WO2021023187A1 - Procédé de commande de véhicule aérien sans pilote à rotor inclinable, et véhicule aérien sans pilote à rotor inclinable - Google Patents

Procédé de commande de véhicule aérien sans pilote à rotor inclinable, et véhicule aérien sans pilote à rotor inclinable Download PDF

Info

Publication number
WO2021023187A1
WO2021023187A1 PCT/CN2020/106859 CN2020106859W WO2021023187A1 WO 2021023187 A1 WO2021023187 A1 WO 2021023187A1 CN 2020106859 W CN2020106859 W CN 2020106859W WO 2021023187 A1 WO2021023187 A1 WO 2021023187A1
Authority
WO
WIPO (PCT)
Prior art keywords
drone
power
tilt
propeller
angle
Prior art date
Application number
PCT/CN2020/106859
Other languages
English (en)
Chinese (zh)
Inventor
黄欣
Original Assignee
深圳市道通智能航空技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市道通智能航空技术有限公司 filed Critical 深圳市道通智能航空技术有限公司
Publication of WO2021023187A1 publication Critical patent/WO2021023187A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/32—Rotors
    • B64C27/46—Blades
    • B64C27/473—Constructional features
    • B64C27/50—Blades foldable to facilitate stowage of aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/52—Tilting of rotor bodily relative to fuselage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • 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

