KR101755278B1 - Vertical takeoff and landing unmanned aerial vehicle having fixed wing, equipped with hybrid propeller system - Google Patents

Vertical takeoff and landing unmanned aerial vehicle having fixed wing, equipped with hybrid propeller system Download PDF

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Publication number
KR101755278B1
KR101755278B1 KR1020150175399A KR20150175399A KR101755278B1 KR 101755278 B1 KR101755278 B1 KR 101755278B1 KR 1020150175399 A KR1020150175399 A KR 1020150175399A KR 20150175399 A KR20150175399 A KR 20150175399A KR 101755278 B1 KR101755278 B1 KR 101755278B1
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KR
South Korea
Prior art keywords
asymmetric
drive motor
blade
lift
asymmetric blade
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KR1020150175399A
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Korean (ko)
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KR20160070034A (en
Inventor
성명훈
장종태
한상혁
문성태
김도윤
김민지
최연주
김종철
공현철
황인희
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한국항공우주연구원
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more 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
    • 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
    • B64D35/02—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions specially adapted for specific power plants
    • B64D2700/6271—
    • B64D2700/6278—
    • Y02T50/54—

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Toys (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

According to an embodiment of the present invention, a fixed wing vertical take-off landing unmanned aerial vehicle equipped with a hybrid propeller device includes a fixed wing having no wing surface, and a plurality of rotor blades disposed at predetermined positions of the wing. The plurality of rotor blades each include a drive motor and at least one asymmetric blade coupled to the drive motor. The asymmetric blade is arranged asymmetrically with respect to the rotation axis of the drive motor. The asymmetric blade is continuously rotated in accordance with the flight mode to generate thrust, or rotated to a predetermined position through the angle proportional control in the stopped state, .
According to the present invention, a plurality of rotor blades are provided on the base body together with the rotor blades, and are continuously rotated or stopped according to the flight mode to rotate to a predetermined position through angle proportional control, whereby a fixed pilot blade It is possible to control the posture of the gas quickly and accurately by adjusting the magnitude of the lift force, as well as to simplify the structure of the gas through it, thereby facilitating maintenance and cost reduction.

Description

TECHNICAL FIELD [0001] The present invention relates to a vertical take-off landing unmanned aerial vehicle having a hybrid propeller device,

The present invention relates to a fixed wing vertical take-off and landing unmanned aerial vehicle equipped with a hybrid propeller device that replaces the steering surface function of a fixed wing using a plurality of propellers.

Generally, a drone flying by induction of a radio wave without a human being is composed of a wing dron having a planar wing on the left and right sides of a base such as an airplane, and a plurality of rotors around the base such as a helicopter And a rotary iron dron to be installed.

As shown in FIG. 7 (a), the fixed-wing drones generate lift through planar wings provided on the right and left sides, and a tilt mechanism is applied to the rear of each wing to provide a control surface capable of pivoting up and down And can control the attitude of the gas during flight.

As shown in FIG. 7 (b), the rotor blade drums generate lift through a plurality of propellers rotated around the base body, and control the flight by partially controlling the plurality of propellers.

However, the fixed-wing drones are capable of high-speed flight and long-term flight through the wings provided on the left and right sides of the gas, but vertical takeoff and landing is impossible and the tilt mechanism applied to the control surface has a complicated structure, There is a problem in that it is difficult to repair, and the production cost is high, resulting in an expensive cost.

In addition, in the case of the rotor blade drums, lift can be generated through a plurality of rotors provided around the gas to enable vertical takeoff and landing and easy control of the posture of the aircraft. However, the flying speed is very slow, the flying time is short, There has been a problem in that the rotor has to be kept in a constantly rotating state.

Korean Patent Registration No. 10-0577757

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to solve the problems of the present invention by combining the advantages of a fixed wing and a flywheel to use a fixed wing during flight, And is capable of performing posture control of the gas quickly by selectively driving the posture control device only.

According to an aspect of the present invention, there is provided a vertical take-off landing unmanned aerial vehicle equipped with a hybrid propeller device, comprising: a base having a fixed wing not provided with a steering surface; and a plurality of rotor blades disposed in the base, Wherein the plurality of rotor blades each include a drive motor and one or more asymmetric blades coupled to the drive motor, wherein the at least one asymmetric blade is disposed in an asymmetric configuration that is non-symmetrically disposed about a rotational axis of the drive motor, And controls the rotation angle of the at least one asymmetric blade with respect to the rotation axis of the drive motor in a stopped state without continuously rotating to adjust the magnitude of the lift.

