FR2903380A1 - Aircraft dynamic controlling device for e.g. micro convertible drone system, involves controlling aircraft by propeller engines, where engines arranged in diagonal manner rotate with respect to each other in same direction - Google Patents
Aircraft dynamic controlling device for e.g. micro convertible drone system, involves controlling aircraft by propeller engines, where engines arranged in diagonal manner rotate with respect to each other in same direction Download PDFInfo
- Publication number
- FR2903380A1 FR2903380A1 FR0606387A FR0606387A FR2903380A1 FR 2903380 A1 FR2903380 A1 FR 2903380A1 FR 0606387 A FR0606387 A FR 0606387A FR 0606387 A FR0606387 A FR 0606387A FR 2903380 A1 FR2903380 A1 FR 2903380A1
- Authority
- FR
- France
- Prior art keywords
- engines
- aircraft
- respect
- convertible
- same direction
- 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.)
- Withdrawn
Links
- 230000005484 gravity Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C15/00—Attitude, flight direction, or altitude control by jet reaction
- B64C15/02—Attitude, flight direction, or altitude control by jet reaction the jets being propulsion jets
- B64C15/12—Attitude, flight direction, or altitude control by jet reaction the jets being propulsion jets the power plant being tiltable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
- B64C29/02—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis vertical when grounded
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/08—Aircraft not otherwise provided for having multiple wings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/25—Fixed-wing aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/13—Propulsion using external fans or propellers
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0858—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft specially adapted for vertical take-off of aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/10—Wings
Abstract
Description
-1- Dans un premier temps, la présente invention concerne la disposition-1- In a first step, the present invention relates to the arrangement
particulière de quatre moteurs à hélice autour d'une aile d'un aéronef à voilure fixe, permettant de contrôler celui-ci, en vol horizontal, sans aucune gouverne. Ceci est rendu possible par le simple intermédiaire des vitesses de rotations de ces quatre moteurs disposés en rectangle de manière symétrique par rapport à l'axe du fuselage et tournant deux à deux dans le même sens pour les moteurs diagonales, et deux à deux dans le sens opposé pour les moteurs du même coté. particular of four propeller engines around a wing of a fixed wing aircraft, to control it, in horizontal flight, without any rudder. This is made possible by the simple intermediary rotation speeds of these four motors arranged in a rectangle symmetrically with respect to the axis of the fuselage and rotating two by two in the same direction for the diagonal motors, and two by two in the opposite direction for motors on the same side.
En effet, chaque moteur à hélice crée une force de poussée et un moment qui sont proportionnels à leur vitesse de rotation, et la disposition de ceux-ci de cette façon, permet d'avoir la possibilité de contrôler tous les mouvements de rotation de l'aéronef autour de son centre de gravité, et donc de permettre de le manoeuvrer. Indeed, each propeller motor creates a thrust force and a moment which are proportional to their rotational speed, and the arrangement of these in this way, allows to have the possibility to control all the rotational movements of the rotor. aircraft around its center of gravity, and thus allow to maneuver.
Les quelques calculs suivant vont permettrent d'établir ces lois de manière un peu plus rigoureuse de manière à préciser les forces et moments en jeu. Considérons la figure 1. Soit ni la vitesse angulaire de rotation du moteur i, w la vitesse angulaire de rotation de l'appareil autour de l'axe de l'indice qui suit, 1 la longueur entre le point C et l'axe d'un moteur, b et d des constantes, I l'inertie du rotor et enfin i le couple par rapport à l'axe de l'indice qui suit. Nous pouvons alors établir les relations concernant les couples. Somme des couples, explicitée dans les 3 axes (x, y, z) : ix = bl ((5)4)2 û (522)2) + I wy (n1 + 523 û 522 û 524) Ty=bl((523)2-(Q1)2)+Iwx(û521 ûn3+S22+S24) tz = d ((Q2)2 + (Q4)2 û (Q 1)2 (Q3)2) En négligeant les vitesses angulaires de rotation w, et en exprimant les sommes des couples dans les 3 axes (u, v, z), on 30 obtient les relations simplifiées : iu = k 1 ((524)2 + (521)2 û (Q2)2 û (523)2) iv = k2 ((Q2)2 + (Q3)2 û (Q1)2 û (Q2)2) iz = k3 ((Q2)2 + (524)2 û (Q1)2 û (523)2) Ces quelques relations donnent la possibilité de définir avec 35 une certaine précision les vitesses de rotations des moteurs en fonction des manoeuvres que l'on veut réaliser, et donc les algorithmes d'automatiques qui vont en découler. 