Definitions

  • This application relates to the technical field of unmanned aerial vehicles, and in particular to a control method of a tilt-rotor drone and a tilt-rotor drone.
  • multi-rotor and fixed-wing structures are mostly multi-rotor and fixed-wing structures.
  • the advantages of multi-rotors are that they can achieve vertical take-off and landing, flexible control, high stability, and can maintain long-term hovering without being restricted by geographic location.
  • the low flight speed and short endurance lead to a small operating range.
  • the fixed-wing flight time is relatively longer, and the flight speed is also very high. Therefore, it takes into account the shortcomings of the multi-rotor UAV, but it does not have the vertical take-off and landing and precise suspension of the multi-rotor UAV. Stop waiting for advantages.
  • tilt-rotor UAVs can combine the advantages of multi-rotor and fixed-wing UAVs in a limited way to achieve vertical take-off and landing and ensure accurate hovering while cruising at high speed.
  • the inertia of the body is relatively large, so the stability and reliability of the UAV fuselage when vertical take-off, landing and hovering are achieved only by the speed difference of the traditional motor affected.
  • the current tilt-rotor drones are not ideal for switching between multi-rotor working mode and fixed-wing operating mode.
  • the “4+1” mode tilt-rotor drone uses 4 sets of vertical power devices and one set of thrust devices.
  • the variable pitch angle of the power system on both sides of the wing is synchronized, not adjusted separately, not flexible enough, and poor stability.
  • Another example is the "2+2" mode tilt-rotor UAV.
  • This layout uses 4 power units distributed on the front and rear sides of the main wing. When the power unit is working horizontally with the fuselage, the propeller will react to the main wing. , Which increases the difficulty for the drone to maintain the stability of the fuselage.
  • Other types of tilt-rotor UAVs also face the problems of poor stability during flight and insufficient control flexibility.
  • the embodiment of the present invention provides a control method of a tilt-rotor drone and a tilt-rotor drone, so as to overcome the difficulty in the control method of the tilt-rotor drone in the prior art to adjust the drone in a relatively short time.
  • the embodiment of the present invention provides a control method of a tilt-rotor drone.
  • the tilt-rotor drone includes at least two sets of power systems.
  • the first set of power systems includes two sets of power systems located at the nose and tail, respectively.
  • the second group of power systems includes two power devices located on both sides of the fuselage.
  • the power devices include motors and propellers.
  • the method includes: judging the flight mode of the drone according to user instructions; The flight data and flight mode of the drone, adjusting the rotation speed of the motor of the power unit and/or the angle of the propeller, or adjusting the rotation speed of the motor and the angle of the propeller at the same time, so that the unmanned The aircraft completes the user instruction in the flight mode.
  • the judging the flight mode of the tilt-rotor drone based on a user instruction includes: judging whether the drone is in a cruise operation stage based on the user instruction; if so, the unmanned drone The flight mode of the drone is a fixed-wing mode, and if not, the flight mode of the drone is a multi-rotor mode.
  • the fixed-wing mode refers to: the angles of the propellers of the two groups of power systems are parallel, the motors of the first group of power systems rotate and the motors of the second group of power systems stop.
  • the wing of the tilt-rotor UAV includes at least a main wing, an aileron, and a tail wing.
  • the multi-rotor mode refers to: when the drone is in the hovering phase, the angles of the propellers of the two groups of power systems are vertical, and the motors of the two groups of power systems are all rotating; and When the drone is in the stage of take-off and landing, the angles of the propellers of the two sets of power systems are adjusted on a vertical basis, or the rotation speed of the motor of the power device is adjusted, or the propellers are adjusted simultaneously The angle and the rotation speed of the motor are used to complete the user instruction; wherein, the vertical refers to that the direction of the force generated by the rotation of the propeller is perpendicular to the plane where the fuselage and the main wing are located.
  • the flight data of the UAV includes: the rotation speed of the motor of the power device and the angle of the propeller, and the attitude angle of the tilt-rotor UAV.
  • the rotation speed of the motor of the power device and/or the angle of the propeller is adjusted, or the rotation speed of the motor and the angle of the propeller are adjusted simultaneously .
  • Enabling the drone to complete the user instruction in the flight mode includes: judging whether the attitude angle satisfies a preset variable pitch condition; if so, adjusting the angle of the propeller, or adjusting the The angle of the propeller and the rotation speed of the motor reach the rotation speed difference to complete the user instruction; if not, only adjust the rotation speed of the motor to reach the rotation speed difference to complete the user instruction.
  • the rotation speed of the motor of the power device and the angle of the propeller are adjusted so that the drone completes the user instruction in the flight mode , Including: according to the flight data of the drone, independently adjust the rotation speed of the motor of each power device and/or the angle of the propeller, so that the drone is in the flight mode.
  • the user instruction is not limited to the flight data of the drone.
  • the embodiment of the present invention also provides a tilt-rotor unmanned aerial vehicle, including: a body, the body includes a fuselage, main wings arranged on both sides of the fuselage, and aircraft respectively arranged on the front and rear ends of the fuselage. Head and tail; two sets of power systems, the first set of power systems include power devices located on the nose and the tail, and the second set of power systems include power devices on one side of the fuselage And the power plant on the other side, wherein each of the power plants includes a motor and a propeller, and each of the power plants is used to change the magnitude of the force generated by adjusting the rotation speed of the motor.
  • Adjusting the angle of the propeller to change the direction of the force generated ; and a control system, the control system is arranged inside the body, including a memory and a processor, the processor executes computer instructions stored in the memory
  • the control system is arranged inside the body, including a memory and a processor, the processor executes computer instructions stored in the memory
  • the airframe further includes: ailerons arranged on both sides of the main wing and a tail wing arranged on the tail.
