WO2023026797A1 - エンジン搭載飛行装置 - Google Patents
エンジン搭載飛行装置 Download PDFInfo
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- WO2023026797A1 WO2023026797A1 PCT/JP2022/029685 JP2022029685W WO2023026797A1 WO 2023026797 A1 WO2023026797 A1 WO 2023026797A1 JP 2022029685 W JP2022029685 W JP 2022029685W WO 2023026797 A1 WO2023026797 A1 WO 2023026797A1
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- engine
- rotor
- flight device
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- 230000001174 ascending effect Effects 0.000 abstract description 12
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- 230000000087 stabilizing effect Effects 0.000 description 2
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/02—Initiating means
- B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
- B64C13/18—Initiating means actuated automatically, e.g. responsive to gust detectors using automatic pilot
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- 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
- 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
- B64D27/04—Aircraft characterised by the type or position of power plants of piston type
-
- 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
- B64D27/10—Aircraft characterised by the type or position of power plants of gas-turbine type
-
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
Definitions
- the present invention relates to an engine-equipped flight device, and more particularly to a parallel hybrid engine-equipped flight device having an engine-driven main rotor and a motor-driven sub-rotor.
- engine-equipped flight devices capable of unmanned flight have been known.
- Such an engine-equipped flight device can fly in the air with the thrust of a rotor that rotates about a vertical axis.
- Possible application fields for such engine-mounted flight devices include, for example, the transportation field, the surveying field, and the photography field.
- the flight device When applying an engine-equipped flight device to such a field, the flight device is equipped with a surveying instrument and a photographing device.
- the flying device By applying the flying device to such a field, it is possible to fly the flying device to an area that is inaccessible to humans, and to carry out transportation, photographing, and surveying of such an area.
- Inventions relating to such an engine-mounted flight device are described in Patent Document 1 and Patent Document 2, for example.
- the rotor described above rotates with electric power supplied from a storage battery mounted on the flight device.
- engine-equipped flight devices equipped with an engine have also appeared in order to realize continuous flight over a long period of time.
- the driving force of the engine rotates the generator, and the electric power generated by the generator rotates the rotor.
- An engine-equipped flight device with such a configuration is also called a series drone because the engine and generator are connected in series to the path through which energy is supplied from the power source to the rotor.
- An engine-mounted flight device to perform photographing and surveying, it is possible to perform photographing and surveying over a wide range.
- a flight device equipped with an engine is described, for example, in Patent Document 3.
- a so-called parallel-type hybrid drone in which an engine mechanically rotates a main rotor and a motor rotates a sub-rotor, is also being gradually developed.
- the hybrid drone with the above configuration has room for improvement from the viewpoint of stable flight.
- a hybrid drone has a main rotor that rotates with the driving force of an engine and a sub-rotor that rotates with the driving force of a motor. Used to control the attitude of time.
- the main rotor when a hybrid drone hovers, the main rotor generates most of the thrust to keep the aircraft at a constant altitude. However, if the thrust generated from the main rotor is too large, the rotation speed of the sub-rotor will become extremely slow, making it difficult to control the attitude of the aircraft in a hovering state, making it difficult to hover stably.
- the present invention has been made in view of such problems, and an object of the present invention is to provide an engine-mounted flight device capable of stably hovering.
- the engine-mounted flight device of the present invention is capable of flying in a hovering state for maintaining altitude and an ascending/descending state for changing altitude, and includes a main rotor, a subrotor, an engine, a motor, an arithmetic control unit, wherein the main rotor is rotated by the driving force given from the engine, the sub-rotor is rotated by the driving force given from the motor, and the arithmetic control unit controls the main rotor to rotate in the hovering state.
- the thrust generated by the rotation is made smaller than the thrust required to keep the altitude constant.
- the arithmetic control unit reduces the thrust generated by the rotation of the main rotor in the hovering state to the thrust required to keep the altitude constant. 80% or less of.
- the arithmetic control unit sets the output value of the sub-rotor to 30% or more in the hovering state.
- the arithmetic control unit changes the rotation speed of the engine and changes the rotation speed of the main rotor in the ascending/descending state.
- the engine-mounted flight device of the present invention is capable of flying in a hovering state for maintaining altitude and an ascending/descending state for changing altitude, and includes a main rotor, a subrotor, an engine, a motor, an arithmetic control unit, wherein the main rotor is rotated by the driving force given from the engine, the sub-rotor is rotated by the driving force given from the motor, and the arithmetic control unit controls the main rotor to rotate in the hovering state.
