CN208344516U - A kind of fin rudder combination self-correction underwater surface aircraft - Google Patents
A kind of fin rudder combination self-correction underwater surface aircraft Download PDFInfo
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- CN208344516U CN208344516U CN201820546772.9U CN201820546772U CN208344516U CN 208344516 U CN208344516 U CN 208344516U CN 201820546772 U CN201820546772 U CN 201820546772U CN 208344516 U CN208344516 U CN 208344516U
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Abstract
The utility model relates to a kind of fin rudders to combine self-correction underwater surface aircraft, the aircraft contour structures copy the shape of flying fish, the characteristics of navigation on hydrofoils device, underwater glider and submarine, is combined, the assembly of hydrofoil and fin rudder is symmetrically installed in aircraft central anterior, the characteristics of navigation on hydrofoils device is used when the water surface advances, lift, which is generated, by the hydrofoil of rudder end reduces the resistance that moves ahead, fin rudder is flattened when needing dive and floating, change the aircraft angle of attack by adjusting rudder angle, to realize, any position is hovered in floating dive and water, forward-reverse.By propeller-fin-rudder combination and all movable rudder-fin combination, so that aircraft has good liquid earth view point and higher flexibility, underwater surface free running is may be implemented in aircraft, and has and review one's lessons by oneself orthofunction.
Description
Technical field
The utility model relates to a kind of aircraft, and in particular to a kind of fin rudder combination self-correction underwater surface aircraft.
Background technique
In recent years, as the progress of science and technology, deep-sea are explored, the exploitation of marine resources is increasingly paid attention to by various countries, water
Lower aircraft can complete the tasks such as the even military attack defence of underwater exploration, detecting.It becomes more and more important in ocean development
It is present, submarine navigation device has increasingly obtained the attention of every country, either civilian or on military, all plays
Important role.
Current aircraft is divided into navigation unit by water and submarine navigation device, and navigation unit by water is promoted using double paddles mostly, matched
The use of vertical direction rudder is closed to change course, and scope of activities is limited to surface navigation；And submarine navigation device have it is following several: group
Close propeller and jet propulsion formula, gesture stability generally realizes aircraft in water using multiple propellers or jet nozzle
The movement of six degree of freedom, once and wherein one or more propellers or jet nozzle break down, the posture of aircraft is just very
It is difficult to control；Underwater glider obtains propulsive force using net buoyancy and attitude angle adjustment, and energy consumption is minimum, only net floating in adjustment
A small amount of energy is consumed when power and attitude angle, and has the characteristics that high-efficient, endurance is big (up to thousands of kilometers).Due to simple
Using buoyancy-driven mode, underwater glider can only do under water zigzag and spiral rotary track navigation, flight tracking control and
Positioning accuracy is low, and the speed of a ship or plane is slow, on the biggish sea of stormy waves it is possible that the case where drifting with the tide.
Utility model content
The utility model for the technical problems in the prior art, provides a kind of fin rudder combination self-correction underwater surface
Aircraft is combined by propeller-fin-rudder combination and all movable rudder-fin, so that aircraft has good liquid earth view point
And higher flexibility, underwater surface free running may be implemented in aircraft, and has and review one's lessons by oneself orthofunction.
The technical solution that the utility model solves above-mentioned technical problem is as follows:
A kind of fin rudder combination self-correction underwater surface aircraft, including main body, two fin rudder combined mechanisms, aircraft push
Mechanism, CPU module, a two-way extension means, gesture module and battery module；
Two fin rudder combined mechanisms about the main body center line symmetrical setting and with the body lower surface cut with scissors
It connects；
The Biextension mechanism is arranged in the body interior, including two extending arms and two steering engines, the steering engine
It is connected by gear with a corresponding extending arm, controls extending arm to main body two sides horizontal extension；Two extending arms
End is also hinged with the ipsilateral fin rudder combined mechanism respectively；
The aircraft pushing mechanism is arranged at below the body tail section, the aircraft pushing mechanism and the master
Body is fixedly connected；
The aircraft pushing mechanism, the Biextension mechanism, gesture module be arranged in described in body interior
CPU module and battery module electrical connection.