  • the power plant and the power plant are arranged on the fuselage, behind the main wing.
  • the embodiment of the present invention provides a control method for a tilt-rotor drone.
  • a control method for a tilt-rotor drone By comprehensively controlling the rotation speed and variable tilt angle of each power system, when the drone needs to quickly change the flight phase, it reduces the body's own inertia. The impact of this reduces the response time of the power system and increases the stability and flexibility of the drone during flight.
  • the embodiment of the present invention provides a tilt-rotor UAV, which has a special power system layout, so that the UAV can comprehensively control the rotation speed and variable inclination angle of each power system to achieve rapid change of tilt.
  • the flight phase of the rotary-rotor UAV and reduces the mutual influence between the tilt-rotor and the fixed wing, weakens the large-mass UAV's own inertia and the influence of the attitude that is not easy to change, and reduces the power system
  • the response time increases the stability and flexibility of the drone body.
  • Figure 1A is a structural diagram of a tilt-rotor drone in an embodiment of the present invention.
  • FIG. 1B is a schematic diagram of the state of the tilt-rotor UAV in the fixed-wing mode in the embodiment of the present invention
  • 1C is a schematic diagram of the state of the tilt-rotor UAV in the multi-rotor mode in the embodiment of the present invention
  • FIG. 2 is a flowchart of a control method of a tilt-rotor drone in an embodiment of the present invention
  • Fig. 3 is a schematic diagram of a control system of a tilt-rotor drone in an embodiment of the present invention.
  • the terms “installed”, “connected” and “connected” should be understood in a broad sense, unless otherwise clearly specified and limited. For example, they can be fixed or detachable. Connected or integrally connected; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, or it can be the internal connection of the two components, which can be a wireless connection or a wired connection connection.
  • Connected or integrally connected it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, or it can be the internal connection of the two components, which can be a wireless connection or a wired connection connection.
  • the specific meaning of the above-mentioned terms in the present invention can be understood in specific situations.
  • Fig. 1A shows a structural diagram of a tilt-rotor drone provided by an embodiment of the present invention.
  • the tilt-rotor UAV includes a body 101, two sets of power systems 102 and 103 arranged on the body 101, and a control system 104 (not shown) arranged inside the body 101.
  • the fuselage 101 includes a fuselage 1011, main wings 1012 provided on both sides of the fuselage 1011, and a nose 1013 and a tail 1014 respectively provided on the front and rear ends of the fuselage 1011;
  • the first group of power systems 102 includes a power unit 1021 at the nose 1013 and a power unit 1022 at the tail 1014
  • the second group of power systems 103 includes a power unit 1023 on one side of the fuselage 1011 and another The power plant 1024 on the side, wherein each of the power plants 1021-1024 includes a motor and a propeller, and each of the power plants 1021-1024 is used to change the magnitude of the force generated by adjusting the rotation speed of the motor, and by adjusting the propeller To change the direction of the generated force;
  • the control system 104 is arranged inside the body 101 and includes a memory and a processor.
  • the processor is used to control the flight of the drone by executing computer instructions stored in the memory.
  • the rotation speed of the motor and the propeller angle of each power device of the power system of the tilt-rotor unmanned aerial vehicle are adjusted independently of each other. This individual adjustment makes the power unit of the drone more flexible and responds more quickly to user commands. Whether it is to change the direction of force by changing the inclination angle or changing the force of the drone by means of the motor speed difference to change the flight state of the drone, it can achieve more stable and flexible control of the drone's flight.
  • the body 101 further includes: ailerons 1015 arranged on both sides of the main wing 1012 and a tail 1016 arranged on the tail 1014.
  • the power plant 1023 and the power plant 1024 are provided on the fuselage 101 behind the main wing 1012.
  • the tilt-rotor drone has two flight modes: multi-rotor mode and fixed-wing mode.
  • multi-rotor mode When the tilt-rotor UAV is in the ascending, descending or hovering phase, the UAV works in multi-rotor mode.
  • the tilt-rotor UAV When the tilt-rotor UAV is in the cruise operation phase, the UAV works in fixed-wing mode.
  • the state of the drone in the fixed-wing mode is shown in Figure 1B.
  • the angles of the propellers of the two sets of power systems 102 and 103 are parallel, the two power devices 1021 and 1022 of the first set of power systems 102 rotate, and the two power systems of the second set of power systems 103 rotate.
  • the motors of the devices 1023 and 1024 are stopped, and the main wing 1012, the ailerons 1015 on both sides and the tail wing 1016 of the tilt-rotor UAV are adjusted to complete the user's instruction, that is, the cruise task.
  • parallel here means that the direction of the force generated by the rotation of the propeller is parallel to the plane where the fuselage 1011 and the main wing 1012 are located.
  • the vertical force of the UAV meets YG ⁇ 0, where Y is the lift of the wing (Y is proportional to the lift coefficient, wing area, UAV speed, atmospheric density, etc.), and G is The gravity of the drone itself. Therefore, the propeller of the power system 102 generates horizontal thrust and tension, so that the UAV only relies on the wings to provide upward force during the cruise operation phase; the propeller of the power system 103 hangs down and retracts, and this layout makes the vertical direction The upper is affected as little as possible by the propeller.
  • the angles of the propellers of all power units of the two power systems 102 and 103 are vertical.
  • the verticality mentioned here means that the direction of the force generated by the rotation of the propeller is perpendicular to the plane where the fuselage 1011 and the main wing 1012 are located.
  • the working modes and working principles of the four power devices 1021-1024 of the two power systems 102 and 103 are the same as the working modes and working principles of the rotors of the rotor drones in the prior art.
  • the angles of the propellers of all power units 1021-1024 of the two power systems 102 and 103 are adjusted on a vertical basis, or the motor speeds of the power units 1021-1024 are adjusted to achieve the difference in speed, or adjusted at the same time
  • the angle of the propeller and the speed of the motor are used to complete the user instructions on take-off, landing and movement.