- the thrust generated by the rotation is made smaller than the thrust required to keep the altitude constant.
- the sub-rotor since the thrust generated by the rotation of the main rotor is small, the sub-rotor bears part of the thrust for maintaining a constant altitude in the hovering state. , the rotational speed of the sub-rotor can be kept above a certain level, and the attitude control can be stabilized. In other words, it is possible to ensure a minimum thrust (rotational speed) required for attitude control by the sub-rotor.
- the arithmetic control unit reduces the thrust generated by the rotation of the main rotor in the hovering state to the thrust required to keep the altitude constant. 80% or less of. Therefore, according to the engine-mounted flight device of the present invention, since the sub-rotor bears 20% of the thrust required for hovering, the sub-rotor rotates at a predetermined number of revolutions or more, thereby stabilizing the attitude control. can be done systematically.
- the arithmetic control unit sets the output value of the sub-rotor to 30% or more in the hovering state. Therefore, according to the engine-mounted flight device of the present invention, by setting the output value of the sub-rotor to 30% or more, the rotational speed of the sub-rotor can be maintained at a relatively high speed, and the attitude control can be further stabilized.
- the arithmetic control unit changes the rotation speed of the engine and changes the rotation speed of the main rotor in the ascending/descending state. Therefore, according to the engine-mounted flight device of the present invention, since the fuselage is raised and lowered by the rotation of the main rotor, there is no need to change the rotational speed of the sub-rotor for elevation, and attitude control by the sub-rotor is performed even in the elevation state. can be stably performed.
- FIG. 1 is a diagram showing an engine-mounted flight device according to an embodiment of the present invention, and is a block diagram showing a connection configuration of each part.
- FIG. 1 is a diagram showing an engine-mounted flight device according to an embodiment of the present invention, and is a flow chart showing operations during flight.
- FIG. 4 is a diagram showing an engine-mounted flight device according to an embodiment of the present invention, and is a graph showing temporal changes in output values in a hovering state.
- the configuration of the engine-mounted flight device 10 of this embodiment will be described below with reference to the drawings.
- parts having the same configuration are denoted by the same reference numerals, and repeated descriptions are omitted.
- up, down, front, back, left, and right directions are used, but these directions are for convenience of explanation.
- the engine-mounted flying device 10 is also called a drone.
- FIG. 1A is a perspective view showing the entire engine-equipped flight device 10
- FIG. 1B is a top view of the engine-equipped flight device 10.
- the engine-equipped flight device 10 is a parallel hybrid drone. That is, the main rotor 14A and the like are connected to the engine 26 for driving, while electric energy is supplied from the engine 26 via the generator 27 and the like to the motor 21A and the like for rotating the sub-rotor 15A and the like.
- the main rotor 14A etc. may be simply referred to as the main rotor 14, and the sub-rotor 15A etc. may be simply referred to as the sub-rotor 15 in some cases.
- the engine-equipped flight device 10 includes a frame 11, an engine 26 disposed substantially in the center of the frame 11, a generator 27 driven by the engine 26, and a sub-rotor 15 rotated by electric power generated by the generator 27. , and a main rotor 14 that rotates by being drivingly connected to the engine 26 .
- the frame 11 is formed in a frame shape so as to support the engine 26, the generator 27, various wiring and control boards (not shown here), and the like.
- the frame 11 includes a main frame 12A that supports the main rotor 14 and the like, and a subframe 13A that supports the subrotor 15 and the like.
- metal or resin molded into a substantially cylindrical shape is adopted.
- the lower end portion of the frame 11 is provided with a skid 18 that contacts the ground when the engine-mounted flight device 10 touches the ground.
- the engine 26, various wirings, a control board (not shown here), etc. are housed in the casing 17.
- the casing 17 is made of, for example, a synthetic resin plate molded into a predetermined shape and fixed to the center of the frame 11 .
- the casing 17 and members incorporated therein are referred to as a main body portion 19 .
- the generator 27 is arranged near the engine 26 . Here the generator 27 is not shown because it is covered by the casing 17 .
- the generator 27 is rotated by the engine 26 to generate power. Electric power generated by the generator 27 is supplied to the motor 21 and the like that rotate the sub-rotor 15A and the like. The electric power is also supplied to control the rotation of the sub-rotor 15A and the like.