Further, the fin rudder combined mechanism includes fixing piece, the first revolution fin, the second revolution fin and all movable rudder；
The fin rudder combined mechanism is fixedly connected by the fixing piece with the main body；
One end of the first revolution fin and the fixing piece are hinged, so that first rotating shaft can be in the ontology
The rotation of heart line；The first revolution fin is equipped with articulated section, and a connecting rod is connected on the articulated section, and the first revolution fin is logical
It crosses the connecting rod and is connect with the ipsilateral extending arm is located at；
The other end of the first revolution fin, and plane where it and first revolution is arranged in the second revolution fin
Plane where fin is mutually perpendicular to；
To turning round with described first, fin is hinged, and the side of all movable rudder passes through along the length of the first revolution fin for all movable rudder
One connecting rod is connect with setting in the intracorporal steering engine of the master, and the steering engine is electrically connected with the CPU module, is used for
Control the rudder angle of all movable rudder.
Fixed rudder may be at vertical state when promoting, and also may be at horizontality or space random angle
Degree.When need to float dive when, fixed rudder is stretched first, is in horizontality, fin hydrofoil is in a vertical state, passes through control
The rudder angle of all movable rudder processed is come the floating and dive that change the angle of attack of aircraft to realize aircraft.
Further, plane and main center's wire clamp acute angle where the second revolution fin.
Further, the aircraft pushing mechanism includes fixed bracket, steering-engine, propeller and connecting rod；The boat
Row device pushing mechanism is fixedly connected by fixed bracket with the main body, and the steering-engine is arranged on the fixed bracket,
The output axis connection of one end of the connecting rod and the steering-engine, the propeller it is solid with the other end of the connecting rod
Fixed connection；The driving motor of the steering-engine and the propeller is electrically connected with the CPU module.
Further, electron speed regulator is additionally provided between the driving motor of the propeller and the CPU module.
Further, the aircraft pushing mechanism includes steering-engine, propeller described at least two groups and connecting rod.
Further, the propeller bottom is equipped with the first stabilising fin that the propeller is fixedly connected, and the connecting rod is vertical
To equipped with the second stabilising fin being fixedly connected with the connecting rod.Aircraft is in navigation process from aircraft head to tail portion pressure
It is gradually reduced, has certain reflux in tail portion, thus by propeller and the first stabilising fin being fixed on propeller and the company of being fixed on
The second stabilising fin on extension bar has good guide functions to the water flow of aircraft tail portion, has certain side to wave making resistance is reduced
It helps.
Further, the CPU module uses STM32F103ZET6 minimum systematic module.
Further, the gesture module includes one or more attitude transducers.
There are many combinations for the fin rudder combined mechanism and tail undercarriage of aircraft, embody as follows:
1. combination when turning
(1) it is individually turned in realization water and is turned with two propeller differences；
(2) rotation direction that propeller is normally pushed ahead is constant, by adjusting the propulsion of steering-engine adjustment propeller
Direction is realized turns in water；
(3) tail portion steering-engine packs up fin rudder combined mechanism without rotary motion, comes by adjusting the rudder angle of all movable rudder
Aircraft is set to generate flywheel moment.
Being applied in combination when 2. dive is floated
(1) two fixed rudder and horizontal plane keep identical angle, adjust all movable rudder rudder angle, attack to change aircraft
Aircraft dive and floating are realized in angle；
(2) fin rudder combined mechanism has different angles from horizontal plane, so that aircraft is had certain rolling moment, to realize
Screw in rising or dive.
3. the aircraft when original part failure of part moves
(1) if a propeller damage, another propeller make the small angle of propeller direction of propulsion by turning round steering engine
Degree changes, while adjusting all movable rudder rudder angle, guarantees that aircraft is normally advanced；
(2) the fin rudder combined mechanism failure on any one side, it is same to adjust another side combined mechanism posture first,
Then again by adjusting the rudder angle of the direction of propulsion of propeller and the other half all movable rudder, to realize aircraft spiral, directly
To emerging.
The utility model has the advantage that
1. using the form construction design of imitative flying fish formula, aircraft resistance is effectively reduced, ensure that good fluid
Power arrangement；
2. being combined by using fin rudder assembly and rudder paddle, aircraft realizes rising in the case where two propellers push
Dive, the function of turning；
3. aircraft can realize same function during traveling by different modes, have under water biggish flexible
Property；
4. having and reviewing one's lessons by oneself orthofunction, it can still guarantee aircraft even running in the case where part body damage, together
When part executing agency break down when can return safely.
