WO2019186918A1 - 航空機の飛行制御方法 - Google Patents
航空機の飛行制御方法 Download PDFInfo
- Publication number
- WO2019186918A1 WO2019186918A1 PCT/JP2018/013317 JP2018013317W WO2019186918A1 WO 2019186918 A1 WO2019186918 A1 WO 2019186918A1 JP 2018013317 W JP2018013317 W JP 2018013317W WO 2019186918 A1 WO2019186918 A1 WO 2019186918A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- axis
- aircraft
- shoulder
- lift
- rotation axis
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 19
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title abstract description 10
- 230000007246 mechanism Effects 0.000 abstract description 8
- 238000012423 maintenance Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 18
- 230000005484 gravity Effects 0.000 description 7
- 230000003247 decreasing effect Effects 0.000 description 2
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/38—Adjustment of complete wings or parts thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
- B64C33/025—Wings; Actuating mechanisms therefor the entire wing moving either up or down
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
-
- 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
- B64C29/0008—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded
- B64C29/0016—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers
- B64C29/0033—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers the propellers being tiltable relative to the fuselage
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/38—Adjustment of complete wings or parts thereof
- B64C3/385—Variable incidence wings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/38—Adjustment of complete wings or parts thereof
- B64C3/40—Varying angle of sweep
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/40—Ornithopters
-
- 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
- B64U30/12—Variable or detachable wings, e.g. wings with adjustable sweep
Definitions
- the present invention relates to an aircraft flight control method.
- the problem to be solved is that the current vertical take-off and landing aircraft requires two different controls from the two types of mechanisms for vertical take-off and landing and normal flight
- the present invention is characterized in that vertical take-off and landing and normal flight are controlled by the same mechanism by introducing the concept of a shoulder rotation axis and an arm rotation axis into flight control of an aircraft.
- the aircraft adopting the flight control method of the present invention is a vertical take-off and landing aircraft, since it does not have a mechanism and control dedicated to vertical take-off and landing, its structure is simpler, and the same method as a normal take-off and landing aircraft employing the present invention There is an advantage that you can control with.
- FIG. 6 is a perspective view of the airframe coordinates of the airframe obtained by rotating the left side of the shoulder rotation shaft 2 to 55 °, the right side to ⁇ 35 °, and the both-arm rotation shaft 3 to 30 °.
- Example 1 It is a front view of FIG. It is a side view of FIG. It is a bottom view of FIG. It is a top view of the body coordinate of the body which rotated the shoulder rotating shaft 2 and the arm rotating shaft 3 symmetrically (55 degrees and 30 degrees, respectively).
- FIG. 6 is a side view of the space posture of the aircraft flying horizontally in FIG. 5.
- FIG. 10 is a side view of the space posture of the aircraft with the nose lowered in FIG. 9.
- FIG. 10 is a side view of the space posture of the aircraft with the nose lowered in FIG. 9.
- FIG. 5 is a plan view of airframe coordinates of an airframe in which the left and right sides of the shoulder rotation shaft 2 are rotated asymmetrically (55 ° on the left side and ⁇ 35 ° on the right side) and the arm rotation shaft 3 is rotated symmetrically (60 °).
- Example 1 It is a top view of the space posture of the airframe which turns in FIG.
- FIG. 13 is a rear view of FIG. 12. It is a front view of the body coordinates of the body to roll which rotated the shoulder rotating shaft 2 left-right symmetrically and the left-right of the arm rotating shaft 3 asymmetrically.
- FIG. 1 FIG.
- FIG. 4 is a perspective view of the aircraft coordinates of an aircraft in which the left side of the shoulder rotation shaft 2 is rotated by 45 °, the right side is rotated by ⁇ 35 °, and both arm rotation shafts 3 are rotated by 90 °.
- FIG. 16 is a front view of FIG. 15.
- FIG. 16 is a side view of FIG. 15. It is a top view of the body coordinate of the body which rotated the shoulder rotating shaft 2 and the arm rotating shaft 3 symmetrically (45 degrees and 90 degrees, respectively).
- Example 2 It is a side view of the space attitude
- FIG. 5 is a plan view of airframe coordinates of an airframe in which the left and right sides of the shoulder rotation shaft 2 are rotated asymmetrically (left 45 °, right-35 °) and the arm rotation shaft 3 is rotated symmetrically (90 °).
- Example 2 It is a top view of the space posture of the airframe which turns in FIG.
- FIG. 26 is a rear view of FIG. 25. It is a top view of the space posture of the airframe which carried out the space stop by raising the nose, which rotated the shoulder rotation axis 2 and the arm rotation axis 3 symmetrically (25 ° and 90 ° respectively).