  • the drone control system 104 determines the flight mode of the drone according to user instructions.
  • control system 104 is used to determine whether the user's instruction instructs the drone to enter the cruise operation stage. If it is, it determines that the drone's flight mode is fixed-wing mode; if not, it determines that the drone's flight mode is multi-rotor mode. .
  • the user instruction is sent from the user control terminal and received by the drone receiver and sends relevant data to the control system 104.
  • control system 104 is used to adjust the rotation speed of the motors of the power devices 1021-1024 and the angle of the propeller according to the flight data of the drone, so that the drone completes the user's instructions in the flight mode.
  • the flight data of the UAV includes: the rotation speed of the motor and the propeller angle of the power unit 1021-1024, and the attitude angle of the tilt-rotor UAV.
  • the attitude angle of the drone is obtained by an inertial measurement unit (IMU) in the control system 104.
  • IMU inertial measurement unit
  • control system 104 is used to adjust the rotation speed of the motor of the power unit and the angle of the propeller according to the flight data of the drone, so that the drone completes user instructions in the flight mode, including: judgment Whether the attitude angle meets the preset variable pitch condition; if yes, adjust the angle of the propeller, or adjust the angle of the propeller and the motor speed to reach the speed difference at the same time to complete the user command; if not, only adjust the motor speed to reach the speed difference To complete user instructions.
  • the preset variable inclination condition is the preset condition for the attitude angle of the UAV. If this condition is met, the variable inclination method, that is, the way of changing the propeller angle, is used to change the state of the drone; if the condition is not met , There is no need to change the angle of the propeller, but only to change the state of the drone by changing the differential speed. For example, if the preset variable pitch condition is satisfied that the pitch axis (pitch) of the attitude angle is greater than 10°, when the pitch axis of the drone is detected to be greater than 10°, the angle of the propeller of the power unit will be adjusted. method.
  • the present invention proposes to adjust the propellers of the power device 1021-1024
  • the angle method, or the combination of adjusting the angle of the propeller and the speed of the motor at the same time, can respond faster and more smoothly.
  • the motor speed and propeller angle of each power system of the UAV are individually adjusted to ensure the flexibility of each part and make the control more convenient and fast.
  • the angle of the propeller can be adjusted by the tilting mechanism installed in the power plant.
  • the UAV control system 104 calculates how to adjust specifically, how much the rotation speed difference and the variable tilt angle are adjusted, and controlled by the UAV control system 104 with calculation function according to a preset algorithm.
  • the preset variable tilt angle condition is that the pitch axis is greater than 10°, and the attitude angle of the drone is detected to be less than 10°
  • the preset variable tilt angle condition can be set according to the actual situation, and is not limited to the pitch axis, nor is it limited to a specific angle.
  • the two flight modes switch mutually, specifically, from the multi-rotor mode to the fixed-wing mode (for example, during the take-off and landing or hovering phase, to enter the cruise operation), or from the fixed Wing mode enters the multi-rotor mode (for example, when taking off and landing or hovering during the cruise phase), the above steps are also required.
  • the embodiment of the present invention adopts the conventional rotor power layout, that is, the "+" layout.
  • two power systems are installed at the nose and tail positions, and the other two A power system is installed behind the main wing.
  • the four power devices of the drone will be adjusted to vertical through the tilting structure, and the flight control system simultaneously controls the speed of the four power devices and the angle of the propeller to maintain the stable take-off and landing of the drone
  • the drone enters cruise it mainly relies on the two power systems of the nose and tail to provide power, and the main wing provides a certain lift, and finally achieves a long range and high speed. Large area operations.
  • the rotation speed of the motor and the propeller angle of each of the power plants 1021-1024 are individually controlled by the control system 104.
  • Fig. 2 shows a control method of a tilt-rotor drone according to an embodiment of the present invention.
  • the tilt-rotor UAV includes at least two sets of power systems.
  • the first set of power systems includes two power devices located at the nose and tail, respectively, and the second set of power systems includes two power devices located on both sides of the fuselage.
  • the power plant includes a motor and a propeller, and the methods include:
  • Step S201 Determine the flight mode of the drone according to the user's instruction
  • the receiving terminal on the drone receives user instructions from the control terminal.
  • User instructions include: takeoff instructions, left and right instructions, descending instructions, hovering instructions, cruise instructions, and operating instructions.
  • step S201 further includes:
  • Step S2011 Determine whether the drone is in the cruise operation stage according to the user instruction
  • step S2012 the flight mode of the drone is a fixed-wing mode; if not, the method proceeds to step S2013: the flight mode of the drone is a multi-rotor mode.
  • the fixed-wing mode refers to: the angles of the propellers of the two sets of power systems are parallel, the motors of the first set of power systems rotate and the motors of the second set of power systems stop, by adjusting the tilt rotor
  • the wing of the drone is used to complete user instructions; among them, parallel means that the direction of the force generated by the rotation of the propeller is parallel to the plane where the fuselage and the main wing are located, and the wing of the tilt-rotor drone includes at least: the main engine Wings, ailerons, and tails.
  • the drone enters the fixed-wing mode.
  • the rotating propeller produces horizontal thrust and pulling force, so that in the cruising phase of the UAV, only the UAV's wing provides upward force in the vertical direction; the stopped propeller is retracted, and this layout makes the vertical direction The upper is affected as little as possible by the propeller.
  • the working state of the tilt-rotor UAV is the same as that of the fixed-wing UAV.
