RU2634609C1 - Unmanned aerial vehicle control method and flight control actuating unit for method actualization - Google Patents

Abstract

FIELD: aviation.

SUBSTANCE: method is carried out by the velocity vector direction regulation by means of the change of the frontal resistance to the approach flow and of the thrust vector value of the blowdown jet due to the change of the approach flow velocity energy within the airfoils, in accordance with the guidance command. The flight control actuating unit arrangement comprises the body with the rigidly fixed airfoils with the air inlet and air bleeding ducts. There are flight control actuator and accumulator battery within every airfoil. The flight control actuator is comprised of the actuating unit of the steering engines that are designed as the coaxially situated electric motor and turbine. The electric motor is the commutatorless one with the outer rotor, on which the turbine is mounted. The floating battery is used in the function of the accumulator battery.

EFFECT: enhancement of the functional possibility of the unmanned aerial vehicle application on the slow speed and high altitude, manufacturing simplification.

4 cl, 6 dwg

Description

The proposed invention relates to aircraft and can be used in guided missiles, shells, bombs and other unmanned aerial vehicles.

A known method of controlling unmanned aircraft, called aerodynamic, in which the regulation of the velocity vector (lift) is carried out by changing the angular position of the steering aerodynamic surfaces, changing the drag of the incoming flow and creating torque relative to the center of mass, while changing the angular position of the aerodynamic surfaces is carried out by steering cars steering drives according to control signals and due to the consumption of energy from a power source of energy and [1].

The control methods adopted for analogues use electric, hydraulic or pneumatic steering gears and autonomous energy sources (storage batteries, compressed gas cylinders).

The disadvantage of analog methods is the limited time of their flight control work, due to the specific energy reserve of the power source of the steering drives.

Closest to the claimed flight control method (adopted as a prototype) is a control method in which, unlike analogues for controlling drives, the energy of the incoming air flow is used as a power source of energy ([2] Fig. 8, 10 p. 140; [3 ]).

In the method for controlling the flight of an unmanned aircraft adopted as a prototype, the incoming flow entering the air intakes is redistributed by means of the control into the working cavities of the steering machines, in which the potential energy of the incoming flow is converted into mechanical energy of rotation of the aerodynamic steering surfaces.

In existing steering gears, the potential free-stream energy used is determined by the pressure of the braking stream, which depends on the flight speed and air density:

E _sweat = Fh = pSh;

,

,

where E _sweat is the used potential energy of the flow,

F is the force acting on the piston of the steering machine,

h is the stroke of the piston steering machine,

S is the area of the piston,

p is the braking pressure of the oncoming flow,

ρ is the density of air,

ϕ - coefficient characterizing the air intake,

V ₀ - flow rate equal to the speed of an unmanned aircraft.

The disadvantage of this control method is the limited application due to the impossibility of functioning at low flight speeds and at altitudes with low air density. In addition, the use of free-wheel braking pressure for the operation of steering drives does not allow efficient use of the available flow energy.

According to the set of essential principles and the achieved effect, the “Tail compartment of the air-dynamic steering drives” (Patent RU 2418261 [3]), containing the block casing with aerodynamic steering surfaces inside each of which has air intake and air discharge channels, was selected as a prototype of the block of steering drives and a steering drive, consisting of a control unit, a steering piston machine and a low-power power source in the form of a battery, which can be used only for the steering control unit rivodov or be an integral part of the control system. In the latter case, it is located in the block body outside the aerodynamic surface, as is done in the prototype.

The purpose of the claimed inventions is: to increase the efficiency of the method of controlling a block of steering drives, the implementation of which extends the functionality of an unmanned aerial vehicle, i.e. ensures its operability at low flight speeds and at high altitudes with increased efficiency of energy consumption by free-wheel steering drives, which expands the scope of unmanned aerial vehicles.