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Further, the at least one asymmetric blade increases the magnitude of the lift in the positive direction when it is rotated in the direction away from the central axis of the base in the state of being disposed in the direction opposite to the flight direction with respect to the flight direction, And increases the magnitude of the lift in the negative direction when rotated in the direction approaching the central axis.

The one or more asymmetric blades are rotatable in a counterclockwise direction or a clockwise direction at an angle of 90 degrees with respect to the rotational axis of the driving motor in a state in which the at least one asymmetric blade is disposed in a direction opposite to the flying direction with respect to the flying direction.

In addition, a plurality of the at least one asymmetric blade are installed in the drive motor.

The plurality of asymmetric blades may be spaced apart from each other along the rotational axis of the driving motor and spaced apart from each other in the rotational direction.

In the vertical take-off and landing and low-speed flight modes, the at least one asymmetric blade continuously rotates to generate thrust, and the high-speed In the cost mode, the at least one asymmetric blade adjusts the magnitude of the lift by adjusting the rotational angle of the at least one asymmetric blade with respect to the axis of rotation of the drive motor in a stationary state without continuous rotation.

According to the present invention, a plurality of rotor blades are provided on the base body together with the rotor blades, and are continuously rotated or stopped according to the flight mode to rotate to a predetermined position through angle proportional control, whereby a fixed pilot blade It is possible to perform the posture control of the gas quickly and accurately by adjusting the size of the lift.

Also, during vertical take-off and landing and low-speed flight, it is possible to fly like a general multi-copter by using the change in thrust magnitude according to the number of revolutions per unit time in continuous rotation like a general propeller. And the propeller blade is controlled in proportion to the rotational axis to control the effective range with respect to the flying direction. As a result, the magnitude of the lift generated by the blade can be controlled and used for attitude control of the flying body.

In addition, the structure of the gas is simplified, maintenance is easy, and cost can be reduced.

1 is a schematic view of a wing-like vertical take-off and landing unmanned aerial vehicle according to an embodiment of the present invention.
FIG. 2 is a view showing a structure in which a rotor blade is connected to a base in the vertical take-off landing unmanned aerial vehicle of FIG.
FIG. 3 is a view showing a state where asymmetric blades of a fixed wing vertical take-off and landing unmanned aerial vehicle according to an embodiment of the present invention are rotated differently according to a flight mode.
4 is a view for explaining the magnitude of the lift according to the position of the asymmetric blade of the fixed wing vertical take-off landing unmanned aerial vehicle according to the embodiment of the present invention.
5 is a graph showing the magnitude of lift according to the maximum rotation angle and the rotation angle of the asymmetric blade of the fixed wing vertical take-off and landing unmanned aerial vehicle according to the embodiment of the present invention.
6 is a view showing a state where a plurality of asymmetric blades of a fixed wing vertical take-off and landing unmanned aerial vehicle according to an embodiment of the present invention are installed on a driving motor.
7 is a schematic view of a conventional vertical take-off and landing unmanned aerial vehicle.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a schematic view of a wing-type vertical take-off and landing unmanned aerial vehicle according to an embodiment of the present invention. FIG. 2 is a view illustrating a structure in which a flywheel is connected to a base in a vertical take- The asymmetric blades of the fixed wing vertical take-off and landing unmanned aerial vehicle according to the example are rotated differently according to the flight mode. 4 is a view for explaining the magnitude of the lift according to the position of the asymmetric blade of the fixed wing vertical take-off and landing unmanned aerial vehicle according to the embodiment of the present invention. 6 is a graph showing a state where a plurality of asymmetric blades of a fixed wing vertical take-off and landing unmanned aerial vehicle according to an embodiment of the present invention are installed on a driving motor.

1 and 2, a fixed wing vertical take-off and landing UAV 100 having a hybrid propeller device according to an embodiment of the present invention (hereinafter referred to as a vertical take-off landing unmanned aerial vehicle 100) (20) symmetrically arranged on the left and right sides of the base body (10) and not provided with a steering surface. For reference, the structure in which the rotor blade 30 and the base 10 are connected to each other as described later with reference to FIG. 1 has been omitted for convenience of explanation.

Also, the vertical take-off and landing UAV 100 includes a plurality of rotor blades 30 disposed at predetermined positions of the base 10.