- Example 2 Rotate the shoulder rotation axis 2 symmetrically and the arm rotation axis 3 left and right asymmetrically (30 ° on the left side and 120 ° on the right side). It is a top view. (Example 2) It is a side view of FIG. It is a top view of the space posture of the body which rotates the shoulder rotation axis 2 and the arm rotation axis 3 symmetrically (25 ° and 120 ° respectively) and moves backward while stopping the space by raising the nose.
- Example 2 It is a top view of the body coordinate of the body which rotated the left and right of the shoulder rotating shaft 2 asymmetrically (25 ° on the left side, 0 ° on the right side) and rotated the arm rotating shaft 3 symmetrically (90 °). It is a top view of the space attitude
- Example 3 It is a top view of the space attitude
- FIG. 36 is a perspective view of FIG. 35.
- FIGS. 1 to 14 show a normal take-off and landing type aircraft that performs flight control by the method of the present invention.
- FIG. 5 and FIG. 6 are airframe coordinate diagrams showing the state of the shoulder rotation shaft 2 and the arm rotation shaft 3 when the airframe is flying horizontally, and a diagram of the space posture when flying in that state.
- This aircraft rotates the shoulder rotation axis 2 to make the aircraft coordinate Z position of the lift point 5 on the left and right of the aircraft and the gravity center point 4 of the aircraft the same, thereby balancing the aircraft horizontally and flying horizontally.
- the direction of the lift of the lift point 5 generated in the blade 6 is adjusted by rotating 3.
- 7 to 10 are an aircraft coordinate diagram and a space attitude diagram showing a pitch control method of the aircraft.
- the gravity center point 4 of the aircraft rotates around the straight line connecting both lift points 5 and below it.
- the pitch control of the nose up is performed by utilizing the fact that it moves to and stabilizes.
- the nose is lowered by moving both lift points 5 to the rear of the aircraft from the center of gravity 4 of the aircraft.
- FIGS. 11 to 13 are an aircraft coordinate diagram and a space attitude diagram showing a method for controlling the turning of the aircraft.
- the rotation angle of the inner shaft when turning is decreased from the outer shaft, and the lifting point 5 on the turning inner side is moved forward from the outer lifting point 5.
- an inclination with respect to each of the X-axis, Y-axis, and Z-axis of the aircraft coordinates is created on a straight line connecting both lift points 5, and the gravity center point 4 of the aircraft rotates around the axis having the inclination and moves below it.
- the nose up control and the roll control are performed, and by reducing the rotation angle of the shoulder rotation shaft 2, the wing 6 on the inside of the turn whose angle of attack has increased is decelerated by air resistance As a result, the rotation of the yaw axis about the blade 6 is controlled to turn.
- FIG. 14 is a machine coordinate diagram showing the roll control method of this machine. Roll control is performed by rotating the left and right sides of the arm rotation shaft 3 asymmetrically and tilting the left and right of the direction of lift asymmetrically.
- FIGS. 15 to 33 show a vertical take-off and landing type aircraft that performs flight control by the method of the present invention.
- 18 and 19 are a coordinate diagram of the aircraft during horizontal flight and a diagram of its space posture. There is no difference in the control method with the first embodiment, and the only difference is that the lift source of this fuselage is not the wing 6 but the propeller rotating surface 8.
- 20 to 23 are an aircraft coordinate diagram and a space attitude diagram showing a pitch control method of the aircraft. This control method is the same as in the first embodiment.
- FIGS. 24 to 26 are an aircraft coordinate diagram and a space attitude diagram showing a method of turning control of the aircraft. This control method is the same as that of the first embodiment, and the only difference is that the air resistance source used for obtaining the rotation of the yaw axis of the airframe is not the blade 6 but the propeller rotating surface 8.
- the roll control method of this machine is also the same as that of the first embodiment.
- FIG. 27 is an aircraft coordinate diagram when the aircraft is raised and stopped in space. This pitch control is also the same as in the first embodiment.
- FIG. 28 is a diagram of a space posture when the aircraft rotates with the yaw axis while raising the nose and stopping the space.
- Rotation control of the yaw axis about the airframe is performed by rotating the left and right sides of the arm rotation shaft 3 asymmetrically and tilting the left and right directions of lift at the lift point 5 asymmetrically.
- FIG. 29 is a side view of FIG.
- FIG. 30 is a diagram of the space posture when the aircraft moves backward while raising the nose and stopping the space.
- the arm rotation shaft 3 is rotated left and right symmetrically and the lift direction of both lift points 5 is tilted rearward to move backward.
- FIG. 31 is an aircraft coordinate diagram when the aircraft moves in the lateral direction of the aircraft while raising the nose and stopping in space.