  • the multi-rotor mode refers to: when the drone is in the hovering phase, the angles of the propellers of the two power systems are vertical, and the motors of the two power systems are rotating; When the aircraft is in the stage of take-off and landing, adjust the propeller angles of the two power systems on a vertical basis according to the flight data of the drone, or adjust the motor speed of the power unit, or adjust the angle of the propeller and the motor at the same time
  • vertical means that the direction of the force generated by the rotation of the propeller is perpendicular to the plane where the fuselage and the main wing are located.
  • Step S202 Adjust the rotation speed of the motor and/or the propeller angle of the power unit according to the flight data and flight mode of the drone;
  • the flight data of the UAV includes at least: the rotation speed of the motor of the power unit and the angle of the propeller, and the attitude angle of the tilt-rotor UAV.
  • the attitude angle information of the tilt-rotor UAV is obtained by the UAV's own inertial measurement unit (IMU).
  • IMU inertial measurement unit
  • the UAV not only uses the traditional multi-rotor to achieve stable flight by controlling the speed difference of the power system during the take-off, landing, and hovering phases, but also combines the method of changing inclination to achieve flight control of the UAV. Ensure the reliable and most stable flight of the entire UAV.
  • the attitude angle is used to calculate the magnitude of the above-mentioned speed difference and the angle of the tilt angle to change the magnitude and direction of the UAV's force.
  • step S202 further includes:
  • step S2022 adjusting the angle of the propeller, or simultaneously adjusting the angle of the propeller and the rotational speed of the motor to reach the rotational speed difference, so as to complete the user instruction;
  • step S2023 only adjust the motor speed to reach the speed difference to complete the user instruction.
  • the preset variable tilt angle condition is the preset condition of the attitude angle of the drone. If the condition is met, the variable tilt angle method, that is, the method of changing the propeller angle, is used to change the state of the drone.
  • the method of adjusting the propeller angle of the power unit is adopted. Because changing the angle of the propeller will change the direction of force, this can change the state of the drone the fastest. If only the method of changing the speed difference is used to change the force in different directions, when the drone itself has a large mass , Not only the response time is long, but even under a long response time, it may not be able to achieve the desired flight status of the drone.
  • a combination of adjusting the angle of the propeller of the power plant and adjusting the speed of the motor of the power plant can also be combined to respond faster and more smoothly.
  • the specific adjustments, the speed difference and the adjustment of the variable tilt angle are all calculated and controlled by the UAV control system with calculation function according to the preset algorithm.
  • the preset variable tilt angle condition is met, the attitude angle and pitch axis is greater than 10°.
  • the preset variable tilt angle condition is not met, and only the power unit is adjusted.
  • the method of speed of the motor This is just an example, the preset variable tilt angle condition can be set according to the actual situation, and is not limited to the pitch axis, nor is it limited to the angle of 10°.
  • the rotation speed of the motors and/or the angle of the propeller of each power device is independently adjusted, so that the drone can complete the user's instruction in the flight mode.
  • the motor speed and propeller angle of each power system of the UAV are individually adjusted to ensure the flexibility of each part and make the control more convenient and fast.
  • the control method of the tilt-rotor drone reduces the body's exposure to the drone when the drone is in the take-off and landing phase or hovering phase by comprehensively controlling the rotation speed and variable tilt angle of each power system.
  • the influence of its own inertia reduces the response time of the power system, increases the stability and reliability of the UAV fuselage, and can improve the control ability of the tilt-rotor UAV and enhance the flexibility of the UAV control system.
  • Improve the maneuverability of the UAV control system ensure the response speed of the control system, maintain good stability when the UAV flight mode changes, and improve the overall safety performance of the control system.
  • FIG. 3 shows a control system 104 of a tilt-rotor drone provided by an embodiment of the present invention.
  • the control system 104 of the tilt-rotor UAV includes a tilt system 1041 and a flight control system 1042.
  • the tilt system 1041 includes a memory and a processor.
  • the processor executes the computer instructions stored in the memory to separately control the power inclination angle of each power system of the drone, that is, the above-mentioned variable inclination angle.
  • the advantage is that it can maintain the stability of the UAV with the greatest efficiency.
  • the power can be balanced by controlling the inclination of the power system, which can realize the system's efficiency, safety and reliability; and
  • the flight control system 1042 includes a memory and a processor.
  • the processor executes the computer instructions stored in the memory to control the rotation speed of the motors of each power system of the drone.
  • the human machine takes off, landed, and hovered, it not only uses the traditional multi-rotor to achieve stable flight by controlling the speed difference of the power system, but also synchronously combines the helicopter control method, that is, the above-mentioned variable tilt angle to further strengthen the control system. Stability ultimately ensures the most reliable and stable flight of the entire system.
  • the control system of the tilt-rotor UAV of the embodiment of the present invention judges the flight mode of the UAV according to user instructions; adjusts the motor of the power unit according to the flight data of the UAV.
  • the stability and reliability of the fuselage can improve the control ability of the tilting UAV, enhance the flexibility of the system, improve the maneuverability of the system, and ensure the response speed of the system. It can still be maintained when the UAV flight mode changes. Very good stability, improve the overall safety performance of the system.
  • each power system in the implementation of the present invention the influence of the turbulence of the propeller on the aircraft body during take-off and landing or hovering of the drone can be reduced, and the safety of the system can be ensured from the structural layout. It can still maintain good stability during changes, improve the overall safety performance of the UAV, and reduce the interaction between the fixed-wing body and the multi-rotor as little as possible, and reduce the influence of the body reaction force on the rotor mode flight , To ensure the stability and reliability of the system.