2903380 -2- En effet, d'après les équations précédentes, on peut en conclure que : - Des vitesses de rotations identiques pour les 4 moteurs annuleront la somme des moments de l'aéronef, qui disposera 5 d'une poussée globale dans l'axe z. (figure 1) S~1 =S~3=SZ2=n4 d'où Tu=Tv=Tz=O. - La variation symétrique des vitesses de rotations des moteurs (1)/(3) et (2)/(4) n'engendrera pas de variation de poussée globale, mais engendrera une variation de la somme des moments ce qui 10 aura un effet sur le roulis. (figure 2 et 3) - La variation symétrique des vitesses de rotations des moteurs (1)/(2) et (3)1(4) n'engendrera pas de variation sur la somme des moments, mais engendrera une variation des poussées ce qui aura un effet sur le tangage. (figure 4 et 5) 15 - La variation symétrique des vitesses de rotations des moteurs (1)/(4) et (2)/(3) n'engendrera pas de variation sur la somme des moments, mais engendrera une variation des poussées ce qui aura un effet sur le lacet. (figure 6 et 7) Dans un deuxième temps, cette invention permet en tant 20 qu'application, la possibilité de disposer d'un nouveau type de drones convertibles, capables de vol vertical ou de vol horizontal, (figure 8 et 9) : En effet, il s'avère un fait très intéressant dans le cadre de ce développement, c'est qu'il existe une configuration assez répandue 25 dans le monde des micro et mini drones : le quadri-rotor. C'est une configuration qui utilise différemment les mêmes propriétés de forces et de moments mises en jeu que dans le cadre de cette disposition de 4 moteurs, mais ceci sans voilure fixe, et qui plus et, adapté au vol vertical. The following few calculations will make it possible to establish these laws a little more rigorously so as to specify the forces and moments involved. Consider Figure 1. Let neither the angular rotation speed of the motor i, w the angular rotation speed of the apparatus around the axis of the index that follows, 1 the length between the point C and the axis of an engine, b and d constants, I the inertia of the rotor and finally i the torque by to the axis of the index that follows. We can then establish relationships regarding couples. Sum of the pairs, explained in the 3 axes (x, y, z): ix = bl ((5) 4) 2 û (522) 2) + I wy (n1 + 523 - 522 - 524) Ty = bl (( 523) 2- (Q1) 2) + Iwx (û521 ûn3 + S22 + S24) tz = d ((Q2) 2 + (Q4) 2 û (Q 1) 2 (Q3) 2) Neglecting the angular rotational speeds w, and by expressing the sums of the pairs in the 3 axes (u, v, z), we obtain the simplified relations: iu = k 1 ((524) 2 + (521) 2 - (Q2) 2 - (523) 2) iv = k2 ((Q2) 2 + (Q3) 2 - (Q1) 2 - (Q2) 2) iz = k3 ((Q2) 2 + (524) 2 - (Q1) 2 - (523) 2 These few relations give the possibility of defining with a certain accuracy the speeds of rotations of the motors according to the maneuvers that one wants to achieve, and therefore the automatic algorithms that will ensue. In fact, according to the preceding equations, it can be concluded that: identical rotation speeds for the four engines will cancel the sum of the moments of the aircraft, which will have a global thrust in the z axis. (figure 1) S ~ 1 = S ~ 3 = SZ2 = n4 from where Tu = Tv = Tz = O. - The symmetrical variation of the rotation speeds of the motors (1) / (3) and (2) / (4) will not generate an overall thrust variation, but will cause a variation of the sum of the moments which will have an effect on the roll. (figure 2 and 3) - The symmetrical variation of the speeds of rotations of the motors (1) / (2) and (3) 1 (4) will not generate any variation on the sum of the moments, but will generate a variation of the thrusts this which will have an effect on the pitch. (figure 4 and 5) 15 - The symmetrical variation of the speeds of rotations of the motors (1) / (4) and (2) / (3) will not generate any variation on the sum of the moments, but will generate a variation of the thrusts which will have an effect on the lace. (FIGS. 6 and 7) In a second step, this invention allows, as an application, the possibility of having a new type of convertible UAV capable of vertical flight or horizontal flight (FIGS. 8 and 9): Indeed, it turns out to be a very interesting fact in the context of this development is that there is a fairly widespread configuration in the world of micro and mini drones: the quad-rotor. It is a configuration that uses differently the same properties of forces and moments involved than in the context of this arrangement of 4 engines, but this without fixed wing, and that more and, suitable for vertical flight.
C'est pour cette raison qu'il est très envisageable d'utiliser cette même disposition pour ces deux types de vol. Ce drone convertible dispose donc d'une configuration identique pour le vol horizontal et pour le vol vertical, il n'a besoin de seulement 4 commandes (vitesses de rotation des moteurs) pour pouvoir évoluer quelque soit son type de vol, et ne contient aucune partie mobile. It is for this reason that it is very possible to use this same provision for these two types of flight. This convertible drone thus has an identical configuration for the horizontal flight and the vertical flight, it needs only 4 commands (speeds of rotation of the engines) to be able to evolve whatever its type of flight, and contains no moving part.