- the rotational angle of the front shaft in the direction of travel during lateral movement is decreased from the subsequent shaft, and the lift point 5 on the front side of the travel direction is
- a straight line connecting both lift points 5 is created with respect to the X-axis, Y-axis, and Z-axis of the airframe coordinates.
- 34 to 36 show a vertical take-off and landing aircraft that employs claim 2 of the present invention, and includes a jet engine on the wing 6.
- This aircraft flight control method is the same as that of the second embodiment.
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Toys (AREA)
Abstract
Description
2 肩回転軸
3 腕回転軸
4 機体の重力中心点
5 揚力点
6 翼
7 プロペラ軸
8 プロペラ回転面
Claims (2)
- 航空機の機体正面図を、Y軸を縦軸とするXY平面で表す3次元の直交座標を機体座標とし、これを基準とし下記の(1)から(4)を定義するとき、
(1)肩回転軸:Y軸と平行な軸の上部を、Z軸を中心に45°から60°の範囲で回転させ機体外側に向けて傾け、X軸を中心に20°から35°の範囲で回転させ機体の機首方向に傾けた軸。
(2)肩座標:肩回転軸を、原点を通るY軸とする直交座標。
(3)腕回転軸:肩回転軸にとりつけられた機体外側に向けて伸びる軸で、肩座標X軸と平行な軸を、肩座標Z軸を中心に20°から35°の範囲で回転させ、その軸の先を機体上方向に傾けた肩座標Z=0を通る軸。
(4)揚力点:航空機の主翼片側一枚に働く揚力を1つの点として表すもの。
1組以上の肩回転軸と腕回転軸を航空機の機体左右に設け、それらの腕回転軸に取り付けられた機体揚力源により生じる揚力点の機体との相対的な位置を、肩回転軸を回転させることにより変化させ、それらの揚力点に生じる揚力の向きを、腕回転軸を回転させることにより変化させ、それらの変化の組み合わせにより航空機を制御する方法であって、尾翼と補助翼を使用しないことを特徴とする。 - 請求項1における腕回転軸を、肩座標Z≠0を通る腕回転軸で置き換えた請求項1の方法。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP18911427.5A EP3778380B1 (en) | 2018-03-29 | 2018-03-29 | Aircraft |
RU2020133456A RU2750698C1 (ru) | 2018-03-29 | 2018-03-29 | Летательный аппарат |
JP2020508721A JP7032830B2 (ja) | 2018-03-29 | 2018-03-29 | 航空機 |
US17/042,508 US11760476B2 (en) | 2018-03-29 | 2018-03-29 | Aircraft flight control method |
CA3097511A CA3097511A1 (en) | 2018-03-29 | 2018-03-29 | Aircraft comprising a shoulder rotational axis and an arm rotational axis |
PCT/JP2018/013317 WO2019186918A1 (ja) | 2018-03-29 | 2018-03-29 | 航空機の飛行制御方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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PCT/JP2018/013317 WO2019186918A1 (ja) | 2018-03-29 | 2018-03-29 | 航空機の飛行制御方法 |
Publications (1)
Publication Number | Publication Date |
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WO2019186918A1 true WO2019186918A1 (ja) | 2019-10-03 |
Family
ID=68061283
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2018/013317 WO2019186918A1 (ja) | 2018-03-29 | 2018-03-29 | 航空機の飛行制御方法 |
Country Status (6)
Country | Link |
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US (1) | US11760476B2 (ja) |
EP (1) | EP3778380B1 (ja) |
JP (1) | JP7032830B2 (ja) |
CA (1) | CA3097511A1 (ja) |
RU (1) | RU2750698C1 (ja) |
WO (1) | WO2019186918A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108319787A (zh) * | 2018-02-05 | 2018-07-24 | 华北理工大学 | 轧制具有周期性曲线的齿型辊辊型曲线的设计方法 |
CN112078791A (zh) * | 2020-09-10 | 2020-12-15 | 哈尔滨工业大学(深圳) | 扑翼飞行器 |
JP2021062794A (ja) * | 2019-10-16 | 2021-04-22 | 株式会社エアロネクスト | 飛行体 |
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- 2018-03-29 RU RU2020133456A patent/RU2750698C1/ru active
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- 2018-03-29 CA CA3097511A patent/CA3097511A1/en not_active Abandoned
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Also Published As
Publication number | Publication date |
---|---|
EP3778380A4 (en) | 2021-11-10 |
RU2750698C1 (ru) | 2021-07-01 |
JPWO2019186918A1 (ja) | 2021-03-18 |
EP3778380A1 (en) | 2021-02-17 |
US20230159162A1 (en) | 2023-05-25 |
US11760476B2 (en) | 2023-09-19 |
JP7032830B2 (ja) | 2022-03-09 |
EP3778380B1 (en) | 2023-11-01 |
CA3097511A1 (en) | 2019-10-03 |
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