Landscapes

  • 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

L'invention concerne un procédé de commande d'un véhicule aérien sans pilote à rotor inclinable, et le véhicule aérien sans pilote à rotor inclinable. Le véhicule aérien sans pilote à rotor inclinable comprend au moins : deux ensembles de systèmes de puissance (102, 103). Le premier ensemble de systèmes de puissance (102) comprend deux dispositifs de puissance (1021, 1022) qui sont situés respectivement au niveau d'un nez (1013) et d'une queue (1014). Le second ensemble de systèmes de puissance (103) comprend deux dispositifs de puissance (1023, 1024) qui sont situés des deux côtés d'un fuselage (1011). Les dispositifs de puissance (1021, 1022, 1023, 1024) comprennent des moteurs et des hélices. Le procédé de commande du véhicule aérien sans pilote à rotor inclinable consiste à : déterminer un mode de vol d'un véhicule aérien sans pilote conformément à une instruction d'utilisateur ; et régler les vitesses de rotation des moteurs et/ou les angles des hélices des dispositifs de puissance (1021, 1022, 1023, 1024) conformément à des données de vol et au mode de vol du véhicule aérien sans pilote. Le temps de réponse des systèmes de puissance est raccourci par la commande complète des vitesses de rotation et des angles d'inclinaison variables des systèmes de puissance et, par conséquent, la stabilité et la fiabilité du fuselage du véhicule aérien sans pilote sont améliorées.
PCT/CN2020/106859 2019-08-07 2020-08-04 Procédé de commande de véhicule aérien sans pilote à rotor inclinable, et véhicule aérien sans pilote à rotor inclinable WO2021023187A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910727161.3A CN110466752B (zh) 2019-08-07 2019-08-07 一种倾转旋翼无人机的控制方法及倾转旋翼无人机
CN201910727161.3 2019-08-07