Detailed description of the invention
Fig. 1 is that a kind of fin rudder of the utility model combines self-correction underwater surface aircraft overall structure side view；
Fig. 2 is top view under the utility model aircraft fin rudder combined mechanism unfolded state；
Fig. 3 is the utility model Biextension mechanism principle schematic diagram；
Fig. 4 is the utility model aircraft pushing mechanism structural schematic diagram；
In attached drawing, parts list represented by the reference numerals are as follows:
1, main body, 2, fin rudder combined mechanism, 3, aircraft pushing mechanism, 4, CPU module, 5, Biextension machine
Structure, 6, gesture module, 7, battery module, 8, electron speed regulator；
21, fixing piece, the 22, first revolution fin, the 23, second revolution fin, 24, all movable rudder, 25, angle modulation steering engine；
31, fixed bracket, 32, steering-engine, 33, propeller, 34, connecting rod, the 35, first stabilising fin, 36, second stablizes
Fin；
51, extending arm, 52, stretching, extension steering engine.
Specific embodiment
The principles of the present invention and feature are described below in conjunction with example, example is served only for explaining that this is practical
It is novel, it is not intended to limit the scope of the utility model.
A kind of fin rudder combines self-correction underwater surface aircraft, and contour structures copy the shape of flying fish, by navigation on hydrofoils device,
The characteristics of underwater glider and submarine, combines, and the assembly of hydrofoil and fin rudder is symmetrically installed in aircraft central anterior, in the water surface
The characteristics of navigation on hydrofoils device is used when advance generates lift by the hydrofoil of rudder end and reduces the resistance that moves ahead, need dive and
Fin rudder is flattened when floating, changes the aircraft angle of attack by adjusting rudder angle, to realize any position in floating dive and water
Set hovering, forward-reverse.
Therefore, comprehensively consider the characteristics of aircraft realizes forward-reverse turning in dive floating and water, installed in tail portion
Two propellers in left and right, two paddles can be promoted individually, can also be promoted together, may be implemented by adjusting the steering of propeller
The forward-reverse of aircraft, differential steering, the combination of paddle rudder.By phase when the selection of fin and rudder will can guarantee aircraft dive and float
Same glide attitude (identical angle of glide and speed), therefore symmetrical airfoil NACA0012 (camber ratio 0) is selected, propeller
Direction of propulsion can change the direction of propulsion of propeller with the rotation of revolution steering engine.
Specifically, as shown in Figure 1, the aircraft, including main body 1, two fin rudder combined mechanism 2, aircraft pushing mechanism
3, CPU module 4, a two-way extension means 5, gesture module 6 and battery module 7；
Two fin rudder combined mechanisms 2 about the main body center line symmetrical setting and with the body lower surface cut with scissors
It connects；
The Biextension mechanism 5 is arranged inside the main body 1, including two extending arms 51 and two rudders 52, each
Steering engine is connected by gear with a corresponding extending arm 51, controls extending arm 51 to main body two sides horizontal extension；Described in two
The end of extending arm is also hinged with the ipsilateral fin rudder combined mechanism 2 respectively；
It drives the extending arm to carry out spademan control since this aircraft is driven with steering engine, and works under water, need
Torque it is bigger, thus select the biggish waterproof steering engine of torque, model are as follows: the operating voltage of SM-S4315M, steering engine is
It is 0.21s/60 ° that revolving speed is reacted when 4.8V-6.0V, 4.8V, and reaction revolving speed is 0.17s/60 ° when 6V, and stroke is 120 °.Steering engine is adopted
With the PWM wave control of STM32 output, the frequency of PWM is 20Hz, duty ratio 2.5%-12.5%, and the rudder angle of corresponding output is
0 ° -360 °, resolution ratio 0.5%.
The aircraft pushing mechanism 3 is arranged at below the body tail section, the aircraft pushing mechanism 3 with it is described
Main body 1 is fixedly connected；
The aircraft pushing mechanism 3, the Biextension mechanism 5, gesture module 6 be arranged in inside main body 1
The CPU module 4 and battery module 7 are electrically connected.
Aircraft is powered using internal battery, and two section 7.2V zinc-nickel cell series-feds, zinc-nickel cell is as a kind of cleaning
The energy has sizable advantage, and has many advantages, such as that operating voltage is high, energy density is high, safety is good, at low cost.Centre
It is 3.3V that device and gesture module, which are managed, using voltage, and the voltage of 5V is provided by voltage stabilizing circuit module, and range is between 7.5V-20V.