Claims (2)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0606387A FR2903380A1 (en) | 2006-07-10 | 2006-07-10 | Aircraft dynamic controlling device for e.g. micro convertible drone system, involves controlling aircraft by propeller engines, where engines arranged in diagonal manner rotate with respect to each other in same direction |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0606387A FR2903380A1 (en) | 2006-07-10 | 2006-07-10 | Aircraft dynamic controlling device for e.g. micro convertible drone system, involves controlling aircraft by propeller engines, where engines arranged in diagonal manner rotate with respect to each other in same direction |
Publications (2)
Publication Number | Publication Date |
---|---|
FR2903380A3 FR2903380A3 (en) | 2008-01-11 |
FR2903380A1 true FR2903380A1 (en) | 2008-01-11 |
Family
ID=38858065
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR0606387A Withdrawn FR2903380A1 (en) | 2006-07-10 | 2006-07-10 | Aircraft dynamic controlling device for e.g. micro convertible drone system, involves controlling aircraft by propeller engines, where engines arranged in diagonal manner rotate with respect to each other in same direction |
Country Status (1)
Country | Link |
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FR (1) | FR2903380A1 (en) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2760739A4 (en) * | 2011-09-27 | 2015-07-01 | Singapore Tech Aerospace Ltd | An unmanned aerial vehicle |
US20160023753A1 (en) * | 2014-07-22 | 2016-01-28 | Sikorsky Aircraft Corporation | Vehicle with asymmetric nacelle configuration |
FR3036377A1 (en) * | 2015-05-18 | 2016-11-25 | Michel Prevost | VERTICAL TAKE-OFF AND FIXED FLYING AIRCRAFT DEVICE CAPABLE OF PROVIDING TRANSITION IN HORIZONTAL FLIGHT AND TRACKING IN SPACE WITHOUT GOVERNMENT ASSISTANCE |
EP3087003A4 (en) * | 2013-12-24 | 2017-09-13 | Singapore Technologies Aerospace Ltd | An unmanned aerial vehicle |
WO2017123346A3 (en) * | 2015-12-07 | 2017-10-12 | Aai Corporation | Uav with wing-plate assemblies providing efficient vertical takeoff and landing capability |
WO2018070867A1 (en) * | 2016-10-12 | 2018-04-19 | Technische Universiteit Delft | Aerial vehicle with angularly displaced propulsion units |
-
2006
- 2006-07-10 FR FR0606387A patent/FR2903380A1/en not_active Withdrawn
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2760739A4 (en) * | 2011-09-27 | 2015-07-01 | Singapore Tech Aerospace Ltd | An unmanned aerial vehicle |
US9669924B2 (en) | 2011-09-27 | 2017-06-06 | Singapore Technologies Aerospace Ltd | Unmanned aerial vehicle |
EP3087003A4 (en) * | 2013-12-24 | 2017-09-13 | Singapore Technologies Aerospace Ltd | An unmanned aerial vehicle |
US10005554B2 (en) | 2013-12-24 | 2018-06-26 | Singapore Technologies Aerospace Ltd. | Unmanned aerial vehicle |
US20160023753A1 (en) * | 2014-07-22 | 2016-01-28 | Sikorsky Aircraft Corporation | Vehicle with asymmetric nacelle configuration |
US9988148B2 (en) * | 2014-07-22 | 2018-06-05 | Sikorsky Aircraft Corporation | Vehicle with asymmetric nacelle configuration |
FR3036377A1 (en) * | 2015-05-18 | 2016-11-25 | Michel Prevost | VERTICAL TAKE-OFF AND FIXED FLYING AIRCRAFT DEVICE CAPABLE OF PROVIDING TRANSITION IN HORIZONTAL FLIGHT AND TRACKING IN SPACE WITHOUT GOVERNMENT ASSISTANCE |
WO2017123346A3 (en) * | 2015-12-07 | 2017-10-12 | Aai Corporation | Uav with wing-plate assemblies providing efficient vertical takeoff and landing capability |
US10633092B2 (en) | 2015-12-07 | 2020-04-28 | Aai Corporation | UAV with wing-plate assemblies providing efficient vertical takeoff and landing capability |
WO2018070867A1 (en) * | 2016-10-12 | 2018-04-19 | Technische Universiteit Delft | Aerial vehicle with angularly displaced propulsion units |
Also Published As
Publication number | Publication date |
---|---|
FR2903380A3 (en) | 2008-01-11 |
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Date | Code | Title | Description |
---|---|---|---|
ST | Notification of lapse |
Effective date: 20080331 |