Publications (1)

Publication Number Publication Date
WO2021023187A1 true WO2021023187A1 (fr) 2021-02-11

Family

ID=68510330

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/106859 WO2021023187A1 (fr) 2019-08-07 2020-08-04 Procédé de commande de véhicule aérien sans pilote à rotor inclinable, et véhicule aérien sans pilote à rotor inclinable

Country Status (2)

Country Link
CN (1) CN110466752B (fr)
WO (1) WO2021023187A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113859518A (zh) * 2021-10-28 2021-12-31 南京晓航机器人科技有限公司 一种多旋翼无人机及提高速度与续航的方法
CN114194382A (zh) * 2022-01-21 2022-03-18 北京航空航天大学东营研究院 一种无人机自动配平装置及方法
CN114537654A (zh) * 2022-03-22 2022-05-27 南昌航空大学 一种可切换动力的翼身融合倾转三旋翼无人机及其使用方法

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110466752B (zh) * 2019-08-07 2021-11-26 深圳市道通智能航空技术股份有限公司 一种倾转旋翼无人机的控制方法及倾转旋翼无人机
CN112744354B (zh) * 2021-02-07 2022-11-18 之江实验室 一种分布式倾转多旋翼飞行器的飞行模式控制方法
CN113460297A (zh) * 2021-07-21 2021-10-01 成都纵横大鹏无人机科技有限公司 一种倾转动力结构及系统、一种飞行器

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20090101413A (ko) * 2009-08-21 2009-09-28 곽상호 수직이착륙기
US20160031554A1 (en) * 2014-07-30 2016-02-04 Siniger LLC Control system for an aircraft
CN107042884A (zh) * 2017-03-18 2017-08-15 北京天宇新超航空科技有限公司 一种倾转旋翼无人机
CN107323653A (zh) * 2017-08-21 2017-11-07 山东蜂巢航空科技有限公司 一种垂直升降倾转旋翼无人机及其控制方法
CN109606672A (zh) * 2017-10-04 2019-04-12 贝尔直升机德事隆公司 具有可向下倾转的后旋翼的倾转旋翼式飞行器
CN109896008A (zh) * 2019-03-29 2019-06-18 武汉理工大学 一种采用旋翼倾转机构的自适应水空两栖无人机
CN110466752A (zh) * 2019-08-07 2019-11-19 深圳市道通智能航空技术有限公司 一种倾转旋翼无人机的控制方法及倾转旋翼无人机

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103693194B (zh) * 2013-12-17 2015-11-18 南京航空航天大学 一种可倾转四旋翼飞行器
CN104802985B (zh) * 2015-04-30 2017-01-18 数字鹰（泰州）农业科技有限公司 变轴向多旋翼飞行器及其飞行姿态调整方法
CN105173075B (zh) * 2015-09-10 2017-09-15 南京多零无人机技术有限公司 一种混合动力可倾转翼飞机
CA3056002C (fr) * 2016-03-10 2021-09-21 Yoav Netzer Aeronef a voilure tournante convertible
CN105905294B (zh) * 2016-04-25 2018-05-01 北京中科遥数信息技术有限公司 垂直起降固定翼无人机
CN206528631U (zh) * 2017-02-28 2017-09-29 上海拓攻机器人有限公司 一种多旋翼无人机
CN106828915B (zh) * 2017-03-15 2023-02-28 西北工业大学 一种倾转螺旋桨可垂直起降的高速飞行器的控制方法
WO2018175606A1 (fr) * 2017-03-22 2018-09-27 Dzyne Technologies, Inc. Aéronef à décollage et atterrissage verticaux
CN206954510U (zh) * 2017-06-05 2018-02-02 深圳市科比特航空科技有限公司 一种可垂直起降的固定翼无人机
US10696391B2 (en) * 2017-11-16 2020-06-30 Textron Innovations Inc. Extended range quad tiltrotor aircraft
CN208070012U (zh) * 2018-03-21 2018-11-09 曹蔚萌 矢量四旋翼飞行器
CN109263932A (zh) * 2018-10-30 2019-01-25 佛山市神风航空科技有限公司 一种可垂直升降的多旋翼飞行器

