GB2588478A - A coaxial double-propeller vertical take-off and landing aircraft using moving mass control and a control method thereof - Google Patents

A coaxial double-propeller vertical take-off and landing aircraft using moving mass control and a control method thereof Download PDF

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Publication number
GB2588478A
GB2588478A GB2008363.0A GB202008363A GB2588478A GB 2588478 A GB2588478 A GB 2588478A GB 202008363 A GB202008363 A GB 202008363A GB 2588478 A GB2588478 A GB 2588478A
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Prior art keywords
propeller
aircraft
moving mass
rotating
propeller blades
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GB2008363.0A
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GB2588478B (en
GB202008363D0 (en
Inventor
Deng Yangping
Gao Zhenghong
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Northwestern Polytechnical University
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Northwestern Polytechnical University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
    • B64C11/16—Blades
    • B64C11/20—Constructional features
    • B64C11/28—Collapsible or foldable blades
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C17/00—Aircraft stabilisation not otherwise provided for
    • B64C17/02—Aircraft stabilisation not otherwise provided for by gravity or inertia-actuated apparatus
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02—Aircraft characterised by the type or position of power plants
    • B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D35/00—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions
    • B64D35/04—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions characterised by the transmission driving a plurality of propellers or rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D35/00—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions
    • B64D35/04—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions characterised by the transmission driving a plurality of propellers or rotors
    • B64D35/06—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions characterised by the transmission driving a plurality of propellers or rotors the propellers or rotors being counter-rotating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/24—Coaxial rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U40/00—On-board mechanical arrangements for adjusting control surfaces or rotors; On-board mechanical arrangements for in-flight adjustment of the base configuration
    • B64U40/20—On-board mechanical arrangements for adjusting control surfaces or rotors; On-board mechanical arrangements for in-flight adjustment of the base configuration for in-flight adjustment of the base configuration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/293—Foldable or collapsible rotors or rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Remote Sensing (AREA)
  • Toys (AREA)
  • Transmission Devices (AREA)

Abstract

The VTOL aircraft comprises a body 1 and a coaxial double-propeller mechanism. The body has a columnar structure housing a flight control and communication device 6, a task load and a power battery 7. The power battery is mounted on a moving mass driving mechanism 8 inside the body which can drive the power battery to displace along the radial direction in the body, so that the centre of gravity of the aircraft is offset from the axial direction of the centre of the body. The coaxial double-propeller mechanism comprises upper and lower double-counter rotating motors 4 with a foldable upper propeller 2 and a foldable lower propeller 3. The propeller blades in the present invention are small and portable after being folded. The built-in moving mass driving control device dynamically changes the centre of mass of the aircraft for flight control. There is no additional control device outside the body during flight time, and the flight resistance is small. By using the power battery as the moving mass body of the moving mass, there is no additional weight, and the control force and torque required for the mass body movement are small, so that the power demand and weight of the servo can be reduced.

Description

A COAXIAL DOUBLE-PROPELLER VERTICAL TAKE-OFF AND LANDING AIRCRAFT USING MOVING MASS CONTROL AND A CONTROL METHOD
THEREOF
Field of the invention
The invention relates to the technical field of vertical take-off and landing drones, in particular to a coaxial double-propeller vertical take-off and landing aircraft using moving mass control and a control method thereof
Background
In recent years, with the development of MEMS control technology, multi-axis aircrafts have been widely developed and applied because of simple structure and low price. In order to IS avoid interference between multiple propellers and to provide sufficient control torque, multi-axis aircrafts are configured with a plurality of motor-driven propellers arranged at a certain distance outward. Therefore, although the aircraft body is not large, the total size of an aircraft is large because its arm installed with a motor and propellers is extended outward. This causes great inconvenience to packaging and carrying.