The solution of the problem in the control method of unmanned aircraft is achieved by controlling the direction of the velocity vector (lift force) by changing the drag on the incoming flow and the magnitude of the thrust vector of the jet discharge inside the aerodynamic surfaces by changing the kinetic energy (speed) of the incoming flow, in accordance with the control signal , so that with a positive control signal, the flow energy (speed) increases, the drag decreases, and the magnitude of the thrust vector the discharge jet increases, with a negative control signal, the flow energy (speed) decreases, the drag increases, and the thrust vector of the jet decreases, and in the absence of a control signal, the flow energy, drag and the thrust vector of the jet remain constant and the same, this regulation of the drag and the thrust vectors of the discharge jets are achieved by the steering gears due to the energy of the battery recharged by the steering gears from the raid effluent in horizontal flight.

The use of recharging the battery with steering gears significantly increases the flight range and allows the steering gears to control unmanned aircraft at low speeds and at high altitudes.

The solution of the problem by the proposed device of the block of steering drives is achieved by the fact that the steering drive is made of a control unit of one or a set of steering machines arranged in series or in parallel, each of which is made in the form of a coaxially located electric motor and turbine, while the brushless electric motor with an external the rotor, on which the impeller is mounted, to which the channels of the air intake and air discharge are connected, used as a battery recharging tare, the terminals of which through the control system block are connected to the motor winding, when using one or several sequentially located steering machines, the air intake and air discharge channel is made in the form of a flat slit, inside the aerodynamic surface, when using two steering machines located in parallel, the channels the air intake and air discharge are made in the form of gaps formed between the planes of the aerodynamic surface and the housings parallel to the plane to the aerodynamic surface.

In FIG. 1 is a functional diagram explaining the proposed method for controlling an unmanned aircraft.

In FIG. Figure 2 shows a variant of the structural scheme in the form of a longitudinal section of an aerodynamic surface with a steering gear, in which the air intake channel is made in the form of a gap on the leading edge of the aerodynamic surface.

In FIG. 3 shows an enlarged section AA of FIG. 2.

In FIG. 4 shows a variant of the structural scheme of the longitudinal section of the aerodynamic surface with two steering gears arranged in series.

In FIG. 5 shows a variant of the structural diagram of the aerodynamic surface with steering gears located in parallel with the casing removed.

In FIG. Figure 6 shows a cross-section of an aerodynamic surface with two steering gears arranged in parallel and an air intake made in the form of slots formed by the planes of the aerodynamic surface and the housings parallel to the planes of the aerodynamic surface.

The proposed control method is (see Fig. 1):

- the selection of energy from the incoming air flow by air intakes,

- the involvement of the battery 9 and the control system unit (BSU) 10,

- the formation of the BSU 10 control signals of the drives of the aerodynamic surfaces 1,

- conversion of the kinetic energy of the free stream by the steering gears 1 into the rotation energy of the output links of the steering gears, which operate in the recovery mode of the kinetic energy of the free stream, into electrical energy and recharge the battery,

- on the control signal from the BSU 10, the steering gear converts the electrical energy of the battery 9 into a torque at the output link corresponding to the magnitude and sign of the control signal,

- the total moment from the energies of the incoming free stream and the steering gear accelerates or slows the air flow inside the aerodynamic surface 2, rigidly fixed to the housing 11,

- depending on the control signals generated by the BSU 10, each steering gear 1 creates a certain air flow velocity inside the aerodynamic surface 2, which corresponds to the drag, the magnitude of the thrust vector of the jet and the turning moment relative to the center of mass created by this aerodynamic surface, and a change in direction drone speed vector relative to the thrust vector.

The claimed method for controlling an unmanned aircraft is to control the velocity vector (lift) of the steering gears located inside the stationary aerodynamic surfaces by changing the kinetic energy (speed) of the incoming flow in accordance with the control signal and the energy from the battery.

In the absence of control signals on the steering drives in all channels of the air intakes of the aerodynamic surfaces, the speed of the incoming flow V ₀ will depend on the flight speed of the unmanned aircraft.

The kinetic energy of the flow is expressed by the dependence:

,

,

where m is the mass of air used,

S is the cross-sectional area of the channel,

ρ is the density of air,

t is the time of the working cycle of the air mass,

V ₀ - flow rate equal to the flight speed of an unmanned aircraft.