- the main frames 12A and 12B linearly extend from the body portion 19 in the left-right direction.
- the main frames 12A and 12B are made of rod-shaped metal or synthetic resin.
- a main rotor 14A is rotatably disposed at the left end of the main frame 12A extending leftward.
- the engine 26 and the main rotor 14 are drivingly connected by a drive connection mechanism (not shown), and the driving force of the engine 26 is transmitted to the main rotor 14 via the drive connection mechanism, thereby rotating the main rotor 14 .
- a belt, a gear train, a transmission rod, or the like can be used as the drive connection mechanism.
- the main rotor 14 mainly has the function of generating thrust to float the engine-equipped flight device 10 in the air.
- the sub-rotor 15 is mainly responsible for attitude control of the engine-mounted flight device 10 .
- the sub-rotor 15 appropriately changes the rotational speed in order to keep the position and orientation of the engine-equipped flight device 10 constant while the engine-equipped flight device 10 is hovering.
- the sub-rotor 15 rotates to tilt the engine-equipped flight device 10 when the engine-equipped flight device 10 moves.
- the main rotor 14A and the main rotor 14B rotate in opposite directions. Details of the rotation states of the main rotor 14 and the sub-rotor 15 will be described later.
- the sub-frame 13A and the like extend in the front-rear direction, and are made of rod-shaped metal or synthetic resin, similar to the main frame 12A and the like.
- the sub-frame 13A and the like extend from the middle portion of the main frame 12A and the like.
- a sub-rotor 15A is arranged at the front end of the sub-frame 13A, and the sub-rotor 15A is rotated by a motor 21A arranged below it.
- a sub-rotor 15B is arranged at the front end of the sub-frame 13B, and the sub-rotor 15B is rotated by a motor 21B arranged below it.
- a sub-rotor 15C is arranged at the rear end of the sub-frame 13C, and the sub-rotor 15C is rotated by a motor 21C arranged below it.
- a sub-rotor 15D is arranged at the rear end of the sub-frame 13D, and the sub-rotor 15D is rotated by a motor 21D arranged below it.
- Electric power generated by a generator 27 is supplied to the motors 21A, 21B, 21C, and 21D. Wiring for supplying electric power to the motor 21A is routed inside the subframe 13A and the like.
- attitude control is executed to tilt the engine-equipped flight device 10 by changing the rotation speed of the sub-rotor 15A and the like while rotating the main rotor 14 and the like at a predetermined speed. Such attitude control will be described later.
- connection configuration of the engine-mounted flight device 10 will be described with reference to the block diagram of FIG.
- the engine-mounted flight device 10 has an arithmetic control unit 25 for controlling its position and attitude in the air.
- the arithmetic control unit 25 is composed of CPU, RAM, ROM, etc., and controls the rotation of the motor 21A, etc. for driving the sub-rotor 15A, etc., based on information input from various sensors, a camera (not shown), and the controller 29.
- the controller 29 is wirelessly or wiredly connected to the engine-equipped flight device 10 and enables the user to operate the position, altitude, movement direction, movement speed, etc. of the engine-equipped flight device 10 .
- the engine-mounted flight device 10 has, for example, a GPS sensor 30, a compass 31, an acceleration sensor 32, a gyro sensor 33, an altitude sensor 34, an obstacle sensor 35, and the like.
- the engine-equipped flight device 10 can float in the air and move in a predetermined direction by rotating the main rotor 14 and the sub-rotor 15 with the drive energy generated by the engine 26 . Further, the control of the position and attitude in the air is performed by controlling the rotational speed of the motor 21A, etc., which rotates the sub-rotor 15A, etc.
- the motor 21A and the like use the engine 26 as an energy source.
- a generator 27, an inverter 28, a driver 24A and the like are interposed between the engine 26 and the motor 21A and the like.
- the driving force generated by the engine 26 is converted into electric power, and the electric power rotates the motor 21A and the like at a predetermined rotational speed, thereby controlling the position and attitude of the engine-equipped flight device 10 and moving it.
- the sub-rotor 15A and the like bear part of the thrust required when the engine-mounted flight device 10 hovers.
- the engine 26 is, for example, a reciprocating type that uses gasoline or the like as fuel, and drives the generator 27 with its driving force. Furthermore, the engine 26 also mechanically drives the main rotor 14 . Driving of the engine 26 is controlled by the arithmetic control unit 25 .
- the AC power generated by the generator 27 is supplied to the inverter 28.