Chinese Patent 201611021801.1 discloses a micro drone with a columnar coaxial double-propeller layout, which uses top-motor-driven coaxial counter-rotating double propellers to provide lift force and performs attitude control by tilting the driving motor mounted on the universal suspension. The propeller blades can be folded down, and the drone can be stored in the launch tube, but the servo with a larger driving force is required for the relatively large tilting weight of the motor and the propellers, and to overcome the gyro-stabilizing torque of the motor and the propellers
Summary of the invention
In order to solve the problem that the existing multi-axis and other propeller-driven vertical take-off and landing drones are bulky and inconvenient to carry, the present invention proposes a coaxial double-propeller vertical take-off and landing aircraft using moving mass control and a control method thereof The technical solution of the present invention is: It relates to a coaxial double-propeller vertical take-off and landing aircraft using moving mass control, wherein comprising a body and a coaxial double-propeller mechanism; The body is of a columnar structure, and the inside of the body is accommodated with a flight control and communication device, a task load and a power battery; the power battery is mounted on a moving mass driving mechanism inside the body, which can drive the power i 0 battery to displace along the radial direction in the body, so that the gravity centre of the aircraft is offset from the axial direction of the centre of the body; The coaxial double-propeller mechanism comprises upper and lower double-counter rotating motors, a foldable upper propeller and a foldable lower propeller; the upper and lower IS double-counter rotating motors are fixedly mounted on the top of the body, and the upper and lower double-counter rotating motors are coaxially arranged on the upper and lower sides of the body axis, and the rotating direction is opposite, and the speed can be controlled separately; the upper motor is equipped with a propeller hub with a fairing, and the rotating shell of the lower motor is equipped with a propeller mounting hinge; the foldable upper propeller and the foldable lower propeller both adopt a plurality foldable blades, the inner ends of the upper propeller blades are hinged with the hub, the inner ends of the lower propeller blades are hinged with the rotating shell of the lower motor, and the upper propeller blades and the lower propeller blades are staggered in the circumferential direction, during the carrying process, the upper propeller blades and the lower propeller blades are folded downward to be parallel with the body, and in the working mode the upper motor and the lower motor respectively drive the upper propeller blades and the lower propeller blades to rotate, and the upper propeller blades and the lower propeller blades expand to and stay at the working position perpendicular to the body.
In a further preferred embodiment, the coaxial double-propeller vertical take-off and landing aircraft using moving mass control is characterized in that: the radial attachment position of the blade hinge in the propeller hub is outside the radial attachment position of the blade hinge on the rotating shell of the lower motor. When the blades are folded downward, the lower propeller blades are close to the body, and the upper propeller blades are provided with a set distance from the body.
In a further preferred embodiment, the coaxial double-propeller vertical take-off and landing aircraft using moving mass control is characterized in that: inside the body, the flight control and communication device is installed on the lower side of the upper and lower double-counter rotating motors near the top of the body, and the lower part of the flight control and the communication device is equipped with the power battery through the moving mass driving mechanism, and the task load is installed at the bottom of the body.
In a further preferred embodiment, the coaxial double-propeller vertical take-off and landing aircraft controlled by moving mass control, characterized in that: the moving mass driving mechanism comprises a battery mounting bracket, a sliding rail, a linear displacement servo, a rotating disk, and a rotating servo and a rotating servo fixing bracket; the rotating servo IS fixing bracket is fixedly mounted inside the body to support the installation of the rotating servo; the rotating disk is mounted on the rotating servo, and the rotating servo can drive the rotating disk to rotate about the body axis; the sliding rail is mounted inside the rotating disk, and the battery mounting bracket is mounted on the sliding rail and can move along the sliding rail under the driving of the linear displacement servo.
In a further preferred embodiment, the coaxial double-propeller vertical take-off and landing aircraft using moving mass control is characterized in that the weight of the power battery is not less than 30% of the overall weight of the aircraft.