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20090101413A (ko) * 2009-08-21 2009-09-28 곽상호 수직이착륙기
US20160031554A1 (en) * 2014-07-30 2016-02-04 Siniger LLC Control system for an aircraft
CN107042884A (zh) * 2017-03-18 2017-08-15 北京天宇新超航空科技有限公司 一种倾转旋翼无人机
CN107323653A (zh) * 2017-08-21 2017-11-07 山东蜂巢航空科技有限公司 一种垂直升降倾转旋翼无人机及其控制方法
CN109606672A (zh) * 2017-10-04 2019-04-12 贝尔直升机德事隆公司 具有可向下倾转的后旋翼的倾转旋翼式飞行器
CN109896008A (zh) * 2019-03-29 2019-06-18 武汉理工大学 一种采用旋翼倾转机构的自适应水空两栖无人机
CN110466752A (zh) * 2019-08-07 2019-11-19 深圳市道通智能航空技术有限公司 一种倾转旋翼无人机的控制方法及倾转旋翼无人机

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113859518A (zh) * 2021-10-28 2021-12-31 南京晓航机器人科技有限公司 一种多旋翼无人机及提高速度与续航的方法
CN114194382A (zh) * 2022-01-21 2022-03-18 北京航空航天大学东营研究院 一种无人机自动配平装置及方法
CN114194382B (zh) * 2022-01-21 2024-02-27 东营航空产业技术研究院 一种无人机自动配平装置及方法
CN114537654A (zh) * 2022-03-22 2022-05-27 南昌航空大学 一种可切换动力的翼身融合倾转三旋翼无人机及其使用方法

Also Published As

Publication number Publication date
CN110466752A (zh) 2019-11-19
CN110466752B (zh) 2021-11-26

Similar Documents

Publication Publication Date Title
WO2021023187A1 (fr) Procédé de commande de véhicule aérien sans pilote à rotor inclinable, et véhicule aérien sans pilote à rotor inclinable
WO2016184358A1 (fr) Aéronef à décollage et atterrissage verticaux de type structure fixe sur la base de systèmes de commande de vol double, et son procédé de commande
CN108639332B (zh) 复合三旋翼无人机多模态飞行控制方法
WO2018209911A1 (fr) Véhicule aérien sans pilote à décollage et atterrissage à la verticale ayant une aile fixe pliable et basé sur un système de puissance de ventilateur à double conduit
CN108298064B (zh) 非常规偏航控制系统
WO2017016096A1 (fr) Nouvel aéronef à décollage et atterrissage verticaux et son procédé de commande
CN105083551B (zh) 一种可倾转旋翼机及其控制方法
EP3623289A1 (fr) Extension d'aile à pivotement libre d'aéronef à rotors basculants
CN205916329U (zh) 一种共轴双桨无人飞行器
JP2017525621A (ja) 傾斜翼付きマルチロータ
CN112368206B (zh) 尾座式垂直起降飞机
US20200290718A1 (en) Unmanned aerial vehicle
CN105539834A (zh) 一种复合翼垂直起降无人机
US20220363376A1 (en) Free Wing Multirotor Transitional S/VTOL Aircraft
WO2013056492A1 (fr) Avion composite constitué d'une voilure fixe et d'hélices à commande électrique et doté de fonctions d'hélicoptère
CN112158330A (zh) 一种无人飞行器
CN112685832B (zh) 垂直起降固定翼飞机过渡过程走廊构建方法
CN105346714A (zh) 一种垂直起降无人机
CN209581874U (zh) 一种垂直起降无人机
CN209852575U (zh) 一种复合翼无人机
CN113682471A (zh) 一种倾转旋翼太阳能无人机
JP2020175713A (ja) マルチローター航空機
CN112046740A (zh) 一种垂直起降飞行器和飞行方法
CN206171817U (zh) 一种结构简单且运行平稳的垂直起降飞行器
Wang et al. Design of a symmetrical quad-rotor biplane tail-sitter aircraft without control surfaces and experimental verification

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20850872

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20850872

Country of ref document: EP

Kind code of ref document: A1