- the AC power is first converted into DC power by the converter circuit, and then the DC power is converted into AC power of a predetermined frequency by the inverter circuit.
- the drivers 24A, 24B, 24C, and 24D use the electric power generated by the inverter 28 to control the amount of current flowing through the motors 21A, 21B, 21C, and 21D, the direction of rotation, the timing of rotation, and the like. Operations of the drivers 24A, 24B, 24C, and 24D are controlled by an arithmetic control unit 25.
- FIG. 25 An arithmetic control unit 25.
- the communication unit 20 is a part that communicates with the controller 29 wirelessly or by wire. Instructions given from the controller 29 to the engine-mounted flying device 10 are routed through the communication unit 20 .
- the operating conditions of the engine-equipped flight device 10 include a hovering state in which the altitude of the engine-equipped flight device 10 is maintained, an elevation state in which the altitude of the engine-equipped flight device 10 is changed, and a plane position change of the engine-equipped flight device 10. It is different in the movement state and the movement state.
- the arithmetic control unit 25 rotates the main rotor 14 at a substantially constant rotational speed based on a hovering instruction given by the user via the controller 29 . Further, the arithmetic control unit 25 adjusts the thrust generated from the sub-rotor 15A and the like via the driver 24A and the like based on the information indicating the altitude of the engine-mounted flight device 10 input from each sensor such as the altitude sensor 34. do. This matter will be described later with reference to FIG. 3 and the like.
- the arithmetic control unit 25 controls the altitude of the engine-equipped flight device 10 based on an ascending/descending instruction given by the user via the controller 29, while also referring to the altitude of the engine-equipped flight device 10 input from the altitude sensor 34 or the like. Gradually ascend or descend 10 altitudes. The details of the lifting state will be described later with reference to FIG. 3 and the like.
- the arithmetic control unit 25 controls the thrust of the main rotor 14, the subrotor 15A, etc. so that the engine-equipped flight device 10 can move in a plane based on the user's instruction to move through the controller 29. Control. For example, referring to FIG. 1A, when the engine-mounted flight device 10 is moved forward, the arithmetic control unit 25 rotates the sub-rotor 15C and the sub-rotor 15D faster than the sub-rotor 15A and the sub-rotor 15B. . Then, the engine-mounted flying device 10 assumes an inclined posture in which the forward portion is inclined downward. If the sub-rotor 15 and main rotor 14 continue to rotate in this state, the engine-mounted flying device 10 moves forward. At this time, the thrust of the main rotor 14 may be the same as in the hovering state, or may be decreased or increased so that the altitude of the engine-mounted flight device 10 is maintained.
- FIG. 3 is a flow chart showing the operation of the engine-equipped flight device 10 during flight.
- FIG. 4 is a graph showing changes over time in the output value in the hovering state of the engine-mounted flight device 10, where the horizontal axis indicates time and the vertical axis indicates thrust (here, power value).
- step S10 the arithmetic control unit 25 determines whether or not the operation input from the controller 29 has changed.
- the operation input from the controller 29 to the engine-mounted flight device 10 is any one of a hovering operation, a horizontal movement operation, an ascending operation, or a descending operation. It is determined whether or not there is a mutual change between each operation of .
- step S10 the arithmetic control unit 25 proceeds to step S11 to change the behavior of the engine-equipped flight device 10.
- step S10 If NO in step S10, the arithmetic control unit 25 moves to step S14 because there is no change in the operation input of the engine-equipped flight device 10.
- step S ⁇ b>11 the arithmetic control unit 25 acquires an operation input value from the controller 29 . Specifically, the arithmetic control unit 25 wirelessly acquires the operation input value via the communication unit 20 . For example, the arithmetic control unit 25 acquires information about the degree of horizontal movement or elevation/descent from the controller 29 .
- the arithmetic control unit 25 calculates the target thrust of the main rotor 14 according to the operation input value obtained at step S11.
- the operating state of the engine-mounted flying device 10 includes hovering operation, horizontal movement operation, ascending operation, and descending operation. Therefore, the changes in operation input include the following. ⁇ Change from hovering operation to horizontal movement operation, ascending operation or descending operation ⁇ Change from horizontal movement operation to hovering operation, ascending operation or descending operation ⁇ Change from ascending operation to hovering operation, horizontal movement operation or descending operation Change from change/descent operation to hovering operation, horizontal movement operation, and descent operation
- the arithmetic control unit 25 performs calculations so that the main rotor target thrust increases when the operation changes to a climb operation. Further, the calculation control unit 25 performs calculation so that the main rotor target thrust becomes smaller when the operation changes to the descending operation. Furthermore, the arithmetic control unit 25 performs calculations so that the main rotor target thrust becomes smaller when moving horizontally.