In horizontal flight at the same speed V ₀ in all aerodynamic surfaces, the direction of the speed vector of an unmanned aircraft (lift force) will coincide with the direction of the thrust vector. In this case, the drives operate in generator mode and charge the battery. When a positive control signal is applied to one of the steering drives, the latter will work as an engine (pump) and increase the flow rate and its energy:

V ₁ = V ₀ + k ₁ V ₀ ;

E _k1 = E _k0 + k ₂ E _k0 ,

where k ₁ , k ₂ are the coefficients characterizing the speed characteristics of the pump and flow. As a result, with an increase in the flow velocity, the drag of the aerodynamic surface decreases, the thrust vector of the discharge jets increases, and the velocity vector changes its position relative to the thrust vector.

When a negative control signal is applied to one of the steering drives, the drive will work as a brake, creating resistance to the incoming flow, braking it:

V ₂ = V ₀ -k ₁ V ₀ ;

E _k1 = E _k0 -k ₂ E _k0 ,

A decrease in the flow velocity in the air intake channel increases the drag of the aerodynamic surface, decreases the thrust vector of the discharge jet and leads to a deviation of the velocity vector (lift force) relative to the thrust vector in the opposite direction relative to the direction vector with a positive signal.

By supplying control signals to the steering drives in a certain sequence, it is possible to change the direction of the speed vector of an unmanned aerial vehicle (lift) in the desired direction depending on the geometric sum of the vectors of drag forces and the thrust vectors of the relief jets created by each steering surface and the change in the thrust vector jet reset.

The steering gear device in one of the aerodynamic surfaces of the steering gear unit is shown in FIG. 2 and 3. The steering drive 1, built into the aerodynamic surface 2, contains an air intake channel 3, an electric motor consisting of a rotor 5 and a stator 6, on the rotor of which a multiplier 7 based on a wave transmission with rolling bodies can be installed. In the absence of the multiplier 7, the turbine 8 is placed directly on the rotor 5 of the electric motor. An impeller channel 3 and a discharge channel 4 are connected to the turbine 8.

The air intake 3 is made according to the type of air intakes of the tangential fans - wide in the plane where the air is taken in the atmosphere and tapering as it approaches the turbine.

In FIG. 4 shows an embodiment of the steering gear 1, different from FIG. 2 and FIG. 3 in that in the drive housing 1 located in the aerodynamic surface 2, two actuators are arranged in series.

In FIG. 5 and FIG. 6 shows an embodiment of a steering gear 1, with two actuators arranged in parallel and an air intake 3 made in the form of slots formed by two casings 12, which increase the channel area of the air intake 3 and the air flow. The proposed layout extends the functionality of the work without additional resistance to gas outflow.

The proposed design schemes work as follows. The air flow from the air intake 3 through the air duct is supplied to a turbine 8 mounted on the rotor of the engine 6. With a sufficient speed of the incoming flow, no maneuver and, as a result, no control signal, the turbine 8 will be driven into rotation by the free flow of air, the engine will work in the generator mode while charging the battery. If the speed of the incoming flow is insufficient to create a control force (starting or performing a maneuver) and in the presence of a positive control signal, the engine will spin the turbine 8, increasing the air flow inside the aerodynamic surface, while the drag will decrease and the thrust vector will increase jet reset. When the flow rate reaches the required value and the maneuver is performed, while the negative control signal is supplied, the turbine 8 will slow down, reducing the incoming air flow, slowing it down, thereby increasing drag and decreasing the thrust vector of the discharge jet.

By changing the drag and the thrust vector of the discharge jet, the direction of the vector and the flight control of the unmanned aircraft are controlled.

In the case of using a multiplier 7 based on wave transmission with rolling bodies, the engine will spin the turbine 8 at a higher speed.

Thus, the claimed method for controlling an unmanned aerial vehicle is to control the drag and the thrust vector of the discharge jets with steering gears located inside the fixed aerodynamic surfaces by using the kinetic energy of the incoming flow and changing its value due to the energy of the rechargeable battery. The claimed control method increases the energy efficiency of the drive, because the kinetic energy of the incoming flow used is proportional to the flow rate in the cube, while the potential energy used in the prototype depends on the flow velocity only in a square. In addition, the use of energy of a rechargeable battery powered by steering gears makes it possible to control the velocity vector (lifting force) at low speeds and at high altitudes, which expands the functional capabilities of the combat use of unmanned aircraft.