Further, the fin rudder combined mechanism 2 includes that fixing piece 21, first turns round the revolution fin 23 of fin 22, second and moves entirely
Rudder 24；
The fin rudder combined mechanism 2 is fixedly connected by the fixing piece 21 with the main body 1；
One end of the first revolution fin 22 and the fixing piece 21 are hinged, so that first rotating shaft 22 can be around described
The rotation of 1 center line of ontology；The first revolution fin 22 is equipped with articulated section, is connected with a connecting rod on the articulated section, and described the
Single-revolution fin 22 is connect by the connecting rod with the ipsilateral extending arm 51 is located at；
The other end of the first revolution fin 22, and plane and described first where it is arranged in the second revolution fin 23
Revolution 22 place plane of fin is mutually perpendicular to；
The all movable rudder 24 turns round fin 22 hingedly to described first along the length of the first revolution fin 22, all movable rudder 24
Side is connect with setting in the intracorporal angle modulation steering engine 25 of the master by a connecting rod, the steering engine and the CPU module
4 electrical connections, for controlling the rudder angle of all movable rudder 24.
Further, the second revolution 23 place plane of fin and the 1 center wire clamp acute angle of main body.
Fixed rudder may be at vertical state when promoting, and also may be at horizontality or space random angle
Degree.When need to float dive when, fixed rudder is stretched first, is in horizontality, fin hydrofoil is in a vertical state, passes through control
The rudder angle of all movable rudder processed is come the floating and dive that change the angle of attack of aircraft to realize aircraft.
Further, the aircraft pushing mechanism 3 includes fixed bracket 31, steering-engine 32, propeller 33 and connecting rod
34；The aircraft pushing mechanism 3 passes through fixed bracket 31 and is fixedly connected with the main body 1, and the setting of steering-engine 32 exists
On the fixed bracket 31, the output axis connection of one end of the connecting rod 34 and the steering-engine 32, the propeller 33
Be fixedly connected with the other end of the connecting rod 34；The driving motor of the steering-engine 32 and the propeller 33 is and institute
State the electrical connection of CPU module 4.
Further, electronic speed regulation is additionally provided between the driving motor and the CPU module 4 of the propeller 33
Device 8.Electron speed regulator, which is selected, is full of the cold SEAKI NG-120A electricity tune of extra large chloroazotic acid, which, which adjusts, has preferable waterproof performance, has
Lithium electricity low-voltage variation, overheat protector, throttle signal lose the maltilevel securities functions such as protection；Persistently export electric current 120A, instantaneous electricity
720A is flowed, is suitble to the aircraft of length < 110cm, it is more appropriate to be selected as aircraft used in the design.
The propeller driving motor used in aircraft needs higher control performance, higher revolving speed and longer
Service life and high torque, be based on the above demand, we select to use on model plane common brshless DC motor as spiral shell
Revolve the power resources of paddle.
The electricity of brushless motor is adjusted to be made of power electronic device and integrated circuit etc., and function is: receiving opening for motor
Dynamic, stopping, brake signal, to control the starting, stopping and braking of motor；Receive position sensor signal and positive and negative transfering the letter
Number, for controlling the on-off of each power tube of inverter bridge, generate continuous torque；Receive speed command and feedback speed signal, is used to
Control and adjustment revolving speed；Protection and display etc. are provided.
Further, the aircraft pushing mechanism 3 includes steering-engine, propeller and connecting rod described in two groups.
Further, 33 bottom of propeller is equipped with the first stabilising fin 35 that the propeller 33 is fixedly connected, the company
Extension bar 34 is longitudinal to be equipped with the second stabilising fin 36 being fixedly connected with the connecting rod 34.Aircraft is in navigation process from aircraft head
Portion is gradually reduced to tail portion pressure, has certain reflux in tail portion, thus by propeller and what is be fixed on propeller first stablize
Fin and the second stabilising fin being fixed in connecting rod have good guide functions to the water flow of aircraft tail portion, hinder wave making is reduced
Power has certain help.
Further, the CPU module 4 uses STM32F103ZET6 minimum systematic module.
It is readjusted the distribution in this aircraft control systems from STM32 to electricity and send pwm signal, rotated for driving motor.The frequency of PWM
For 100Hz, effective duty cycle 5%-12.5%, resolution ratio 0.5%.
Further, the gesture module includes one or more attitude transducers, using six-axis accelerometer gyroscope, type
Number be MPU6050.
There are many combinations for the fin rudder combined mechanism and tail undercarriage of aircraft, embody as follows:
1. combination when turning
(1) it is individually turned in realization water and is turned with two propeller differences；
(2) rotation direction that propeller is normally pushed ahead is constant, by adjusting the propulsion of steering-engine adjustment propeller
Direction is realized turns in water；
(3) tail portion steering-engine packs up fin rudder combined mechanism without rotary motion, comes by adjusting the rudder angle of all movable rudder
Aircraft is set to generate flywheel moment.