- step S13 the arithmetic control unit 25 changes the rotation speed of the main rotor 14. For example, the arithmetic control unit 25 increases the rotation speed of the main rotor 14 when changing to a rising operation. On the other hand, the arithmetic control unit 25 slows down the rotation speed of the main rotor 14 when changing to the lowering operation.
- step S14 the arithmetic control unit 25 receives input from various sensors mounted on the engine-mounted flight device 10, that is, the GPS sensor 30, the compass 31, the acceleration sensor 32, the gyro sensor 33, the altitude sensor 34, the obstacle sensor 35, and the like. Based on the information received, the altitude, attitude, speed, etc. of the engined flying device 10 are obtained.
- step S15 the arithmetic control unit 25 determines whether or not the attitude or altitude of the engine-equipped flying device 10 has changed based on the processing result in step S14.
- step S15 that is, if one or more of the attitude and altitude of the engine-equipped flying device 10 has changed as a result of the processing in step S14, the arithmetic control unit 25 proceeds to step S16.
- step S15 that is, if the attitude or altitude of the engine-equipped flying device 10 does not change as a result of the processing in step S14, the arithmetic control unit 25 returns to step S10.
- step S16 the arithmetic control unit 25 executes calculations for controlling the altitude and attitude of the engine-equipped flight device 10. Specifically, the arithmetic control unit 25 controls either one or both of the target altitude and attitude of the command obtained in step S15 and the current altitude and attitude of the engine-mounted flying device 10 calculated in step S16. A thrust target value is calculated from either one or both of . As an example, the arithmetic control unit 25 calculates the thrust setting values to be set for each motor 21 on the assumption that the thrust for changing the altitude and attitude of the engine-mounted flight device 10 is obtained only from the subrotor 15 .
- the arithmetic control unit 25 calculates the target thrust of the main rotor 14 .
- the total value of the thrust of each sub-rotor 15 calculated in step S16 described above is a composite value for performing altitude maintenance or attitude control of the engine-mounted flight device 10, and the power consumption at that time is P1.
- P2 which is the target thrust of the main rotor 14, is set smaller than P1
- P1 is a portion that is not affected by changes in thrust caused by changes in altitude or attitude.
- P2 is 3600 W or less, which is 90% or less of P1, more preferably 3200 W or less, which is 80% or less of P1, and particularly preferably 2800 W or less, which is 70% or less of P1.
- step S18 the arithmetic control unit 25 calculates the target thrust of the sub-rotor 15.
- P3 which is the target thrust of the sub-rotor 15, is obtained by subtracting P2 from P1.
- P3 is, for example, 400 W or more, which is 10% or more of P1, more preferably 800 W or more, which is 20% or more of P1, and particularly preferably 1,200 W or more, which is 30% or more of P1.
- step S19 the arithmetic control unit 25 changes the rotation speeds of the main rotor 14 and the sub-rotor 15. Specifically, the calculation control unit 25 changes the rotation speed of the main rotor 14 based on the calculation result in step S17 described above, and changes the rotation speed of the sub-rotor 15 based on the calculation result in step S18 described above.
- step S20 the arithmetic control unit 25 confirms whether the target altitude and attitude have been reached based on the outputs of various sensors provided in the engine-mounted flight device 10.
- step S20 that is, if the engine-mounted flight device 10 has reached the target altitude or attitude, the arithmetic control unit 25 returns to step S10 and waits for an instruction from the controller 29.
- step S20 that is, if the engine-equipped flight device 10 has not reached the target altitude or attitude, the arithmetic control unit 25 returns to step S16 to set the altitude and attitude of the engine-equipped flight device 10 to the predetermined values. continue to work to
- Each step described above is performed continuously while the engine-mounted flight device 10 is in flight.
- the engine-equipped flight device 10 lands on the landing surface based on the user's instruction via the controller 29 .
- the arithmetic control unit 25 can also determine whether or not the engine-mounted flying device 10 has reached the target plane position.
- FIG. 4 is a graph showing changes in power consumption during flight of the engine-equipped flight device 10, where the horizontal axis indicates elapsed time and the vertical axis indicates power consumption.