In addition to the continuous rotation function for generating the thrust according to the number of revolutions, such as a general propeller, as described later, since the posture of the gas can be controlled by adjusting the magnitude of the lift through the angle proportional control with respect to the rotation axis, 30 may include at least one asymmetric blade 33 coupled to a drive motor 31 and a drive motor 31 connected to the base 10 and each of the asymmetric blades 33 forward And rearward to generate lift or thrust force to the base 10, or selectively driven to perform posture control of the base 10. For reference, the 'asymmetric blade' in this embodiment means that the blade is formed on one side in the radial direction on the same plane perpendicular to the rotation axis RA of the drive motor, as shown in FIG.

The asymmetric blades 33 are arranged asymmetrically on the upper portion of the driving motor 31 around the rotation axis of the driving motor 31 and are continuously rotated in accordance with the flying mode to generate thrust, The angle of the lift is rotated to a predetermined position within a predetermined range through the angle proportional control to adjust the size of the lift.

That is, as shown in FIG. 3A, the asymmetric blade 33 generates a thrust in a vertical direction to continuously raise the base 10 in the vertical direction . As shown in FIG. 3 (b), the size of the lift received by the base 10 can be adjusted when the base 10 is rotated from a stopped state to a predetermined position. 3 (b), the moment acting on the base 10 by the lift acting on the center of gravity of the asymmetric blade 33 can be expressed by the following equation (1).

[Equation 1]

Moment = Lift * Distance from centerline (Distance from centerline)

More specifically, the asymmetric blade 33 continuously rotates like a general propeller during vertical take-off or landing or low-speed flight, so that it can fly in the same manner as a general multi-copter using the change in thrust magnitude according to the number of revolutions per unit time do.

In the forward flight using the fixed wing 20, as shown in FIG. 4, angle control is performed on the rotation axis to control the effective domain of the flight direction, And adjusts the magnitude of lift generated by the asymmetric blade 33 and is used to control the attitude of the base 10. At this time, although not shown in the drawing, a thrust propeller may be separately mounted on the stern of the fixed wing 20 or the base 10 so as to generate propulsive force in forward flight. 4 (a) shows a case in which the asymmetric blade 33 is 90 degrees in the positive direction with respect to the flying direction of the base 10, and Fig. 4 (b) In the positive direction in the flight direction of the vehicle.

5, the asymmetric blades 33 are arranged in the direction opposite to the flight direction parallel to the flight direction (corresponding to 0 degree rotation angle of the asymmetric blade 33) (In the positive direction, that is, in the direction away from the central axis of the gas, in the reference counterclockwise direction in FIG. 5), the magnitude of the lift is increased in the positive direction and conversely the inner side of the base 10 The direction of approaching the center axis of the gas, and the reference clockwise direction of FIG. 5), the magnitude of the lift can be increased in the negative direction.

That is, when the asymmetric blade 33 increases between 0 and +90 degrees, the magnitude of lift applied to the base 10 increases in the positive direction, and conversely, when the asymmetric blade 33 rotates at -90 The magnitude of lift applied to the base 10 can increase in the negative direction.

On the other hand, the asymmetric blade 33 can be formed in a structure capable of increasing the magnitude of thrust.

Referring to FIG. 6, asymmetric blades 33 may be installed in the drive motor 31 in a plurality of ways.

More specifically, the asymmetric blades 33 may be provided at a plurality of spaced apart from each other along the direction of the rotation axis RA of the drive motor 31. At this time, asymmetrical blades 33 provided in a plurality may be disposed at a predetermined angle (?) In the rotational direction. That is, in order to increase the amount of thrust per unit area, a plurality of asymmetric blades 33 may be applied. However, when a plurality of asymmetric blades 33 are applied, a plurality of asymmetric blades 33 are spaced apart from each other by a predetermined distance in the direction of the rotation axis RA, It is preferable that the asymmetric blade 33 is not located.

As described above, according to the present invention, a plurality of rotor blades 30 are provided on the base 10 together with the rotor blades 20 and are continuously rotated or stopped according to the flight mode, and are rotated to a predetermined position through angle proportional control, It is possible to quickly and accurately control the posture of the base 10 by adjusting the size of the lift without providing a separate control surface to which an expensive tilt mechanism is applied.