The above control method for the coaxial double-propeller vertical take-off and landing aircraft using moving mass control is characterized in that: During the carrying process, the upper propeller blades and the lower propeller blades are folded downward to a position parallel with the body; During the take-off process, the aircraft is arranged in an upright position, the upper motor is started first to drive the upper propeller blades to rotate, the upper propeller blades expand to and stay at the working position perpendicular to the body under the action of centrifugal force, and then the lower motor is started to drive the lower propeller blades to rotate, the lower propeller blades expand to and stay at the working position perpendicular to the body under the action of centrifugal force, the rotation speed of the upper motor and the lower motor is increased, the propeller pulling force is increased, and the aircraft is driven to fly away from the ground; During the flight, the propeller pulling force and the driving reverse torque are changed by coordinating the rotation speed of the upper and lower propellers: when the driving reverse torque of the upper and lower motors is identical, the body does not rotate around its own axis; when the speed of one motor is increased and the speed of the other motor is reduced in coordination, the overall propeller pulling force can be kept constant, but the driving reverse torque of the upper and lower motors is different, so that the body rotates towards a certain direction to realize the yaw control of the aircraft, During the flight, the power battery moves in a certain direction under the driving of the IS moving mass driving mechanism, so that the centre of mass of the whole aircraft moves correspondingly in this direction, and the pulling line of the propellers forms a certain distance from the centre of mass, thereby generating a torque around the centre of mass, which causes the aircraft to tilt in the direction of the movement of the centre of mass and then flies in this direction under the action of the horizontal force component of the propeller pulling force.
Compared to a multi-axis aircraft, the propeller blades of the present invention are small and portable after being folded. The built-in moving mass driving control device dynamically changes the centre of mass of the aircraft for flight control. There is no additional control device outside the body during flight time, and the flight resistance is small. By using the power battery as the moving mass body of the moving mass, there is no additional weight, and the control force and torque required for the mass body movement are small, and the power demand and weight of the servo can be reduced.
The additional aspects and advantages of the invention will be set forth in part in the
description which follows.
Drawings The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from Figure 1_ is a schematic view showing an example of parts of the aircraft; Figure 2 is a schematic view showing an example of an unfolded flight state of aircraft propellers; Figure 3 is a schematic view showing an example of the state in which the aircraft propellers are folded and carried, Figure 4 is a schematic view showing an example of an aircraft moving mass moving device;
IS
Among them: 1, the body; 2, the upper foldable propeller, 3, the lower foldable propeller, 4, the upper and lower double-counter rotating motors; 5, the top fairing and the propeller hub; 6, the flight control and communication device; 7, the power battery; 8, the moving mass moving device; 9, the photoelectric load; 10, the rotating servo; 11, the rotating servo fixing bracket; 12, the rotating disk; 13, the sliding rails; 14, the linear displacement servo; 15, the battery mounting bracket.
Specific description
The invention adopts a foldable coaxial double-propeller vertical take-off and landing aircraft which can be divided into two parts: a cylindrical body and a coaxial double-propeller mechanism The coaxial double-propeller mechanism comprises upper and lower double-counter rotating motors, a foldable upper propeller and a foldable lower propeller; the upper and lower double-counter rotating motors are fixedly mounted on the top of the body, and the upper and lower double-counter rotating motors are coaxially arranged on the upper and lower sides of the body axis, and the rotating direction is opposite, and the speed can be controlled separately; the upper motor is equipped with a propeller hub with a fairing, and the rotating shell of the lower motor is equipped with a propeller mounting hinge; the foldable upper propeller and the foldable lower propeller both adopt a plurality foldable blades, the inner ends of the upper propeller blades are hinged with the hub, the inner ends of the lower propeller blades are hinged with the rotating shell of the lower motor, and the upper propeller blades and the lower propeller blades are staggered in the circumferential direction. The radial attachment position of the blade hinge in the propeller hub is outside the radial attachment position of the blade hinge on the rotating shell of the lower motor. When the blades are folded downward, the lower propeller blades are close to the body, and the upper propeller blades are provided with a set distance from the body. In this way, when the upper i 0 motor is started, the driven upper propeller is not in contact with the lower propeller driven by the lower motor during the rotation and expansion process During the carrying process, the upper propeller blades and the lower propeller blades are folded downward to be parallel with the body, and in the working mode the upper motor and Is the lower motor respectively drive the upper propeller blades and the lower propeller blades to rotate, and the upper propeller blades and the lower propeller blades expand to and stay at the working position perpendicular to the body.
The body is of a cylindrical structure, and the inside of the body is accommodated with a flight control and communication device, a task load and a power battery; inside the body, the flight control and communication device is installed on the lower side of the upper and lower double-counter rotating motors near the top of the body, and the lower part of the flight control and the communication device is equipped with the power battery through the moving mass driving mechanism. The task load is installed at the bottom of the body.