Being applied in combination when 2. dive is floated
(1) two fixed rudder and horizontal plane keep identical angle, adjust all movable rudder rudder angle, attack to change aircraft
Aircraft dive and floating are realized in angle；
(2) fin rudder combined mechanism has different angles from horizontal plane, so that aircraft is had certain rolling moment, to realize
Screw in rising or dive.
3. the aircraft when original part failure of part moves
(1) if a propeller damage, another propeller make the small angle of propeller direction of propulsion by turning round steering engine
Degree changes, while adjusting all movable rudder rudder angle, guarantees that aircraft is normally advanced；
(2) the fin rudder combined mechanism failure on any one side, it is same to adjust another side combined mechanism posture first,
Then again by adjusting the rudder angle of the direction of propulsion of propeller and the other half all movable rudder, to realize aircraft spiral, directly
To emerging.
Aircraft underwater surface navigation process, which relies primarily on steering engine steering and turns over certain angle by steering engine, drives tail portion
Propeller revolution, central processing unit pass through the signal and rudder machine control signal of acquisition mode control switch, gesture module detection boat
Aircraft spatial attitude is constantly passed to central processing unit by row device spatial attitude, and central processing unit is received according to receiving instruction
And the return data of gesture module, the control signal magnitude of each steering engine is calculated, is controlled to be sent to electron speed regulator
The revolving speed and direction of propulsion of instruction control propulsion electric machine, the control of adjustment and the span of the angle of attack.
The utility model has the advantage that
1. using the form construction design of imitative flying fish formula, aircraft resistance is effectively reduced, ensure that good fluid
Power arrangement；
2. being combined by using fin rudder assembly and rudder paddle, aircraft realizes rising in the case where two propellers push
Dive, the function of turning；
3. aircraft can realize same function during traveling by different modes, have under water biggish flexible
Property；
4. having and reviewing one's lessons by oneself orthofunction, it can still guarantee aircraft even running in the case where part body damage, together
When part executing agency break down when can return safely.
The utility model has certain practical value, both can be military, can also be civilian.Military aspect can deliver the frog
People, transports diver, and civilian aspect can be used for underwater sightseeing, the fields such as underwater photography.
The above is only the preferred embodiment of the present invention, is not intended to limit the utility model, all practical at this
Within novel spirit and principle, any modification, equivalent replacement, improvement and so on should be included in the guarantor of the utility model
Within the scope of shield.
Claims (7)
1. a kind of fin rudder combines self-correction underwater surface aircraft, which is characterized in that including main body (1), two fin rudder combination machines
Structure (2), aircraft pushing mechanism (3), CPU module (4), a two-way extension means (5), gesture module (6) and battery
Module (7)；
The main body (1) is about vertical symmetrical plane Striking symmetry；
Two fin rudder combined mechanisms (2) about the main body (1) center line symmetrical setting and with the main body (1) following table
Face is hinged；
Biextension mechanism (5) setting is internal in the main body (1), including two extending arms (51) and two stretching, extension steering engines
(52), the stretching, extension steering engine (52) is connected by gear with a corresponding extending arm, and control extending arm is horizontal to main body two sides
It is flexible；The end of two extending arms (51) is also hinged with the ipsilateral fin rudder combined mechanism (2) respectively；
The aircraft pushing mechanism (3) is arranged at below the main body (1) tail portion, the aircraft pushing mechanism (3) with
The main body (1) is fixedly connected；
The aircraft pushing mechanism (3), the Biextension mechanism (5), gesture module (6) are with setting in main body (1)
The CPU module (4) and battery module (7) in portion are electrically connected.
2. a kind of fin rudder combines self-correction underwater surface aircraft according to claim 1, which is characterized in that the fin rudder group
Closing mechanism (2) includes fixing piece (21), the first revolution fin (22), the second revolution fin (23) and all movable rudder (24)；
The fin rudder combined mechanism (2) is fixedly connected by the fixing piece (21) with the main body (1)；
Described first turns round the one end of fin (22) and the fixing piece (21) hingedly, so that first revolution fin (22) can be around institute
State the rotation of main body (1) center line；First revolution fin (22) is equipped with articulated section, is connected with a connecting rod on the articulated section,
First revolution fin (22) is connect by the connecting rod with the ipsilateral extending arm (51) is located at；
The other end that second revolution fin (23) setting turns round fin (22) described first, and plane and described first where it
Plane where revolution fin (22) is mutually perpendicular to；
The all movable rudder (24) turns round fin (22) hingedly to described first along the length of the first revolution fin (22), all movable rudder
(24) side is connect by a connecting rod with the angle modulation steering engine (25) being arranged in the main body (1), the angle modulation steering engine (25)
It is electrically connected with the CPU module (4), for controlling the rudder angle of all movable rudder (24).