In addition, during vertical takeoff and landing and low-speed flight using the rotor blades 30, it is possible to fly like a general multi-copter by using a change in thrust magnitude according to the number of revolutions per unit time in continuous rotation like a general propeller, 20, the propulsion force is generated through the propeller mounted on the stern of the fixed blade 20 or the airframe 10, and after the continuous rotation of the asymmetric blade 33 is stopped, As a result, the magnitude of the lift generated by the asymmetric blade 33 can be manipulated and used to control the attitude of the base 10 by controlling the blade 33 in an angle-proportional manner with respect to the rotation axis to control the effective range with respect to the flying direction .

Further, the structure of the base 10 can be simplified to facilitate maintenance and reduce costs.

While the present invention has been particularly shown and described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, And all changes and modifications to the scope of the invention.

100. Vertical takeoff and landing UAV
10. Gas
20. Fixed income
30. Rotor blade
31. Driving motor 33. Asymmetric blade
RA. Rotating shaft
FLIGHT DIRECTION. Flight direction

Claims (8)

A gas having fixed wings not provided with a control surface, and
A plurality of rotor blades
And,
The plurality of rotor blades
Drive motor, and
At least one asymmetric blade coupled to the drive motor
/ RTI >
The at least one asymmetric blade
Wherein the driving motor is disposed in an asymmetric structure that is disposed symmetrically about a rotational axis of the driving motor,
Adjusting the rotational angle of the at least one asymmetric blade with respect to the rotational axis of the drive motor in a stopped state without continuously rotating to adjust the magnitude of the lift,
Vertical takeoff and landing UAV with hybrid propeller device. delete delete The method of claim 1,
The at least one asymmetric blade
When it is rotated in the direction away from the center axis of the base body in a state of being arranged in the direction opposite to the flight direction with respect to the flight direction, increases the magnitude of the lift in the positive direction and conversely rotates in the direction approaching the center axis of the base body And increases the magnitude of lift in the negative direction, if any. 5. The method of claim 4,
The asymmetric blade
Wherein the rotary propeller is rotatable in a range of 90 degrees in a counterclockwise direction or in a clockwise direction with respect to a rotation axis of the drive motor in a state of being arranged in a direction opposite to the flight direction with respect to the flight direction. The method of claim 1,
Wherein the at least one asymmetric blade is installed in the driving motor. The method of claim 6,
The plurality of asymmetric blades
Wherein the main propulsion unit is spaced along the rotational axis direction of the drive motor and is also spaced apart in the rotational direction. The method of claim 1,
The asymmetric blades may continuously rotate to generate a thrust in the vertical take-off and landing and low-speed flight modes,
Wherein the at least one asymmetric blade is in a stationary state without continuously rotating to adjust the rotational angle of the at least one asymmetric blade with respect to the rotational axis of the drive motor to adjust the magnitude of the lift,
Vertical takeoff and landing UAV with hybrid propeller device.
KR1020150175399A 2014-12-09 2015-12-09 Vertical takeoff and landing unmanned aerial vehicle having fixed wing, equipped with hybrid propeller system KR101755278B1 (en)

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KR102010964B1 (en) 2018-12-19 2019-08-16 (주)한국유에이브이 Vertical takeoff and landing type hybrid drones
KR102241710B1 (en) 2019-12-20 2021-04-19 (주)온톨로지 Module type Unmanned Aerial Vehicle Capable of High Speed Movement

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KR102503684B1 (en) * 2016-06-24 2023-02-28 삼성전자주식회사 Electronic apparatus and operating method thereof
KR102574634B1 (en) * 2016-07-22 2023-09-05 엘지이노텍 주식회사 Drone and control method of the same
KR101913931B1 (en) * 2017-02-24 2018-10-31 기술융합협동조합 Vertical takeoff and landing aircraft and transition method
KR102202426B1 (en) * 2019-08-26 2021-01-12 주식회사 한화 Apparatus and method for identifying the attitude and position of an aircraft
KR20230172927A (en) 2022-06-16 2023-12-26 백한영 Multi-rotor VTOL unmanned aerial vehicle with improved control

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Publication number Priority date Publication date Assignee Title
KR102010964B1 (en) 2018-12-19 2019-08-16 (주)한국유에이브이 Vertical takeoff and landing type hybrid drones
KR102241710B1 (en) 2019-12-20 2021-04-19 (주)온톨로지 Module type Unmanned Aerial Vehicle Capable of High Speed Movement

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KR20160070033A (en) 2016-06-17
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