The power battery is mounted on a moving mass driving mechanism inside the body, which can drive the power battery to displace along the radial direction in the body, so that the gravity centre of the aircraft is offset from the axial direction of the centre of the body; The moving mass driving mechanism comprises a battery mounting bracket, a sliding rail, a linear displacement servo, a rotating disk, and a rotating servo and a rotating servo fixing bracket; the rotating servo fixing bracket is fixedly mounted inside the body to support the installation of the rotating servo; the rotating disk is mounted on the rotating servo, and the rotating servo can drive the rotating disk to rotate about the body axis; the sliding rail is mounted inside the rotating disk, and the battery mounting bracket is mounted on the sliding rail and can move along the sliding rails under the driving of the linear displacement servo.
The rotating servo and linear displacement servo can drive the power battery to move in polar coordinates. For electric aircraft, because the weight of the power battery can reach 30% of the overall weight of the aircraft, the movement of the power battery can relatively significantly change the centre of mass of the whole aircraft.
During the carrying process, the upper propeller blades and the lower propeller blades are lo folded downward to a position parallel with the body. At this time, the entire aircraft is in the shape of a barrel which takes less space and is convenient for storage and carrying.
During the take-off process, the aircraft is arranged in an upright position, the upper motor is started first to drive the upper propeller blades to rotate, the upper propeller blades expand to IS and stay at the working position perpendicular to the body under the action of centrifugal force, and then the lower motor is started to drive the lower propeller blades to rotate, the lower propeller blades expand to and stay at the working position perpendicular to the body under the action of centrifugal force, the rotation speed of the upper motor and the lower motor is increased, the propeller pulling force is increased, and the aircraft is driven to fly away from the ground; During the flight, the propeller pulling force and the driving reverse torque are changed by coordinating the rotation speed of the upper and lower propellers: when the driving reverse torque of the upper and lower motors is identical, the body does not rotate around its own axis; when the speed of one motor is increased and the speed of the other motor is reduced in coordination, the overall propeller pulling force can be kept constant, but the driving reverse torque of the upper and lower motors is different, so that the body rotates towards a certain direction to realize the yaw control of the aircraft; During the flight, the power battery moves in a certain direction under the driving of the moving mass driving mechanism, so that the centre of mass of the whole aircraft moves correspondingly in this direction, and the pulling line of the propellers forms a certain distance from the centre of mass, thereby generating a torque around the centre of mass, which causes the aircraft to tilt in the direction of the movement of the centre of mass and then flies in this direction under the action of the horizontal force component of the propeller pulling force. The flight control system controls the movement of the power battery according to a certain flight control law by controlling two servo motors of the moving mass driving mechanism, thereby controlling the stable flight of the aircraft.
The embodiments of the present invention are described in detail below, and the examples of the embodiments are illustrated in the drawings, wherein the same or similar reference numerals are used to refer to the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the drawings are i 0 intended to be illustrative of the invention and are not to be construed as limiting.
In the description of the present invention, it is to be understood that the terms "centre", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Orientations of "post", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", IS "outside", "clockwise", "counterclockwise", etc. The positional relationship is based on the orientation or positional relationship shown in the drawings, and is merely for the convenience of the description of the present invention and the simplified description, and is not intended to indicate or imply that the device or component referred to has a specific orientation, and is constructed and operated in a specific orientation. Therefore, it should not 29 be construed as limiting the invention.