- Period T1 is a period during which the engine-mounted flying device 10 is hovering
- period T2 is a period during which the engine-mounted flying device 10 is changing its attitude to move or ascend or descend.
- the engine-mounted flight device 10 is hovering.
- P1 required for the hovering operation is the sum of P2 of the main rotor 14 and P3 of the sub-rotor 15, as described above.
- the altitude of the engine-mounted flight device 10 basically does not change, so it is only necessary to perform operations to maintain the altitude.
- P2 is substantially constant, and P3 slightly increases or decreases.
- attitude control is performed to tilt the engine-mounted flight device 10 forward, backward, etc., so P3 greatly decreases or increases.
- P2 is basically constant without fluctuation.
- P2 is set smaller than P1, in other words, P3 is set larger.
- the above-described present embodiment can provide the following main effects.
- the sub-rotor 15 bears part of the thrust for maintaining a constant altitude in the hovering state. 15 rotation speed can be kept above a certain level, and attitude control can be stabilized. In other words, it is possible to ensure a minimum thrust (rotational speed) required for attitude control by the sub-rotor.
- the sub-rotor 15 bears 20% of the thrust required for hovering, the sub-rotor 15 rotates at a predetermined number of revolutions or more, and attitude control can be performed stably.
- the rotational speed of the sub-rotor 15 can be maintained at a relatively high speed, and the attitude control can be further stabilized.
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- Aviation & Aerospace Engineering (AREA)
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Abstract
Description
・ホバリング操作から、水平移動操作、上昇操作または下降操作への変化
・水平移動操作から、ホバリング操作、上昇操作または下降操作への変化
・上昇操作から、ホバリング操作、水平移動操作、下降操作への変化
・下降操作から、ホバリング操作、水平移動操作、下降操作への変化
11 フレーム
12、12A、12B メインフレーム
13A、13B、13C、13D サブフレーム
14、14A、14B メインロータ
15、15A、15B、15C、15D サブロータ
17 ケーシング
18 スキッド
19 本体部
20 通信部
21、21A、21B、21C、21D モータ
24、24A、24B、24C、24D ドライバ
25 演算制御部
26 エンジン
27 発電機
28 インバータ
29 コントローラ
30 GPSセンサ
31 コンパス
32 加速度センサ
33 ジャイロセンサ
34 高度センサ
35 障害物センサ
Claims (4)
- 高度を維持するホバリング状態と、前記高度を変更する昇降状態と、で飛行可能であり、
メインロータと、サブロータと、エンジンと、モータと、演算制御部と、を具備し、
前記メインロータは、前記エンジンから与えられる駆動力により回転し、
前記サブロータは、前記モータから与えられる駆動力により回転し、
前記演算制御部は、
前記ホバリング状態では、前記メインロータが回転することで発生する推力を、前記高度を一定にする為に必要とされる推力よりも小さくすることを特徴とするエンジン搭載飛行装置。 - 前記演算制御部は、
前記ホバリング状態では、前記メインロータが回転することで発生する前記推力を、前記高度を一定にする為に必要とされる前記推力の80%以下とすることを特徴とする請求項1に記載のエンジン搭載飛行装置。 - 前記演算制御部は、
前記ホバリング状態では、前記サブロータの出力値を30%以上とすることを特徴とする請求項1または請求項2に記載のエンジン搭載飛行装置。 - 前記演算制御部は、
前記昇降状態では、
前記エンジンの回転数を変化させ、前記メインロータの回転数を変化させることを特徴とする請求項1から請求項3の何れかに記載のエンジン搭載飛行装置。
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KR100812756B1 (ko) * | 2006-11-13 | 2008-03-12 | 한국생산기술연구원 | 요잉제어가 용이한 쿼드로콥터 |
JP2011251678A (ja) | 2010-06-02 | 2011-12-15 | Parrot | クアッドリコプター等の遠隔制御回転翼無人機の電気モーターの同期制御の方法 |
JP2012051545A (ja) | 2010-09-02 | 2012-03-15 | Dream Space World Corp | プリント回路基板を用いた無人飛行体 |
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JP2018154322A (ja) * | 2017-03-17 | 2018-10-04 | 株式会社リコー | 飛行体及び飛行システム |
JP2019059362A (ja) * | 2017-09-27 | 2019-04-18 | 株式会社石川エナジーリサーチ | エンジン搭載自立型飛行装置 |
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