3. a kind of fin rudder combines self-correction underwater surface aircraft according to claim 2, which is characterized in that described second time
Plane and the main body (1) center wire clamp acute angle where turning fin (23).
4. a kind of fin rudder combines self-correction underwater surface aircraft according to claim 1, which is characterized in that the aircraft
Pushing mechanism (3) includes fixed bracket (31), steering-engine (32), propeller (33) and connecting rod (34)；The aircraft pushes away
Motivation structure (3) passes through fixed bracket (31) and is fixedly connected with the main body (1), and the steering-engine (32) is arranged in the fixation
On bracket (31), one end of the connecting rod (34) and the output axis connection of the steering-engine (32), the propeller (33)
Be fixedly connected with the other end of the connecting rod (34)；The driving motor of the steering-engine (32) and the propeller (33)
It is electrically connected with the CPU module (4).
5. a kind of fin rudder combines self-correction underwater surface aircraft according to claim 4, which is characterized in that the propeller
(33) electron speed regulator (8) are additionally provided between driving motor and the CPU module (4).
6. a kind of fin rudder according to claim 4 or 5 combines self-correction underwater surface aircraft, which is characterized in that the boat
Row device pushing mechanism (3) includes steering-engine described at least two groups (32), propeller (33) and connecting rod (34).
7. a kind of fin rudder combines self-correction underwater surface aircraft according to claim 6, which is characterized in that the propeller
(33) bottom is equipped with the first stabilising fin (35) that the propeller (33) are fixedly connected, and the connecting rod (34) is longitudinally equipped with and institute
State the second stabilising fin (36) that connecting rod (34) is fixedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820546772.9U CN208344516U (en) | 2018-04-17 | 2018-04-17 | A kind of fin rudder combination self-correction underwater surface aircraft |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820546772.9U CN208344516U (en) | 2018-04-17 | 2018-04-17 | A kind of fin rudder combination self-correction underwater surface aircraft |
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| Publication Number | Publication Date |
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| CN208344516U true CN208344516U (en) | 2019-01-08 |
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| CN201820546772.9U Expired - Fee Related CN208344516U (en) | 2018-04-17 | 2018-04-17 | A kind of fin rudder combination self-correction underwater surface aircraft |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108557042A (en) * | 2018-04-17 | 2018-09-21 | 湖北德创光电科技有限公司 | A kind of fin rudder combination self-correction underwater surface aircraft |
| CN110435857A (en) * | 2019-08-13 | 2019-11-12 | 华南理工大学 | A kind of controllable pod propulsion underwater towed vehicle, of attitude stabilization multiple degrees of freedom |
| CN110979607A (en) * | 2019-12-04 | 2020-04-10 | 天津大学 | A flexible wire-driven modular variable wing device |
| CN113342012A (en) * | 2021-06-08 | 2021-09-03 | 西北工业大学 | Course control method of sliding and flapping integrated aircraft |
-
2018
- 2018-04-17 CN CN201820546772.9U patent/CN208344516U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108557042A (en) * | 2018-04-17 | 2018-09-21 | 湖北德创光电科技有限公司 | A kind of fin rudder combination self-correction underwater surface aircraft |
| CN110435857A (en) * | 2019-08-13 | 2019-11-12 | 华南理工大学 | A kind of controllable pod propulsion underwater towed vehicle, of attitude stabilization multiple degrees of freedom |
| CN110435857B (en) * | 2019-08-13 | 2020-09-29 | 华南理工大学 | An attitude-stable multi-degree-of-freedom controllable pod-type underwater towed body |
| CN110979607A (en) * | 2019-12-04 | 2020-04-10 | 天津大学 | A flexible wire-driven modular variable wing device |
| CN113342012A (en) * | 2021-06-08 | 2021-09-03 | 西北工业大学 | Course control method of sliding and flapping integrated aircraft |
| CN113342012B (en) * | 2021-06-08 | 2022-07-26 | 西北工业大学 | Course control method of sliding and flapping integrated aircraft |
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