In the present embodiment, both the upper propeller 2 and the lower propeller 3 have two blades and rotate in opposition direction coaxially when working, and the diameter after the expansion is 480 mm. The upper and lower double counter-rotating motors 4 for driving the propellers are mounted on the top of the body 1, with a total power of 0.6 kW, and a flight control and communication device 6 is installed under it. A top fairing and a propeller hub 5 are mounted on the upper motor of the upper and lower double counter-rotating motors 4, and the horizontal mounting hinge of the upper propeller 2 thereon protrudes by 10 mm from the horizontal mounting hinge of the lower motor. The body 1 has a cylindrical shape with an outer diameter of 90 mm and a height of 240 mm, and a photoelectric load 9 is mounted on the bottom of the body, and the moving mass moving device 8 is mounted on its top. The power battery 7 is fixed on the moving mass moving device 8 and can be horizontally moved inside the body] The moving mass moving device 8 in the present embodiment comprises a rotating servo 10, a rotating disk 12, sliding rails 13, a linear displacement servo 14, and a battery mounting bracket 15. The rotating servol 0 is mounted on a rotating servo fixing bracket 11 which is fixed to the outer casing of the body 1, the rotating disk 12 is coaxially mounted on it and is configured to rotate by 360 degrees under the driving of the rotating servo 10. Two 6mm-diameter cylindrical sliding rails 13 are mounted horizontally in parallel on the rotating disk with a spacing of 50 mm and a distance of 25mm from the axis of rotation. The lower portion of the battery mounting bracket 15 is passed through by the sliding rails 13 and is linearly movable on the sliding rails 13. Between the sliding rails 13, the linear displacement servo 14 it) is fixedly mounted on the lower portion of the battery mounting bracket 15, and one end of the retractable pulling rod of the servo 14 is fixed on the rotating disk, and the pulling rod retracts to drive the servo 14 and the battery mounting bracket 15 to move on the sliding rails 13. The power battery 7 is 60 mm long, 35 mm wide, and 100 mm high, and is fixedly mounted at the centre of the battery mounting bracket 15. According to any polar coordinate position command given by the flight control system, the rotating servo 10 drives the rotating disk 12 to rotate and the pulling rod of the linear displacement servo 14 is engaged to expand and contract, then the power battery 7 can be moved to a particular horizontal position, and the maximum displacement is 15mm from the body axis.
In this embodiment, the maximum flying weight is 2 kg. In the carrying state, the upper propeller 2 and the lower propeller 3 are folded downward to be parallel with the axis of the body 1, and the entire aircraft is in the shape of a barrel. When in use, the aircraft is first arranged in an upright position, and the axis of the body 1 is nearly vertical. The upper driving motor of the upper and lower double counter-rotating motors 4 is started first, and the upper propeller 2 is driven to the horizontal position by the centrifugal force; then the lower driving motor is started to drive the lower propeller 3 to the horizontal position. The rotation speed of the upper motor and the lower motor is increased to increase the propeller pulling force to drive the aircraft to fly off the ground. During the flight, the elevation and yaw control of the aircraft can be controlled by coordinating the rotation speed of the upper propeller 2 and the lower propeller 3. During the flight, the flight control and communication device 6 gives a control command to move the power battery 7 horizontally in a certain direction by the rotation of the rotating servo 10 of the moving mass moving device 8 and the expansion and contraction of the pulling rod of the linear displacement servo 14, in order to make the centre of mass of whole the aircraft also to move in this direction. At this time, the pulling line of the propellers forms a certain distance from the centre of mass of the aircraft, to generate a torque around the centre of mass, which causes the aircraft to tilt in the direction of the movement of the centre of mass, and then flies in this direction under the action of the horizontal force component of the propeller pulling force Although the embodiments of the present invention have been shown and described, it is understood that the foregoing embodiments are illustrative and not restrictive. Variations, modifications, alterations and variations of the above-described embodiments are possible within the scope of the invention.

