of other all parts；Flight control system is the key component of flight control, is mainly used to handle data, is controlled
The co-ordination of other parts processed；Dynamical system includes motor, motor driving and propeller three parts, is used for giving disk like duct
Quadrotor provides lift；Unique energy source of the battery as system, it is ensured that the supply of electric power of each section；
Because the main research center of gravity of the utility model is the structure design of disk like duct quadrotor, therefore is flown
Control system part, motor and motor driven systems, the romote controlled receiving system of device are all made of existing mature modules in the market, only
Aircraft body structure is designed and is studied.
Those skilled in the art will readily occur to this practicality after considering specification and putting into practice utility model disclosed herein
Novel other embodiments.This application is intended to cover any variations, uses, or adaptations of the utility model, these
Variations, uses, or adaptations follow the general principle of the utility model and include undocumented skill of the utility model
Common knowledge in art field or conventional techniques.The description and examples are only to be considered as illustrative, the utility model
True scope and spirit are indicated by the following claims.
It should be understood that the utility model is not limited to the accurate knot for being described above and being shown in the accompanying drawings
Structure, and various modifications and changes may be made without departing from the scope thereof.The scope of the utility model is only wanted by appended right
It asks to limit.
Claims (5)
1. a kind of disk like duct quadrotor, which is characterized in that including：Rack (1), upper carbon plate (2), lower carbon plate (3), four
A exhausting mechanism (4), flight control panel (5), four electron speed regulators (6), power supply (7) and receiver (8)；
The rack (1) is cylindrical, and the upper carbon plate (2) and the lower carbon plate (3) are arranged in parallel in the top of the rack (1)
Portion and bottom；
Four exhausting mechanisms (4) are uniformly divided in the rack (1) according to round around the central axis of the rack (1)
Cloth, there are one motors (9) for each exhausting mechanism (4) setting；
Anticollision foam is provided between the upper carbon plate (2) and the lower carbon plate (3), the anticollision foam is located at the exhausting machine
The periphery of structure (4)；
The flight control panel (5) and four electron speed regulators (6) are fixed on the rack by copper post；
One end of each electron speed regulator (6) is connect with the motor (9) of an exhausting mechanism (4), each electronics tune
The other end of fast device (6) is connect with the flight control panel (5)；
The electron speed regulator (6) connect with the power supply (7)；
The receiver (8) connect with the flight control panel (5).
2. disk like duct quadrotor as described in claim 1, which is characterized in that the type of the flight control panel (5)
Number it is Ardupilot-mega2560, the control panel use ATmega2560 microprocessors (51) for main frame, described winged
Row control panel (5) is internally provided with the three axis accelerometer (52) being connect with the microprocessor (51), X-Y axis gyroscopes
(53), Z axis gyroscope (54) and radio communication device (55).
3. disk like duct quadrotor as described in claim 1, which is characterized in that the anticollision foam is that foaming grade is poly-
Styrene.
4. disk like duct quadrotor as described in claim 1, which is characterized in that the copper post extends to the rack
(1) bottom constitutes undercarriage, and the undercarriage includes four support legs (10), and the bottom of each exhausting mechanism (4) is set
The support leg (10) there are one setting.
5. disk like duct quadrotor as claimed in claim 4, which is characterized in that the bottom of the support leg (10) is set
It is equipped with rubber shock-absorbing piece (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721820043.XU CN207809771U (en) | 2017-12-23 | 2017-12-23 | Disk like duct quadrotor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721820043.XU CN207809771U (en) | 2017-12-23 | 2017-12-23 | Disk like duct quadrotor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207809771U true CN207809771U (en) | 2018-09-04 |
Family
ID=63330405
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721820043.XU Expired - Fee Related CN207809771U (en) | 2017-12-23 | 2017-12-23 | Disk like duct quadrotor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207809771U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111717377A (en) * | 2020-06-24 | 2020-09-29 | 滨州学院 | Four-rotor aircraft frame |
| CN113148128A (en) * | 2021-05-10 | 2021-07-23 | 南京工程学院 | Motor inversion half-duct multi-rotor unmanned aerial vehicle aircraft |
-
2017
- 2017-12-23 CN CN201721820043.XU patent/CN207809771U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111717377A (en) * | 2020-06-24 | 2020-09-29 | 滨州学院 | Four-rotor aircraft frame |
| CN113148128A (en) * | 2021-05-10 | 2021-07-23 | 南京工程学院 | Motor inversion half-duct multi-rotor unmanned aerial vehicle aircraft |
| CN113148128B (en) * | 2021-05-10 | 2023-11-21 | 南京工程学院 | Motor inversion half-duct multi-rotor unmanned aerial vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Cutler et al. | Analysis and control of a variable-pitch quadrotor for agile flight | |
| Hoffmann et al. | Quadrotor helicopter flight dynamics and control: Theory and experiment | |
| Pounds et al. | Towards dynamically-favourable quad-rotor aerial robots | |
| Ren et al. | Modeling, control and coordination of helicopter systems | |
| CN106114854B (en) | A kind of push-button aircraft | |
| CN106114853B (en) | A kind of push-button aircraft | |
| Pounds | Design, construction and control of a large quadrotor micro air vehicle | |
| CN207809771U (en) | Disk like duct quadrotor | |
| Tang et al. | Dynamic modeling for high-performance controller design of a UAV quadrotor | |
| CN109270834A (en) | A kind of design method based on PID four-rotor aircraft control system | |
| de Angelis | Stability analysis of a multirotor vehicle hovering condition | |
| Zou et al. | The modeling and implementation of tri-rotor flying robot | |
| Wei et al. | Research on a combinatorial control method for coaxial rotor aircraft based on sliding mode | |
| Kita et al. | Hovering control of a tail-sitter VTOL aerial robot | |
| Wierema | Design, implementation and flight test of indoor navigation and control system for a quadrotor UAV | |
| Fang et al. | Design and nonlinear control of an indoor quadrotor flying robot | |
| CN109606680A (en) | The multi-modal aircraft of a kind of pair of hair full vector and flight system | |
| Zawiski et al. | Modelling and optimal control system design for quadrotor platform–an extended approach | |
| Setlak et al. | Examination of the unmanned aerial vehicle | |
| Kemper et al. | Impact of center of gravity in quadrotor helicopter controller design | |
| Davis | Aerodynamic force interactions and measurements for micro quadrotors | |
| Johnson et al. | Enhanced proportional-derivative control of a micro quadcopter | |
| Barczyk et al. | Control-oriented modeling of a helicopter UAV with a Bell-Hiller stabilizer mechanism | |
| Elhennawy | Dynamic modeling and robust nonlinear control of unmanned quadrotor vehicle | |
| Gabrlik et al. | Reconnaissance micro UAV system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20180904 Termination date: 20181223 |