The claimed block of steering gears containing rigidly fixed aerodynamic surfaces, inside of which are steering gears with steering gears containing a dynamic pneumatic engine - a turbine using kinetic energy of the incoming flow, possibly a gearbox based on wave transmissions with rolling bodies and an electric motor located inside the turbine perform the functions of a turbopump, which makes the design simple, compact and cheap.

The location of one steering machine or the arrangement of several cars in series or in parallel allows them to be unified for use in unmanned aircraft for various purposes, which will significantly reduce their cost.

Information sources

1. Kostin S.V., Petrov B.I., Gamynin N.S. Steering gears. M.: Mechanical Engineering, 1973. - 205 p.

2. Vetrov V.V., Gryazev D.A. et al. Fundamentals of the design and functioning of anti-tank guided missiles. Under the general editorship of A.G. Shepunova. Publishing House of Tula. GU, Tula 2006 - 256 pages

3. Gusev A.V., Evteev K.P., Fimushkin B.C. Patent No. 2288439. Class B64C 13/40, F42B 10/60, F42B 15/00. A method of controlling a rocket and a steering unit (options). Publ. 11/27/2006.

4. Babushkin D.P., Evteev K.P., Krivov I.A., Kuznetsov M.Yu., Nikanorov B.A., Plescheev I.E., Fimushkin B.C., Khrapov A.V. Patent No. 2418261. Class F42B 25/00, F15B 15/00. The tail compartment of the air-dynamic steering gears for guided aircraft (mainly for guided aircraft bombs) and the air drive of the steering gear. Publ. 05/10/2011.

Claims (4)

1. A method for controlling an unmanned aerial vehicle (LA), including: activating the battery and the control system unit, generating a control system for the steering gear control signals, taking energy from the incoming air flow and converting it with the steering gears into the energy of aerodynamic surfaces that control the direction of the velocity vector unmanned aerial vehicle, characterized in that the regulation of the direction of the velocity vector (lift force) by changing the drag of the incident the current and the magnitude of the thrust vector of the jet of discharge are carried out inside the aerodynamic surfaces by changing the kinetic energy (speed) of the incoming flow, in accordance with the control signal, so that with a positive control signal, the energy of the flow increases, the drag decreases, and the magnitude of the vector of thrust of the jet of dump increases negative control signal, the energy of the flow decreases, the drag increases, and the thrust vector of the discharge jet decreases, in the absence of a signal The energy of the flow, the drag front drag created by the aerodynamic surfaces, and the values of the thrust vectors of the jets remain the same, while the steering drags and thrust vectors of the dump jets are regulated by the steering gears using the energy of the battery recharged by the steering gears from the incoming flow in flight . 2. The steering gear unit, comprising a housing on which aerodynamic surfaces with air intake and air discharge channels are rigidly fixed, and a steering gear and a battery are located inside each aerodynamic surface, characterized in that the steering gear is made of a control unit of one or a set of steering machines, arranged in series or in parallel, each of which is made in the form of a coaxially located electric motor and turbine, while the brushless motor with an external rotor, on which a turbine is mounted, to which the air intake and air discharge channels are connected, a rechargeable battery is used as a storage battery, the terminals of which are connected to the motor winding through the control unit, using one or more steering machines in series, the air intake channel and air discharge is made in the form of a flat gap inside the aerodynamic surface. 3. The block of steering drives, characterized in p. 2 in that between the outer diameter of the rotor and the inner diameter of the impeller a gear reducer is introduced, built on the basis of a wave transmission with rolling bodies according to a scheme with an external wave former, according to which the rigid wheel is mounted on the rotor, a separator mounted on the stator, and a turbine is mounted on the outer diameter of the wave former. 4. The block of steering drives, characterized in paragraphs. 2, 3 in that when using two steering machines arranged in parallel, the channels of the air intake and air discharge are made in the form of slots formed by the planes of the aerodynamic surface and the casings located parallel to the planes of the aerodynamic surface.

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