Claims (6)

  1. CLAIMS1 A coaxial double-propeller vertical take-off and landing aircraft using moving mass control, comprising a body and a coaxial double-propeller mechanism; the body is of a columnar structure, and the inside of the body is accommodated with a flight control and communication device, a task load and a power battery; the power battery is mounted on a moving mass driving mechanism inside the body, which can drive the power battery to displace along the radial direction in the body, so that the gravity centre of the aircraft is offset from the axial direction of the centre of the body; i 0 the coaxial double-propeller mechanism comprises upper and lower double-counter rotating motors, a foldable upper propeller and a foldable lower propeller, the upper and lower double-counter rotating motors are fixedly mounted on the top of the body, and the upper and lower double-counter rotating motors are coaxially arranged on the upper and lower sides of the body axis, and the rotating direction is opposite, and the speed can be IS controlled separately; the upper motor is equipped with a propeller hub with a fairing, and the rotating shell of the lower motor is equipped with a propeller mounting hinge, the foldable upper propeller and the foldable lower propeller both adopt a plurality foldable blades, the inner ends of the upper propeller blades are hinged with the hub, the inner ends of the lower propeller blades are hinged with the rotating shell of the lower motor, and the upper propeller blades and the lower propeller blades are staggered in the circumferential direction; during the carrying process, the upper propeller blades and the lower propeller blades are folded downward to be parallel with the body, and in the working mode the upper motor and the lower motor respectively drive the upper propeller blades and the lower propeller blades to rotate, and the upper propeller blades and the lower propeller blades expand to and stay at the working position perpendicular to the body.
  2. 2 The coaxial double-propeller vertical take-off and landing aircraft using moving mass control according to claim 1, wherein the radial attachment position of the blade hinge in the propeller hub is outside the radial attachment position of the blade hinge on the rotating shell of the lower motor, when the blades are folded downward, the lower propeller blades are close to the body, and the upper propeller blades are provided with a set distance from the body.
  3. 3. The coaxial double-propeller vertical take-off and landing aircraft using moving mass control according to claim 1, wherein inside the body, the flight control and communication device is installed on the lower side of the upper and lower double-counter rotating motors near the top of the body, and the lower part of the flight control and the communication device is equipped with the power battery through the moving mass driving mechanism, and the task load is installed at the bottom of the body.
  4. 4. The coaxial double-propeller vertical take-off and landing aircraft using moving mass control according to claim 1, wherein the moving mass driving mechanism comprises a battery mounting bracket, a sliding rail, a linear displacement servo, a rotating disk, and a rotating servo and a rotating servo fixing bracket; the rotating servo fixing bracket is fixedly mounted inside the body to support the installation of the rotating servo, the rotating disk is mounted on the rotating servo, and the rotating servo can drive the rotating disk to rotate about the body axis; the sliding rail is mounted inside the rotating disk, and the battery IS mounting bracket is mounted on the sliding rail and can move along the sliding rail under the driving of the linear displacement servo
  5. 5. The coaxial double-propeller vertical take-off and landing aircraft using moving mass control according to claim 1, wherein the weight of the power battery is not less than 30% of the overall weight of the aircraft.
  6. 6. The method for controlling the coaxial double-propeller vertical take-off and landing aircraft using moving mass control according to claim 1, wherein during the carrying process, the upper propeller blades and the lower propeller blades are folded downward to a position parallel with the body; during the take-off process, the aircraft is arranged in an upright position, the upper motor is started first to drive the upper propeller blades to rotate, the upper propeller blades expand to and stay at the working position perpendicular to the body under the action of centrifugal force, and then the lower motor is started to drive the lower propeller blades to rotate, the lower propeller blades expand to and stay at the working position perpendicular to the body under the action of centrifugal force, the rotation speed of the upper motor and the lower motor is increased, the propeller pulling force is increased, and the aircraft is driven to fly away from the ground; during the flight, the propeller pulling force and the driving reverse torque are changed by coordinating the rotation speed of the upper and lower propellers: when the driving reverse torque of the upper and lower motors is identical, the body does not rotate around its own axis; when the speed of one motor is increased and the speed of the other motor is reduced in coordination, the overall propeller pulling force can be kept constant, but the driving reverse torque of the upper and lower motors is different, so that the body rotates towards a certain direction to realize the yaw control of the aircraft; during the flight, the power battery moves in a certain direction under the driving of the moving mass driving mechanism, so that the centre of mass of the whole aircraft moves correspondingly in this direction, and the pulling line of the propellers forms a certain distance from the centre of mass, thereby generating a torque around the centre of mass, which causes the aircraft to tilt in the direction of the movement of the centre of mass and then flies in this direction under the action of the horizontal force component of the propeller pulling force.IS
GB2008363.0A 2019-06-09 2020-06-03 A coaxial double-propeller vertical take-off and landing aircraft using moving mass control and a control method thereof Active GB2588478B (en)

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